add a simple example TUI based on ratatui

 - show NAV-PVT msg as in u-center
 - show ESF-STATUS and ESF-ALG statuses similar to u-center
 - show MON-VER
 - a few other things are work in progress, such as: show a graph of the
   sensor values, properly capture the log using tracing and show it in
   the UI

Signed-off-by: Andrei Gherghescu <[email protected]>

examples/adr-message-parsing/src/main.rs

@@ -173,10 +173,10 @@ fn main() {
         )
         .expect("Could not write UBX-CFG-ESFALG msg due to: {e}");
 
-    // Send a packet request for the MonVer packet
+    // Send packet request to read the new CfgEsfAlg
     device
         .write_all(&UbxPacketRequest::request_for::<CfgEsfAlg>().into_packet_bytes())
-        .expect("Unable to write request/poll for CFG-ESFALG message");
+        .expect("Unable to write request/poll for UBX-CFG-ESFALG message");
 
     // Start reading data
     println!("Opened uBlox device, waiting for messages...");

examples/tui/Cargo.toml

@@ -0,0 +1,31 @@
+[package]
+authors = ["Andrei Gherghescu <[email protected]>"]
+edition = "2021"
+name = "ublox-tui"
+publish = false
+rust-version = "1.70"
+version = "0.0.1"
+
+[dependencies]
+anyhow = "1.0"
+chrono = "0.4"
+clap = { version = "4.5.23", features = ["derive", "cargo"] }
+crossterm = { version = "0.28", features = ["event-stream"] }
+env_logger = "0.11"
+indoc = "2"
+log = "0.4"
+ratatui = "0.29"
+serialport = "4.2"
+strum = { version = "0.26", features = ["derive"] }
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter"] }
+unicode-width = "0.2"
+lazy_static = "1.5"
+tracing-error = "0.2"
+tui-logger = { version = "0.14", features = ["crossterm", "tracing-support"] }
+directories = "0.10"
+
+ublox = { path = "../../ublox" }
+
+[features]
+alloc = ["ublox/alloc"]

examples/tui/README.md

@@ -0,0 +1,17 @@
+# TUI example
+
+This TUI is based on the [Ratatui demo app](https://github.com/ratatui/ratatui/tree/main/examples/apps/demo)
+
+It is implemented ony for the `crossterm` backend.
+
+It will show the NAV-PVT and ESF-ALG, ESF-STATUS messages similar to the u-center UI from uBlox.
+
+```shell
+cargo run -p /dev/ttyACM0
+```
+
+You should see a TUI like this
+
+![images/ublox-tui.png](images/ublox-tui.png)
+
+

examples/tui/src/app.rs

@@ -0,0 +1,244 @@
+use core::f64;
+use std::{path::PathBuf, vec};
+
+use ublox::{
+    EsfAlgStatus, EsfSensorFaults, EsfSensorStatusCalibration, EsfSensorStatusTime, EsfSensorType,
+    EsfStatusFusionMode, EsfStatusImuInit, EsfStatusInsInit, EsfStatusMountAngle,
+    EsfStatusWheelTickInit, GpsFix, NavPvtFlags, NavPvtFlags2,
+};
+
+use crate::ui::LogWidget;
+
+pub struct TabsState<'a> {
+    pub titles: Vec<&'a str>,
+    pub index: usize,
+}
+
+impl<'a> TabsState<'a> {
+    pub const fn new(titles: Vec<&'a str>) -> Self {
+        Self { titles, index: 0 }
+    }
+    pub fn next(&mut self) {
+        self.index = (self.index + 1) % self.titles.len();
+    }
+
+    pub fn previous(&mut self) {
+        if self.index > 0 {
+            self.index -= 1;
+        } else {
+            self.index = self.titles.len() - 1;
+        }
+    }
+}
+
+pub enum UbxStatus {
+    Pvt(Box<NavPvtWidgetState>),
+    MonVer(Box<MonVersionWidgetState>),
+    EsfAlgImu(EsfAlgImuAlignmentWidgetState),
+    EsfAlgSensors(EsfSensorsWidgetState),
+    EsfAlgStatus(EsfAlgStatusWidgetState),
+}
+
+#[derive(Debug)]
+#[allow(dead_code)]
+pub struct NavPvtWidgetState {
+    pub time_tag: f64,
+    pub year: u16,
+    pub month: u8,
+    pub day: u8,
+    pub hour: u8,
+    pub min: u8,
+    pub sec: u8,
+    pub valid: u8,
+    pub time_accuracy: u32,
+    pub nanosecond: i32,
+    pub utc_time_accuracy: u32,
+    pub lat: f64,
+    pub lon: f64,
+    pub height: f64,
+    pub msl: f64,
+    pub vel_ned: (f64, f64, f64),
+    pub speed_over_ground: f64,
+    pub heading_motion: f64,
+    pub heading_vehicle: f64,
+    pub magnetic_declination: f64,
+
+    pub pdop: f64,
+    pub satellites_used: u8,
+
+    pub position_fix_type: GpsFix,
+    pub fix_flags: NavPvtFlags,
+    pub invalid_llh: bool,
+    pub position_accuracy: (f64, f64),
+    pub velocity_accuracy: f64,
+    pub heading_accuracy: f64,
+    pub magnetic_declination_accuracy: f64,
+    pub flags2: NavPvtFlags2,
+}
+
+impl Default for NavPvtWidgetState {
+    fn default() -> Self {
+        Self {
+            time_tag: f64::NAN,
+            year: 0,
+            month: 0,
+            day: 0,
+            hour: 0,
+            min: 0,
+            sec: 0,
+            valid: 0,
+            time_accuracy: 0,
+            nanosecond: 0,
+            lat: f64::NAN,
+            lon: f64::NAN,
+            height: f64::NAN,
+            msl: f64::NAN,
+            vel_ned: (f64::NAN, f64::NAN, f64::NAN),
+            speed_over_ground: f64::NAN,
+            heading_motion: f64::NAN,
+            heading_vehicle: f64::NAN,
+            magnetic_declination: f64::NAN,
+            pdop: f64::NAN,
+            satellites_used: 0,
+            utc_time_accuracy: 0,
+            invalid_llh: true,
+            position_accuracy: (f64::NAN, f64::NAN),
+            velocity_accuracy: f64::NAN,
+            heading_accuracy: f64::NAN,
+            magnetic_declination_accuracy: f64::NAN,
+            position_fix_type: GpsFix::NoFix,
+            fix_flags: NavPvtFlags::empty(),
+            flags2: NavPvtFlags2::empty(),
+        }
+    }
+}
+
+#[derive(Debug, Default)]
+pub struct EsfSensorsWidgetState {
+    pub sensors: Vec<EsfSensorWidget>,
+}
+
+#[derive(Debug, Clone)]
+pub struct EsfSensorWidget {
+    pub sensor_type: EsfSensorType,
+    pub calib_status: EsfSensorStatusCalibration,
+    pub time_status: EsfSensorStatusTime,
+    pub freq: u16,
+    pub faults: EsfSensorFaults,
+}
+
+impl Default for EsfSensorWidget {
+    fn default() -> Self {
+        Self {
+            sensor_type: EsfSensorType::Unknown,
+            calib_status: EsfSensorStatusCalibration::NotCalibrated,
+            time_status: EsfSensorStatusTime::NoData,
+            freq: 0,
+            faults: EsfSensorFaults::default(),
+        }
+    }
+}
+
+pub struct EsfAlgStatusWidgetState {
+    pub time_tag: f64,
+    pub fusion_mode: EsfStatusFusionMode,
+    pub imu_status: EsfStatusImuInit,
+    pub wheel_tick_sensor_status: EsfStatusWheelTickInit,
+    pub ins_status: EsfStatusInsInit,
+    pub imu_mount_alignment_status: EsfStatusMountAngle,
+}
+
+impl Default for EsfAlgStatusWidgetState {
+    fn default() -> Self {
+        Self {
+            time_tag: f64::NAN,
+            fusion_mode: EsfStatusFusionMode::Disabled,
+            imu_status: EsfStatusImuInit::Off,
+            wheel_tick_sensor_status: EsfStatusWheelTickInit::Off,
+            ins_status: EsfStatusInsInit::Off,
+            imu_mount_alignment_status: EsfStatusMountAngle::Off,
+        }
+    }
+}
+#[derive(Debug)]
+pub struct EsfAlgImuAlignmentWidgetState {
+    pub time_tag: f64,
+    pub auto_alignment: bool,
+    pub alignment_status: EsfAlgStatus,
+    pub angle_singularity: bool,
+    pub roll: f64,
+    pub pitch: f64,
+    pub yaw: f64,
+}
+
+impl Default for EsfAlgImuAlignmentWidgetState {
+    fn default() -> Self {
+        Self {
+            time_tag: f64::NAN,
+            auto_alignment: false,
+            alignment_status: EsfAlgStatus::UserDefinedAngles,
+            angle_singularity: false,
+            roll: f64::NAN,
+            pitch: f64::NAN,
+            yaw: f64::NAN,
+        }
+    }
+}
+
+#[derive(Debug, Default)]
+pub struct MonVersionWidgetState {
+    pub software_version: [u8; 30],
+    pub hardware_version: [u8; 10],
+    pub extensions: String,
+}
+
+#[allow(dead_code)]
+pub struct App<'a> {
+    pub title: &'a str,
+    pub log_file: PathBuf,
+    pub pvt_state: NavPvtWidgetState,
+    pub mon_ver_state: MonVersionWidgetState,
+    pub esf_sensors_state: EsfSensorsWidgetState,
+    pub esf_alg_state: EsfAlgStatusWidgetState,
+    pub esf_alg_imu_alignment_state: EsfAlgImuAlignmentWidgetState,
+    pub should_quit: bool,
+    pub tabs: TabsState<'a>,
+    pub log_widget: LogWidget,
+}
+
+impl<'a> App<'a> {
+    pub fn new(title: &'a str, log_file: PathBuf) -> Self {
+        App {
+            title,
+            log_file,
+            pvt_state: NavPvtWidgetState::default(),
+            mon_ver_state: MonVersionWidgetState::default(),
+            esf_sensors_state: EsfSensorsWidgetState::default(),
+            esf_alg_state: EsfAlgStatusWidgetState::default(),
+            esf_alg_imu_alignment_state: EsfAlgImuAlignmentWidgetState::default(),
+            should_quit: false,
+            log_widget: LogWidget,
+            tabs: TabsState::new(vec!["PVT & ESF Status", "Version Info", "World Map"]),
+        }
+    }
+
+    pub fn on_right(&mut self) {
+        self.tabs.next();
+    }
+
+    pub fn on_left(&mut self) {
+        self.tabs.previous();
+    }
+
+    pub fn on_key(&mut self, c: char) {
+        match c {
+            'q' => {
+                self.should_quit = true;
+            },
+            'Q' => {
+                self.should_quit = true;
+            },
+            _ => {},
+        }
+    }
+}