diff --git a/CMakeLists.txt b/CMakeLists.txt
index 84737575b1a91baa0a711824384de9fd8ce91912..c5847472d2f17a6458b387ae135a5563fe0b20f4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,6 +77,7 @@ add_executable(groundstation
src/shared/Modules/OrientationVisualizer/OrientationVisualizer.cpp
src/shared/Modules/MainStateViewer/MainStateViewer.cpp
src/shared/Modules/PayloadStateViewer/PayloadStateViewer.cpp
+ src/shared/Modules/RigStateViewer/RigStateViewer.cpp
src/shared/Modules/Tabs/TabsModule.cpp
src/shared/Modules/Test/TestModule.cpp
src/shared/Modules/TimerController/TimerControllerModule.cpp
diff --git a/SkywardHub.pro b/SkywardHub.pro
index 04ba882c70d8c0a2526e1ffa1a74789c2c31a652..97a8c79b4df4e46bfc718c5424d863d5bc98c1b2 100644
--- a/SkywardHub.pro
+++ b/SkywardHub.pro
@@ -24,6 +24,7 @@ SOURCES += \
src/shared/Modules/OrientationVisualizer/OrientationVisualizer.cpp \
src/shared/Modules/MainStateViewer/MainStateViewer.cpp \
src/shared/Modules/PayloadStateViewer/PayloadStateViewer.cpp \
+ src/shared/Modules/RigStateViewer/RigStateViewer.cpp \
src/shared/Modules/FileStream/FileStreamModule.cpp \
src/shared/Modules/Graph/Graph.cpp \
src/shared/Modules/Test/TestModule.cpp \
@@ -77,6 +78,8 @@ HEADERS += \
src/shared/Modules/MainStateViewer/MainStateViewer.h \
src/shared/Modules/PayloadStateViewer/PayloadStatesList.h \
src/shared/Modules/PayloadStateViewer/PayloadStateViewer.h \
+ src/shared/Modules/RigStateViewer/RigStatesList.h \
+ src/shared/Modules/RigStateViewer/RigStateViewer.h \
src/shared/Modules/FileStream/FileStreamModule.h \
src/shared/Modules/Graph/Graph.h \
src/shared/Modules/Test/TestModule.h \
diff --git a/libs/mavlink-skyward-lib b/libs/mavlink-skyward-lib
index 05993b2739364c7d4cb510ad6840a62cca6c69cd..b4c2b98d38a0d15049b7fc9afcfb615aea2403a1 160000
--- a/libs/mavlink-skyward-lib
+++ b/libs/mavlink-skyward-lib
@@ -1 +1 @@
-Subproject commit 05993b2739364c7d4cb510ad6840a62cca6c69cd
+Subproject commit b4c2b98d38a0d15049b7fc9afcfb615aea2403a1
diff --git a/src/shared/Modules/CommandPad/MessagesList.h b/src/shared/Modules/CommandPad/MessagesList.h
index c8f583a4c3e26c0db2fa64729d98eecc9600e9f7..8ef3d2bbfd534d55328876a59fb58526635c8194 100644
--- a/src/shared/Modules/CommandPad/MessagesList.h
+++ b/src/shared/Modules/CommandPad/MessagesList.h
@@ -62,7 +62,8 @@ static const QMap<QString, int> systemTmList{
{"MAV_STATS_ID", MAV_STATS_ID},
{"MAV_SENSORS_STATE_ID", MAV_SENSORS_STATE_ID},
{"MAV_GSE_ID", MAV_GSE_ID},
- {"MAV_MOTOR_ID", MAV_MOTOR_ID}};
+ {"MAV_MOTOR_ID", MAV_MOTOR_ID},
+ {"MAV_REGISTRY_ID", MAV_REGISTRY_ID}};
static const QMap<QString, int> sensorsList{
{"MAV_GPS_ID", MAV_GPS_ID},
@@ -110,7 +111,11 @@ static const QMap<QString, int> commandsList{
{"MAV_CMD_ENTER_TEST_MODE", MAV_CMD_ENTER_TEST_MODE},
{"MAV_CMD_EXIT_TEST_MODE", MAV_CMD_EXIT_TEST_MODE},
{"MAV_CMD_START_RECORDING", MAV_CMD_START_RECORDING},
- {"MAV_CMD_STOP_RECORDING", MAV_CMD_STOP_RECORDING}};
+ {"MAV_CMD_STOP_RECORDING", MAV_CMD_STOP_RECORDING},
+ {"MAV_CMD_OPEN_NITROGEN", MAV_CMD_OPEN_NITROGEN},
+ {"MAV_CMD_REGISTRY_LOAD", MAV_CMD_REGISTRY_LOAD},
+ {"MAV_CMD_REGISTRY_SAVE", MAV_CMD_REGISTRY_SAVE},
+ {"MAV_CMD_REGISTRY_CLEAR", MAV_CMD_REGISTRY_CLEAR}};
const QMap<QString, int> servosList{
{"AIR_BRAKES_SERVO", AIR_BRAKES_SERVO},
diff --git a/src/shared/Modules/Mavlink/MavlinkVersionHeader.h b/src/shared/Modules/Mavlink/MavlinkVersionHeader.h
index 421e1ba43a919d0875a8bc4926c257b78272bbb2..69e6e2a675f4538b3547d71e01ff62fd65510fa5 100644
--- a/src/shared/Modules/Mavlink/MavlinkVersionHeader.h
+++ b/src/shared/Modules/Mavlink/MavlinkVersionHeader.h
@@ -23,7 +23,7 @@
#if __GNUC__ >= 9
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
#endif
-#include <mavlink_lib/gemini/mavlink.h>
+#include <mavlink_lib/lyra/mavlink.h>
#pragma GCC diagnostic pop
// static __attribute__((unused)) uint8_t validSysid = 171;
diff --git a/src/shared/Modules/ModuleInfo.h b/src/shared/Modules/ModuleInfo.h
index 08362667df617f1cb72ac8e2710f41e394932826..588ad4bb36ffec5efc7888c9c357514a34529351 100644
--- a/src/shared/Modules/ModuleInfo.h
+++ b/src/shared/Modules/ModuleInfo.h
@@ -32,6 +32,7 @@ enum ModuleId
INCOMING_MESSAGES_VIEWER,
MAIN_STATE_VIEWER,
PAYLOAD_STATE_VIEWER,
+ RIG_STATE_VIEWER,
ORIENTATION_VISUALIZER,
VALVES_VIEWER,
diff --git a/src/shared/Modules/ModulesList.cpp b/src/shared/Modules/ModulesList.cpp
index 1c6928438b48ccd0fc301f1cc6196db25a440432..e6f3edea9689bb602ab4b45095b802218bee0453 100644
--- a/src/shared/Modules/ModulesList.cpp
+++ b/src/shared/Modules/ModulesList.cpp
@@ -32,6 +32,7 @@
#include <Modules/OrientationVisualizer/OrientationVisualizer.h>
#include <Modules/OutgoingMessagesViewer/OutgoingMessagesViewerModule.h>
#include <Modules/PayloadStateViewer/PayloadStateViewer.h>
+#include <Modules/RigStateViewer/RigStateViewer.h>
#include <Modules/Splitter/Splitter.h>
#include <Modules/Tabs/TabsModule.h>
#include <Modules/Test/TestModule.h>
@@ -94,6 +95,13 @@ ModulesList::ModulesList()
[]() { return new PayloadStateViewerModule(); });
modulesInfo.append(payloadStateViewer);
+ ModuleInfo rigStateViewer(ModuleId::RIG_STATE_VIEWER,
+ "Rig State Viewer",
+ ModuleCategory::DATA_VISUALIZATION);
+ rigStateViewer.setFactoryMethod([]()
+ { return new RigStateViewerModule(); });
+ modulesInfo.append(rigStateViewer);
+
ModuleInfo orientationVisualizer(ModuleId::ORIENTATION_VISUALIZER,
"Orientation Visualizer",
ModuleCategory::DATA_VISUALIZATION);
diff --git a/src/shared/Modules/RigStateViewer/RigStateViewer.cpp b/src/shared/Modules/RigStateViewer/RigStateViewer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c1161e11db963e6398a1ebfcbcb20946cc72bd02
--- /dev/null
+++ b/src/shared/Modules/RigStateViewer/RigStateViewer.cpp
@@ -0,0 +1,144 @@
+/*
+ * This file is part of Skyward Hub.
+ *
+ * Skyward Hub is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Skyward Hub is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * Skyward Hub. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "RigStateViewer.h"
+
+#include <Components/FilterSelector/FilterSelector.h>
+#include <Core/MessageBroker/MessageBroker.h>
+
+#include <QAction>
+
+RigStateViewerModule::RigStateViewerModule()
+ : Module(ModuleId::RIG_STATE_VIEWER)
+{
+ setupUi();
+ customContextMenuActionSetup();
+}
+
+RigStateViewerModule::~RigStateViewerModule()
+{
+ MessageBroker::getInstance().unsubscribe(filter, this);
+}
+
+XmlObject RigStateViewerModule::toXmlObject()
+{
+ XmlObject obj = Module::toXmlObject();
+
+ obj.addAttribute("filter", filter.toString());
+
+ return obj;
+}
+
+void RigStateViewerModule::fromXmlObject(const XmlObject& xmlObject)
+{
+ auto filter = Filter::fromString(xmlObject.getAttribute("filter"));
+ setFilter(filter);
+}
+
+void RigStateViewerModule::setupUi()
+{
+ outerLayout = new QHBoxLayout;
+ outerLayout->setContentsMargins(0, 0, 0, 0);
+ outerLayout->setSpacing(0);
+
+ for (auto labelText : RigStatesList::statesLabels)
+ {
+ QLabel* label = new QLabel;
+ label->setText(labelText);
+ label->setAlignment(Qt::AlignCenter);
+ label->setContentsMargins(4, 4, 4, 4);
+ outerLayout->addWidget(label);
+ }
+
+ setLayout(outerLayout);
+}
+
+void RigStateViewerModule::customContextMenuActionSetup()
+{
+ QAction* action = new QAction("Choose topic and field");
+ connect(action, &QAction::triggered, this,
+ &RigStateViewerModule::onConfigureClicked);
+
+ customContextMenuActions.append(action);
+}
+
+void RigStateViewerModule::onConfigureClicked()
+{
+ FilterSelector::selectFilter(
+ filter, [this](const Filter& newFilter) { setFilter(newFilter); });
+}
+
+void RigStateViewerModule::setFilter(const Filter& newFilter)
+{
+ MessageBroker::getInstance().unsubscribe(filter, this);
+ MessageBroker::getInstance().subscribe(
+ newFilter, this,
+ [this](const Message& message, const Filter& filter)
+ { onMsgReceived(message); });
+ filter = newFilter;
+}
+
+void RigStateViewerModule::onMsgReceived(const Message& msg)
+{
+ Field field = msg.getField("gmm_state");
+
+ RigStatesList::State state =
+ static_cast<RigStatesList::State>(field.getUnsignedInteger());
+
+ // Skip invalid and macro states
+ if (state == RigStatesList::State::INVALID ||
+ state == RigStatesList::State::IDLE ||
+ state == RigStatesList::State::FIRING)
+ return;
+
+ if (state != currentState)
+ {
+ currentState = static_cast<RigStatesList::State>(state);
+
+ QString baseStyle =
+ "border-bottom-width:1px;border-left-width:1px;border-top-width:"
+ "1px;border-radius:0;";
+ QString currentStateStyle =
+ "background-color:yellow; color:black;" + baseStyle;
+ QString completedStyle = "background-color:green;" + baseStyle;
+ QString errorStyle = "background-color:red;" + baseStyle;
+
+ int index = RigStatesList::statesIndexes[currentState];
+ auto label = outerLayout->itemAt(index)->widget();
+
+ if (currentState == RigStatesList::State::INIT_ERR)
+ label->setStyleSheet(errorStyle);
+ else
+ label->setStyleSheet(currentStateStyle);
+
+ // Set as completed every state before the current
+ for (int i = index - 1; i >= 0; i--)
+ outerLayout->itemAt(i)->widget()->setStyleSheet(completedStyle);
+
+ // Reset every state after the current
+ for (int i = index + 1; i < RigStatesList::statesLabels.count(); i++)
+ outerLayout->itemAt(i)->widget()->setStyleSheet(baseStyle);
+
+ auto tmp = outerLayout->itemAt(RigStatesList::statesLabels.count() - 1)
+ ->widget()
+ ->styleSheet();
+ outerLayout->itemAt(RigStatesList::statesLabels.count() - 1)
+ ->widget()
+ ->setStyleSheet(tmp + "border-right-width:1px;");
+ }
+}
diff --git a/src/shared/Modules/RigStateViewer/RigStateViewer.h b/src/shared/Modules/RigStateViewer/RigStateViewer.h
new file mode 100644
index 0000000000000000000000000000000000000000..5259d77e89fcfc7f0c710c84366e61c7cb32fb54
--- /dev/null
+++ b/src/shared/Modules/RigStateViewer/RigStateViewer.h
@@ -0,0 +1,53 @@
+/*
+ * This file is part of Skyward Hub.
+ *
+ * Skyward Hub is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Skyward Hub is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * Skyward Hub. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+#include <Core/Message/Filter.h>
+#include <Core/Message/Message.h>
+#include <Core/XmlObject.h>
+#include <Modules/Module.h>
+
+#include <QLabel>
+#include <QWidget>
+
+#include "RigStatesList.h"
+
+class RigStateViewerModule : public Module
+{
+ Q_OBJECT
+
+public:
+ RigStateViewerModule();
+ ~RigStateViewerModule();
+
+ XmlObject toXmlObject() override;
+ void fromXmlObject(const XmlObject& xmlObject) override;
+
+private:
+ void setupUi();
+ void customContextMenuActionSetup();
+ void onConfigureClicked();
+ void setFilter(const Filter& filter);
+ void onMsgReceived(const Message& msg);
+
+ QHBoxLayout* outerLayout;
+
+ Filter filter;
+ RigStatesList::State currentState;
+};
diff --git a/src/shared/Modules/RigStateViewer/RigStatesList.h b/src/shared/Modules/RigStateViewer/RigStatesList.h
new file mode 100644
index 0000000000000000000000000000000000000000..7e496bf22658ef273c1a170cd9232a8ad49ba3e1
--- /dev/null
+++ b/src/shared/Modules/RigStateViewer/RigStatesList.h
@@ -0,0 +1,53 @@
+/*
+ * This file is part of Skyward Hub.
+ *
+ * Skyward Hub is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Skyward Hub is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * Skyward Hub. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+#include <QList>
+#include <QMap>
+#include <QString>
+
+namespace RigStatesList
+{
+
+// Rockets states
+enum class State : int
+{
+ IDLE = 0,
+ INIT,
+ INIT_ERR,
+ DISARMED,
+ ARMED,
+ FIRING,
+ IGNITING,
+ OXIDIZER,
+ COOLING,
+ INVALID,
+};
+
+// Groundstation labels
+static const QList<QString> statesLabels{"INIT", "DISARMED", "ARMED",
+ "IGNITING", "OXIDIZER", "COOLING"};
+
+// Map from rocket states to groundstation labels
+static const QMap<State, int> statesIndexes{
+ {State::IDLE, -1}, {State::INIT, 0}, {State::INIT_ERR, 0},
+ {State::DISARMED, 1}, {State::ARMED, 2}, {State::IGNITING, 3},
+ {State::OXIDIZER, 4}, {State::COOLING, 5}};
+
+} // namespace RigStatesList
\ No newline at end of file
diff --git a/src/shared/Modules/ValvesViewer/ValvesList.h b/src/shared/Modules/ValvesViewer/ValvesList.h
index 16fe15efa5b171177872a611b563822cd316ce9e..be0077cbbbb8f8b74153bd676cef1b2f24baf2c0 100644
--- a/src/shared/Modules/ValvesViewer/ValvesList.h
+++ b/src/shared/Modules/ValvesViewer/ValvesList.h
@@ -32,14 +32,12 @@ enum class Valve : int
RELEASE,
VENTING,
MAIN,
+ NITROGEN,
+ TARS,
};
// Groundstation labels
-static const QList<QString> valvesLabels{
- "FILLING",
- "RELEASE",
- "VENTING",
- "MAIN",
-};
+static const QList<QString> valvesLabels{"FILLING", "RELEASE", "VENTING",
+ "MAIN", "NITROGEN", "TARS"};
} // namespace ValvesList
\ No newline at end of file
diff --git a/src/shared/Modules/ValvesViewer/ValvesViewer.cpp b/src/shared/Modules/ValvesViewer/ValvesViewer.cpp
index 7b68f3a62e82f5d44de0e1281f64f2695f78361c..4889eb8ca9eeb1945bc2347dcb6c5af56c77f5a9 100644
--- a/src/shared/Modules/ValvesViewer/ValvesViewer.cpp
+++ b/src/shared/Modules/ValvesViewer/ValvesViewer.cpp
@@ -101,7 +101,11 @@ void ValvesViewer::onMsgReceived(const Message& msg)
{ValvesList::Valve::RELEASE,
msg.getField("release_valve_state").getUnsignedInteger()},
{ValvesList::Valve::VENTING,
- msg.getField("venting_valve_state").getUnsignedInteger()}};
+ msg.getField("venting_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::NITROGEN,
+ msg.getField("nitrogen_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::TARS,
+ msg.getField("tars_state").getUnsignedInteger()}};
// Define the "active" and the "not active" look
QString baseStyle =