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Merge pull request #3179 from DonLakeFlyer/SeqLoss 

Show mavlink sequence number packet loss in UI
QGC4.4
Don Gagne 9 years ago
parent
0f88457982 393f1533c5
commit
4348fabe10
5 changed files with 283 additions and 63 deletions
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  1. 13
      src/comm/MAVLinkProtocol.cc
  2. 5
      src/comm/MAVLinkProtocol.h
  3. 237
      src/ui/UASInfo.ui
  4. 62
      src/ui/uas/UASInfoWidget.cc
  5. 7
      src/ui/uas/UASInfoWidget.h

13
src/comm/MAVLinkProtocol.cc
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@ -63,7 +63,11 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app) @@ -63,7 +63,11 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
, _linkMgr(NULL)
, _multiVehicleManager(NULL)
{
memset(&totalReceiveCounter, 0, sizeof(totalReceiveCounter));
memset(&totalLossCounter, 0, sizeof(totalLossCounter));
memset(&totalErrorCounter, 0, sizeof(totalErrorCounter));
memset(&currReceiveCounter, 0, sizeof(currReceiveCounter));
memset(&currLossCounter, 0, sizeof(currLossCounter));
}
MAVLinkProtocol::~MAVLinkProtocol()
@ -357,11 +361,12 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) @@ -357,11 +361,12 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
// Calculate new loss ratio
// Receive loss
float receiveLoss = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]);
receiveLoss *= 100.0f;
float receiveLossPercent = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]);
receiveLossPercent *= 100.0f;
currLossCounter[mavlinkChannel] = 0;
currReceiveCounter[mavlinkChannel] = 0;
emit receiveLossChanged(message.sysid, receiveLoss);
emit receiveLossPercentChanged(message.sysid, receiveLossPercent);
emit receiveLossTotalChanged(message.sysid, totalLossCounter[mavlinkChannel]);
}
// The packet is emitted as a whole, as it is only 255 - 261 bytes short

5
src/comm/MAVLinkProtocol.h
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@ -242,8 +242,9 @@ signals: @@ -242,8 +242,9 @@ signals:
void actionGuardChanged(bool enabled);
/** @brief Emitted if action request timeout changed */
void actionRetransmissionTimeoutChanged(int ms);
/** @brief Update the packet loss from one system */
void receiveLossChanged(int uasId, float loss);
void receiveLossPercentChanged(int uasId, float lossPercent);
void receiveLossTotalChanged(int uasId, int totalLoss);
/**
* @brief Emitted if a new radio status packet received

237
src/ui/UASInfo.ui
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@ -6,7 +6,7 @@ @@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>230</width>
<width>243</width>
<height>161</height>
</rect>
</property>
@ -16,8 +16,17 @@ @@ -16,8 +16,17 @@
<property name="styleSheet">
<string notr="true"/>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,100" columnstretch="0,0,0,0,0,0,0">
<property name="margin">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,100,0" columnstretch="0,0,0,0,0,0,0">
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<property name="spacing">
@ -288,14 +297,14 @@ @@ -288,14 +297,14 @@
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<widget class="QLabel" name="label_seq">
<property name="text">
<string>MCU Load</string>
<string>MAV Seq Loss</string>
</property>
</widget>
</item>
<item row="3" column="1">
<spacer name="horizontalSpacer_4">
<spacer name="horizontalSpacer_seq">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
@ -311,7 +320,7 @@ @@ -311,7 +320,7 @@
</spacer>
</item>
<item row="3" column="2">
<widget class="QLabel" name="loadLabel">
<widget class="QLabel" name="seqLossLabel">
<property name="text">
<string>0</string>
</property>
@ -324,7 +333,7 @@ @@ -324,7 +333,7 @@
</widget>
</item>
<item row="3" column="3">
<widget class="QLabel" name="label_9">
<widget class="QLabel" name="label_seq1">
<property name="text">
<string>%</string>
</property>
@ -337,7 +346,7 @@ @@ -337,7 +346,7 @@
</widget>
</item>
<item row="3" column="4" colspan="2">
<widget class="QProgressBar" name="loadBar">
<widget class="QProgressBar" name="seqLossBar">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>10</horstretch>
@ -373,44 +382,199 @@ @@ -373,44 +382,199 @@
</property>
</widget>
</item>
<item row="5" column="0" colspan="6">
<widget class="Line" name="line">
<item row="4" column="0">
<widget class="QLabel" name="label_seqcnt">
<property name="text">
<string>Seq Loss Cnt</string>
</property>
</widget>
</item>
<item row="4" column="1">
<spacer name="horizontalSpacer_seqcnt">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Maximum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="2">
<widget class="QLabel" name="seqcntLossLabel">
<property name="text">
<string>0</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="0" colspan="7">
<spacer name="verticalSpacer">
<item row="4" column="3">
<widget class="QLabel" name="label_seqcnt1">
<property name="text">
<string></string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="4" colspan="2">
<widget class="QProgressBar" name="seqcntLossBar">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>10</horstretch>
<verstretch>18</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="baseSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="format">
<string>%p%</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>MCU Load</string>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
<enum>QSizePolicy::Maximum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
<width>13</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="0" colspan="6">
<widget class="QLabel" name="errorLabel">
<item row="5" column="2">
<widget class="QLabel" name="loadLabel">
<property name="text">
<string>No error status received yet</string>
<string>0</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="3">
<widget class="QLabel" name="label_9">
<property name="text">
<string>%</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="4" colspan="2">
<widget class="QProgressBar" name="loadBar">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>10</horstretch>
<verstretch>18</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="baseSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="format">
<string>%p%</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>CPU Load</string>
</property>
</widget>
</item>
<item row="4" column="2">
<item row="6" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>0</string>
@ -420,14 +584,14 @@ @@ -420,14 +584,14 @@
</property>
</widget>
</item>
<item row="4" column="3">
<item row="6" column="3">
<widget class="QLabel" name="label_10">
<property name="text">
<string>%</string>
</property>
</widget>
</item>
<item row="4" column="4" colspan="2">
<item row="6" column="4" colspan="2">
<widget class="QProgressBar" name="progressBar">
<property name="maximumSize">
<size>
@ -446,15 +610,32 @@ @@ -446,15 +610,32 @@
</property>
</widget>
</item>
<item row="4" column="1">
<spacer name="horizontalSpacer">
<item row="7" column="0" colspan="6">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="8" column="0" colspan="6">
<widget class="QLabel" name="errorLabel">
<property name="text">
<string>No error status received yet</string>
</property>
</widget>
</item>
<item row="9" column="0" colspan="7">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>15</height>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>

62
src/ui/uas/UASInfoWidget.cc
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@ -46,10 +46,12 @@ This file is part of the PIXHAWK project @@ -46,10 +46,12 @@ This file is part of the PIXHAWK project
UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *parent, QString name)
: QGCDockWidget(title, action, parent)
, _activeUAS(NULL)
, _seqLossPercent(0)
, _seqLossTotal(0)
{
ui.setupUi(this);
this->name = name;
activeUAS = NULL;
connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &UASInfoWidget::_activeVehicleChanged);
_activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
@ -76,6 +78,9 @@ UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *par @@ -76,6 +78,9 @@ UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *par
this->setVisible(false);
loadSettings();
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::receiveLossPercentChanged, this, &UASInfoWidget::updateSeqLossPercent);
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::receiveLossTotalChanged, this, &UASInfoWidget::updateSeqLossTotal);
}
UASInfoWidget::~UASInfoWidget()
@ -101,20 +106,20 @@ void UASInfoWidget::hideEvent(QHideEvent* event) @@ -101,20 +106,20 @@ void UASInfoWidget::hideEvent(QHideEvent* event)
void UASInfoWidget::_activeVehicleChanged(Vehicle* vehicle)
{
if (activeUAS) {
disconnect(activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
disconnect(activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
disconnect(static_cast<UAS*>(activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
disconnect(activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
activeUAS = NULL;
if (_activeUAS) {
disconnect(_activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
disconnect(_activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
disconnect(static_cast<UAS*>(_activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
disconnect(_activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
_activeUAS = NULL;
}
if (vehicle) {
activeUAS = vehicle->uas();
connect(activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
connect(activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
connect(static_cast<UAS*>(activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
connect(activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
_activeUAS = vehicle->uas();
connect(_activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
connect(_activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
connect(static_cast<UAS*>(_activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
connect(_activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
}
}
@ -128,8 +133,8 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double curr @@ -128,8 +133,8 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double curr
void UASInfoWidget::updateErrorCount(int uasid, QString component, QString device, int count)
{
//qDebug() << __FILE__ << __LINE__ << activeUAS->getUASID() << "=" << uasid;
if (activeUAS->getUASID() == uasid) {
//qDebug() << __FILE__ << __LINE__ << _activeUAS->getUASID() << "=" << uasid;
if (_activeUAS->getUASID() == uasid) {
errors.remove(component + ":" + device);
errors.insert(component + ":" + device, count);
}
@ -140,7 +145,7 @@ void UASInfoWidget::updateErrorCount(int uasid, QString component, QString devic @@ -140,7 +145,7 @@ void UASInfoWidget::updateErrorCount(int uasid, QString component, QString devic
*/
void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
{
if (activeUAS == uas) {
if (_activeUAS == uas) {
this->load = load;
}
}
@ -151,6 +156,24 @@ void UASInfoWidget::updateReceiveLoss(int uasId, float receiveLoss) @@ -151,6 +156,24 @@ void UASInfoWidget::updateReceiveLoss(int uasId, float receiveLoss)
this->receiveLoss = this->receiveLoss * 0.8f + receiveLoss * 0.2f;
}
void UASInfoWidget::updateSeqLossPercent(int uasId, float seqLossPercent)
{
if (_activeUAS && _activeUAS->getUASID() == uasId) {
_seqLossPercent = _seqLossPercent * 0.8f + seqLossPercent * 0.2f;
} else {
_seqLossPercent = 0;
}
}
void UASInfoWidget::updateSeqLossTotal(int uasId, int seqLossTotal)
{
if (_activeUAS && _activeUAS->getUASID() == uasId) {
_seqLossTotal = seqLossTotal;
} else {
_seqLossTotal = 0;
}
}
/**
The send loss is typically calculated on the GCS based on packets
that were received scrambled from the MAV
@ -169,14 +192,14 @@ void UASInfoWidget::setVoltage(UASInterface* uas, double voltage) @@ -169,14 +192,14 @@ void UASInfoWidget::setVoltage(UASInterface* uas, double voltage)
void UASInfoWidget::setChargeLevel(UASInterface* uas, double chargeLevel)
{
if (activeUAS == uas) {
if (_activeUAS == uas) {
this->chargeLevel = chargeLevel;
}
}
void UASInfoWidget::setTimeRemaining(UASInterface* uas, double seconds)
{
if (activeUAS == uas) {
if (_activeUAS == uas) {
this->timeRemaining = seconds;
}
}
@ -192,6 +215,11 @@ void UASInfoWidget::refresh() @@ -192,6 +215,11 @@ void UASInfoWidget::refresh()
ui.receiveLossBar->setValue(qMax(0, qMin(static_cast<int>(receiveLoss), 100)));
ui.receiveLossLabel->setText(QString::number(receiveLoss, 'f', 2));
ui.seqLossBar->setValue(qMax(0, qMin(static_cast<int>(_seqLossPercent), 100)));
ui.seqLossLabel->setText(QString::number(_seqLossPercent, 'f', 2));
ui.seqcntLossLabel->setText(QString::number(_seqLossTotal));
ui.sendLossBar->setValue(sendLoss);
ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2));

7
src/ui/uas/UASInfoWidget.h
Unescape View File

@ -61,6 +61,9 @@ public slots: @@ -61,6 +61,9 @@ public slots:
*/
void updateReceiveLoss(int uasId, float receiveLoss);
void updateSeqLossPercent(int uasId, float seqLoss);
void updateSeqLossTotal(int uasId, int seqLossTotal);
/**
* @brief Set the loss rate of packets sent from the MAV
* @param uasId UNUSED
@ -79,7 +82,6 @@ public slots: @@ -79,7 +82,6 @@ public slots:
protected:
UASInterface* activeUAS;
// Configuration variables
int voltageDecimals;
@ -110,6 +112,9 @@ private slots: @@ -110,6 +112,9 @@ private slots:
private:
Ui::uasInfo ui;
UASInterface* _activeUAS;
float _seqLossPercent;
int _seqLossTotal;
};
#endif // _UASINFOWIDGET_H_

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