diff --git a/.vscode/settings.json b/.vscode/settings.json
index d3abb169e8483de9d90cc454edb48266e06af854..fcde4c615a2f857fa3e7e9c86f802b52292760a0 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -152,6 +152,7 @@
"editor.defaultFormatter": "redhat.vscode-xml"
},
"cSpell.words": [
+ "cppcheck",
"entrypoints",
"Mavlink",
"Plottables",
diff --git a/src/shared/Components/FilterSelector/FilterSelector.cpp b/src/shared/Components/FilterSelector/FilterSelector.cpp
index 6439081dcbd496352af3043dfb416f62df97db6c..969ce367236e590118ebb3e638b0e876da92ba29 100644
--- a/src/shared/Components/FilterSelector/FilterSelector.cpp
+++ b/src/shared/Components/FilterSelector/FilterSelector.cpp
@@ -2,6 +2,7 @@
#include <Modules/Mavlink/MavlinkVersionHeader.h>
+#include <QDebug>
#include <QLabel>
#include <QPushButton>
@@ -12,26 +13,14 @@ void FilterSelector::setupUi()
QVBoxLayout *layout = new QVBoxLayout;
- QHBoxLayout *topicLayout = new QHBoxLayout;
+ QComboBox *topic = new QComboBox;
+ topic->setSizeAdjustPolicy(QComboBox::AdjustToContents);
+ topic->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
+ topic->addItems(messages.keys());
+ layout->addWidget(topic);
- QLabel *mainTopic = new QLabel;
- mainTopic->setText("Mav");
- topicLayout->addWidget(mainTopic);
-
- QLabel *topicSeparator = new QLabel;
- topicSeparator->setText("/");
- topicLayout->addWidget(topicSeparator);
-
- QComboBox *subTopic = new QComboBox;
- subTopic->setSizeAdjustPolicy(QComboBox::AdjustToContents);
- subTopic->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
- subTopic->addItems(messages.keys());
- topicLayout->addWidget(subTopic, 1);
-
- layout->addLayout(topicLayout);
-
- fieldsLayout = new QVBoxLayout;
- layout->addLayout(fieldsLayout);
+ fieldsWidget = new QListWidget;
+ layout->addWidget(fieldsWidget);
QHBoxLayout *buttons = new QHBoxLayout;
QPushButton *cancel = new QPushButton("Cancel");
@@ -41,17 +30,32 @@ void FilterSelector::setupUi()
layout->addLayout(buttons);
// Set default message
- currentMessage = messages.keys().at(0);
- subTopic->setCurrentText(currentMessage);
- fieldsLayout->addWidget(fields[currentMessage]);
+ if (filter.getTopic().toString() != Topic().toString())
+ {
+ currentMessage = filter.getTopic().toString();
+ topic->setCurrentText(filter.getTopic().toString());
+ }
+ else
+ {
+ currentMessage = messages.keys().at(0);
+ topic->setCurrentText(messages.keys().at(0));
+ }
- connect(subTopic, &QComboBox::currentTextChanged, this,
+ connect(topic, &QComboBox::currentTextChanged, this,
[=](QString key)
{
if (messages.contains(key))
{
- fieldsLayout->removeWidget(fields[currentMessage]);
- fieldsLayout->addWidget(fields[key]);
+ fieldsWidget->clear();
+
+ fieldsWidget->addItems(messages[key]);
+ for (int i = 0; i < fieldsWidget->count(); i++)
+ {
+ auto item = fieldsWidget->item(i);
+ item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
+ item->setCheckState(Qt::Unchecked);
+ }
+
currentMessage = key;
}
});
@@ -59,8 +63,14 @@ void FilterSelector::setupUi()
connect(select, &QPushButton::clicked,
[=]()
{
- Filter filter(Topic("Mav/" + subTopic->currentText()));
- filter.addField(fields[currentMessage]->currentText());
+ Filter filter(Topic(topic->currentText()));
+
+ for (int i = 0; i < fieldsWidget->count(); i++)
+ {
+ auto item = fieldsWidget->item(i);
+ if (item->checkState())
+ filter.addField(item->text());
+ }
emit filterSelected(filter);
deleteLater();
@@ -110,15 +120,7 @@ void FilterSelector::parseMessagesList()
for (unsigned int ii = 0; ii < messagesList[i].num_fields; ii++)
fields.append(messagesList[i].fields[ii].name);
- messages[messagesList[i].name] = fields;
+ messages[QString("Mav/") + messagesList[i].name] = fields;
}
}
-
- // Prepare fields combo boxes
- for (auto messageName : messages.keys())
- {
- auto comboBox = new QComboBox();
- comboBox->addItems(messages[messageName]);
- fields[messageName] = comboBox;
- }
}
diff --git a/src/shared/Components/FilterSelector/FilterSelector.h b/src/shared/Components/FilterSelector/FilterSelector.h
index f1586d4c930ea85d6168dd1d5f1452b81066e58e..3b5ea4d122220596a7e3b6cc7617d0cdc5cf17dd 100644
--- a/src/shared/Components/FilterSelector/FilterSelector.h
+++ b/src/shared/Components/FilterSelector/FilterSelector.h
@@ -5,6 +5,7 @@
#include <QBoxLayout>
#include <QComboBox>
#include <QList>
+#include <QListWidget>
#include <QMap>
#include <QString>
@@ -28,10 +29,9 @@ private:
Filter filter;
QString currentMessage;
- QVBoxLayout* fieldsLayout;
+ QListWidget* fieldsWidget;
QMap<QString, QList<QString>> messages;
- QMap<QString, QComboBox*> fields;
signals:
void filterSelected(const Filter&);
diff --git a/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.cpp b/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.cpp
index 90def45996b75f8618169f18dd4ad58dc83a3edb..9d1b463e70b0806d19618facb518851fd852ae79 100644
--- a/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.cpp
+++ b/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.cpp
@@ -33,7 +33,7 @@ SubscriptionsPanel::SubscriptionsPanel(const QList<Filter>& filters)
void SubscriptionsPanel::addFilter(const Filter& filter)
{
filtersList->addItem(new QListWidgetItem(filter.toString()));
- emit topicAndFieldFilterAdded(filter);
+ emit filterAdded(filter);
}
void SubscriptionsPanel::setupUi()
@@ -41,6 +41,8 @@ void SubscriptionsPanel::setupUi()
QVBoxLayout* layout = new QVBoxLayout;
filtersList = new QListWidget;
+ filtersList->setSelectionBehavior(QAbstractItemView::SelectItems);
+ filtersList->setSelectionMode(QAbstractItemView::SingleSelection);
layout->addWidget(filtersList);
QHBoxLayout* buttonsLayout = new QHBoxLayout;
@@ -48,6 +50,9 @@ void SubscriptionsPanel::setupUi()
QPushButton* addButton = new QPushButton;
addButton->setText("Add filter");
buttonsLayout->addWidget(addButton);
+ QPushButton* editButton = new QPushButton;
+ editButton->setText("Edit filter");
+ buttonsLayout->addWidget(editButton);
QPushButton* removeButton = new QPushButton;
removeButton->setText("Remove filter");
buttonsLayout->addWidget(removeButton);
@@ -59,12 +64,27 @@ void SubscriptionsPanel::setupUi()
connect(addButton, &QPushButton::clicked, this,
[&]()
{
- FilterSelector::selectFilter(
- [&](const Filter& filter)
- {
- qDebug() << "New filter:" << filter.toString();
- addFilter(filter);
- });
+ FilterSelector::selectFilter([&](const Filter& filter)
+ { addFilter(filter); });
+ });
+ connect(editButton, &QPushButton::clicked, this,
+ [&]()
+ {
+ if (filtersList->selectedItems().size() > 0)
+ {
+ auto item = filtersList->selectedItems().at(0);
+
+ FilterSelector::selectFilter(
+ Filter::fromString(item->text()),
+ [=](const Filter& newFilter)
+ {
+ if (Filter::fromString(item->text()) != newFilter)
+ {
+ removeSubscription(item);
+ addFilter(newFilter);
+ }
+ });
+ }
});
connect(removeButton, &QPushButton::clicked, this,
[&]()
@@ -76,6 +96,6 @@ void SubscriptionsPanel::setupUi()
void SubscriptionsPanel::removeSubscription(QListWidgetItem* item)
{
- emit topicAndFieldFilterRemoved(Filter::fromString(item->text()));
+ emit filterRemoved(Filter::fromString(item->text()));
delete item;
}
diff --git a/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.h b/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.h
index 1fdff87822a011688d54ff2506c4072671d8b584..f39b186758d5962c11e912c35a6d7536904808bd 100644
--- a/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.h
+++ b/src/shared/Components/SubscriptionsPanel/SubscriptionsPanel.h
@@ -17,8 +17,8 @@ public:
void addFilter(const Filter& filter);
signals:
- void topicAndFieldFilterAdded(const Filter&);
- void topicAndFieldFilterRemoved(const Filter&);
+ void filterAdded(const Filter& filter);
+ void filterRemoved(const Filter& filter);
private:
void setupUi();
diff --git a/src/shared/Core/Message/Field.cpp b/src/shared/Core/Message/Field.cpp
index 23f42935d26e1bf8bb5938b42165d1bef459f50a..8324a96219d621dc7f0d67c7ac1e177702500c5d 100644
--- a/src/shared/Core/Message/Field.cpp
+++ b/src/shared/Core/Message/Field.cpp
@@ -40,6 +40,10 @@ int64_t Field::getInteger() const
{
if (type == Type::INT)
return signedInteger;
+ else if (type == Type::UINT)
+ return unsignedInteger;
+ else if (type == Type::DOUBLE)
+ return floatingPoint;
else
return 0;
}
@@ -48,6 +52,10 @@ uint64_t Field::getUnsignedInteger() const
{
if (type == Type::UINT)
return unsignedInteger;
+ else if (type == Type::INT)
+ return signedInteger;
+ else if (type == Type::DOUBLE)
+ return floatingPoint;
else
return 0;
}
@@ -56,18 +64,14 @@ double Field::getDouble() const
{
if (type == Type::DOUBLE)
return floatingPoint;
+ else if (type == Type::INT)
+ return signedInteger;
+ else if (type == Type::UINT)
+ return unsignedInteger;
else
return 0;
}
-QString Field::getString() const
-{
- if (type == Type::STRING)
- return string;
- else
- return QString();
-}
-
QString Field::toString() const
{
switch (type)
diff --git a/src/shared/Core/Message/Field.h b/src/shared/Core/Message/Field.h
index 50d0af6103534e40cf11204dadd9a65e430dfda6..b1210bb05ab6084d8a383232475f969ab48bebc7 100644
--- a/src/shared/Core/Message/Field.h
+++ b/src/shared/Core/Message/Field.h
@@ -26,18 +26,12 @@ public:
Type getType() const;
- /// @brief Returns value if the field is of type INT
int64_t getInteger() const;
- /// @brief Returns value if the field is of type UINT
uint64_t getUnsignedInteger() const;
- /// @brief Returns value if the field is of type DOUBLE
double getDouble() const;
- /// @brief Returns value if the field is of type STRING
- QString getString() const;
-
QString toString() const;
private:
diff --git a/src/shared/Core/Message/Filter.cpp b/src/shared/Core/Message/Filter.cpp
index 85acceeedf25310474764ba2e8fd2a4adfd76d88..4bda55506ecd0915a2032621c2db71084c8632e4 100644
--- a/src/shared/Core/Message/Filter.cpp
+++ b/src/shared/Core/Message/Filter.cpp
@@ -10,14 +10,17 @@ Filter::Filter(Topic topic, QSet<QString> fields) : topic(topic), fields(fields)
bool Filter::operator==(const Filter& toCompare) const
{
- return topic == toCompare.topic &&
- ((fields.isEmpty() && toCompare.fields.isEmpty()) ||
- (fields == toCompare.fields));
+ return toString() == toCompare.toString();
+}
+
+bool Filter::operator!=(const Filter& toCompare) const
+{
+ return !(*this == toCompare);
}
bool Filter::operator<(const Filter& toCompare) const
{
- return topic < toCompare.topic;
+ return toString() < toCompare.toString();
}
void Filter::setTopic(Topic topic) { this->topic = topic; }
diff --git a/src/shared/Core/Message/Filter.h b/src/shared/Core/Message/Filter.h
index c086b769a239f34a69e438f885a5d9f762a4c79b..d3f5d0c5c8ae230ac1738542c0da62a2394a331b 100644
--- a/src/shared/Core/Message/Filter.h
+++ b/src/shared/Core/Message/Filter.h
@@ -24,6 +24,7 @@ public:
Filter(Topic topic, QSet<QString> fields);
bool operator==(const Filter& toCompare) const;
+ bool operator!=(const Filter& toCompare) const;
bool operator<(const Filter& toCompare) const;
void setTopic(Topic topic);
diff --git a/src/shared/Core/Message/Message.cpp b/src/shared/Core/Message/Message.cpp
index 8da9c4efd3ab81a2308c615519064cd3784186f2..278ef8da323ddbafb17989e957900adadecc0272 100644
--- a/src/shared/Core/Message/Message.cpp
+++ b/src/shared/Core/Message/Message.cpp
@@ -10,7 +10,13 @@ Topic Message::getTopic() const { return topic; }
void Message::setField(QString key, const Field& field) { fields[key] = field; }
-Field Message::getField(QString key) const { return fields[key]; }
+Field Message::getField(QString key) const
+{
+ if (fields.contains(key))
+ return fields[key];
+ else
+ return Field();
+}
bool Message::removeField(QString key) { return fields.remove(key); }
diff --git a/src/shared/Core/MessageBroker/MessageBroker.cpp b/src/shared/Core/MessageBroker/MessageBroker.cpp
index 9aeb1ac78744b2145239126e1af5ab2d95818e17..226fa93902e6877e872ac97c2b2933be8634ae43 100644
--- a/src/shared/Core/MessageBroker/MessageBroker.cpp
+++ b/src/shared/Core/MessageBroker/MessageBroker.cpp
@@ -2,8 +2,6 @@
#include <Core/Module/Module.h>
-#include <QDebug>
-
void MessageBroker::subscribe(Filter filter, Module* observer,
Callback callback)
{
@@ -13,8 +11,6 @@ void MessageBroker::subscribe(Filter filter, Module* observer,
// subscriber
connect(observer->getEventHandler(), &EventHandler::beforeDelete, this,
&MessageBroker::onModuleDeleted);
-
- qDebug() << "Added subscription: " << filter.toString();
}
void MessageBroker::unsubscribe(Filter filter, Module* module)
@@ -39,7 +35,7 @@ void MessageBroker::publish(const Message& message)
{
auto copy = message;
filter.filterMessage(copy);
- (*subscriber.second)(copy);
+ (*subscriber.second)(copy, filter);
}
}
}
diff --git a/src/shared/Core/MessageBroker/MessageBroker.h b/src/shared/Core/MessageBroker/MessageBroker.h
index ada2a4fc94d7c64481c0c22ccc3127b4339dc058..eee290fbc51c007bc438808fd6d0172ada3edd16 100644
--- a/src/shared/Core/MessageBroker/MessageBroker.h
+++ b/src/shared/Core/MessageBroker/MessageBroker.h
@@ -12,7 +12,7 @@ class MessageBroker : public QObject
Q_OBJECT
public:
- using Callback = std::function<void(const Message& msg)>;
+ using Callback = std::function<void(const Message&, const Filter&)>;
void subscribe(Filter filter, Module* observer, Callback callback);
diff --git a/src/shared/Core/ModulesManager/ModulesManager.cpp b/src/shared/Core/ModulesManager/ModulesManager.cpp
index a4b809facd58ccee8e737d3f9026c8502cadb5c7..55533318d0c935980d1cdfd520929538f8048b1f 100644
--- a/src/shared/Core/ModulesManager/ModulesManager.cpp
+++ b/src/shared/Core/ModulesManager/ModulesManager.cpp
@@ -200,8 +200,6 @@ void ModulesManager::onReplaceMeWith(Module* sender, Module* newModule)
pages[index] = newModule;
connectModule(newModule);
disconnectModule(sender);
- // TODO: Understand well how the all this mess works
- // delete sender;
}
}
}
diff --git a/src/shared/Modules/FileStream/FileStreamModule.cpp b/src/shared/Modules/FileStream/FileStreamModule.cpp
index 609d61b7846dddcf892abc1cdcd40174199ae8eb..a1fcf669aa15c0ff2b7fab5823221d13b38a80e6 100644
--- a/src/shared/Modules/FileStream/FileStreamModule.cpp
+++ b/src/shared/Modules/FileStream/FileStreamModule.cpp
@@ -134,7 +134,8 @@ void FileStreamModule::onStartClicked()
{
getCore()->getMessageBroker()->subscribe(
Filter::fromString(topicViewsList[i]->text().trimmed()), this,
- [this](const Message& msg) { onMsgReceived(msg); });
+ [this](const Message& message, const Filter& filter)
+ { onMsgReceived(message); });
topicViewsList[i]->setEnabled(false);
}
}
diff --git a/src/shared/Modules/Graph/Graph.cpp b/src/shared/Modules/Graph/Graph.cpp
index 17c56cbf1d1418d0985e1ca41477838c32c02ca3..e49e6598305d0a657d72add10450e864067674f6 100644
--- a/src/shared/Modules/Graph/Graph.cpp
+++ b/src/shared/Modules/Graph/Graph.cpp
@@ -4,6 +4,7 @@
#include <Components/SubscriptionsPanel/SubscriptionsPanel.h>
#include <Core/MessageBroker/MessageBroker.h>
+#include <QDebug>
#include <QTimer>
#include <algorithm>
@@ -15,14 +16,8 @@ Graph::Graph(QWidget* parent) : DefaultModule(parent)
connect(&updaterTimer, &QTimer::timeout, this, &Graph::onUpdateTimerTick);
updaterTimer.setSingleShot(false);
updaterTimer.start(updatePeriod);
-
- getCore()->getMessageBroker()->subscribe(Filter::fromString("*"), this,
- [this](const Message& msg)
- { onMsgReceived(msg); });
}
-Graph::~Graph() {}
-
QWidget* Graph::toWidget() { return this; }
XmlObject Graph::toXmlObject()
@@ -36,10 +31,10 @@ XmlObject Graph::toXmlObject()
obj.addAttribute("x_lower_range", (float)plot->xAxis->range().lower);
obj.addAttribute("x_upper_range", (float)plot->xAxis->range().upper);
- for (int i = 0; i < filters.count(); i++)
+ for (auto filter : lines.keys())
{
XmlObject element("subscription");
- element.addAttribute("filter", filters[i].toString());
+ element.addAttribute("filter", filter.toString());
obj.addChild(element);
}
@@ -71,7 +66,7 @@ void Graph::fromXmlObject(const XmlObject& obj)
if (child.getObjectName() == "subscription")
{
auto filter = Filter::fromString(child.getAttribute("filter"));
- onSubscriptionAdded(filter);
+ onFilterAdded(filter);
}
}
}
@@ -79,19 +74,23 @@ void Graph::fromXmlObject(const XmlObject& obj)
void Graph::onSubscribeClicked()
{
- SubscriptionsPanel* panel = new SubscriptionsPanel(filters);
+ SubscriptionsPanel* panel = new SubscriptionsPanel(lines.keys());
panel->setWindowTitle("Graph subscriptions");
- connect(panel, &SubscriptionsPanel::topicAndFieldFilterAdded, this,
- &Graph::onSubscriptionAdded);
- connect(panel, &SubscriptionsPanel::topicAndFieldFilterRemoved, this,
- &Graph::onSubscriptionRemoved);
+ connect(panel, &SubscriptionsPanel::filterAdded, this,
+ &Graph::onFilterAdded);
+ connect(panel, &SubscriptionsPanel::filterRemoved, this,
+ &Graph::onFilterRemoved);
panel->show();
}
void Graph::onClearClicked()
{
- for (auto graph : graphs)
- graph->data()->clear();
+ for (auto filter : lines.keys())
+ {
+ for (auto field : lines[filter].first.keys())
+ lines[filter].first[field].graph->data()->clear();
+ }
+
plot->replot();
}
@@ -107,38 +106,86 @@ void Graph::onStopClicked(bool checked)
void Graph::onFollowClicked(bool checked) { following = checked; }
-void Graph::onSubscriptionAdded(const Filter& filter)
+void Graph::onFilterAdded(const Filter& filter)
{
- if (!filters.contains(filter))
+ qDebug() << "[Graph] On filter added";
+
+ // Fail if the filter is already in the list
+ if (lines.keys().contains(filter))
{
+ qDebug() << "[Graph] Filter already in the list";
+ return;
+ }
+
+ // Add a new line for each field of the filter
+ for (auto field : filter.getFields())
+ {
+ // Create the graph
QCPGraph* graph = plot->addGraph();
graph->setPen(
QPen(QColor(rand() % 255, rand() % 255, rand() % 255), 2));
graph->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssNone, 2));
graph->setSelectable(QCP::stNone);
- graph->setName(filter.toString());
+ graph->setName(field);
- // Add the filter and the graph along with new buffers
- filters.append(filter);
- graphs.append(graph);
- buffersX.append(QVector<double>());
- buffersY.append(QVector<double>());
+ // Add the filter and the graph along with new buffers to the lists
+ lines[filter].first[field] = {graph, QVector<double>(),
+ QVector<double>()};
}
+
+ getCore()->getMessageBroker()->subscribe(
+ filter, this,
+ [&](const Message& message, const Filter& filter)
+ {
+ qDebug() << "[Graph] Received new message:" << message.toString();
+
+ if (stopped && !lines.contains(filter))
+ return;
+
+ for (auto field : filter.getFields())
+ {
+ auto& line = lines[filter].first[field];
+
+ QVector<double>& bufferX = line.bufferX;
+ QVector<double>& bufferY = line.bufferY;
+
+ double x =
+ message.getField("timestamp").getUnsignedInteger() / 1e6;
+ double y = message.getField(field).getDouble();
+
+ // Check if the timestamp resets
+ if (bufferX.last() < x)
+ {
+ bufferX.append(x);
+ bufferY.append(y);
+ }
+ else
+ {
+ bufferX.clear();
+ bufferY.clear();
+
+ line.graph->data()->clear();
+ }
+ }
+
+ // Flag the data as updated
+ lines[filter].second = true;
+ });
}
-void Graph::onSubscriptionRemoved(const Filter& filter)
+void Graph::onFilterRemoved(const Filter& filter)
{
- if (filters.contains(filter))
+ if (lines.contains(filter))
{
- int index = filters.indexOf(filter);
+ for (auto field : lines[filter].first.keys())
+ {
+ auto line = lines[filter].first[field];
- plot->removeGraph(graphs[index]);
- plot->replot();
+ plot->removeGraph(line.graph);
+ plot->replot();
+ }
- filters.removeAt(index);
- graphs.removeAt(index);
- buffersX.removeAt(index);
- buffersY.removeAt(index);
+ lines.remove(filter);
}
}
@@ -148,29 +195,33 @@ void Graph::onUpdateTimerTick()
double maxX = 0;
// Check if new data items are available and redraw
- for (int i = 0; i < filters.size(); i++)
+ for (auto filter : lines.keys())
{
- QCPGraph* graph = graphs[i];
- QVector<double>& bufferX = buffersX[i];
-
- if (bufferX.size() > 0)
+ // Check if the data have been updated
+ if (lines[filter].second)
{
- QVector<double>& bufferY = buffersY[i];
+ for (auto field : lines[filter].first.keys())
+ {
+ auto& line = lines[filter].first[field];
- newData = true;
+ if (line.bufferX.size() > 0)
+ {
+ newData = true;
- graph->addData(bufferX, bufferY);
+ line.graph->addData(line.bufferX, line.bufferY);
- for (auto tmp : bufferX)
- if (tmp > maxX)
- // cppcheck-suppress useStlAlgorithm
- maxX = tmp;
+ for (auto tmp : line.bufferX)
+ if (tmp > maxX)
+ // cppcheck-suppress useStlAlgorithm
+ maxX = tmp;
- bufferX.clear();
- bufferY.clear();
+ line.bufferX.clear();
+ line.bufferY.clear();
- // Check if there are too many data points
- graph->data()->removeBefore(maxX - MAX_DATA_AGE);
+ // Check if there are too many data points
+ line.graph->data()->removeBefore(maxX - MAX_DATA_AGE);
+ }
+ }
}
}
@@ -179,47 +230,8 @@ void Graph::onUpdateTimerTick()
plot->replot();
if (following)
- {
- double size = plot->xAxis->range().size();
- plot->xAxis->setRange(maxX, size, Qt::AlignmentFlag::AlignRight);
- }
- }
-}
-
-void Graph::onMsgReceived(const Message& msg)
-{
- if (stopped)
- return;
-
- // TODO
-
- for (auto filter : filters)
- {
- if (filter.match(msg))
- {
- int index = filters.indexOf(filter);
-
- QVector<double>& bufferX = buffersX[index];
- QVector<double>& bufferY = buffersY[index];
-
- double x = msg.getField("timestamp").getUnsignedInteger() / 1e6;
- double y = 2; // TODO
-
- // Check if the timestamp resets
- if (bufferX.last() < x)
- {
- bufferX.append(x);
- bufferY.append(y);
- }
- else
- {
- bufferX.clear();
- bufferY.clear();
-
- auto graph = graphs[index];
- graph->data()->clear();
- }
- }
+ plot->xAxis->setRange(maxX, plot->xAxis->range().size(),
+ Qt::AlignmentFlag::AlignRight);
}
}
@@ -256,7 +268,7 @@ void Graph::onCustomContextMenuRequested(const QPoint& pos)
QMenu menu;
// Subscribe -> Edit graph series
- QAction* subscribe = new QAction("Subscribe");
+ QAction* subscribe = new QAction("Manage subscriptions");
connect(subscribe, &QAction::triggered, this, &Graph::onSubscribeClicked);
menu.addAction(subscribe);
diff --git a/src/shared/Modules/Graph/Graph.h b/src/shared/Modules/Graph/Graph.h
index edb741816d2b0416d6fcb517702bc260e6c59f7b..4b0c551d2d72633335291f7ddcd92e371c2da606 100644
--- a/src/shared/Modules/Graph/Graph.h
+++ b/src/shared/Modules/Graph/Graph.h
@@ -1,8 +1,6 @@
#pragma once
#include <Core/Message/Filter.h>
-#include <Core/Message/Message.h>
-#include <Core/Module/Module.h>
#include <Core/QCustomPlot/QCustomPlot.h>
#include <Modules/DefaultModule/DefaultModule.h>
@@ -18,7 +16,6 @@ class Graph : public DefaultModule
public:
explicit Graph(QWidget* parent = nullptr);
- ~Graph();
QWidget* toWidget() override;
XmlObject toXmlObject() override;
@@ -29,10 +26,11 @@ private slots:
void onClearClicked();
void onStopClicked(bool checked);
void onFollowClicked(bool checked);
- void onSubscriptionAdded(const Filter& filter);
- void onSubscriptionRemoved(const Filter& filter);
+
+ void onFilterAdded(const Filter& filter);
+ void onFilterRemoved(const Filter& filter);
+
void onUpdateTimerTick();
- void onMsgReceived(const Message& msg);
private:
void setupUi();
@@ -41,10 +39,14 @@ private:
QCustomPlot* plot;
- QList<Filter> filters;
- QList<QCPGraph*> graphs;
- QList<QVector<double>> buffersX;
- QList<QVector<double>> buffersY;
+ struct Line
+ {
+ QCPGraph* graph;
+ QVector<double> bufferX;
+ QVector<double> bufferY;
+ };
+
+ QMap<Filter, QPair<QMap<QString, Line>, bool>> lines;
QTimer updaterTimer;
int updatePeriod = 1000 / 5; // 5fps
diff --git a/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.cpp b/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.cpp
index c43042b8e5117b753f4b12cfdff80638ec8411bf..1281433534887e5336cfbc2af558fbe67a15a875 100644
--- a/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.cpp
+++ b/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.cpp
@@ -48,18 +48,30 @@ void IncomingMessagesViewerModule::fromXmlObject(const XmlObject& xmlObject)
{
XmlObject child = xmlObject.childAt(i);
if (child.getObjectName() == "subscription")
- addSubscription(Filter::fromString(child.getAttribute("filter")));
+ onFilterAdded(Filter::fromString(child.getAttribute("filter")));
}
}
-void IncomingMessagesViewerModule::addSubscription(const Filter& filter)
+void IncomingMessagesViewerModule::onSubscribeClicked()
+{
+ SubscriptionsPanel* panel = new SubscriptionsPanel(filters);
+ panel->setWindowTitle("Graph subscriptions");
+ connect(panel, &SubscriptionsPanel::filterAdded, this,
+ &IncomingMessagesViewerModule::onFilterAdded);
+ connect(panel, &SubscriptionsPanel::filterRemoved, this,
+ &IncomingMessagesViewerModule::onFilterRemoved);
+ panel->show();
+}
+
+void IncomingMessagesViewerModule::onFilterAdded(const Filter& filter)
{
- qDebug() << "addSubscription";
filters.append(filter);
getCore()->getMessageBroker()->subscribe(
filter, this,
- [&](const Message& msg)
+ [&](const Message& message, const Filter& filter)
{
+ qDebug() << "[Graph] Received new message:" << message.toString();
+
QString oldText = "";
QString time = "";
@@ -70,7 +82,7 @@ void IncomingMessagesViewerModule::addSubscription(const Filter& filter)
if (useTimestamp)
{
// If available show the timestamp
- auto timestamp = msg.getField("timestamp");
+ auto timestamp = message.getField("timestamp");
time += "[";
time += QString::number(
(float)timestamp.getUnsignedInteger() / 1e6, 'f', 1);
@@ -82,36 +94,38 @@ void IncomingMessagesViewerModule::addSubscription(const Filter& filter)
}
// Updated the content
- edit->setText(time + msg.toString() + "\n" + oldText);
+ edit->setText(time + message.toString() + "\n" + oldText);
});
}
-void IncomingMessagesViewerModule::removeSubscription(const Filter& filter)
+void IncomingMessagesViewerModule::onFilterRemoved(const Filter& filter)
{
filters.removeAll(filter);
getCore()->getMessageBroker()->unsubscribe(filter, this);
}
+void IncomingMessagesViewerModule::setupUi()
+{
+ edit = new QTextEdit();
+ edit->setReadOnly(true);
+ edit->setContextMenuPolicy(Qt::ContextMenuPolicy::NoContextMenu);
+
+ QHBoxLayout* layout = new QHBoxLayout();
+ layout->setContentsMargins(0, 0, 0, 0);
+ layout->addWidget(edit);
+ setLayout(layout);
+}
+
void IncomingMessagesViewerModule::addCustomActionsToMenu()
{
QAction* clear = new QAction("Clear");
connect(clear, &QAction::triggered, this, [this]() { edit->clear(); });
addActionToMenu(clear);
- QAction* manage = new QAction("Manage subscriptions");
- connect(manage, &QAction::triggered, this,
- [this]()
- {
- auto* panel = new SubscriptionsPanel(filters);
- panel->setWindowTitle("IncomingMessagesViewer subscriptions");
- connect(panel, &SubscriptionsPanel::topicAndFieldFilterAdded,
- this, &IncomingMessagesViewerModule::addSubscription);
- connect(panel, &SubscriptionsPanel::topicAndFieldFilterRemoved,
- this,
- &IncomingMessagesViewerModule::removeSubscription);
- panel->show();
- });
- addActionToMenu(manage);
+ QAction* subscriptions = new QAction("Manage subscriptions");
+ connect(subscriptions, &QAction::triggered, this,
+ &IncomingMessagesViewerModule::onSubscribeClicked);
+ addActionToMenu(subscriptions);
keepOnlyLastMessageAction = new QAction("Keep only last message");
keepOnlyLastMessageAction->setCheckable(true);
@@ -125,15 +139,3 @@ void IncomingMessagesViewerModule::addCustomActionsToMenu()
[=](bool value) { useTimestamp = value; });
addActionToMenu(useTimestampAction);
}
-
-void IncomingMessagesViewerModule::setupUi()
-{
- edit = new QTextEdit();
- edit->setReadOnly(true);
- edit->setContextMenuPolicy(Qt::ContextMenuPolicy::NoContextMenu);
-
- QHBoxLayout* layout = new QHBoxLayout();
- layout->setContentsMargins(0, 0, 0, 0);
- layout->addWidget(edit);
- setLayout(layout);
-}
diff --git a/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.h b/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.h
index 4333f0a54ee78aef64710df14039032cf4735161..9b951e3ecbbc250666f8f24d0dd4aa36b17b1ab8 100644
--- a/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.h
+++ b/src/shared/Modules/IncomingMessagesViewer/IncomingMessagesViewerModule.h
@@ -15,15 +15,16 @@ public:
XmlObject toXmlObject() override;
void fromXmlObject(const XmlObject& xmlObject) override;
- void addCustomActionsToMenu() override;
-public slots:
- void addSubscription(const Filter& filter);
- void removeSubscription(const Filter& filter);
+private slots:
+ void onSubscribeClicked();
+ void onFilterAdded(const Filter& filter);
+ void onFilterRemoved(const Filter& filter);
private:
QTextEdit* edit;
void setupUi();
+ void addCustomActionsToMenu() override;
QList<Filter> filters;
diff --git a/src/shared/Modules/Mavlink/MavlinkModule.cpp b/src/shared/Modules/Mavlink/MavlinkModule.cpp
index ecdc16fb85dfb5d6fd8394360466263e1733950c..7dccbb99fccfd5a69ec4b07de7a9c11719d9f152 100644
--- a/src/shared/Modules/Mavlink/MavlinkModule.cpp
+++ b/src/shared/Modules/Mavlink/MavlinkModule.cpp
@@ -24,7 +24,8 @@ MavlinkModule::MavlinkModule(QWidget *parent)
getCore()->getMessageBroker()->subscribe(
Filter::fromString(SkywardHubStrings::commandsTopic + "/*"), this,
- [this](const Message &msg) { onCommandReceived(msg); });
+ [this](const Message &message, const Filter &filter)
+ { onCommandReceived(message); });
}
MavlinkModule::~MavlinkModule() { onStopClicked(); }
diff --git a/src/shared/Modules/OrientationVisualizer/OrientationVisualizer.cpp b/src/shared/Modules/OrientationVisualizer/OrientationVisualizer.cpp
index 1aea11c59d7dc272371477f8a31ee03800bfd579..5b14d10255aff1da81b5e800b0a3bc5c805de9b4 100644
--- a/src/shared/Modules/OrientationVisualizer/OrientationVisualizer.cpp
+++ b/src/shared/Modules/OrientationVisualizer/OrientationVisualizer.cpp
@@ -30,12 +30,12 @@ OrientationVisualizer::OrientationVisualizer(QWidget *parent)
getCore()->getMessageBroker()->subscribe(
Filter::fromString("Mav/PAYLOAD_FLIGHT_TM"), this,
- [this](const Message &msg)
+ [this](const Message &message, const Filter &filter)
{
- updateOrientation(msg.getField("nas_qx").getDouble(),
- msg.getField("nas_qy").getDouble(),
- msg.getField("nas_qz").getDouble(),
- msg.getField("nas_qw").getDouble());
+ updateOrientation(message.getField("nas_qx").getDouble(),
+ message.getField("nas_qy").getDouble(),
+ message.getField("nas_qz").getDouble(),
+ message.getField("nas_qw").getDouble());
});
}
diff --git a/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp b/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp
index 3174a00de00ef409611365cce43ccff45ade744b..b1af15a228b580251b75422df4d2b7a8094a906f 100644
--- a/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp
+++ b/src/shared/Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.cpp
@@ -15,14 +15,19 @@ OutgoingMessagesViewerModule::OutgoingMessagesViewerModule(QWidget* parent)
getCore()->getMessageBroker()->subscribe(
Filter::fromString(SkywardHubStrings::logCommandsTopic), this,
- [this](const Message& msg) { addMsgSent(msg); });
+ [this](const Message& message, const Filter& filter)
+ { addMsgSent(message); });
getCore()->getMessageBroker()->subscribe(
Filter::fromString(SkywardHubStrings::mavlink_received_msg_ACK_topic),
- this, [this](const Message& msg) { handleAck(msg); });
+ this,
+ [this](const Message& message, const Filter& filter)
+ { handleAck(message); });
getCore()->getMessageBroker()->subscribe(
Filter::fromString(SkywardHubStrings::mavlink_received_msg_NACK_topic),
- this, [this](const Message& msg) { handleNack(msg); });
+ this,
+ [this](const Message& message, const Filter& filter)
+ { handleNack(message); });
}
OutgoingMessagesViewerModule::~OutgoingMessagesViewerModule() { delete ui; }
@@ -54,7 +59,7 @@ void OutgoingMessagesViewerModule::addMsgSent(const Message& msg)
QString OutgoingMessagesViewerModule::computeMsgName(const Message& msg)
{
- return msg.getField("name").getString();
+ return msg.getField("name").toString();
}
void OutgoingMessagesViewerModule::handleAck(const Message& ack)
diff --git a/src/shared/Modules/StateViewer/StateViewer.cpp b/src/shared/Modules/StateViewer/StateViewer.cpp
index f1f2cb2567db24133353b56acf64c4af07462224..870c2128bd5d6c6d70c8109190d8c067ad242a3f 100644
--- a/src/shared/Modules/StateViewer/StateViewer.cpp
+++ b/src/shared/Modules/StateViewer/StateViewer.cpp
@@ -71,7 +71,9 @@ void StateViewerModule::setFilter(const Filter& newFilter)
{
getCore()->getMessageBroker()->unsubscribe(filter, this);
getCore()->getMessageBroker()->subscribe(
- newFilter, this, [this](const Message& msg) { onMsgReceived(msg); });
+ newFilter, this,
+ [this](const Message& message, const Filter& filter)
+ { onMsgReceived(message); });
filter = newFilter;
}
diff --git a/src/shared/Modules/Test/TestModule.cpp b/src/shared/Modules/Test/TestModule.cpp
index 6e78e8e92990d731c0f9eb0a96fd41436bd034f7..e87a2bbedd475c8cc2b0590a8583b806d9b94687 100644
--- a/src/shared/Modules/Test/TestModule.cpp
+++ b/src/shared/Modules/Test/TestModule.cpp
@@ -35,25 +35,25 @@ void TestModule::on_publish_button_clicked()
{
QString topic = ui->topic_lineEdit->text().trimmed();
QString payload = ui->payload_lineEdit->text().trimmed();
- Message msg(Topic{topic});
+ Message message(Topic{topic});
auto valueField = Field(payload);
- msg.setField("value", valueField);
+ message.setField("value", valueField);
auto timestampField =
Field((uint64_t)QTime::currentTime().msecsSinceStartOfDay());
- msg.setField("timestamp", timestampField);
- getCore()->getMessageBroker()->publish(msg);
+ message.setField("timestamp", timestampField);
+ getCore()->getMessageBroker()->publish(message);
}
void TestModule::on_subscribe_button_clicked()
{
getCore()->getMessageBroker()->subscribe(
Filter::fromString(ui->subscribe_lineEdit->text().trimmed()), this,
- [this](const Message& msg)
+ [this](const Message& message, const Filter& filter)
{
QString oldText = ui->textArea->toPlainText();
QString line =
QDateTime::currentDateTime().toString("hh.mm.ss (zzz): ") +
- msg.toString();
+ message.toString();
QString newText(line + '\n' + oldText);
ui->textArea->setPlainText(newText.mid(0, maxChar));
});
diff --git a/src/shared/Modules/ValuesConverterViewer/ValuesConverterViewerModule.cpp b/src/shared/Modules/ValuesConverterViewer/ValuesConverterViewerModule.cpp
index 1109c5a8ad959e7d87d31daaa1ffb50fe56b6076..6a870b348516016e7b56424433735c908f06e44e 100644
--- a/src/shared/Modules/ValuesConverterViewer/ValuesConverterViewerModule.cpp
+++ b/src/shared/Modules/ValuesConverterViewer/ValuesConverterViewerModule.cpp
@@ -12,9 +12,10 @@ ValuesConverterViewerModule::ValuesConverterViewerModule(QWidget* parent)
ui->setupUi(this);
defaultContextMenuSetup();
- getCore()->getMessageBroker()->subscribe(Filter::fromString("*"), this,
- [this](const Message& msg)
- { onMsgReceived(msg); });
+ getCore()->getMessageBroker()->subscribe(
+ Filter::fromString("*"), this,
+ [this](const Message& message, const Filter& filter)
+ { onMsgReceived(message); });
}
ValuesConverterViewerModule::~ValuesConverterViewerModule()