From 851a965a962bb7a1d393331ed5170e46ff083165 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 31 Jul 2024 20:58:50 +0200
Subject: [PATCH] [Mavlink] Handle WACK messages
OutgoingMessagessViewer now paints messages that received a WACK reply as white.
---
.../OutgoingMessagesViewerModule.cpp | 24 +++++++++++++++++--
.../OutgoingMessagesViewerModule.h | 1 +
src/shared/Modules/SkywardHubStrings.h | 2 ++
3 files changed, 25 insertions(+), 2 deletions(-)
diff --git a/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp b/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp
index 28a67fd8..7be4f30f 100644
--- a/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp
+++ b/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp
@@ -46,6 +46,11 @@ OutgoingMessagesViewerModule::OutgoingMessagesViewerModule()
this,
[this](const Message& message, const Filter& filter)
{ handleNack(message); });
+ MessageBroker::getInstance().subscribe(
+ Filter::fromString(SkywardHubStrings::mavlink_received_msg_WACK_topic),
+ this,
+ [this](const Message& message, const Filter& filter)
+ { handleWack(message); });
}
OutgoingMessagesViewerModule::~OutgoingMessagesViewerModule() { delete ui; }
@@ -74,7 +79,7 @@ void OutgoingMessagesViewerModule::handleAck(const Message& ack)
{
Message msg = messages[i].getMsg();
- // Color the message the ack is for by checking the message is and
+ // Color the message the ack is for by checking the message id and
// sequence number
if (msg.getField("message_id") == ack.getField("recv_msgid"))
if (msg.getField("sequence_number") == ack.getField("seq_ack"))
@@ -88,7 +93,7 @@ void OutgoingMessagesViewerModule::handleNack(const Message& nack)
{
Message msg = messages[i].getMsg();
- // Color the message the nack is for by checking the message is and
+ // Color the message the nack is for by checking the message id and
// sequence number
if (msg.getField("message_id") == nack.getField("recv_msgid"))
if (msg.getField("sequence_number") == nack.getField("seq_ack"))
@@ -96,6 +101,21 @@ void OutgoingMessagesViewerModule::handleNack(const Message& nack)
}
}
+void OutgoingMessagesViewerModule::handleWack(const Message& wack)
+{
+ for (int i = 0; i < messages.count(); i++)
+ {
+ Message msg = messages[i].getMsg();
+
+ // Color the message the wack is for by checking the message id and
+ // sequence number
+ if (msg.getField("message_id") == wack.getField("recv_msgid"))
+ if (msg.getField("sequence_number") == wack.getField("seq_ack"))
+ messages[i].getItem()->setBackground(
+ QBrush(QColor(255, 255, 255)));
+ }
+}
+
int OutgoingMessagesViewerModule::updateVerticalHeaders(const Message& msg)
{
int row = 0; // Insert on top
diff --git a/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.h b/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.h
index c5159212..4fccc266 100644
--- a/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.h
+++ b/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.h
@@ -58,6 +58,7 @@ public:
void addMsgSent(const Message& msg);
void handleAck(const Message& ack);
void handleNack(const Message& nack);
+ void handleWack(const Message& wack);
protected:
int updateVerticalHeaders(const Message& msg);
diff --git a/src/shared/Modules/SkywardHubStrings.h b/src/shared/Modules/SkywardHubStrings.h
index 3fe3e14c..1742e907 100644
--- a/src/shared/Modules/SkywardHubStrings.h
+++ b/src/shared/Modules/SkywardHubStrings.h
@@ -74,6 +74,8 @@ static const QString mavlink_received_msg_ACK_topic =
mavlink_received_msg_topic + "/ACK_TM";
static const QString mavlink_received_msg_NACK_topic =
mavlink_received_msg_topic + "/NACK_TM";
+static const QString mavlink_received_msg_WACK_topic =
+ mavlink_received_msg_topic + "/WACK_TM";
static const QString mavlink_system_id_name = "system_id";
static const QString mavlink_component_id_name = "component_id";
--
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