From 8a7fc296a698dc964703bc882fbb49b557111e10 Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Sun, 17 Sep 2023 07:18:31 +0000
Subject: [PATCH] [mavlink] Updated mavlink module with minor improvements
---
scripts/udp_gs_tester.py | 2 +-
.../FilterSelector/FilterSelector.cpp | 4 ++++
.../Modules/Mavlink/BaseMavlinkModule.cpp | 20 +++++++++++++++----
.../Modules/Mavlink/BaseMavlinkModule.h | 2 ++
src/shared/Modules/Mavlink/MavlinkCodec.cpp | 6 ++++++
src/shared/Modules/SkywardHubStrings.h | 3 +++
6 files changed, 32 insertions(+), 5 deletions(-)
diff --git a/scripts/udp_gs_tester.py b/scripts/udp_gs_tester.py
index f7b069d7..68c9afe0 100755
--- a/scripts/udp_gs_tester.py
+++ b/scripts/udp_gs_tester.py
@@ -128,7 +128,7 @@ def send_loop(sock, mavlink, acks):
def main():
acks = []
- mavlink = MAVLink(None)
+ mavlink = MAVLink(None, srcSystem=1, srcComponent=0)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(("", RECV_PORT))
diff --git a/src/shared/Components/FilterSelector/FilterSelector.cpp b/src/shared/Components/FilterSelector/FilterSelector.cpp
index 37206b8a..ef6b2511 100644
--- a/src/shared/Components/FilterSelector/FilterSelector.cpp
+++ b/src/shared/Components/FilterSelector/FilterSelector.cpp
@@ -19,6 +19,7 @@
#include "FilterSelector.h"
#include <Modules/Mavlink/MavlinkVersionHeader.h>
+#include <Modules/SkywardHubStrings.h>
#include <QLabel>
#include <QPushButton>
@@ -116,6 +117,9 @@ void FilterSelector::parseMessagesList()
for (unsigned int ii = 0; ii < messagesList[i].num_fields; ii++)
fields.append(messagesList[i].fields[ii].name);
+ fields.append(SkywardHubStrings::mavlink_component_id_name);
+ fields.append(SkywardHubStrings::mavlink_system_id_name);
+
messages[QString("Mav/") + messagesList[i].name] = fields;
}
}
diff --git a/src/shared/Modules/Mavlink/BaseMavlinkModule.cpp b/src/shared/Modules/Mavlink/BaseMavlinkModule.cpp
index 2dc7c52a..0c5b4b28 100644
--- a/src/shared/Modules/Mavlink/BaseMavlinkModule.cpp
+++ b/src/shared/Modules/Mavlink/BaseMavlinkModule.cpp
@@ -20,6 +20,8 @@
#include <Modules/SkywardHubStrings.h>
+int BaseMavlinkModule::ACTIVE_MAVLINK_MODULES = 0;
+
BaseMavlinkModule::BaseMavlinkModule(MavlinkPort *port, QWidget *parent)
: DefaultModule(parent), port(port), mavlinkCodec(port, this)
{
@@ -90,6 +92,9 @@ void BaseMavlinkModule::onStartClicked()
{
if (open())
{
+ // Keep track of all active and listening mavlink modules
+ ACTIVE_MAVLINK_MODULES++;
+
disableControls();
linkQualityTimer.start(linkQualityPeriod);
@@ -111,6 +116,9 @@ void BaseMavlinkModule::onStopClicked()
stop();
port->close();
enableControls();
+
+ // Keep track of all active and listening mavlink modules
+ ACTIVE_MAVLINK_MODULES--;
}
void BaseMavlinkModule::onCommandReceived(const Message &msg)
@@ -127,9 +135,15 @@ void BaseMavlinkModule::onCommandReceived(const Message &msg)
return;
}
- if (!port->isOpen())
+ // If we are not active, don't process this message
+ if (!startToggleButton->state())
{
- error(tr("Mavlink"), tr("Cannot send message: port is closed."));
+ // Only show this error if there are no other active modules
+ if (ACTIVE_MAVLINK_MODULES == 0)
+ {
+ error(tr("Mavlink"), tr("Cannot send message: port is closed."));
+ }
+
return;
}
@@ -168,14 +182,12 @@ void BaseMavlinkModule::onOpenLogFolderClick()
void BaseMavlinkModule::enableControls()
{
- sysIdComboBox->setEnabled(true);
logCheckBox->setEnabled(true);
childEnableControls();
}
void BaseMavlinkModule::disableControls()
{
- sysIdComboBox->setEnabled(false);
logCheckBox->setEnabled(false);
childDisableControls();
}
diff --git a/src/shared/Modules/Mavlink/BaseMavlinkModule.h b/src/shared/Modules/Mavlink/BaseMavlinkModule.h
index 8438fd31..3cf58309 100644
--- a/src/shared/Modules/Mavlink/BaseMavlinkModule.h
+++ b/src/shared/Modules/Mavlink/BaseMavlinkModule.h
@@ -87,4 +87,6 @@ private:
QTimer linkQualityTimer;
const int linkQualityPeriod = 2000; // [ms]
int msgArrived = 0;
+
+ static int ACTIVE_MAVLINK_MODULES;
};
\ No newline at end of file
diff --git a/src/shared/Modules/Mavlink/MavlinkCodec.cpp b/src/shared/Modules/Mavlink/MavlinkCodec.cpp
index 1e8648bc..37daea18 100644
--- a/src/shared/Modules/Mavlink/MavlinkCodec.cpp
+++ b/src/shared/Modules/Mavlink/MavlinkCodec.cpp
@@ -132,6 +132,12 @@ Message MavlinkCodec::decodeMessage(const mavlink_message_t& msg)
for (unsigned i = 0; i < info.num_fields; i++)
fields[QString(info.fields[i].name)] = decodeField(msg, info.fields[i]);
+ // Also embed system/component informations
+ fields[SkywardHubStrings::mavlink_system_id_name] =
+ Field(static_cast<uint64_t>(msg.sysid));
+ fields[SkywardHubStrings::mavlink_component_id_name] =
+ Field(static_cast<uint64_t>(msg.compid));
+
Message output;
output.setTopic(
Topic(SkywardHubStrings::mavlink_received_msg_topic + "/" + info.name));
diff --git a/src/shared/Modules/SkywardHubStrings.h b/src/shared/Modules/SkywardHubStrings.h
index 8a43f0e7..4c8ff5b1 100644
--- a/src/shared/Modules/SkywardHubStrings.h
+++ b/src/shared/Modules/SkywardHubStrings.h
@@ -76,4 +76,7 @@ static const QString mavlink_received_msg_ACK_topic =
static const QString mavlink_received_msg_NACK_topic =
mavlink_received_msg_topic + "/NACK_TM";
+static const QString mavlink_system_id_name = "system_id";
+static const QString mavlink_component_id_name = "component_id";
+
}; // namespace SkywardHubStrings
--
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