目录
前言
上篇讲解了该文件夹下的5个类来处理日志下载，日志解析，图像标注的工作。本篇我们来看mavlink开头的两个类。看下他们是干什么。首先要了解下mavlink，其实也是一种数据协议，有协议头，消息体组成，我之前已经预习过了，不了解这个协议的朋友应该先去做一个大致了解，非常重要。下面开始介绍代码。
一.MAVLinkInspectorController
这个类篇幅很长，读起来也很吃力，因为没有实际设备能对比界面来理解，所以我只能先讲下我的个人理解。分析头文件，里面有多个类，第一个类是QGCMAVLinkMessageField，我认为这个类应该是mavlink消息的字段，字段也是字面理解，我觉得理解成一个mavlink的消息项目更准确些，该字段有名称，标签，类型，数值，能否选择 图表下标 图像等属性，所以我认为这个类标所代表的mavlink字段应该能标识常规数据类型以及图表类型。
第二个类是QGCMAVLinkMessage，我认为这指代一个mavlink消息，该类中有一个list属性存储QGCMAVLinkMessageField，也就是说消息中包含消息字段，这样理解感觉就通顺了些，除了这个属性，该类还有di，cid，名称，频率，数量，消息中的字段是否被选中，该消息是否选中等这些属性。
第三个类是QGCMAVLinkSystem，通过后边的分析我认为这个类对应的是vehicle，后边会看到通过vehicle的id获取system的操作，于是该类应该是指代vehivle的mavlink消息系统。该类除了id属性，还有一个list来存储第二个类QGCMAVLinkMessage，还有一个list存储compid，同样有是否被选中的属性。
第四个类是MAVLinkChartController，该类应该是专为图表而生，其中的属性和操作也大都是更新图表和图像操作。
第五个类是MAVLinkInspectorController，该类为最后的界面展示提供逻辑，其中有list来存储QGCMAVLinkSystem还有list存储MAVLinkChartController，还提供了一些系统和图表发生变化时的相应方法。
下面我们来看代码，代码篇幅较长。
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @brief MAVLink message inspector and charting controller
/// MAVLink消息检查器和制图控制器
/// @author Gus Grubba <gus@auterion.com>
#pragma once
#include "MAVLinkProtocol.h"
#include "Vehicle.h"
#include <QObject>
#include <QString>
#include <QDebug>
#include <QVariantList>
#include <QtCharts/QAbstractSeries>
//为MAVLinkInspectorLog创建方法
Q_DECLARE_LOGGING_CATEGORY(MAVLinkInspectorLog)
//qchart画图必须要写的
QT_CHARTS_USE_NAMESPACE
//一些类的提前声明，这样可以避免在头文件中include 从而避免头文件的之间的交叉引用
class QGCMAVLinkMessage;
class QGCMAVLinkSystem;
class MAVLinkChartController;
class MAVLinkInspectorController;
//-----------------------------------------------------------------------------
/// MAVLink message field
/// MAVLink消息的字段
class QGCMAVLinkMessageField : public QObject {
Q_OBJECT
public:
Q_PROPERTY(QString name READ name CONSTANT) //名称
Q_PROPERTY(QString label READ label CONSTANT) //标签
Q_PROPERTY(QString type READ type CONSTANT) //类型
Q_PROPERTY(QString value READ value NOTIFY valueChanged) //数值
Q_PROPERTY(bool selectable READ selectable NOTIFY selectableChanged) //可选性
Q_PROPERTY(int chartIndex READ chartIndex CONSTANT) //图的下标
Q_PROPERTY(QAbstractSeries* series READ series NOTIFY seriesChanged) //图像区域
QGCMAVLinkMessageField(QGCMAVLinkMessage* parent, QString name, QString type);
QString name () { return _name; }
QString label ();
QString type () { return _type; }
QString value () { return _value; }
bool selectable () const{ return _selectable; }
bool selected () { return _pSeries != nullptr; } //选择与否
QAbstractSeries*series () { return _pSeries; }
QList<QPointF>* values () { return &_values;}
qreal rangeMin () const{ return _rangeMin; }
qreal rangeMax () const{ return _rangeMax; }
int chartIndex ();
void setSelectable (bool sel);
void updateValue (QString newValue, qreal v);
void addSeries (MAVLinkChartController* chart, QAbstractSeries* series);
void delSeries ();
void updateSeries ();
signals:
void seriesChanged ();
void selectableChanged ();
void valueChanged ();
private:
QString _type;
QString _name;
QString _value;
bool _selectable = true;
int _dataIndex = 0;
qreal _rangeMin = 0;
qreal _rangeMax = 0;
QAbstractSeries* _pSeries = nullptr;
QGCMAVLinkMessage* _msg = nullptr;
MAVLinkChartController* _chart = nullptr;
QList<QPointF> _values;
};
//-----------------------------------------------------------------------------
/// MAVLink message
class QGCMAVLinkMessage : public QObject {
Q_OBJECT
public:
Q_PROPERTY(quint32 id READ id CONSTANT) //id
Q_PROPERTY(quint32 cid READ cid CONSTANT) //cid 二级id？
Q_PROPERTY(QString name READ name CONSTANT) //名称
Q_PROPERTY(qreal messageHz READ messageHz NOTIFY freqChanged) //消息频率
Q_PROPERTY(quint64 count READ count NOTIFY countChanged) //数量
Q_PROPERTY(QmlObjectListModel* fields READ fields CONSTANT) //字段列表
Q_PROPERTY(bool fieldSelected READ fieldSelected NOTIFY fieldSelectedChanged) //字段是否被选择
Q_PROPERTY(bool selected READ selected NOTIFY selectedChanged) //是否被选择
QGCMAVLinkMessage (QObject* parent, mavlink_message_t* message);
~QGCMAVLinkMessage ();
quint32 id () const{ return _message.msgid; }
quint8 cid () const{ return _message.compid; }
QString name () { return _name; }
qreal messageHz () const{ return _messageHz; }
quint64 count () const{ return _count; }
quint64 lastCount () const{ return _lastCount; }
QmlObjectListModel* fields () { return &_fields; }
bool fieldSelected () const{ return _fieldSelected; }
bool selected () const{ return _selected; }
void updateFieldSelection();
void update (mavlink_message_t* message);
void updateFreq ();
void setSelected (bool sel);
signals:
void countChanged ();
void freqChanged ();
void fieldSelectedChanged ();
void selectedChanged ();
private:
void _updateFields(void);
QmlObjectListModel _fields;
QString _name;
qreal _messageHz = 0.0;
uint64_t _count = 1;
uint64_t _lastCount = 0;
mavlink_message_t _message;
bool _fieldSelected = false;
bool _selected = false;
};
//-----------------------------------------------------------------------------
/// Vehicle MAVLink message belongs to
/// 设备的MAVLink消息属于此
class QGCMAVLinkSystem : public QObject {
Q_OBJECT
public:
Q_PROPERTY(quint8 id READ id CONSTANT) //id
Q_PROPERTY(QmlObjectListModel* messages READ messages CONSTANT) //消息
Q_PROPERTY(QList<int> compIDs READ compIDs NOTIFY compIDsChanged) //列表存储compIDs 还不清楚什么意思
Q_PROPERTY(QStringList compIDsStr READ compIDsStr NOTIFY compIDsChanged) //字符串列表
Q_PROPERTY(int selected READ selected WRITE setSelected NOTIFY selectedChanged) //是否被选中
QGCMAVLinkSystem (QObject* parent, quint8 id);
~QGCMAVLinkSystem ();
quint8 id () const{ return _id; }
QmlObjectListModel* messages () { return &_messages; }
QList<int> compIDs () { return _compIDs; }
QStringList compIDsStr () { return _compIDsStr; }
int selected () const{ return _selected; }
void setSelected (int sel);
QGCMAVLinkMessage* findMessage (uint32_t id, uint8_t cid); //查找消息
int findMessage (QGCMAVLinkMessage* message); //查找消息
void append (QGCMAVLinkMessage* message); //添加消息
signals:
void compIDsChanged ();
void selectedChanged ();
private:
void _checkCompID (QGCMAVLinkMessage *message);
void _resetSelection ();
private:
quint8 _id;
QList<int> _compIDs;
QStringList _compIDsStr;
QmlObjectListModel _messages; //-- List of QGCMAVLinkMessage
int _selected = 0;
};
//-----------------------------------------------------------------------------
/// MAVLink message charting controller
/// MAVLink消息图表控制器
class MAVLinkChartController : public QObject {
Q_OBJECT
public:
MAVLinkChartController(MAVLinkInspectorController* parent, int index);
Q_PROPERTY(QVariantList chartFields READ chartFields NOTIFY chartFieldsChanged) //图表列表
Q_PROPERTY(QDateTime rangeXMin READ rangeXMin NOTIFY rangeXMinChanged) //x轴范围
Q_PROPERTY(QDateTime rangeXMax READ rangeXMax NOTIFY rangeXMaxChanged)
Q_PROPERTY(qreal rangeYMin READ rangeYMin NOTIFY rangeYMinChanged) //y轴范围
Q_PROPERTY(qreal rangeYMax READ rangeYMax NOTIFY rangeYMaxChanged)
Q_PROPERTY(int chartIndex READ chartIndex CONSTANT) //图像下标
Q_PROPERTY(quint32 rangeYIndex READ rangeYIndex WRITE setRangeYIndex NOTIFY rangeYIndexChanged)
Q_PROPERTY(quint32 rangeXIndex READ rangeXIndex WRITE setRangeXIndex NOTIFY rangeXIndexChanged)
Q_INVOKABLE void addSeries (QGCMAVLinkMessageField* field, QAbstractSeries* series); //添加图
Q_INVOKABLE void delSeries (QGCMAVLinkMessageField* field); //删除图
Q_INVOKABLE MAVLinkInspectorController* controller() { return _controller; }
QVariantList chartFields () { return _chartFields; }
QDateTime rangeXMin () { return _rangeXMin; }
QDateTime rangeXMax () { return _rangeXMax; }
qreal rangeYMin () const{ return _rangeYMin; }
qreal rangeYMax () const{ return _rangeYMax; }
quint32 rangeXIndex () const{ return _rangeXIndex; }
quint32 rangeYIndex () const{ return _rangeYIndex; }
int chartIndex () const{ return _index; }
void setRangeXIndex (quint32 t);
void setRangeYIndex (quint32 r);
void updateXRange ();
void updateYRange ();
signals:
void chartFieldsChanged ();
void rangeXMinChanged ();
void rangeXMaxChanged ();
void rangeYMinChanged ();
void rangeYMaxChanged ();
void rangeYIndexChanged ();
void rangeXIndexChanged ();
private slots:
void _refreshSeries ();
private:
QTimer _updateSeriesTimer;
QDateTime _rangeXMin;
QDateTime _rangeXMax;
int _index = 0;
qreal _rangeYMin = 0;
qreal _rangeYMax = 1;
quint32 _rangeXIndex = 0; ///< 5 Seconds
quint32 _rangeYIndex = 0; ///< Auto Range
QVariantList _chartFields;
MAVLinkInspectorController* _controller = nullptr;
};
//-----------------------------------------------------------------------------
/// MAVLink message inspector controller (provides the logic for UI display)
/// MAVLink消息检查器控制器(为UI显示提供逻辑)
class MAVLinkInspectorController : public QObject
{
Q_OBJECT
public:
MAVLinkInspectorController();
~MAVLinkInspectorController();
Q_PROPERTY(QStringList systemNames READ systemNames NOTIFY systemsChanged) //系统名称
Q_PROPERTY(QmlObjectListModel* systems READ systems NOTIFY systemsChanged) //系统列表
Q_PROPERTY(QmlObjectListModel* charts READ charts NOTIFY chartsChanged) //图表列表
Q_PROPERTY(QGCMAVLinkSystem* activeSystem READ activeSystem NOTIFY activeSystemChanged) //mavlink系统
Q_PROPERTY(QStringList timeScales READ timeScales NOTIFY timeScalesChanged) //时间序列
Q_PROPERTY(QStringList rangeList READ rangeList NOTIFY rangeListChanged) //范围序列
Q_INVOKABLE MAVLinkChartController* createChart (); //创建图表
Q_INVOKABLE void deleteChart (MAVLinkChartController* chart); //删除图表
Q_INVOKABLE void setActiveSystem (int systemId); //设置系统激活
QmlObjectListModel* systems () { return &_systems; } //系统列表
QmlObjectListModel* charts () { return &_charts; } //图表列表
QGCMAVLinkSystem* activeSystem() { return _activeSystem; } //激活的系统
QStringList systemNames () { return _systemNames; } //系统名称
QStringList timeScales ();
QStringList rangeList ();
class TimeScale_st : public QObject {
public:
TimeScale_st(QObject* parent, const QString& l, uint32_t t);
QString label;
uint32_t timeScale;
};
class Range_st : public QObject {
public:
Range_st(QObject* parent, const QString& l, qreal r);
QString label;
qreal range;
};
const QList<TimeScale_st*>& timeScaleSt () { return _timeScaleSt; }
const QList<Range_st*>& rangeSt () { return _rangeSt; }
signals:
void systemsChanged ();
void chartsChanged ();
void activeSystemChanged();
void timeScalesChanged ();
void rangeListChanged ();
private slots:
void _receiveMessage (LinkInterface* link, mavlink_message_t message);
void _vehicleAdded (Vehicle* vehicle);
void _vehicleRemoved (Vehicle* vehicle);
void _setActiveVehicle (Vehicle* vehicle);
void _refreshFrequency ();
private:
QGCMAVLinkSystem* _findVehicle (uint8_t id);
private:
int _selectedSystemID = 0; ///< Currently selected system 当前选择的系统
int _selectedComponentID = 0; ///< Currently selected component 当前选择的组件
QStringList _timeScales;
QStringList _rangeList;
QGCMAVLinkSystem* _activeSystem = nullptr;
QTimer _updateFrequencyTimer;
QStringList _systemNames;
QmlObjectListModel _systems; ///< List of QGCMAVLinkSystem
QmlObjectListModel _charts; ///< List of MAVLinkCharts
QList<TimeScale_st*>_timeScaleSt;
QList<Range_st*> _rangeSt;
};
cc文件
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "MAVLinkInspectorController.h"
#include "QGCApplication.h"
#include "MultiVehicleManager.h"
#include <QtCharts/QLineSeries>
QGC_LOGGING_CATEGORY(MAVLinkInspectorLog, "MAVLinkInspectorLog")
QT_CHARTS_USE_NAMESPACE
Q_DECLARE_METATYPE(QAbstractSeries*)
#define UPDATE_FREQUENCY (1000 / 15) // 15Hz
//-----------------------------------------------------------------------------
QGCMAVLinkMessageField::QGCMAVLinkMessageField(QGCMAVLinkMessage *parent, QString name, QString type)
: QObject(parent)
, _type(type)
, _name(name)
, _msg(parent)
{
qCDebug(MAVLinkInspectorLog) << "Field:" << name << type;
}
//-----------------------------------------------------------------------------
//添加图表
void QGCMAVLinkMessageField::addSeries(MAVLinkChartController* chart, QAbstractSeries* series)
{
if(!_pSeries) {
_chart = chart;
_pSeries = series;
emit seriesChanged();
_dataIndex = 0;
_msg->updateFieldSelection();
}
}
//-----------------------------------------------------------------------------
//删除图表
void QGCMAVLinkMessageField::delSeries()
{
if(_pSeries) {
_values.clear();
QLineSeries* lineSeries = static_cast<QLineSeries*>(_pSeries);
lineSeries->replace(_values);
_pSeries = nullptr;
_chart = nullptr;
emit seriesChanged();
_msg->updateFieldSelection();
}
}
//-----------------------------------------------------------------------------
QString QGCMAVLinkMessageField::label()
{
//-- Label is message name + field name
return QString(_msg->name() + ": " + _name);
}
//-----------------------------------------------------------------------------
void
QGCMAVLinkMessageField::setSelectable(bool sel)
{
if(_selectable != sel) {
_selectable = sel;
emit selectableChanged();
}
}
//-----------------------------------------------------------------------------
int
QGCMAVLinkMessageField::chartIndex()
{
if(_chart)
return _chart->chartIndex();
return 0;
}
//-----------------------------------------------------------------------------
void QGCMAVLinkMessageField::updateValue(QString newValue, qreal v)
{
if(_value != newValue) {
_value = newValue;
emit valueChanged();
}
if(_pSeries && _chart) {
int count = _values.count();
//-- Arbitrary limit of 1 minute of data at 50Hz for now 目前在50Hz下任意限制1分钟的数据
// 设置点的坐标横轴是时间毫秒纵轴是v，如果_dataindex超过count了则从头开始更新
if(count < (50 * 60)) {
QPointF p(QGC::bootTimeMilliseconds(), v);
_values.append(p);
} else {
if(_dataIndex >= count) _dataIndex = 0;
_values[_dataIndex].setX(QGC::bootTimeMilliseconds());
_values[_dataIndex].setY(v);
_dataIndex++;
}
//-- Auto Range
if(_chart->rangeYIndex() == 0) {
qreal vmin = std::numeric_limits<qreal>::max();
qreal vmax = std::numeric_limits<qreal>::min();
//找到_values中y的最大值最小值
for(int i = 0; i < _values.count(); i++) {
qreal v = _values[i].y();
if(vmax < v) vmax = v;
if(vmin > v) vmin = v;
}
bool changed = false;
//设置_rangeMin和_rangeMax
if(std::abs(_rangeMin - vmin) > 0.000001) {
_rangeMin = vmin;
changed = true;
}
if(std::abs(_rangeMax - vmax) > 0.000001) {
_rangeMax = vmax;
changed = true;
}
if(changed) {
//如果范围有变化就更新y的范围
_chart->updateYRange();
}
}
}
}
//-----------------------------------------------------------------------------
void QGCMAVLinkMessageField::updateSeries()
{
int count = _values.count();
if (count > 1) {
QList<QPointF> s;
//申请count大小的空间
s.reserve(count);
int idx = _dataIndex;
//将_values的值复制给s从_dataIndex开始，如果到末尾了则从0开始复制
for(int i = 0; i < count; i++, idx++) {
if(idx >= count) idx = 0;
QPointF p(_values[idx]);
s.append(p);
}
//交给图表替换数据
QLineSeries* lineSeries = static_cast<QLineSeries*>(_pSeries);
lineSeries->replace(s);
}
}
//-----------------------------------------------------------------------------
/**
MAVPACKED(
typedef struct __mavlink_message {
uint16_t checksum; ///< sent at end of packet 在数据包结束时发送
uint8_t magic; ///< protocol magic marker 协议magic标记
uint8_t len; ///< Length of payload 有效载荷
uint8_t incompat_flags; ///< flags that must be understood 不兼容的标记
uint8_t compat_flags; ///< flags that can be ignored if not understood 兼容的标记
uint8_t seq; ///< Sequence of packet //包序列
uint8_t sysid; ///< ID of message sender system/aircraft 发送系统ID /飞机ID
uint8_t compid; ///< ID of the message sender component 消息发送方组件的ID
uint32_t msgid:24; ///< ID of message in payload 有效负载中的消息ID
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
uint8_t ck[2]; ///< incoming checksum bytes 输入的校验和字节
uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN]; 签名
}) mavlink_message_t;
note that in this structure the order of fields is the order 注意，在这个结构中，字段的顺序就是xml中的顺序 线序不是必须的
in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
uint32_t msgid; // message ID 消息id
const char *name; // name of the message 消息名称
unsigned num_fields; // how many fields in this message 消息中有多少字段
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information 字段信息
} mavlink_message_info_t;
*/
QGCMAVLinkMessage::QGCMAVLinkMessage(QObject *parent, mavlink_message_t* message)
: QObject(parent)
{
//消息赋值
_message = *message;
//通过message得到mavlink_message_info_t
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(message);
if (!msgInfo) {
qCWarning(MAVLinkInspectorLog) << QStringLiteral("QGCMAVLinkMessage NULL msgInfo msgid(%1)").arg(message->msgid);
return;
}
_name = QString(msgInfo->name);
//新的mavlink消息
qCDebug(MAVLinkInspectorLog) << "New Message:" << _name;
//遍历mavlink消息所有字段
for (unsigned int i = 0; i < msgInfo->num_fields; ++i) {
QString type = QString("?");
switch (msgInfo->fields[i].type) {
case MAVLINK_TYPE_CHAR: type = QString("char"); break;
case MAVLINK_TYPE_UINT8_T: type = QString("uint8_t"); break;
case MAVLINK_TYPE_INT8_T: type = QString("int8_t"); break;
case MAVLINK_TYPE_UINT16_T: type = QString("uint16_t"); break;
case MAVLINK_TYPE_INT16_T: type = QString("int16_t"); break;
case MAVLINK_TYPE_UINT32_T: type = QString("uint32_t"); break;
case MAVLINK_TYPE_INT32_T: type = QString("int32_t"); break;
case MAVLINK_TYPE_FLOAT: type = QString("float"); break;
case MAVLINK_TYPE_DOUBLE: type = QString("double"); break;
case MAVLINK_TYPE_UINT64_T: type = QString("uint64_t"); break;
case MAVLINK_TYPE_INT64_T: type = QString("int64_t"); break;
}
//构建QGCMAVLinkMessageField mavlink字段信息
QGCMAVLinkMessageField* f = new QGCMAVLinkMessageField(this, msgInfo->fields[i].name, type);
_fields.append(f);
}
}
//-----------------------------------------------------------------------------
QGCMAVLinkMessage::~QGCMAVLinkMessage()
{
_fields.clearAndDeleteContents();
}
//-----------------------------------------------------------------------------
//更新字段的选择状态
void QGCMAVLinkMessage::updateFieldSelection()
{
bool sel = false;
for (int i = 0; i < _fields.count(); ++i) {
QGCMAVLinkMessageField* f = qobject_cast<QGCMAVLinkMessageField*>(_fields.get(i));
if(f) {
if(f->selected()) {
sel = true;
break;
}
}
}
if(sel != _fieldSelected) {
_fieldSelected = sel;
emit fieldSelectedChanged();
}
}
//-----------------------------------------------------------------------------
void QGCMAVLinkMessage::updateFreq()
{
quint64 msgCount = _count - _lastCount;
_messageHz = (0.2 * _messageHz) + (0.8 * msgCount);
_lastCount = _count;
emit freqChanged();
}
//设置选中与否
void QGCMAVLinkMessage::setSelected(bool sel)
{
if (_selected != sel) {
_selected = sel;
_updateFields();
emit selectedChanged();
}
}
//-----------------------------------------------------------------------------
//更新QGCMAVLinkMessage
void QGCMAVLinkMessage::update(mavlink_message_t* message)
{
_count++;
_message = *message;
if (_selected) {
// Don't update field info unless selected to reduce perf hit of message processing
// 除非被选中，否则不要更新字段信息，以降低消息处理的性能
_updateFields();
}
emit countChanged();
}
//更新字段
void QGCMAVLinkMessage::_updateFields(void)
{
//获取mavlink_message_info_t
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(&_message);
if (!msgInfo) {
qWarning() << QStringLiteral("QGCMAVLinkMessage::update NULL msgInfo msgid(%1)").arg(_message.msgid);
return;
}
//验证字段数目是是否统一
if(_fields.count() != static_cast<int>(msgInfo->num_fields)) {
qWarning() << QStringLiteral("QGCMAVLinkMessage::update msgInfo field count mismatch msgid(%1)").arg(_message.msgid);
return;
}
//获取消息体
uint8_t* m = reinterpret_cast<uint8_t*>(&_message.payload64[0]);
//遍历每个字段
for (unsigned int i = 0; i < msgInfo->num_fields; ++i) {
QGCMAVLinkMessageField* f = qobject_cast<QGCMAVLinkMessageField*>(_fields.get(static_cast<int>(i)));
if(f) {
//得到线的偏移
const unsigned int offset = msgInfo->fields[i].wire_offset;
//得到数组长度
const unsigned int array_length = msgInfo->fields[i].array_length;
//得到数组缓存长度 255+2+7
static const unsigned int array_buffer_length = (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_CHECKSUM_BYTES + 7);
//根据type做操作
switch (msgInfo->fields[i].type) {
case MAVLINK_TYPE_CHAR:
//设置可选性为false
f->setSelectable(false);
//如果数组长度大于0
if (array_length > 0) {
char* str = reinterpret_cast<char*>(m + offset);
// Enforce null termination 实施零终止
str[array_length - 1] = '\0';
//转为str
QString v(str);
//触发字段值的更新信号
f->updateValue(v, 0);
} else {
// Single char
char b = *(reinterpret_cast<char*>(m + offset));
QString v(b);
f->updateValue(v, 0);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (array_length > 0) {
uint8_t* nums = m + offset;
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
uint8_t u = *(m + offset);
f->updateValue(QString::number(u), static_cast<qreal>(u));
}
break;
case MAVLINK_TYPE_INT8_T:
if (array_length > 0) {
int8_t* nums = reinterpret_cast<int8_t*>(m + offset);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
int8_t n = *(reinterpret_cast<int8_t*>(m + offset));
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
break;
case MAVLINK_TYPE_UINT16_T:
if (array_length > 0) {
uint16_t nums[array_buffer_length / sizeof(uint16_t)];
memcpy(nums, m + offset, sizeof(uint16_t) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
uint16_t n;
memcpy(&n, m + offset, sizeof(uint16_t));
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
break;
case MAVLINK_TYPE_INT16_T:
if (array_length > 0) {
int16_t nums[array_buffer_length / sizeof(int16_t)];
memcpy(nums, m + offset, sizeof(int16_t) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
int16_t n;
memcpy(&n, m + offset, sizeof(int16_t));
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
break;
case MAVLINK_TYPE_UINT32_T:
if (array_length > 0) {
uint32_t nums[array_buffer_length / sizeof(uint32_t)];
memcpy(nums, m + offset, sizeof(uint32_t) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
uint32_t n;
memcpy(&n, m + offset, sizeof(uint32_t));
//-- Special case
if(_message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME) {
QDateTime d = QDateTime::fromMSecsSinceEpoch(static_cast<qint64>(n),Qt::UTC,0);
f->updateValue(d.toString("HH:mm:ss"), static_cast<qreal>(n));
} else {
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
}
break;
case MAVLINK_TYPE_INT32_T:
if (array_length > 0) {
int32_t nums[array_buffer_length / sizeof(int32_t)];
memcpy(nums, m + offset, sizeof(int32_t) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
int32_t n;
memcpy(&n, m + offset, sizeof(int32_t));
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
break;
case MAVLINK_TYPE_FLOAT:
if (array_length > 0) {
float nums[array_buffer_length / sizeof(float)];
memcpy(nums, m + offset, sizeof(float) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(static_cast<double>(nums[j]));
}
string += QString::number(static_cast<double>(nums[array_length - 1]));
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
float fv;
memcpy(&fv, m + offset, sizeof(float));
f->updateValue(QString::number(static_cast<double>(fv)), static_cast<qreal>(fv));
}
break;
case MAVLINK_TYPE_DOUBLE:
if (array_length > 0) {
double nums[array_buffer_length / sizeof(double)];
memcpy(nums, m + offset, sizeof(double) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(static_cast<double>(nums[array_length - 1]));
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
double d;
memcpy(&d, m + offset, sizeof(double));
f->updateValue(QString::number(d), static_cast<qreal>(d));
}
break;
case MAVLINK_TYPE_UINT64_T:
if (array_length > 0) {
uint64_t nums[array_buffer_length / sizeof(uint64_t)];
memcpy(nums, m + offset, sizeof(uint64_t) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
uint64_t n;
memcpy(&n, m + offset, sizeof(uint64_t));
//-- Special case
if(_message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME) {
QDateTime d = QDateTime::fromMSecsSinceEpoch(n/1000,Qt::UTC,0);
f->updateValue(d.toString("yyyy MM dd HH:mm:ss"), static_cast<qreal>(n));
} else {
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
}
break;
case MAVLINK_TYPE_INT64_T:
if (array_length > 0) {
int64_t nums[array_buffer_length / sizeof(int64_t)];
memcpy(nums, m + offset, sizeof(int64_t) * array_length);
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
int64_t n;
memcpy(&n, m + offset, sizeof(int64_t));
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
break;
}
}
}
}
//-----------------------------------------------------------------------------
//QGCMAVLinkSystem
QGCMAVLinkSystem::QGCMAVLinkSystem(QObject* parent, quint8 id)
: QObject(parent)
, _id(id)
{
qCDebug(MAVLinkInspectorLog) << "New Vehicle:" << id;
}
//-----------------------------------------------------------------------------
QGCMAVLinkSystem::~QGCMAVLinkSystem()
{
_messages.clearAndDeleteContents();
}
//-----------------------------------------------------------------------------
//找到消息
QGCMAVLinkMessage* QGCMAVLinkSystem::findMessage(uint32_t id, uint8_t cid)
{
for(int i = 0; i < _messages.count(); i++) {
QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(i));
if(m) {
if(m->id() == id && m->cid() == cid) {
return m;
}
}
}
return nullptr;
}
//-----------------------------------------------------------------------------
int QGCMAVLinkSystem::findMessage(QGCMAVLinkMessage* message)
{
for(int i = 0; i < _messages.count(); i++) {
QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(i));
if(m && m == message) {
return i;
}
}
return -1;
}
//-----------------------------------------------------------------------------
//重置
void QGCMAVLinkSystem::_resetSelection()
{
for(int i = 0; i < _messages.count(); i++) {
QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(i));
if(m && m->selected()) {
m->setSelected(false);
emit m->selectedChanged();
}
}
}
//-----------------------------------------------------------------------------
//设置选中
void QGCMAVLinkSystem::setSelected(int sel)
{
if(sel < _messages.count()) {
_selected = sel;
emit selectedChanged();
_resetSelection();
QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(sel));
if(m && !m->selected()) {
m->setSelected(true);
emit m->selectedChanged();
}
}
}
//-----------------------------------------------------------------------------
//QGCMAVLinkMessage消息的一个排序 按照name排序
static bool messages_sort(QObject* a, QObject* b)
{
QGCMAVLinkMessage* aa = qobject_cast<QGCMAVLinkMessage*>(a);
QGCMAVLinkMessage* bb = qobject_cast<QGCMAVLinkMessage*>(b);
if(!aa || !bb) return false;
if(aa->name() == bb->name())
return aa->name() < bb->name();
return aa->name() < bb->name();
}
//-----------------------------------------------------------------------------
//添加消息
void QGCMAVLinkSystem::append(QGCMAVLinkMessage* message)
{
//-- Save selected message
QGCMAVLinkMessage* selectedMsg = nullptr;
if(_messages.count()) {
selectedMsg = qobject_cast<QGCMAVLinkMessage*>(_messages.get(_selected));
} else {
//-- First message
message->setSelected(true);
}
_messages.append(message);
//-- Sort messages by id and then cid 按id和cid排序消息
if (_messages.count() > 0) {
_messages.beginReset();
//std的srot方法创两个迭代器指针和排序方法
std::sort(_messages.objectList()->begin(), _messages.objectList()->end(), messages_sort);
_messages.endReset();
_checkCompID(message);
}
//-- Remember selected message 记录当前选择的消息
if(selectedMsg) {
int idx = findMessage(selectedMsg);
if(idx >= 0) {
_selected = idx;
emit selectedChanged();
}
}
}
//-----------------------------------------------------------------------------
void QGCMAVLinkSystem::_checkCompID(QGCMAVLinkMessage* message)
{
if(_compIDsStr.isEmpty()) {
_compIDsStr << tr("Comp All");
}
if(!_compIDs.contains(static_cast<int>(message->cid()))) {
int cid = static_cast<int>(message->cid());
_compIDs.append(cid);
_compIDsStr << tr("Comp %1").arg(cid);
emit compIDsChanged();
}
}
//-----------------------------------------------------------------------------
MAVLinkChartController::MAVLinkChartController(MAVLinkInspectorController *parent, int index)
: QObject(parent)
, _index(index)
, _controller(parent)
{
//每隔一定时间更新图
connect(&_updateSeriesTimer, &QTimer::timeout, this, &MAVLinkChartController::_refreshSeries);
//更新x范围
updateXRange();
}
//-----------------------------------------------------------------------------
void MAVLinkChartController::setRangeYIndex(quint32 r)
{
if(r < static_cast<quint32>(_controller->rangeSt().count())) {
_rangeYIndex = r;
qreal range = _controller->rangeSt()[static_cast<int>(r)]->range;
emit rangeYIndexChanged();
//-- If not Auto, use defined range
if(_rangeYIndex > 0) {
_rangeYMin = -range;
emit rangeYMinChanged();
_rangeYMax = range;
emit rangeYMaxChanged();
}
}
}
//-----------------------------------------------------------------------------
void MAVLinkChartController::setRangeXIndex(quint32 t)
{
_rangeXIndex = t;
emit rangeXIndexChanged();
updateXRange();
}
//-----------------------------------------------------------------------------
void MAVLinkChartController::updateXRange()
{
if(_rangeXIndex < static_cast<quint32>(_controller->timeScaleSt().count())) {
qint64 t = static_cast<qint64>(QGC::bootTimeMilliseconds());
_rangeXMax = QDateTime::fromMSecsSinceEpoch(t);
_rangeXMin = QDateTime::fromMSecsSinceEpoch(t - _controller->timeScaleSt()[static_cast<int>(_rangeXIndex)]->timeScale);
emit rangeXMinChanged();
emit rangeXMaxChanged();
}
}
//-----------------------------------------------------------------------------
void MAVLinkChartController::updateYRange()
{
if(_chartFields.count()) {
qreal vmin = std::numeric_limits<qreal>::max();
qreal vmax = std::numeric_limits<qreal>::min();
for(int i = 0; i < _chartFields.count(); i++) {
QObject* object = qvariant_cast<QObject*>(_chartFields.at(i));
QGCMAVLinkMessageField* pField = qobject_cast<QGCMAVLinkMessageField*>(object);
if(pField) {
if(vmax < pField->rangeMax()) vmax = pField->rangeMax();
if(vmin > pField->rangeMin()) vmin = pField->rangeMin();
}
}
if(std::abs(_rangeYMin - vmin) > 0.000001) {
_rangeYMin = vmin;
emit rangeYMinChanged();
}
if(std::abs(_rangeYMax - vmax) > 0.000001) {
_rangeYMax = vmax;
emit rangeYMaxChanged();
}
}
}
//-----------------------------------------------------------------------------
void MAVLinkChartController::_refreshSeries()
{
updateXRange();
for(int i = 0; i < _chartFields.count(); i++) {
QObject* object = qvariant_cast<QObject*>(_chartFields.at(i));
QGCMAVLinkMessageField* pField = qobject_cast<QGCMAVLinkMessageField*>(object);
if(pField) {
pField->updateSeries();
}
}
}
//-----------------------------------------------------------------------------
void MAVLinkChartController::addSeries(QGCMAVLinkMessageField* field, QAbstractSeries* series)
{
if(field && series) {
QVariant f = QVariant::fromValue(field);
for(int i = 0; i < _chartFields.count(); i++) {
if(_chartFields.at(i) == f) {
return;
}
}
_chartFields.append(f);
field->addSeries(this, series);
emit chartFieldsChanged();
_updateSeriesTimer.start(UPDATE_FREQUENCY);
}
}
//-----------------------------------------------------------------------------
void
MAVLinkChartController::delSeries(QGCMAVLinkMessageField* field)
{
if(field) {
field->delSeries();
QVariant f = QVariant::fromValue(field);
for(int i = 0; i < _chartFields.count(); i++) {
if(_chartFields.at(i) == f) {
_chartFields.removeAt(i);
emit chartFieldsChanged();
if(_chartFields.count() == 0) {
updateXRange();
_updateSeriesTimer.stop();
}
return;
}
}
}
}
//-----------------------------------------------------------------------------
// MAVLinkInspectorController 构造函数
MAVLinkInspectorController::MAVLinkInspectorController()
{
//获取MultiVehicleManager
MultiVehicleManager* multiVehicleManager = qgcApp()->toolbox()->multiVehicleManager();
//绑定vehicleAdded和vehicleRemoved信号
connect(multiVehicleManager, &MultiVehicleManager::vehicleAdded, this, &MAVLinkInspectorController::_vehicleAdded);
connect(multiVehicleManager, &MultiVehicleManager::vehicleRemoved, this, &MAVLinkInspectorController::_vehicleRemoved);
//获取MAVLinkProtocol
MAVLinkProtocol* mavlinkProtocol = qgcApp()->toolbox()->mavlinkProtocol();
//绑定新消息接收信号和时间信号
connect(mavlinkProtocol, &MAVLinkProtocol::messageReceived, this, &MAVLinkInspectorController::_receiveMessage);
connect(&_updateFrequencyTimer, &QTimer::timeout, this, &MAVLinkInspectorController::_refreshFrequency);
_updateFrequencyTimer.start(1000);
//获取MultiVehicleManager
MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
//绑定当前激活设备改变的信号
connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkInspectorController::_setActiveVehicle);
//构造_timeScaleSt 插入 5 10 30 60 四个值
_timeScaleSt.append(new TimeScale_st(this, tr("5 Sec"), 5 * 1000));
_timeScaleSt.append(new TimeScale_st(this, tr("10 Sec"), 10 * 1000));
_timeScaleSt.append(new TimeScale_st(this, tr("30 Sec"), 30 * 1000));
_timeScaleSt.append(new TimeScale_st(this, tr("60 Sec"), 60 * 1000));
emit timeScalesChanged();
//构造_rangeSt
_rangeSt.append(new Range_st(this, tr("Auto"), 0));
_rangeSt.append(new Range_st(this, tr("10,000"), 10000));
_rangeSt.append(new Range_st(this, tr("1,000"), 1000));
_rangeSt.append(new Range_st(this, tr("100"), 100));
_rangeSt.append(new Range_st(this, tr("10"), 10));
_rangeSt.append(new Range_st(this, tr("1"), 1));
_rangeSt.append(new Range_st(this, tr("0.1"), 0.1));
_rangeSt.append(new Range_st(this, tr("0.01"), 0.01));
_rangeSt.append(new Range_st(this, tr("0.001"), 0.001));
_rangeSt.append(new Range_st(this, tr("0.0001"), 0.0001));
emit rangeListChanged();
}
//-----------------------------------------------------------------------------
MAVLinkInspectorController::~MAVLinkInspectorController()
{
_charts.clearAndDeleteContents();
_systems.clearAndDeleteContents();
}
//----------------------------------------------------------------------------------------
//获取_timeScales所有的label
QStringList MAVLinkInspectorController::timeScales()
{
if(!_timeScales.count()) {
for(int i = 0; i < _timeScaleSt.count(); i++) {
_timeScales << _timeScaleSt[i]->label;
}
}
return _timeScales;
}
//----------------------------------------------------------------------------------------
//获取_rangeSt所有的label
QStringList MAVLinkInspectorController::rangeList()
{
if(!_rangeList.count()) {
for(int i = 0; i < _rangeSt.count(); i++) {
_rangeList << _rangeSt[i]->label;
}
}
return _rangeList;
}
//----------------------------------------------------------------------------------------
//设置当前激活的设备
void MAVLinkInspectorController::_setActiveVehicle(Vehicle* vehicle)
{
if(vehicle) {
//根据设备找到QGCMAVLinkSystem
QGCMAVLinkSystem* v = _findVehicle(static_cast<uint8_t>(vehicle->id()));
if(v) {
_activeSystem = v;
} else {
_activeSystem = nullptr;
}
} else {
_activeSystem = nullptr;
}
emit activeSystemChanged();
}
//-----------------------------------------------------------------------------
QGCMAVLinkSystem* MAVLinkInspectorController::_findVehicle(uint8_t id)
{
for(int i = 0; i < _systems.count(); i++) {
QGCMAVLinkSystem* v = qobject_cast<QGCMAVLinkSystem*>(_systems.get(i));
if(v) {
if(v->id() == id) {
return v;
}
}
}
return nullptr;
}
//-----------------------------------------------------------------------------
void MAVLinkInspectorController::_refreshFrequency()
{
for(int i = 0; i < _systems.count(); i++) {
QGCMAVLinkSystem* v = qobject_cast<QGCMAVLinkSystem*>(_systems.get(i));
if(v) {
for(int i = 0; i < v->messages()->count(); i++) {
QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(v->messages()->get(i));
if(m) {
m->updateFreq();
}
}
}
}
}
//-----------------------------------------------------------------------------
// 添加vehicle
void MAVLinkInspectorController::_vehicleAdded(Vehicle* vehicle)
{
QGCMAVLinkSystem* v = _findVehicle(static_cast<uint8_t>(vehicle->id()));
if(v) {
v->messages()->clearAndDeleteContents();
} else {
v = new QGCMAVLinkSystem(this, static_cast<uint8_t>(vehicle->id()));
_systems.append(v);
_systemNames.append(tr("System %1").arg(vehicle->id()));
}
emit systemsChanged();
}
//-----------------------------------------------------------------------------
void
MAVLinkInspectorController::_vehicleRemoved(Vehicle* vehicle)
{
QGCMAVLinkSystem* v = _findVehicle(static_cast<uint8_t>(vehicle->id()));
if(v) {
v->deleteLater();
_systems.removeOne(v);
QString vs = tr("System %1").arg(vehicle->id());
_systemNames.removeOne(vs);
emit systemsChanged();
}
}
//-----------------------------------------------------------------------------
//接收消息
void MAVLinkInspectorController::_receiveMessage(LinkInterface*, mavlink_message_t message)
{
QGCMAVLinkMessage* m = nullptr;
QGCMAVLinkSystem* v = _findVehicle(message.sysid);
if(!v) {
v = new QGCMAVLinkSystem(this, message.sysid);
_systems.append(v);
_systemNames.append(tr("System %1").arg(message.sysid));
emit systemsChanged();
if(!_activeSystem) {
_activeSystem = v;
emit activeSystemChanged();
}
} else {
m = v->findMessage(message.msgid, message.compid);
}
//如果之前没有这条消息
if(!m) {
m = new QGCMAVLinkMessage(this, &message);
v->append(m);
} else {
m->update(&message);
}
}
//-----------------------------------------------------------------------------
MAVLinkChartController*
MAVLinkInspectorController::createChart()
{
MAVLinkChartController* pChart = new MAVLinkChartController(this, _charts.count());
QQmlEngine::setObjectOwnership(pChart, QQmlEngine::CppOwnership);
_charts.append(pChart);
emit chartsChanged();
return pChart;
}
//-----------------------------------------------------------------------------
void
MAVLinkInspectorController::deleteChart(MAVLinkChartController* chart)
{
if(chart) {
for(int i = 0; i < _charts.count(); i++) {
MAVLinkChartController* c = qobject_cast<MAVLinkChartController*>(_charts.get(i));
if(c && c == chart) {
_charts.removeOne(c);
delete c;
break;
}
}
emit chartsChanged();
}
}
//-----------------------------------------------------------------------------
MAVLinkInspectorController::TimeScale_st::TimeScale_st(QObject* parent, const QString& l, uint32_t t)
: QObject(parent)
, label(l)
, timeScale(t)
{
}
//-----------------------------------------------------------------------------
MAVLinkInspectorController::Range_st::Range_st(QObject* parent, const QString& l, qreal r)
: QObject(parent)
, label(l)
, range(r)
{
}
void MAVLinkInspectorController::setActiveSystem(int systemId)
{
QGCMAVLinkSystem* v = _findVehicle(systemId);
if (v != _activeSystem) {
_activeSystem = v;
emit activeSystemChanged();
}
}
二.MavlinkConsoleController
该类主要处理一个mavlink控制台界面。主要操作就是通过串口发送命令和接收命令，并且处理历史命令的查询，文字格式的转换。上代码。
/****************************************************************************
*
* (c) 2009-2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "QmlObjectListModel.h"
#include "QGCPalette.h"
#include "Fact.h"
#include "FactMetaData.h"
#include <QObject>
#include <QString>
#include <QMetaObject>
#include <QStringListModel>
// Fordward decls
class Vehicle;
/// Controller for MavlinkConsole.qml.
/// MavlinkConsole.qml控制器。
class MavlinkConsoleController : public QStringListModel
{
Q_OBJECT
public:
MavlinkConsoleController();
virtual ~MavlinkConsoleController();
Q_INVOKABLE void sendCommand(QString command); //设置命令行
Q_INVOKABLE QString historyUp(const QString& current); //上一个历史命令
Q_INVOKABLE QString historyDown(const QString& current); //下一个历史命令
/**
* Get clipboard data and if it has N lines, execute first N-1 commands 获取剪贴板数据，如果它有N行，则先执行N-1个命令
* @param command_pre prefix to data from clipboard
* @return last line of the clipboard data
*/
Q_INVOKABLE QString handleClipboard(const QString& command_pre);
Q_PROPERTY(QString text READ getText CONSTANT)
private slots:
void _setActiveVehicle (Vehicle* vehicle);
void _receiveData(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data);
private:
bool _processANSItext(QByteArray &line);
void _sendSerialData(QByteArray, bool close = false);
void writeLine(int line, const QByteArray &text);
QString transformLineForRichText(const QString& line) const;
QString getText() const;
//存储历史命令的类
class CommandHistory
{
public:
void append(const QString& command);
QString up(const QString& current);
QString down(const QString& current);
private:
static constexpr int maxHistoryLength = 100;
QList<QString> _history;
int _index = 0;
};
static constexpr int _max_num_lines = 500; ///< history size (affects CPU load) 最大500个命令
int _cursor_home_pos{-1};
int _cursorY{0}; //光标y
int _cursorX{0}; //光标x
QByteArray _incoming_buffer; //输入的缓冲区
Vehicle* _vehicle{nullptr}; //设备列表
QList<QMetaObject::Connection> _uas_connections; //设备连接
CommandHistory _history; //历史命令
QGCPalette _palette; //调色板
};
/****************************************************************************
*
* (c) 2009-2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "MavlinkConsoleController.h"
#include "QGCApplication.h"
#include "UAS.h"
#include <QClipboard>
MavlinkConsoleController::MavlinkConsoleController()
: QStringListModel()
{
//获取MultiVehicleManager
auto *manager = qgcApp()->toolbox()->multiVehicleManager();
//绑定激活设备改变的信号
connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MavlinkConsoleController::_setActiveVehicle);
_setActiveVehicle(manager->activeVehicle());
}
MavlinkConsoleController::~MavlinkConsoleController()
{
if (_vehicle) {
QByteArray msg;
_sendSerialData(msg, true);
}
}
void MavlinkConsoleController::sendCommand(QString command)
{
// there might be multiple commands, add them separately to the history
// 可能有多个命令，将它们分别添加到历史记录中
QStringList lines = command.split('\n');
for (int i = 0; i < lines.size(); ++i) {
if (lines[i].size() > 0) {
//存储命令
_history.append(lines[i]);
}
}
command.append("\n");
//发送命令
_sendSerialData(qPrintable(command));
_cursor_home_pos = -1;
}
QString MavlinkConsoleController::historyUp(const QString& current)
{
return _history.up(current);
}
QString MavlinkConsoleController::historyDown(const QString& current)
{
return _history.down(current);
}
//处理剪贴板
QString MavlinkConsoleController::handleClipboard(const QString& command_pre)
{
//命令前缀加上剪贴板的内容
QString clipboardData = command_pre + QApplication::clipboard()->text();
int lastLinePos = clipboardData.lastIndexOf('\n');
if (lastLinePos != -1) {
QString commands = clipboardData.mid(0, lastLinePos);
//发送
sendCommand(commands);
clipboardData = clipboardData.mid(lastLinePos+1);
}
return clipboardData;
}
//设置激活设备
void MavlinkConsoleController::_setActiveVehicle(Vehicle* vehicle)
{
//遍历所有的_uas_connections 断开所有的绑定事件 对每一个uas
for (auto &con : _uas_connections)
disconnect(con);
_uas_connections.clear();
//设置新的设备
_vehicle = vehicle;
if (_vehicle) {
_incoming_buffer.clear();
// Reset the model
setStringList(QStringList());
_cursorY = 0;
_cursorX = 0;
_cursor_home_pos = -1;
//创建并添加绑定mavlink串口控制信号到_uas_connections
_uas_connections << connect(_vehicle, &Vehicle::mavlinkSerialControl, this, &MavlinkConsoleController::_receiveData);
}
}
//接收消息
void MavlinkConsoleController::_receiveData(uint8_t device, uint8_t, uint16_t, uint32_t, QByteArray data)
{
if (device != SERIAL_CONTROL_DEV_SHELL)
return;
// Append incoming data and parse for ANSI codes
// 附加传入数据并解析ANSI代码
_incoming_buffer.append(data);
while(!_incoming_buffer.isEmpty()) {
bool newline = false;
int idx = _incoming_buffer.indexOf('\n');
if (idx == -1) {
// Read the whole incoming buffer 读取整个传入缓冲区
idx = _incoming_buffer.size();
} else {
newline = true;
}
QByteArray fragment = _incoming_buffer.mid(0, idx);
if (_processANSItext(fragment)) {
writeLine(_cursorY, fragment);
//新行则另起
if (newline) {
_cursorY++;
_cursorX = 0;
// ensure line exists 确保行存在
int rc = rowCount();
if (_cursorY >= rc) {
insertRows(rc, 1 + _cursorY - rc);
}
}
//清空缓冲区
_incoming_buffer.remove(0, idx + (newline ? 1 : 0));
} else {
// ANSI processing failed, need more data
return;
}
}
}
//串口发送数据
void MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
{
if (!_vehicle) {
qWarning() << "Internal error";
return;
}
SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
if (!sharedLink) {
return;
}
// Send maximum sized chunks until the complete buffer is transmitted
// 发送最大大小的块，直到发送完整的缓冲区 MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN=70
while(data.size()) {
QByteArray chunk{data.left(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN)};
int dataSize = chunk.size();
// Ensure the buffer is large enough, as the MAVLink parser expects MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN bytes
// 确保缓冲区足够大，因为MAVLink解析器期望MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN字节
chunk.append(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN - chunk.size(), '\0');
uint8_t flags = SERIAL_CONTROL_FLAG_EXCLUSIVE | SERIAL_CONTROL_FLAG_RESPOND | SERIAL_CONTROL_FLAG_MULTI;
if (close) flags = 0;
//获取mavlink协议
auto protocol = qgcApp()->toolbox()->mavlinkProtocol();
//获取_vehicle primaryLink
auto link = _vehicle->vehicleLinkManager()->primaryLink();
mavlink_message_t msg;
//发消息
mavlink_msg_serial_control_pack_chan(
protocol->getSystemId(),
protocol->getComponentId(),
sharedLink->mavlinkChannel(),
&msg,
SERIAL_CONTROL_DEV_SHELL,
flags,
0,
0,
dataSize,
reinterpret_cast<uint8_t*>(chunk.data()),
_vehicle->id(), _vehicle->defaultComponentId());
_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
data.remove(0, chunk.size());
}
}
//处理字符
bool MavlinkConsoleController::_processANSItext(QByteArray &line)
{
// Iterate over the incoming buffer to parse off known ANSI control codes
// 遍历传入缓冲区以解析出已知的ANSI控制代码
for (int i = 0; i < line.size(); i++) {
if (line.at(i) == '\x1B') {
// For ANSI codes we expect at least 3 incoming chars
if (i < line.size() - 2 && line.at(i+1) == '[') {
// Parse ANSI code
switch(line.at(i+2)) {
default:
continue;
case 'H':
if (_cursor_home_pos == -1) {
// Assign new home position if home is unset
_cursor_home_pos = _cursorY;
} else {
// Rewind write cursor position to home
_cursorY = _cursor_home_pos;
_cursorX = 0;
}
break;
case 'K':
// Erase the current line to the end
if (_cursorY < rowCount()) {
auto idx = index(_cursorY);
QString updated = data(idx, Qt::DisplayRole).toString();
int eraseIdx = _cursorX + i;
if (eraseIdx < updated.length()) {
setData(idx, updated.remove(eraseIdx, updated.length()));
}
}
break;
case '2':
// Check for sufficient buffer size
if ( i >= line.size() - 3)
return false;
if (line.at(i+3) == 'J' && _cursor_home_pos != -1) {
// Erase everything and rewind to home
bool blocked = blockSignals(true);
for (int j = _cursor_home_pos; j < rowCount(); j++)
setData(index(j), "");
blockSignals(blocked);
QVector<int> roles({Qt::DisplayRole, Qt::EditRole});
emit dataChanged(index(_cursorY), index(rowCount()), roles);
}
// Even if we didn't understand this ANSI code, remove the 4th char
line.remove(i+3,1);
break;
}
// Remove the parsed ANSI code and decrement the bufferpos
line.remove(i, 3);
i--;
} else {
// We can reasonably expect a control code was fragemented
// Stop parsing here and wait for it to come in
return false;
}
}
}
return true;
}
QString MavlinkConsoleController::transformLineForRichText(const QString& line) const
{
QString ret = line.toHtmlEscaped().replace(" "," ").replace("\t", " ");
if (ret.startsWith("WARN", Qt::CaseSensitive)) {
ret.replace(0, 4, "<font color=\"" + _palette.colorOrange().name() + "\">WARN</font>");
} else if (ret.startsWith("ERROR", Qt::CaseSensitive)) {
ret.replace(0, 5, "<font color=\"" + _palette.colorRed().name() + "\">ERROR</font>");
}
return ret;
}
QString
MavlinkConsoleController::getText() const
{
QString ret;
if (rowCount() > 0) {
ret = transformLineForRichText(data(index(0), Qt::DisplayRole).toString());
}
for (int i = 1; i < rowCount(); ++i) {
ret += "<br>" + transformLineForRichText(data(index(i), Qt::DisplayRole).toString());
}
return ret;
}
void
MavlinkConsoleController::writeLine(int line, const QByteArray &text)
{
auto rc = rowCount();
if (line >= rc) {
insertRows(rc, 1 + line - rc);
}
if (rowCount() > _max_num_lines) {
int count = rowCount() - _max_num_lines;
removeRows(0, count);
line -= count;
_cursorY -= count;
_cursor_home_pos -= count;
if (_cursor_home_pos < 0)
_cursor_home_pos = -1;
}
auto idx = index(line);
QString updated = data(idx, Qt::DisplayRole).toString();
updated.replace(_cursorX, text.size(), text);
setData(idx, updated);
_cursorX += text.size();
}
void MavlinkConsoleController::CommandHistory::append(const QString& command)
{
if (command.length() > 0) {
// do not append duplicates
if (_history.length() == 0 || _history.last() != command) {
if (_history.length() >= maxHistoryLength) {
_history.removeFirst();
}
_history.append(command);
}
}
_index = _history.length();
}
QString MavlinkConsoleController::CommandHistory::up(const QString& current)
{
if (_index <= 0)
return current;
--_index;
if (_index < _history.length()) {
return _history[_index];
}
return "";
}
QString MavlinkConsoleController::CommandHistory::down(const QString& current)
{
if (_index >= _history.length())
return current;
++_index;
if (_index < _history.length()) {
return _history[_index];
}
return "";
}
总结
该类主要讲解了AnalyzeView页面下mavlink相关操作的两个类，分别处理了mavlink消息的管理，和mavlink控制台的逻辑处理。
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