diff --git a/src/AnalyzeView/MAVLinkInspectorController.cc b/src/AnalyzeView/MAVLinkInspectorController.cc
index f72d806..d0a56d2 100644
--- a/src/AnalyzeView/MAVLinkInspectorController.cc
+++ b/src/AnalyzeView/MAVLinkInspectorController.cc
@@ -182,6 +182,12 @@ QGCMAVLinkMessage::QGCMAVLinkMessage(QObject *parent, mavlink_message_t* message
}
//-----------------------------------------------------------------------------
+QGCMAVLinkMessage::~QGCMAVLinkMessage()
+{
+ _fields.clearAndDeleteContents();
+}
+
+//-----------------------------------------------------------------------------
void
QGCMAVLinkMessage::updateFieldSelection()
{
@@ -215,8 +221,12 @@ QGCMAVLinkMessage::updateFreq()
void
QGCMAVLinkMessage::update(mavlink_message_t* message)
{
- _message = *message;
_count++;
+ //-- If we are not consuming this message, no need to parse it
+ if(!_selected && !_fieldSelected) {
+ return;
+ }
+ _message = *message;
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(message);
if (!msgInfo) {
qWarning() << QStringLiteral("QGCMAVLinkMessage::update NULL msgInfo msgid(%1)").arg(message->msgid);
@@ -230,104 +240,108 @@ QGCMAVLinkMessage::update(mavlink_message_t* message)
for (unsigned int i = 0; i < msgInfo->num_fields; ++i) {
QGCMAVLinkMessageField* f = qobject_cast<QGCMAVLinkMessageField*>(_fields.get(static_cast<int>(i)));
if(f) {
+ const unsigned int offset = msgInfo->fields[i].wire_offset;
+ const unsigned int array_length = msgInfo->fields[i].array_length;
+ static const unsigned int array_buffer_length = (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_CHECKSUM_BYTES + 7);
switch (msgInfo->fields[i].type) {
case MAVLINK_TYPE_CHAR:
f->setSelectable(false);
- if (msgInfo->fields[i].array_length > 0) {
- char* str = reinterpret_cast<char*>(m+ msgInfo->fields[i].wire_offset);
+ if (array_length > 0) {
+ char* str = reinterpret_cast<char*>(m + offset);
// Enforce null termination
- str[msgInfo->fields[i].array_length - 1] = '\0';
+ str[array_length - 1] = '\0';
QString v(str);
f->updateValue(v, 0);
} else {
// Single char
- char b = *(reinterpret_cast<char*>(m + msgInfo->fields[i].wire_offset));
+ char b = *(reinterpret_cast<char*>(m + offset));
QString v(b);
f->updateValue(v, 0);
}
break;
case MAVLINK_TYPE_UINT8_T:
- if (msgInfo->fields[i].array_length > 0) {
- uint8_t* nums = m+msgInfo->fields[i].wire_offset;
- // Enforce null termination
+ if (array_length > 0) {
+ uint8_t* nums = m + offset;
QString tmp("%1, ");
QString string;
- for (unsigned int j = 0; j < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- uint8_t u = *(m+msgInfo->fields[i].wire_offset);
+ uint8_t u = *(m + offset);
f->updateValue(QString::number(u), static_cast<qreal>(u));
}
break;
case MAVLINK_TYPE_INT8_T:
- if (msgInfo->fields[i].array_length > 0) {
- int8_t* nums = reinterpret_cast<int8_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ if (array_length > 0) {
+ int8_t* nums = reinterpret_cast<int8_t*>(m + offset);
QString tmp("%1, ");
QString string;
- for (unsigned int j = 0; j < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ 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+msgInfo->fields[i].wire_offset));
+ 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 (msgInfo->fields[i].array_length > 0) {
- uint16_t* nums = reinterpret_cast<uint16_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- uint16_t n = *(reinterpret_cast<uint16_t*>(m + msgInfo->fields[i].wire_offset));
+ 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 (msgInfo->fields[i].array_length > 0) {
- int16_t* nums = reinterpret_cast<int16_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- int16_t n = *(reinterpret_cast<int16_t*>(m + msgInfo->fields[i].wire_offset));
+ 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 (msgInfo->fields[i].array_length > 0) {
- uint32_t* nums = reinterpret_cast<uint32_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- uint32_t n = *(reinterpret_cast<uint32_t*>(m + msgInfo->fields[i].wire_offset));
+ 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);
@@ -338,70 +352,74 @@ QGCMAVLinkMessage::update(mavlink_message_t* message)
}
break;
case MAVLINK_TYPE_INT32_T:
- if (msgInfo->fields[i].array_length > 0) {
- int32_t* nums = reinterpret_cast<int32_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- int32_t n = *(reinterpret_cast<int32_t*>(m + msgInfo->fields[i].wire_offset));
+ 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 (msgInfo->fields[i].array_length > 0) {
- float* nums = reinterpret_cast<float*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ 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[msgInfo->fields[i].array_length - 1]));
+ string += QString::number(static_cast<double>(nums[array_length - 1]));
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- float fv = *(reinterpret_cast<float*>(m + msgInfo->fields[i].wire_offset));
+ 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 (msgInfo->fields[i].array_length > 0) {
- double* nums = reinterpret_cast<double*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(static_cast<double>(nums[msgInfo->fields[i].array_length - 1]));
+ string += QString::number(static_cast<double>(nums[array_length - 1]));
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- double d = *(reinterpret_cast<double*>(m + msgInfo->fields[i].wire_offset));
+ double d;
+ memcpy(&d, m + offset, sizeof(double));
f->updateValue(QString::number(d), static_cast<qreal>(d));
}
break;
case MAVLINK_TYPE_UINT64_T:
- if (msgInfo->fields[i].array_length > 0) {
- uint64_t* nums = reinterpret_cast<uint64_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- uint64_t n = *(reinterpret_cast<uint64_t*>(m + msgInfo->fields[i].wire_offset));
+ 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);
@@ -412,19 +430,20 @@ QGCMAVLinkMessage::update(mavlink_message_t* message)
}
break;
case MAVLINK_TYPE_INT64_T:
- if (msgInfo->fields[i].array_length > 0) {
- int64_t* nums = reinterpret_cast<int64_t*>(m + msgInfo->fields[i].wire_offset);
- // Enforce null termination
+ 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 < msgInfo->fields[i].array_length - 1; ++j) {
+ for (unsigned int j = 0; j < array_length - 1; ++j) {
string += tmp.arg(nums[j]);
}
- string += QString::number(nums[msgInfo->fields[i].array_length - 1]);
+ string += QString::number(nums[array_length - 1]);
f->updateValue(string, static_cast<qreal>(nums[0]));
} else {
// Single value
- int64_t n = *(reinterpret_cast<int64_t*>(m + msgInfo->fields[i].wire_offset));
+ int64_t n;
+ memcpy(&n, m + offset, sizeof(int64_t));
f->updateValue(QString::number(n), static_cast<qreal>(n));
}
break;
@@ -443,6 +462,12 @@ QGCMAVLinkVehicle::QGCMAVLinkVehicle(QObject* parent, quint8 id)
}
//-----------------------------------------------------------------------------
+QGCMAVLinkVehicle::~QGCMAVLinkVehicle()
+{
+ _messages.clearAndDeleteContents();
+}
+
+//-----------------------------------------------------------------------------
QGCMAVLinkMessage*
QGCMAVLinkVehicle::findMessage(uint32_t id, uint8_t cid)
{
@@ -472,11 +497,30 @@ QGCMAVLinkVehicle::findMessage(QGCMAVLinkMessage* message)
//-----------------------------------------------------------------------------
void
+QGCMAVLinkVehicle::_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();
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------
+void
QGCMAVLinkVehicle::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();
+ }
}
}
@@ -499,6 +543,9 @@ QGCMAVLinkVehicle::append(QGCMAVLinkMessage* 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
@@ -700,6 +747,8 @@ MAVLinkInspectorController::MAVLinkInspectorController()
//-----------------------------------------------------------------------------
MAVLinkInspectorController::~MAVLinkInspectorController()
{
+ _charts.clearAndDeleteContents();
+ _vehicles.clearAndDeleteContents();
}
//----------------------------------------------------------------------------------------
diff --git a/src/AnalyzeView/MAVLinkInspectorController.h b/src/AnalyzeView/MAVLinkInspectorController.h
index f3c2d65..2c58b4b 100644
--- a/src/AnalyzeView/MAVLinkInspectorController.h
+++ b/src/AnalyzeView/MAVLinkInspectorController.h
@@ -91,8 +91,10 @@ public:
Q_PROPERTY(quint64 count READ count NOTIFY messageChanged)
Q_PROPERTY(QmlObjectListModel* fields READ fields NOTIFY indexChanged)
Q_PROPERTY(bool fieldSelected READ fieldSelected NOTIFY fieldSelectedChanged)
+ Q_PROPERTY(bool selected READ selected NOTIFY selectedChanged)
- QGCMAVLinkMessage(QObject* parent, mavlink_message_t* message);
+ QGCMAVLinkMessage (QObject* parent, mavlink_message_t* message);
+ ~QGCMAVLinkMessage ();
quint32 id () { return _message.msgid; }
quint8 cid () { return _message.compid; }
@@ -102,16 +104,19 @@ public:
quint64 lastCount () { return _lastCount; }
QmlObjectListModel* fields () { return &_fields; }
bool fieldSelected () { return _fieldSelected; }
+ bool selected () { return _selected; }
void updateFieldSelection();
void update (mavlink_message_t* message);
void updateFreq ();
+ void setSelected (bool sel) { _selected = sel; }
signals:
void messageChanged ();
void freqChanged ();
void indexChanged ();
void fieldSelectedChanged ();
+ void selectedChanged ();
private:
QmlObjectListModel _fields;
@@ -121,6 +126,7 @@ private:
uint64_t _lastCount = 0;
mavlink_message_t _message; //-- List of QGCMAVLinkMessageField
bool _fieldSelected = false;
+ bool _selected = false;
};
//-----------------------------------------------------------------------------
@@ -134,7 +140,8 @@ public:
Q_PROPERTY(int selected READ selected WRITE setSelected NOTIFY selectedChanged)
- QGCMAVLinkVehicle(QObject* parent, quint8 id);
+ QGCMAVLinkVehicle (QObject* parent, quint8 id);
+ ~QGCMAVLinkVehicle ();
quint8 id () { return _id; }
QmlObjectListModel* messages () { return &_messages; }
@@ -154,6 +161,7 @@ signals:
private:
void _checkCompID (QGCMAVLinkMessage *message);
+ void _resetSelection ();
private:
quint8 _id;