Beat Küng
4 years ago
committed by
Don Gagne
17 changed files with 646 additions and 10 deletions
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "libevents_definitions.h" |
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#include <QGCLoggingCategory.h> |
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QGC_LOGGING_CATEGORY(EventsLog, "EventsLog"); |
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void qgc_events_parser_debug_printf(const char *fmt, ...) { |
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char msg[256]; |
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va_list argptr; |
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va_start(argptr, fmt); |
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vsnprintf(msg, sizeof(msg), fmt, argptr); |
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va_end(argptr); |
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msg[sizeof(msg)-1] = '\0'; |
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int len = strlen(msg); |
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if (len > 0) msg[len-1] = '\0'; // remove newline
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qCDebug(EventsLog) << msg; |
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} |
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Subproject commit b3df80adf5e9a1ffd3520a699d751acddd07763c |
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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/*
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* This header defines the events::EventType type. |
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* |
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*/ |
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#pragma once |
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#include <cstdlib> |
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#include <cstdarg> |
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#include <QLoggingCategory> |
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Q_DECLARE_LOGGING_CATEGORY(EventsLog) |
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void qgc_events_parser_debug_printf(const char *fmt, ...); |
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//#define LIBEVENTS_PARSER_DEBUG_PRINTF qgc_events_parser_debug_printf
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#define LIBEVENTS_DEBUG_PRINTF qgc_events_parser_debug_printf |
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#include "MAVLinkProtocol.h" |
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namespace events |
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{ |
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using EventType = mavlink_event_t; |
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} // namespace events
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Subproject commit 9e07c7d0b6eb91f0fd84f911dc91e68e865ba7ed |
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Subproject commit aef704108f3c1e7520338c34171c28565211a607 |
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "CompInfoEvents.h" |
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#include "Vehicle.h" |
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CompInfoEvents::CompInfoEvents(uint8_t compId, Vehicle* vehicle, QObject* parent) |
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: CompInfo(COMP_METADATA_TYPE_EVENTS, compId, vehicle, parent) |
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{ |
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} |
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void CompInfoEvents::setJson(const QString& metadataJsonFileName, const QString& translationJsonFileName) |
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{ |
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vehicle->setEventsMetadata(compId, metadataJsonFileName, translationJsonFileName); |
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} |
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "CompInfo.h" |
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#include <QObject> |
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class FactMetaData; |
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class Vehicle; |
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class FirmwarePlugin; |
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class CompInfoEvents : public CompInfo |
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{ |
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Q_OBJECT |
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public: |
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CompInfoEvents(uint8_t compId, Vehicle* vehicle, QObject* parent = nullptr); |
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// Overrides from CompInfo
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void setJson(const QString& metadataJsonFileName, const QString& translationJsonFileName) override; |
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private: |
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}; |
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include <QSharedPointer> |
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#include "EventHandler.h" |
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#include "QGCLoggingCategory.h" |
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Q_DECLARE_METATYPE(QSharedPointer<events::parser::ParsedEvent>); |
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EventHandler::EventHandler(QObject* parent, const QString& profile, handle_event_f handleEventCB, |
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send_request_event_message_f sendRequestCB, |
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uint8_t ourSystemId, uint8_t ourComponentId, uint8_t systemId, uint8_t componentId) |
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: QObject(parent), _timer(parent), |
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_handleEventCB(handleEventCB), |
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_sendRequestCB(sendRequestCB), |
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_compid(componentId) |
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{ |
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auto error_cb = [componentId](int num_events_lost) { |
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qCWarning(EventsLog) << "Events got lost:" << num_events_lost << "comp_id:" << componentId; |
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}; |
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auto timeout_cb = [this](int timeout_ms) { |
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if (timeout_ms < 0) { |
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_timer.stop(); |
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} else { |
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_timer.setSingleShot(true); |
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_timer.start(timeout_ms); |
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} |
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}; |
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_parser.setProfile(profile.toStdString()); |
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_parser.formatters().url = [](const std::string& content, const std::string& link) { |
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return "<a href=\""+link+"\">"+content+"</a>"; }; |
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events::ReceiveProtocol::Callbacks callbacks{error_cb, _sendRequestCB, |
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std::bind(&EventHandler::gotEvent, this, std::placeholders::_1), timeout_cb}; |
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_protocol = new events::ReceiveProtocol(callbacks, ourSystemId, ourComponentId, systemId, componentId); |
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connect(&_timer, &QTimer::timeout, this, [this]() { _protocol->timerEvent(); }); |
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qRegisterMetaType<QSharedPointer<events::parser::ParsedEvent>>("ParsedEvent"); |
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} |
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EventHandler::~EventHandler() |
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{ |
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delete _protocol; |
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} |
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void EventHandler::gotEvent(const mavlink_event_t& event) |
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{ |
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if (!_parser.hasDefinitions()) { |
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if (_pendingEvents.size() > 50) { // limit size (not expected to happen)
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_pendingEvents.clear(); |
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} |
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qCDebug(EventsLog) << "No metadata, queuing event, ID:" << event.id << "num pending:" << _pendingEvents.size(); |
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_pendingEvents.push_back(event); |
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return; |
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} |
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std::unique_ptr<events::parser::ParsedEvent> parsed_event = _parser.parse(event); |
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if (parsed_event == nullptr) { |
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qCWarning(EventsLog) << "Got Event w/o known metadata: ID:" << event.id << "comp id:" << _compid; |
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return; |
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} |
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qCDebug(EventsLog) << "Got Event: ID:" << parsed_event->id() << "namespace:" << parsed_event->eventNamespace().c_str() << |
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"name:" << parsed_event->name().c_str() << "msg:" << parsed_event->message().c_str(); |
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_handleEventCB(std::move(parsed_event)); |
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} |
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void EventHandler::handleEvents(const mavlink_message_t& message) |
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{ |
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_protocol->processMessage(message); |
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} |
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void EventHandler::setMetadata(const QString &metadataJsonFileName, const QString &translationJsonFileName) |
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{ |
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auto translate = [](const std::string& s) { |
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// TODO: use translation file
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return s; |
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}; |
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if (_parser.loadDefinitionsFile(metadataJsonFileName.toStdString(), translate)) { |
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if (_parser.hasDefinitions()) { |
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// do we have queued events?
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for (const auto& event : _pendingEvents) { |
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gotEvent(event); |
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} |
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_pendingEvents.clear(); |
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} |
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} else { |
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qCWarning(EventsLog) << "Failed to load events JSON metadata file"; |
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} |
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} |
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <QString> |
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#include <QVector> |
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#include <QTimer> |
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#include <functional> |
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#include "HealthAndArmingChecks.h" |
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#include <libevents/libs/cpp/protocol/receive.h> |
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#include <libevents/libs/cpp/parse/parser.h> |
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#include <libevents/libs/cpp/generated/events_generated.h> |
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class EventHandler : public QObject |
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{ |
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Q_OBJECT |
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public: |
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using send_request_event_message_f = std::function<void(const mavlink_request_event_t& msg)>; |
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using handle_event_f = std::function<void(std::unique_ptr<events::parser::ParsedEvent>)>; |
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EventHandler(QObject* parent, const QString& profile, handle_event_f handleEventCB, |
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send_request_event_message_f sendRequestCB, |
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uint8_t ourSystemId, uint8_t ourComponentId, uint8_t systemId, uint8_t componentId); |
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~EventHandler(); |
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void handleEvents(const mavlink_message_t& message); |
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void setMetadata(const QString& metadataJsonFileName, const QString& translationJsonFileName); |
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HealthAndArmingCheckHandler& healthAndArmingChecks() { return _healthAndArmingChecks; } |
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private: |
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void gotEvent(const mavlink_event_t& event); |
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events::ReceiveProtocol* _protocol{nullptr}; |
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QTimer _timer; |
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events::parser::Parser _parser; |
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HealthAndArmingCheckHandler _healthAndArmingChecks; |
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QVector<mavlink_event_t> _pendingEvents; ///< stores incoming events until we have the metadata loaded
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handle_event_f _handleEventCB; |
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send_request_event_message_f _sendRequestCB; |
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const uint8_t _compid; |
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}; |
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "HealthAndArmingChecks.h" |
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#include <QGCLoggingCategory.h> |
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QGC_LOGGING_CATEGORY(HealthAndArmingChecks, "HealthAndArmingChecks"); |
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using health_component_t = events::common::enums::health_component_t; |
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using navigation_mode_category_t = events::common::enums::navigation_mode_category_t; |
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void HealthAndArmingCheckHandler::handleEvent(const events::parser::ParsedEvent& event) |
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{ |
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Type type; |
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if (event.eventNamespace() == "common" && event.name() == "arming_check_summary") { |
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type = Type::ArmingCheckSummary; |
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} else if (event.eventNamespace() == "common" && event.name() == "health_summary") { |
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type = Type::HealthSummary; |
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} else { |
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type = Type::Other; |
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} |
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// the expected order of receiving is:
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// - ArmingCheckSummary
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// - N Other
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// - HealthSummary
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if (type != _expectedEvent) { |
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if (_expectedEvent == Type::Other && type == Type::HealthSummary) { |
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// all good
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} else if (type == Type::ArmingCheckSummary) { |
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qCDebug(HealthAndArmingChecks) << "Unexpected ArmingCheckSummary event, resetting. Expected:" << (int)_expectedEvent; |
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// accept & reset
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} else { |
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qCDebug(HealthAndArmingChecks) << "Unexpected event, resetting. Expected:" << (int)_expectedEvent |
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<< "Got:" << (int)type; |
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_expectedEvent = Type::ArmingCheckSummary; |
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return; |
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} |
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} |
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switch (type) { |
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case Type::ArmingCheckSummary: |
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reset(); |
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if (event.id() == (uint32_t)events::common::event_id_t::arming_check_summary) { |
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ArmingCheckSummary &arming = _results[_currentResult].arming; |
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events::common::decode_arming_check_summary(event.eventData(), arming.error, arming.warning, arming.canArm); |
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_expectedEvent = Type::Other; |
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} |
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break; |
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case Type::Other: { |
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Check check; |
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check.type = event.group() == "health" ? CheckType::Health : CheckType::ArmingCheck; |
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check.message = QString::fromStdString(event.message()); |
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check.description = QString::fromStdString(event.description()); |
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check.affectedModes = (events::common::enums::navigation_mode_category_t)event.argumentValue(0).value.val_uint8_t; |
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check.affectedHealthComponentIndex = event.argumentValue(1).value.val_uint8_t; |
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check.logLevel = events::externalLogLevel(event.eventData().log_levels); |
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_results[_currentResult].checks.append(check); |
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} |
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break; |
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case Type::HealthSummary: |
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if (event.id() == (uint32_t)events::common::event_id_t::health_summary) { |
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HealthSummary &health = _results[_currentResult].health; |
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events::common::decode_health_summary(event.eventData(), health.isPresent, health.error, health.warning); |
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_currentResult = (_currentResult + 1) % 2; |
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emit update(); |
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testReport(); |
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} |
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reset(); |
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break; |
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} |
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} |
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void HealthAndArmingCheckHandler::reset() |
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{ |
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_results[_currentResult].reset(); |
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_expectedEvent = Type::ArmingCheckSummary; |
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} |
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void HealthAndArmingCheckHandler::testReport() |
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{ |
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// just for testing...
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// qWarning() << "Got Health/Arming checks update";
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// qWarning() << "Arming possible in current mode: " << (results().arming.canArm & navigation_mode_category_t::current);
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// qWarning() << "Can a mission be flown: " << (results().arming.canArm & navigation_mode_category_t::mission);
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// qWarning() << "Autonomous (e.g. Takeoff) flight possible: " << (results().arming.canArm & navigation_mode_category_t::autonomous);
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//
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// QString gps_icon_color;
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// if ((results().health.error & health_component_t::sensor_gps) ||
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// (results().health.error & health_component_t::global_position_estimate) ||
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// (results().arming.error & health_component_t::sensor_gps) ||
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// (results().arming.error & health_component_t::global_position_estimate)) {
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// gps_icon_color = "red";
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// } else if((results().health.warning & health_component_t::sensor_gps) ||
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// (results().health.warning & health_component_t::global_position_estimate) ||
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// (results().arming.warning & health_component_t::sensor_gps) ||
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// (results().arming.warning & health_component_t::global_position_estimate)) {
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// gps_icon_color = "yellow";
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// } else {
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// gps_icon_color = "green";
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// }
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// qWarning() << "GPS/Position icon color: " << gps_icon_color;
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//
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// // display events that are relevant for current mode:
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// qWarning() << "Current flight mode:";
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// for (const auto& check : results().checks) {
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// if (check.affectedModes & navigation_mode_category_t::current) {
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// qWarning() << " " << (int)check.logLevel << check.message;
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// }
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// }
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// qWarning() << "Other flight modes:";
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// for (const auto& check : results().checks) {
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// if (!(check.affectedModes & navigation_mode_category_t::current)) {
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// qWarning() << " " << (int)check.logLevel << check.message;
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// }
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// }
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} |
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@ -0,0 +1,84 @@
@@ -0,0 +1,84 @@
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/****************************************************************************
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* |
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* (c) 2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <QObject> |
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#include <QLoggingCategory> |
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#include <QVector> |
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#include <libevents/libs/cpp/parse/parser.h> |
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#include <libevents/libs/cpp/generated/events_generated.h> |
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Q_DECLARE_LOGGING_CATEGORY(HealthAndArmingChecks) |
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class HealthAndArmingCheckHandler : public QObject |
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{ |
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Q_OBJECT |
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public: |
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enum class CheckType { |
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ArmingCheck, |
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Health |
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}; |
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struct Check { |
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CheckType type; |
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QString message; |
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QString description; |
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events::common::enums::navigation_mode_category_t affectedModes; |
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uint8_t affectedHealthComponentIndex; ///< index for events::common::enums::health_component_t, can be 0xff
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events::Log logLevel; |
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}; |
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struct HealthSummary { |
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events::common::enums::health_component_t isPresent; |
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events::common::enums::health_component_t error; |
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events::common::enums::health_component_t warning; |
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}; |
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struct ArmingCheckSummary { |
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events::common::enums::health_component_t error; |
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events::common::enums::health_component_t warning; |
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events::common::enums::navigation_mode_category_t canArm; |
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}; |
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struct Results { |
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HealthSummary health{}; |
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ArmingCheckSummary arming{}; |
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QVector<Check> checks{}; |
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void reset() { |
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health = {}; |
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arming = {}; |
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checks.clear(); |
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} |
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}; |
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void handleEvent(const events::parser::ParsedEvent& event); |
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const Results& results() const { return _results[(_currentResult + 1) % 2]; } |
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signals: |
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void update(); |
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private: |
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enum class Type { |
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ArmingCheckSummary, |
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Other, |
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HealthSummary, |
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}; |
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void reset(); |
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void testReport(); |
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Type _expectedEvent{Type::ArmingCheckSummary}; |
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Results _results[2]; ///< store the last full set and currently updating one
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int _currentResult{0}; ///< index for the currently updating/adding results
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}; |
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|
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Reference in new issue