diff --git a/Modules/CommandPad/commandpadmodule.h b/Modules/CommandPad/commandpadmodule.h
index 5f8bc580f34053b8dc73eb36355fadfe147f483b..14eb778720ed8f34a66789620b331fbb7d097fa7 100644
--- a/Modules/CommandPad/commandpadmodule.h
+++ b/Modules/CommandPad/commandpadmodule.h
@@ -1,7 +1,7 @@
#ifndef COMMANDPADMODULE_H
#define COMMANDPADMODULE_H
-#include "Core/modulemessage.h"
+#include "Core/Message/modulemessage.h"
#include "Modules/DefaultModule/defaultmodule.h"
namespace Ui {
@@ -12,19 +12,19 @@ class CommandPadModule : public DefaultModule {
Q_OBJECT
public:
- explicit CommandPadModule(QWidget *parent = nullptr);
+ explicit CommandPadModule(QWidget* parent = nullptr);
~CommandPadModule();
QWidget* toWidget() override;
XmlObject toXmlObject() override;
- void fromXmlObject(const XmlObject &xmlObject) override;
+ void fromXmlObject(const XmlObject& xmlObject) override;
protected:
void buildUI();
- ModuleMessage createCommandMsg(const QString &msgKey) const;
- ModuleMessage createCommandMsgWithPayload(const QString &msgKey, const QString &payload) const;
- ModuleMessage createRawEventMsg(const QString &msgKey, int event_id, int topic_id) const;
- void send(const ModuleMessage &msg);
+ ModuleMessage createCommandMsg(const QString& msgKey) const;
+ ModuleMessage createCommandMsgWithPayload(const QString& msgKey, const QString& payload) const;
+ ModuleMessage createRawEventMsg(const QString& msgKey, int event_id, int topic_id) const;
+ void send(const ModuleMessage& msg);
void onStartLogClicked();
void onCloseLogClicked();
@@ -60,7 +60,7 @@ class CommandPadModule : public DefaultModule {
void onStopTelemetryClicked();
private:
- Ui::CommandPadModule *ui;
+ Ui::CommandPadModule* ui;
};
#endif // COMMANDPADMODULE_H
diff --git a/Modules/Mavlink/mavlinkreader.cpp b/Modules/Mavlink/mavlinkreader.cpp
index 3cb6147c0b1a77e5a30d336e7ab2e705dc798ea3..070bd61801a4ac790350d645cf0a23a0b3c6c514 100644
--- a/Modules/Mavlink/mavlinkreader.cpp
+++ b/Modules/Mavlink/mavlinkreader.cpp
@@ -41,7 +41,7 @@ void MavlinkReader::onReadyRead() {
auto bytes = serialPort->readAll();
for(auto it = bytes.begin(); it != bytes.end(); ++it) {
if(mavlink_parse_char(MAVLINK_COMM_0, *it, &decodedMessage, &mavlinkStatus)) {
- parseMavlinkMsg(decodedMessage);
+ emit messageReceived(generateModuleMessage(decodedMessage));
}
}
@@ -54,41 +54,18 @@ void MavlinkReader::setSerialPort(QSerialPort* port) {
serialPort = port;
}
-QList<ModuleMessage> MavlinkReader::parseMavlinkMsg(const mavlink_message_t& msg) {
+ModuleMessage MavlinkReader::generateModuleMessage(const mavlink_message_t& msg) {
const mavlink_message_info_t& info = getMessageFormat(msg.msgid);
- QMap<QString, QString> fields;
+ QMap<QString, MessageField> fields;
for (unsigned i = 0; i < info.num_fields; i++) {
- QString payload = decodeField(msg, info.fields[i]);
- fields[QString(info.fields[i].name)] = payload;
+ fields[QString(info.fields[i].name)] = decodeField(msg, info.fields[i]);
}
- QString msgName = QString(info.name);
- return translateToGsMessage(msgName, fields);
-}
-
-QList<ModuleMessage> MavlinkReader::translateToGsMessage(const QString& msgName, const QMap<QString, QString>& payloads) {
- QTime timestamp(0, 0, 0, 0);
- bool timeOK = false;
- double t;
-
- if(payloads.contains("timestamp")) {
- t = payloads["timestamp"].toDouble(&timeOK);
- }
-
- if(timeOK) {
- timestamp = timestamp.addMSecs(t);
- }
-
- QList<ModuleMessage> messagesReceived;
-
- for(auto it = payloads.keyBegin(); it != payloads.keyEnd(); ++it) {
- QString topic = SkywardHubStrings::mavlink_received_msg_topic + "/" + msgName + "/" + *it;
- ModuleMessage msg(topic, payloads[*it], timestamp);
- emit msgReceived(msg);
- messagesReceived.append(msg);
- }
- return messagesReceived;
+ ModuleMessage output;
+ output.setTopic(SkywardHubStrings::mavlink_received_msg_topic + "/" + info.name);
+ output.setFields(std::move(fields));
+ return output;
}
void MavlinkReader::closeLog() {
@@ -129,78 +106,61 @@ void MavlinkReader::setLogFilePath() {
logFilePath = proposedFilePath + fileNumber + extension;
}
-QString MavlinkReader::decodeField(const mavlink_message_t& msg, const mavlink_field_info_t& field) {
- QString payload;
-
+MessageField MavlinkReader::decodeField(const mavlink_message_t& msg, const mavlink_field_info_t& field) {
if (field.array_length == 0) {
- payload.append(decodeSubField(msg, field, 0));
+ return decodeArrayElement(msg, field, 0);
} else {
if (field.type == MAVLINK_TYPE_CHAR) {
- payload.append(QString((const char*)_MAV_PAYLOAD(&msg)));
+ return MessageField(QString((const char*)_MAV_PAYLOAD(&msg)));
} else {
+ QList<MessageField> array;
+ array.reserve(field.array_length);
for (unsigned i = 0; i < field.array_length; i++) {
- payload.append(decodeSubField(msg, field, i));
+ array.append(decodeArrayElement(msg, field, i));
}
+ return MessageField(std::move(array));
}
}
-
- return payload;
}
-QString MavlinkReader::decodeSubField(const mavlink_message_t& msg, const mavlink_field_info_t& field, int idx) {
- QString payload = "";
-
+MessageField MavlinkReader::decodeArrayElement(const mavlink_message_t& msg, const mavlink_field_info_t& field, int idx) {
switch (field.type) {
case MAVLINK_TYPE_CHAR: {
- char val_char = _MAV_RETURN_char(&msg, field.wire_offset + idx * 1);
- return QString(val_char);
+ return MessageField(_MAV_RETURN_char(&msg, field.wire_offset + idx * 1));
}
case MAVLINK_TYPE_UINT8_T: {
- uint8_t val_uint8 = _MAV_RETURN_uint8_t(&msg, field.wire_offset + idx * 1);
- return QString::number(val_uint8);
+ return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint8_t(&msg, field.wire_offset + idx * 1)));
}
case MAVLINK_TYPE_INT8_T: {
- int8_t val_int8 = _MAV_RETURN_int8_t(&msg, field.wire_offset + idx * 1);
- return QString::number(val_int8);
+ return MessageField(static_cast<int64_t>(_MAV_RETURN_int8_t(&msg, field.wire_offset + idx * 1)));
}
case MAVLINK_TYPE_UINT16_T: {
- uint16_t val_uint16 = _MAV_RETURN_uint16_t(&msg, field.wire_offset + idx * 2);
- return QString::number(val_uint16);
+ return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint16_t(&msg, field.wire_offset + idx * 2)));
}
case MAVLINK_TYPE_INT16_T: {
- int16_t val_int16 = _MAV_RETURN_int16_t(&msg, field.wire_offset + idx * 2);
- return QString::number(val_int16);
+ return MessageField(static_cast<int64_t>(_MAV_RETURN_int16_t(&msg, field.wire_offset + idx * 2)));
}
case MAVLINK_TYPE_UINT32_T: {
- unsigned long val_uint32 = (unsigned long)_MAV_RETURN_uint32_t(&msg, field.wire_offset + idx * 4);
- return QString::number(val_uint32);
+ return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint32_t(&msg, field.wire_offset + idx * 4)));
}
case MAVLINK_TYPE_INT32_T: {
- long val_int32 = (long)_MAV_RETURN_int32_t(&msg, field.wire_offset + idx * 4);
- return QString::number(val_int32);
+ return MessageField(static_cast<int64_t>(_MAV_RETURN_int32_t(&msg, field.wire_offset + idx * 4)));
}
case MAVLINK_TYPE_UINT64_T: {
- unsigned long long val_uint64 = (unsigned long long)_MAV_RETURN_uint64_t(&msg, field.wire_offset + idx * 8);
- return QString::number(val_uint64);
+ return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint64_t(&msg, field.wire_offset + idx * 8)));
}
case MAVLINK_TYPE_INT64_T: {
- long long val_int64 = (long long)_MAV_RETURN_int64_t(&msg, field.wire_offset + idx * 8);
- return QString::number(val_int64);
+ return MessageField(static_cast<int64_t>(_MAV_RETURN_int64_t(&msg, field.wire_offset + idx * 8)));
}
case MAVLINK_TYPE_FLOAT: {
- double val_double = (double)_MAV_RETURN_float(&msg, field.wire_offset + idx * 4);
- QString out;
- QTextStream stream(&out);
- stream.setRealNumberNotation(QTextStream::FixedNotation);
- stream << val_double;
- return out;
+ return MessageField(static_cast<double>(_MAV_RETURN_float(&msg, field.wire_offset + idx * 4)));
}
case MAVLINK_TYPE_DOUBLE: {
- double val_double2 = _MAV_RETURN_double(&msg, field.wire_offset + idx * 8);
- return QString::number(val_double2);
+ return MessageField(static_cast<double>(_MAV_RETURN_double(&msg, field.wire_offset + idx * 8)));
}
default: {
- return "<unsupported>";
+ // Unsupported: return EMPTY
+ return MessageField();
}
}
}
diff --git a/Modules/Mavlink/mavlinkreader.h b/Modules/Mavlink/mavlinkreader.h
index 942d29c3d737b6f4189f7a72ecca9c7e49092f18..ca53265932ed842f142bbd8c3977242f0afa36e6 100644
--- a/Modules/Mavlink/mavlinkreader.h
+++ b/Modules/Mavlink/mavlinkreader.h
@@ -7,7 +7,7 @@
#include "Core/xmlobject.h"
#include "mavlinkversionheader.h"
-#include "Core/modulemessage.h"
+#include "Core/Message/modulemessage.h"
#include <QFile>
@@ -20,7 +20,7 @@ class MavlinkReader : public QObject {
void startReading();
void stopReading();
- QList<ModuleMessage> parseMavlinkMsg(const mavlink_message_t& msg);
+ ModuleMessage generateModuleMessage(const mavlink_message_t& msg);
void setSerialPort(QSerialPort* port);
void closeLog();
@@ -29,27 +29,25 @@ class MavlinkReader : public QObject {
static const mavlink_message_info_t& getMessageFormat(uint8_t messageId);
signals:
- void msgReceived(const ModuleMessage &msg);
+ void messageReceived(const ModuleMessage& msg);
private slots:
void onReadyRead();
protected:
/* convert a field of any type to a string */
- QString decodeField(const mavlink_message_t& msg, const mavlink_field_info_t& field);
+ MessageField decodeField(const mavlink_message_t& msg, const mavlink_field_info_t& field);
/* if field is an array, decode every element in the array */
- QString decodeSubField(const mavlink_message_t& msg, const mavlink_field_info_t& field, int idx);
+ MessageField decodeArrayElement(const mavlink_message_t& msg, const mavlink_field_info_t& field, int idx);
void setLogFilePath();
- QList<ModuleMessage> translateToGsMessage(const QString &msgName, const QMap<QString, QString> &payloads);
-
private:
mavlink_message_t decodedMessage;
mavlink_status_t mavlinkStatus;
- QSerialPort *serialPort = nullptr;
+ QSerialPort* serialPort = nullptr;
QString logFilePath = "";
QFile logFile;
diff --git a/SkywardHub.pro b/SkywardHub.pro
index fd9fdeb3e61d244659fbb003b8c868c90eac9276..f91b30015b7e153f15be9567f13fa46402606d93 100644
--- a/SkywardHub.pro
+++ b/SkywardHub.pro
@@ -20,6 +20,7 @@ SOURCES += \
Core/Message/messagefield.cpp \
Core/Message/modulemessage.cpp \
Core/Message/topic.cpp \
+ Core/Message/topicfilter.cpp \
Core/module.cpp \
Core/moduleeventshandler.cpp \
Core/modulemessagesbroker.cpp \
@@ -78,6 +79,7 @@ HEADERS += \
Core/Message/messagefield.h \
Core/Message/modulemessage.h \
Core/Message/topic.h \
+ Core/Message/topicfilter.h \
Core/Messages/messagefield.h \
Core/Messages/modulemessage.h \
Core/Messages/topic.h \