From d2e69df355b55e701b3fe71462ecc8d667cacf15 Mon Sep 17 00:00:00 2001
From: Pos <pierpaolo.mancini@mail.polimi.it>
Date: Wed, 26 May 2021 18:05:15 +0200
Subject: [PATCH] Small fix
---
Modules/CommandPad/commandpadmodule.ui | 75 +++++----
Modules/Mavlink/mavlinkmodule.cpp | 220 ++++++++++++++-----------
Modules/Mavlink/mavlinkmodule.h | 16 +-
Modules/Mavlink/mavlinkmodule.ui | 43 +++--
Modules/Mavlink/mavlinkreader.cpp | 49 +++---
Modules/Mavlink/mavlinkreader.h | 2 +-
Modules/Test/testmodule.cpp | 13 +-
Modules/Test/testmodule.h | 3 +
Modules/Test/testmodule.ui | 52 ++++--
Modules/skywardhubstrings.cpp | 1 +
Modules/skywardhubstrings.h | 2 +-
SkywardHub.pro.user | 2 +-
12 files changed, 282 insertions(+), 196 deletions(-)
diff --git a/Modules/CommandPad/commandpadmodule.ui b/Modules/CommandPad/commandpadmodule.ui
index 081f7101..a46c463e 100644
--- a/Modules/CommandPad/commandpadmodule.ui
+++ b/Modules/CommandPad/commandpadmodule.ui
@@ -13,7 +13,7 @@
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_3" stretch="1,1,0,0,2,2,2,2">
+ <layout class="QVBoxLayout" name="verticalLayout_3" stretch="1,1,0,0,0,2,2,2,2">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
@@ -115,65 +115,60 @@
<item>
<widget class="QGroupBox" name="groupBox_7">
<property name="title">
- <string>Test</string>
+ <string>Deployment</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="0">
- <widget class="QPushButton" name="wiggleDPLServo_button">
- <property name="text">
- <string>WIGGLE DPL SERVO</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QPushButton" name="testBackupCut_button">
+ <widget class="QPushButton" name="resetDPLServo_button">
<property name="text">
- <string>TEST BACKUP CUT</string>
+ <string>RESET DPL SERVO</string>
</property>
</widget>
</item>
<item row="0" column="0">
- <widget class="QPushButton" name="wiggleARBServo_button">
- <property name="text">
- <string>WIGGLE ARB SERVO</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QPushButton" name="testPrimaryCut_button">
+ <widget class="QPushButton" name="wiggleDPLServo_button">
<property name="text">
- <string>TEST PRIMARY CUT</string>
+ <string>WIGGLE DPL SERVO</string>
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QPushButton" name="resetARBServo_button">
+ <item row="0" column="1">
+ <widget class="QPushButton" name="testMode_button">
<property name="text">
- <string>RESET ARB SERVO</string>
+ <string>TEST MODE</string>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QPushButton" name="resetDPLServo_button">
+ <item row="1" column="1">
+ <widget class="QPushButton" name="boardReset_button">
<property name="text">
- <string>RESET DPL SERVO</string>
+ <string>BOARD RESET</string>
</property>
</widget>
</item>
- <item row="3" column="2">
- <widget class="QPushButton" name="boardReset_button">
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_9">
+ <property name="title">
+ <string>Cutter</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_5">
+ <item>
+ <widget class="QPushButton" name="testBackupCut_button">
<property name="text">
- <string>BOARD RESET</string>
+ <string>TEST BACKUP CUT</string>
</property>
</widget>
</item>
- <item row="1" column="2">
- <widget class="QPushButton" name="testMode_button">
+ <item>
+ <widget class="QPushButton" name="testPrimaryCut_button">
<property name="text">
- <string>TEST MODE</string>
+ <string>TEST PRIMARY CUT</string>
</property>
</widget>
</item>
@@ -196,6 +191,20 @@
</property>
</widget>
</item>
+ <item>
+ <widget class="QPushButton" name="resetARBServo_button">
+ <property name="text">
+ <string>RESET ARB SERVO</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="wiggleARBServo_button">
+ <property name="text">
+ <string>WIGGLE ARB SERVO</string>
+ </property>
+ </widget>
+ </item>
<item>
<widget class="QPushButton" name="disableAerobrakes_button">
<property name="text">
@@ -515,7 +524,7 @@
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="title">
- <string>Drogue</string>
+ <string>Flight</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
diff --git a/Modules/Mavlink/mavlinkmodule.cpp b/Modules/Mavlink/mavlinkmodule.cpp
index e09071a9..820e35f4 100644
--- a/Modules/Mavlink/mavlinkmodule.cpp
+++ b/Modules/Mavlink/mavlinkmodule.cpp
@@ -12,18 +12,21 @@ MavlinkModule::MavlinkModule(QWidget *parent) : DefaultModule(parent), ui(new Ui
defaultContextMenuSetup();
initializeSerialPortView();
- buildCentralGraphView();
+// buildCentralGraphView();
connectUiSlots();
qRegisterMetaType<ModuleMessage>();
connect(&mavlinkReader,&MavlinkReader::msgReceived, this, &MavlinkModule::onMsgReceived);
connect(&mavlinkCommandAdapter,&MavlinkCommandAdapter::publishRequested, this, &MavlinkModule::publish);
+ connect(&linkQualityTimer, &QTimer::timeout, this, &MavlinkModule::onLinkQualityTimerTick);
mavlinkCommandAdapter.setSerialPort(&serialPort);
subscribe();
}
MavlinkModule::~MavlinkModule()
{
+ mavlinkReader.stopReading();
delete ui;
+ closePort();
}
QWidget* MavlinkModule::toWidget()
@@ -64,22 +67,29 @@ void MavlinkModule::publish(const ModuleMessage &msg)
getCore()->getModuleMessagesBroker()->publish(msg);
}
-void MavlinkModule::replotAll()
+void MavlinkModule::closePort()
{
- if(ui->groupBox_2->isChecked()){
- if(ui->checkBox_follow->isChecked() && linkGraph != nullptr && !linkGraph->data()->isEmpty()){
- // Center the view to the last sample in the graph
- double lastKey = (linkGraph->data()->constEnd()-1)->key;
- double lastValue = (linkGraph->data()->constEnd()-1)->value;
- double size_x = graphCentralView.xAxis->range().size();
- double size_y = graphCentralView.yAxis->range().size();
- graphCentralView.xAxis->setRange(lastKey, size_x, Qt::AlignmentFlag::AlignCenter);
- graphCentralView.yAxis->setRange(lastValue, size_y, Qt::AlignmentFlag::AlignCenter);
- }
- graphCentralView.replot();
+ if(serialPort.isOpen()){
+ serialPort.close();
}
}
+//void MavlinkModule::replotAll()
+//{
+// if(ui->linkQuality_groupBox->isChecked()){
+// if(ui->checkBox_follow->isChecked() && linkGraph != nullptr && !linkGraph->data()->isEmpty()){
+// // Center the view to the last sample in the graph
+// double lastKey = (linkGraph->data()->constEnd()-1)->key;
+// double lastValue = (linkGraph->data()->constEnd()-1)->value;
+// double size_x = graphCentralView.xAxis->range().size();
+// double size_y = graphCentralView.yAxis->range().size();
+// graphCentralView.xAxis->setRange(lastKey, size_x, Qt::AlignmentFlag::AlignCenter);
+// graphCentralView.yAxis->setRange(lastValue, size_y, Qt::AlignmentFlag::AlignCenter);
+// }
+// graphCentralView.replot();
+// }
+//}
+
void MavlinkModule::initializeSerialPortView()
{
//fill the baud rate combo box
@@ -94,6 +104,7 @@ void MavlinkModule::initializeSerialPortView()
ui->comboBox_baudRate->addItem(baudPrefix + "1200", QSerialPort::Baud1200);
+ bool first = true;
//Check available port
const auto serialPortInfos = QSerialPortInfo::availablePorts();
for (const QSerialPortInfo &serialPortInfo : serialPortInfos) {
@@ -101,59 +112,64 @@ void MavlinkModule::initializeSerialPortView()
// QVariant data = (!serialNumber.isEmpty() ? serialNumber : "N/A");
QVariant data(serialPortInfo.portName());
ui->comboBox_serialPort->addItem(serialPortInfo.portName(), data);
+
+ if(first){
+ ui->lineEdit_serialPort->setText(serialPortInfo.portName());
+ first = false;
+ }
}
}
-void MavlinkModule::buildCentralGraphView()
-{
- ui->graphLayout->addWidget(&graphCentralView);
- linkGraph = graphCentralView.addGraph();
+//void MavlinkModule::buildCentralGraphView()
+//{
+// ui->graphLayout->addWidget(&graphCentralView);
+// linkGraph = graphCentralView.addGraph();
- // Set graph style
- linkGraph->setPen(QPen(Qt::green)); // line color
- linkGraph->setBrush(QBrush(QColor(0, 128, 0, 40))); // first graph will be filled with this color
+// // Set graph style
+// linkGraph->setPen(QPen(Qt::green)); // line color
+// linkGraph->setBrush(QBrush(QColor(0, 128, 0, 40))); // first graph will be filled with this color
- // int maxPackets = ui->spinBox_maxPackets->value();
- // graphCentralView.yAxis->setRange(0, maxPackets);
+// // int maxPackets = ui->spinBox_maxPackets->value();
+// // graphCentralView.yAxis->setRange(0, maxPackets);
- graphCentralView.yAxis2->setVisible(false);
- // graphCentralView.yAxis2->setTicks(true);
- // graphCentralView.yAxis2->setTickLabels(true);
+// graphCentralView.yAxis2->setVisible(false);
+// // graphCentralView.yAxis2->setTicks(true);
+// // graphCentralView.yAxis2->setTickLabels(true);
- //graphCentralView.xAxis2->setVisible(true);
- //textTicker = QSharedPointer<QCPAxisTickerText>(new QCPAxisTickerText());
- //cPlot.xAxis2->setTicker(textTicker);
- //graphCentralView.xAxis2->setTickLabels(true);
+// //graphCentralView.xAxis2->setVisible(true);
+// //textTicker = QSharedPointer<QCPAxisTickerText>(new QCPAxisTickerText());
+// //cPlot.xAxis2->setTicker(textTicker);
+// //graphCentralView.xAxis2->setTickLabels(true);
- QSharedPointer<QCPAxisTickerDateTime> dateTimeTicker(new QCPAxisTickerDateTime);
- graphCentralView.xAxis->setTicker(dateTimeTicker);
- //QDateTime rangeLowerBound = QDateTime::currentDateTime().addDays(-2);
- double now = QDateTime::currentDateTime().toTime_t();
- QDateTime rangeUpperBound = QDateTime::currentDateTime().addDays(+2);
- graphCentralView.xAxis->setRange(now, QCPAxisTickerDateTime::dateTimeToKey(rangeUpperBound));
- dateTimeTicker->setDateTimeFormat(dateFormat);
+// QSharedPointer<QCPAxisTickerDateTime> dateTimeTicker(new QCPAxisTickerDateTime);
+// graphCentralView.xAxis->setTicker(dateTimeTicker);
+// //QDateTime rangeLowerBound = QDateTime::currentDateTime().addDays(-2);
+// double now = QDateTime::currentDateTime().toTime_t();
+// QDateTime rangeUpperBound = QDateTime::currentDateTime().addDays(+2);
+// graphCentralView.xAxis->setRange(now, QCPAxisTickerDateTime::dateTimeToKey(rangeUpperBound));
+// dateTimeTicker->setDateTimeFormat(dateFormat);
- graphCentralView.legend->setVisible(false);
+// graphCentralView.legend->setVisible(false);
- // make left and bottom axes always transfer their ranges to right and top axes:
- connect(graphCentralView.xAxis, SIGNAL(rangeChanged(QCPRange)), graphCentralView.xAxis2, SLOT(setRange(QCPRange)));
- connect(graphCentralView.yAxis, SIGNAL(rangeChanged(QCPRange)), graphCentralView.yAxis2, SLOT(setRange(QCPRange)));
+// // make left and bottom axes always transfer their ranges to right and top axes:
+// connect(graphCentralView.xAxis, SIGNAL(rangeChanged(QCPRange)), graphCentralView.xAxis2, SLOT(setRange(QCPRange)));
+// connect(graphCentralView.yAxis, SIGNAL(rangeChanged(QCPRange)), graphCentralView.yAxis2, SLOT(setRange(QCPRange)));
- // Allow user to drag axis ranges with mouse, zoom with mouse wheel and select graphs by clicking:
- graphCentralView.setInteractions(QCP::iRangeDrag | QCP::iRangeZoom | QCP::iSelectPlottables);
+// // Allow user to drag axis ranges with mouse, zoom with mouse wheel and select graphs by clicking:
+// graphCentralView.setInteractions(QCP::iRangeDrag | QCP::iRangeZoom | QCP::iSelectPlottables);
- // Disable drag and zoom on y axe
- // graphCentralView.axisRects().at(0)->setRangeDrag(Qt::Horizontal);
- // graphCentralView.axisRects().at(0)->setRangeZoom(Qt::Horizontal);
+// // Disable drag and zoom on y axe
+// // graphCentralView.axisRects().at(0)->setRangeDrag(Qt::Horizontal);
+// // graphCentralView.axisRects().at(0)->setRangeZoom(Qt::Horizontal);
- // Enable context menu
- graphCentralView.setContextMenuPolicy(Qt::CustomContextMenu);
- // connect(&graphCentralView,SIGNAL(customContextMenuRequested(QPoint)),this,SLOT(onCustomContextMenuRequested(QPoint)));
- connect(&graphCentralView, &QCustomPlot::customContextMenuRequested, this, &MavlinkModule::onCustomContextMenuRequested);
- //connect(customPlot,SIGNAL(selectionChangedByUser()),this,SLOT(selectedGraphChange()));
-}
+// // Enable context menu
+// graphCentralView.setContextMenuPolicy(Qt::CustomContextMenu);
+// // connect(&graphCentralView,SIGNAL(customContextMenuRequested(QPoint)),this,SLOT(onCustomContextMenuRequested(QPoint)));
+// connect(&graphCentralView, &QCustomPlot::customContextMenuRequested, this, &MavlinkModule::onCustomContextMenuRequested);
+// //connect(customPlot,SIGNAL(selectionChangedByUser()),this,SLOT(selectedGraphChange()));
+//}
void MavlinkModule::onStartClicked()
{
@@ -168,15 +184,73 @@ bool MavlinkModule::startReadingOnSerialPort()
QString portName = ui->lineEdit_serialPort->text().trimmed();
bool ok;
int baudRate = ui->comboBox_baudRate->currentData().toInt(&ok);
- if(ok && portName != ""){
+ if(ok && portName != "" && !serialPort.isOpen()){
QSerialPortInfo port(portName);
serialPort.setPort(port);
serialPort.setBaudRate(baudRate);
+// serialPort.setDataBits(QSerialPort::Data8);
+// serialPort.setParity(QSerialPort::NoParity);
+// serialPort.setStopBits(QSerialPort::TwoStop);
return serialPort.open(QIODevice::ReadWrite);
}
return false;
}
+
+
+void MavlinkModule::onStopClicked()
+{
+ mavlinkReader.stopReading();
+ closePort();
+}
+
+void MavlinkModule::onMsgReceived(const ModuleMessage &msg)
+{
+ msgArrived++;
+ publish(msg);
+}
+
+void MavlinkModule::onLinkQualityIndicatorClicked(bool checked)
+{
+ if(checked && !linkQualityTimer.isActive()){
+ linkQualityTimer.start(linkQualityPeriod);
+ }
+ else if(!checked && linkQualityTimer.isActive()){
+ linkQualityTimer.stop();
+ }
+}
+
+void MavlinkModule::onLinkQualityTimerTick()
+{
+ float ratio = msgArrived/ui->spinBox_maxPackets->value();
+ updateLinkSignalIndicator(msgArrived, ratio);
+ msgArrived = 0;
+}
+
+void MavlinkModule::updateLinkSignalIndicator(int msgArrived, float ratio)
+{
+ ModuleMessage linkQualityMsgNumber(SkywardHubStrings::mavlink_quality_link_topic + "/ReceivedMsgNumber", QString::number(msgArrived));
+ ModuleMessage linkQualityMsgRatio(SkywardHubStrings::mavlink_quality_link_topic + "/ReceivedRatio", QString::number(ratio));
+
+ publish(linkQualityMsgNumber);
+ publish(linkQualityMsgRatio);
+}
+
+void MavlinkModule::connectUiSlots()
+{
+ connect(ui->button_start,&QPushButton::clicked,this, &MavlinkModule::onStartClicked);
+ connect(ui->button_stop,&QPushButton::clicked,this, &MavlinkModule::onStopClicked);
+// connect(ui->spinBox_maxPackets,SIGNAL(valueChanged(int)),this,SLOT(onMaxPackedValueChanged(int)));
+ connect(ui->comboBox_serialPort, SIGNAL(currentIndexChanged(int)), this, SLOT(onSerialPortIndexChanged(int)));
+ connect(ui->linkQuality_groupBox, &QGroupBox::clicked, this, &MavlinkModule::onLinkQualityIndicatorClicked);
+}
+
+void MavlinkModule::onSerialPortIndexChanged(int index)
+{
+ QVariant data = ui->comboBox_serialPort->itemData(index);
+ ui->lineEdit_serialPort->setText(data.toString());
+}
+
void MavlinkModule::onCommandReceived(const ModuleMessage &msg)
{
QString arg = msg.originalTopic().replace(SkywardHubStrings::commandsTopic+"/","");
@@ -383,45 +457,3 @@ void MavlinkModule::onTelemetryRequestReceived(const ModuleMessage &msg)
mavlinkCommandAdapter.send(encoded_mvl_msg);
}
-
-void MavlinkModule::onStopClicked()
-{
- mavlinkReader.close();
-}
-
-void MavlinkModule::onMaxPackedValueChanged(int val)
-{
- graphCentralView.yAxis->setRange(0, val);
- replotAll();
-}
-
-void MavlinkModule::onMsgReceived(const ModuleMessage &msg)
-{
- publish(msg);
-// if(linkGraph != nullptr){
-// double x = 0,y = 0;
-// x = msg.timestamp().toTime_t();
-// bool ok;
-// y = msg.payload().toDouble(&ok);
-// if(ok){
-// linkGraph->addData(x,y);
-// //Da rimuovere per performance
-// replotAll();
-// }
- // }
-}
-
-void MavlinkModule::connectUiSlots()
-{
- connect(ui->button_start,&QPushButton::clicked,this, &MavlinkModule::onStartClicked);
- connect(ui->button_stop,&QPushButton::clicked,this, &MavlinkModule::onStopClicked);
- connect(ui->spinBox_maxPackets,SIGNAL(valueChanged(int)),this,SLOT(onMaxPackedValueChanged(int)));
- connect(ui->comboBox_serialPort, SIGNAL(currentIndexChanged(int)), this, SLOT(onSerialPortIndexChanged(int)));
-}
-
-void MavlinkModule::onSerialPortIndexChanged(int index)
-{
- QVariant data = ui->comboBox_serialPort->itemData(index);
- ui->lineEdit_serialPort->setText(data.toString());
-}
-
diff --git a/Modules/Mavlink/mavlinkmodule.h b/Modules/Mavlink/mavlinkmodule.h
index 80a8820b..8102aa80 100644
--- a/Modules/Mavlink/mavlinkmodule.h
+++ b/Modules/Mavlink/mavlinkmodule.h
@@ -27,7 +27,7 @@ public:
QWidget * toWidget() override;
XmlObject toXmlObject() override;
void fromXmlObject(const XmlObject &xmlObject) override;
- void replotAll();
+// void replotAll();
void onCommandReceived(const ModuleMessage &msg);
void onTelemetryRequestReceived(const ModuleMessage &msg);
@@ -35,18 +35,24 @@ public:
public slots:
void onStartClicked();
void onStopClicked();
- void onMaxPackedValueChanged(int val);
void onMsgReceived(const ModuleMessage &msg);
+ void onLinkQualityIndicatorClicked(bool checked);
+ void onLinkQualityTimerTick();
protected:
void connectUiSlots();
void initializeSerialPortView();
- void buildCentralGraphView();
+// void buildCentralGraphView();
mavlink_message_t parseMavlinkMsg(char *buffer, int readCount);
void subscribe();
void publish(const ModuleMessage &msg);
+ void closePort();
+ void updateLinkSignalIndicator();
+
+ void updateLinkSignalIndicator(int msgArrived, float ratio);
+
private slots:
void onSerialPortIndexChanged(int index);
bool startReadingOnSerialPort();
@@ -62,6 +68,10 @@ private:
MavlinkCommandAdapter mavlinkCommandAdapter;
QSerialPort serialPort;
+ QTimer linkQualityTimer;
+ int linkQualityPeriod = 1000; // [ms]
+ int msgArrived = 0;
+
};
#endif // MAVLINKMODULE_H
diff --git a/Modules/Mavlink/mavlinkmodule.ui b/Modules/Mavlink/mavlinkmodule.ui
index 2a6ca0f7..32df5018 100644
--- a/Modules/Mavlink/mavlinkmodule.ui
+++ b/Modules/Mavlink/mavlinkmodule.ui
@@ -7,13 +7,13 @@
<x>0</x>
<y>0</y>
<width>401</width>
- <height>309</height>
+ <height>541</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1,0">
+ <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1,0,1">
<item>
<widget class="QLabel" name="module_title">
<property name="text">
@@ -25,7 +25,7 @@
</widget>
</item>
<item>
- <widget class="QGroupBox" name="groupBox_2">
+ <widget class="QGroupBox" name="linkQuality_groupBox">
<property name="title">
<string>Link quality</string>
</property>
@@ -38,25 +38,9 @@
<property name="checkable">
<bool>true</bool>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0,1">
+ <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
<item>
- <layout class="QHBoxLayout" name="horizontalLayout_4" stretch="1,0,0,0">
- <item>
- <widget class="QCheckBox" name="checkBox_follow">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Follow</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
+ <layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,0,0">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
@@ -98,8 +82,21 @@
</item>
</layout>
</item>
- <item>
- <layout class="QVBoxLayout" name="graphLayout"/>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string>Setup</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>TextLabel</string>
+ </property>
+ </widget>
</item>
</layout>
</widget>
diff --git a/Modules/Mavlink/mavlinkreader.cpp b/Modules/Mavlink/mavlinkreader.cpp
index 5d3355bb..d908f4bf 100644
--- a/Modules/Mavlink/mavlinkreader.cpp
+++ b/Modules/Mavlink/mavlinkreader.cpp
@@ -3,6 +3,8 @@
#include <QFile>
#include <QTextStream>
+#include "windows.h"
+
MavlinkReader::MavlinkReader()
{
//loadMsgMapping();
@@ -10,21 +12,15 @@ MavlinkReader::MavlinkReader()
MavlinkReader::~MavlinkReader()
{
- close();
-}
-
-void MavlinkReader::close()
-{
- if(serial != nullptr && serial->isOpen() ){
- serial->close();
- }
}
void MavlinkReader::startAsyncReading(QSerialPort *port)
{
+ stop = false;
serial = port;
this->start(); // Chiama run()
+
}
//void MavlinkReader::loadMsgMapping()
@@ -50,20 +46,27 @@ void MavlinkReader::run()
}
}
+void MavlinkReader::stopReading()
+{
+ stop = true;
+}
+
mavlink_message_t MavlinkReader::waitForMavlinkMsg()
{
mavlink_message_t msg;
mavlink_status_t status;
+ int waitingTimeout = 1000;
int numRead = 0;
- char buffer[1];
+
unsigned char byte;
- while (!stop && serial != nullptr) {
- numRead = serial->read(buffer, 1);
+ while (!stop && serial != nullptr && serial->waitForReadyRead(waitingTimeout)) {
+ QByteArray dataRead = serial->readAll();
+ numRead = dataRead.size();
- if(numRead == 1){
- byte = buffer[0];
+ for(int i = 0; i < dataRead.count(); i++){
+ byte = dataRead.at(i);
if(mavlink_parse_char(MAVLINK_COMM_0, byte, &msg, &status)){
// if the parser has found a message, return it
return msg;
@@ -74,15 +77,11 @@ mavlink_message_t MavlinkReader::waitForMavlinkMsg()
//An error occurred
stop = true;
}
-
- if (numRead == 0 && !serial->waitForReadyRead())
- break;
}
return msg;
}
-
QList<ModuleMessage> MavlinkReader::parseMavlinkMsg(mavlink_message_t *msg)
{
if(msg == nullptr)
@@ -130,14 +129,18 @@ QString MavlinkReader::extractFields(mavlink_message_t *msg, const mavlink_field
QList<ModuleMessage> MavlinkReader::translateToGsMessage(mavlink_message_t *msg, const QString &msgName, const QMap<QString,QString> &payloads)
{
QDateTime timestamp;
+ bool timeOK = false;
+ double t;
if(payloads.contains("timestamp")){
- bool ok;
- unsigned long t = payloads["timestamp"].toLong(&ok);
- timestamp.fromTime_t(t);
+ t = payloads["timestamp"].toDouble(&timeOK);
}
- else{
+
+ if(!timeOK){
timestamp = timestamp.currentDateTime();
}
+ else{
+ timestamp.setTime_t(t);
+ }
QList<ModuleMessage> messagesReceived;
@@ -222,7 +225,9 @@ QString MavlinkReader::extractOneField(mavlink_message_t *msg, const mavlink_fie
{
//printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
double val_double = (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4);
- payload = QString::number(val_double);
+ QTextStream out(&payload);
+ out.setRealNumberNotation(QTextStream::FixedNotation);
+ out << val_double;
} break;
case MAVLINK_TYPE_DOUBLE:
diff --git a/Modules/Mavlink/mavlinkreader.h b/Modules/Mavlink/mavlinkreader.h
index 9a43a237..c7085253 100644
--- a/Modules/Mavlink/mavlinkreader.h
+++ b/Modules/Mavlink/mavlinkreader.h
@@ -17,9 +17,9 @@ public:
MavlinkReader();
~MavlinkReader();
- void close();
void startAsyncReading(QSerialPort *port);
QList<ModuleMessage> parseMavlinkMsg(mavlink_message_t *msg);
+ void stopReading();
signals:
//void receivedMsg(const QString &topic,const QString &payload,const QDateTime ×tamp);
diff --git a/Modules/Test/testmodule.cpp b/Modules/Test/testmodule.cpp
index 4bef5de0..5a1969c7 100644
--- a/Modules/Test/testmodule.cpp
+++ b/Modules/Test/testmodule.cpp
@@ -9,6 +9,9 @@ TestModule::TestModule(QWidget *parent) : DefaultModule(parent), ui(new Ui::Test
{
ui->setupUi(this);
defaultContextMenuSetup();
+
+ maxChar = ui->maxChar_spinBox->value();
+ connect(ui->maxChar_spinBox,SIGNAL(valueChanged(int)),this,SLOT(onMaxCharChanged(int)));
}
TestModule::~TestModule()
@@ -45,11 +48,12 @@ void TestModule::on_subscribe_button_clicked()
QString oldText = ui->textArea->toPlainText();
QString line = QDateTime::currentDateTime().toString("hh.mm.ss (zzz): ") + "(Topic) " + msg.originalTopic() + " -> " + msg.payload() + " (payload)";
auto i = msg.getOptions().attributesIterator();
- while(i.hasNext()){
+ while(i.hasNext() && line.count() < maxChar){
i.next();
line = line + ", " + i.value() + " ("+i.key()+")";
}
- ui->textArea->setPlainText(line + '\n' + oldText);
+ QString newText(line + '\n' + oldText);
+ ui->textArea->setPlainText(newText.mid(0, maxChar));
});
}
@@ -57,3 +61,8 @@ void TestModule::on_unsubscribe_button_clicked()
{
getCore()->getModuleMessagesBroker()->unsubscribe(ui->subscribe_lineEdit->text().trimmed(),this);
}
+
+void TestModule::onMaxCharChanged(int value)
+{
+ maxChar = value;
+}
diff --git a/Modules/Test/testmodule.h b/Modules/Test/testmodule.h
index ea7b1149..377f3c4f 100644
--- a/Modules/Test/testmodule.h
+++ b/Modules/Test/testmodule.h
@@ -26,9 +26,12 @@ private slots:
void on_subscribe_button_clicked();
void on_unsubscribe_button_clicked();
+ void onMaxCharChanged(int value);
private:
Ui::TestModule *ui;
+
+ int maxChar = 2000;
};
#endif // TESTMODULE_H
diff --git a/Modules/Test/testmodule.ui b/Modules/Test/testmodule.ui
index df1fad0d..d14ad0ca 100644
--- a/Modules/Test/testmodule.ui
+++ b/Modules/Test/testmodule.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>373</width>
- <height>150</height>
+ <height>163</height>
</rect>
</property>
<property name="sizePolicy">
@@ -75,8 +75,8 @@
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
- <item row="1" column="1">
- <widget class="QLineEdit" name="payload_lineEdit">
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="topic_lineEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -84,33 +84,33 @@
</sizepolicy>
</property>
<property name="text">
- <string>Prova</string>
+ <string>Test/Prova1</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLineEdit" name="topic_lineEdit">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_3">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
- <string>Test/Prova1</string>
+ <string>Topic</string>
</property>
</widget>
</item>
- <item row="1" column="2">
- <widget class="QPushButton" name="publish_button">
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="payload_lineEdit">
<property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
- <string>Publish</string>
+ <string>Prova</string>
</property>
</widget>
</item>
@@ -127,16 +127,36 @@
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_3">
+ <item row="1" column="2">
+ <widget class="QPushButton" name="publish_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
- <string>Topic</string>
+ <string>Publish</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QSpinBox" name="maxChar_spinBox">
+ <property name="maximum">
+ <number>99999</number>
+ </property>
+ <property name="value">
+ <number>2000</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Max char</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
diff --git a/Modules/skywardhubstrings.cpp b/Modules/skywardhubstrings.cpp
index fdc7f72d..7f6e8e63 100644
--- a/Modules/skywardhubstrings.cpp
+++ b/Modules/skywardhubstrings.cpp
@@ -37,6 +37,7 @@ const QString SkywardHubStrings::mavlink_orientation_tc_pitch_name = "pitch";
const QString SkywardHubStrings::mavlink_orientation_tc_roll_name = "roll";
const QString SkywardHubStrings::msgIdField = "id";
const QString SkywardHubStrings::msgSequenceNumberField = "sequenceNumber";
+const QString SkywardHubStrings::mavlink_quality_link_topic = "MavlinkLinkQuality";
SkywardHubStrings::SkywardHubStrings()
diff --git a/Modules/skywardhubstrings.h b/Modules/skywardhubstrings.h
index 89acb851..6d6271ea 100644
--- a/Modules/skywardhubstrings.h
+++ b/Modules/skywardhubstrings.h
@@ -45,7 +45,7 @@ public:
static const QString msgIdField;
static const QString msgSequenceNumberField;
- static const QString mavlink_tester_publish_topic;
+ static const QString mavlink_quality_link_topic;
};
diff --git a/SkywardHub.pro.user b/SkywardHub.pro.user
index 8ba22efb..46b0555c 100644
--- a/SkywardHub.pro.user
+++ b/SkywardHub.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.14.2, 2021-05-25T15:26:01. -->
+<!-- Written by QtCreator 4.14.2, 2021-05-26T12:01:02. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
--
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