Add message ‘Q’ support

cfrpg · May 31, 2022 · dd6fb0a · dd6fb0a
1 parent 792cedf
commit dd6fb0a
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Showing 7 changed files with 190 additions and 28 deletions.
diff --git a/src/SharpBladeFlightAnalyzer/Controls/LogPageControl.xaml b/src/SharpBladeFlightAnalyzer/Controls/LogPageControl.xaml
@@ -255,20 +255,35 @@
             </TabItem>
             <TabItem Header="参数" Width="100" Height="30" >
                 <ListView x:Name="paramList" ItemsSource="{Binding}">
+                    <ListView.ItemContainerStyle>
+                        <Style TargetType="{x:Type ListViewItem}">
+                            <Setter Property="BorderBrush" Value="LightGray" />
+                            <Setter Property="BorderThickness" Value="0,0,0,1" />
+                        </Style>
+                    </ListView.ItemContainerStyle>
                     <ListView.View>
                         <GridView>
-                            <GridViewColumn Header="参数" Width="150" DisplayMemberBinding="{Binding Item1}"/>
-                            <GridViewColumn Header="值" Width="150" DisplayMemberBinding="{Binding Item2}"/>
+                            <GridViewColumn Header="参数" Width="150" DisplayMemberBinding="{Binding Name}"/>
+                            <GridViewColumn Header="值" Width="150" DisplayMemberBinding="{Binding Value}"/>
+                            <GridViewColumn Header="系统默认值" Width="150" DisplayMemberBinding="{Binding DisplayedSysDefalut}"/>
+                            <GridViewColumn Header="机型默认值" Width="150" DisplayMemberBinding="{Binding DisplayedAirframeDefault}"/>
                         </GridView>
                     </ListView.View>
                 </ListView>
             </TabItem>
             <TabItem Header="消息" Width="100" Height="30">
                 <ListView x:Name="msgList" ItemsSource="{Binding}">
+                    <ListView.ItemContainerStyle>
+                        <Style TargetType="{x:Type ListViewItem}">
+                            <Setter Property="BorderBrush" Value="LightGray" />
+                            <Setter Property="BorderThickness" Value="0,0,0,1" />
+                        </Style>
+                    </ListView.ItemContainerStyle>
                     <ListView.View>
                         <GridView>
                             <GridViewColumn Header="等级" Width="150" DisplayMemberBinding="{Binding Level}"/>
                             <GridViewColumn Header="时间" Width="150" DisplayMemberBinding="{Binding Time,StringFormat={}{0:HH:mm:ss.fff}}"/>
+                            <GridViewColumn Header="来源" Width="100" DisplayMemberBinding="{Binding TagString}"/>
                             <GridViewColumn Header="消息" Width="400" DisplayMemberBinding="{Binding Message}"/>
                         </GridView>
                     </ListView.View>

diff --git a/src/SharpBladeFlightAnalyzer/Controls/LogPageControl.xaml.cs b/src/SharpBladeFlightAnalyzer/Controls/LogPageControl.xaml.cs
@@ -254,7 +254,7 @@ private void exportAcmiBtn_Click(object sender, RoutedEventArgs e)
 				(logFile.FormatList["vehicle_attitude"].SubscribedID.Count == 0)
 				)
 			{
-				MessageBox.Show("数据不全");
+				MessageBox.Show("数据不全", "SharpBladeFlightAnalyzer");
 				return;
 			}
 			DataField[] posData = new DataField[3];
@@ -359,7 +359,7 @@ private void exportCsvBtn_Click(object sender, RoutedEventArgs e)
 				(logFile.FormatList["vehicle_attitude"].SubscribedID.Count == 0)
 				)
 			{
-				MessageBox.Show("数据不全");
+				MessageBox.Show("数据不全", "SharpBladeFlightAnalyzer");
 				return;
 			}
 			DataField[] posData = new DataField[3];

diff --git a/src/SharpBladeFlightAnalyzer/LoggedMessage.cs b/src/SharpBladeFlightAnalyzer/LoggedMessage.cs
@@ -12,6 +12,7 @@ public class LoggedMessage
 		ulong timestamp;
 		string message;
 		DateTime time;
+		LogTag tag;
 
 		public LogLevel Level
 		{
@@ -39,6 +40,23 @@ public DateTime Time
 		{
 			get { return time; }
 		}
+
+		public LogTag Tag { get => tag; set => tag = value; }
+
+		public string TagString
+		{
+			get
+			{
+				if (Tag != LogTag.notag)
+					return tag.ToString();
+				return "";
+			}
+		}
+
+		public LoggedMessage()
+		{
+			tag = LogTag.notag;
+		}
 	}
 
 	public enum LogLevel:byte
@@ -52,4 +70,19 @@ public enum LogLevel:byte
 		INFO = 0x36,
 		DEBUG = 0x37
 	}
+
+	public enum LogTag : ushort
+	{
+		unassigned,
+		mavlink_handler,
+		ppk_handler,
+		camera_handler,
+		ptp_handler,
+		serial_handler,
+		watchdog,
+		io_service,
+		cbuf,
+		ulg,
+		notag=9999
+	}
 }
diff --git a/src/SharpBladeFlightAnalyzer/MainWindow.xaml b/src/SharpBladeFlightAnalyzer/MainWindow.xaml
@@ -75,7 +75,9 @@
                     </Grid.ColumnDefinitions>
                     <Rectangle Grid.Column="1" Grid.Row="1" Stroke="Gray" StrokeThickness="10" StrokeDashArray="3 1.55" RadiusX="20" RadiusY="20"/>
                     <Path Grid.Column="1" Grid.Row="1" Data="M100,60 100,140 M60,100 140,100" Stroke="Gray" StrokeThickness="10"/>
-                    <Button Grid.Column="1" Grid.Row="1" Background="Transparent" BorderBrush="Transparent" Foreground="Transparent" Style="{DynamicResource ButtonStyle1}" Click="Button_Click"/>
+                    <Button x:Name="loadButton" Grid.Column="1" Grid.Row="1" Background="Transparent" BorderBrush="Transparent" Foreground="Transparent" Style="{DynamicResource ButtonStyle1}" Click="Button_Click"/>
+                    <ProgressBar x:Name="loadProgressBar" HorizontalAlignment="Center" Height="20" VerticalAlignment="Center" Width="300" Grid.Row="1" Grid.ColumnSpan="3" Margin="0" Visibility="Hidden"/>
+
                 </Grid>
             </local:TabPage>
 

diff --git a/src/SharpBladeFlightAnalyzer/Parameter.cs b/src/SharpBladeFlightAnalyzer/Parameter.cs
@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace SharpBladeFlightAnalyzer
+{
+	public class Parameter
+	{
+		string name;
+		float value;
+		float systemDefaultValue;
+		float airframeDefaultValue;
+		string displayedSysDefalut;
+		string displayedAirframeDefault;
+
+		public string Name { get => name; set => name = value; }
+		public float Value { get => value; set => this.value = value; }
+		public float SystemDefaultValue 
+		{ 
+			get => systemDefaultValue;
+			set
+			{
+				systemDefaultValue = value;
+				displayedSysDefalut = value.ToString();
+			}
+		}
+		public float AirframeDefaultValue 
+		{ 
+			get => airframeDefaultValue;
+			set
+			{
+				airframeDefaultValue = value;
+				displayedAirframeDefault = value.ToString();
+			}
+		}
+		public string DisplayedSysDefalut { get => displayedSysDefalut; set => displayedSysDefalut = value; }
+		public string DisplayedAirframeDefault { get => displayedAirframeDefault; set => displayedAirframeDefault = value; }
+
+		public Parameter()
+		{
+			name = "";
+			value = 0;
+			systemDefaultValue = 0;
+			airframeDefaultValue = 0;
+			displayedSysDefalut = "";
+			displayedAirframeDefault = "";
+		}
+	}
+}
diff --git a/src/SharpBladeFlightAnalyzer/SharpBladeFlightAnalyzer.csproj b/src/SharpBladeFlightAnalyzer/SharpBladeFlightAnalyzer.csproj
@@ -103,6 +103,7 @@
     <Compile Include="LoggedMessage.cs" />
     <Compile Include="MessageFormat.cs" />
     <Compile Include="MessageViewModel.cs" />
+    <Compile Include="Parameter.cs" />
     <Compile Include="Polar.cs" />
     <Compile Include="Message.cs" />
     <Compile Include="ULogFile.cs" />

diff --git a/src/SharpBladeFlightAnalyzer/ULogFile.cs b/src/SharpBladeFlightAnalyzer/ULogFile.cs
@@ -5,6 +5,7 @@
 using System.Threading.Tasks;
 using System.IO;
 using System.Diagnostics;
+using System.Windows.Forms;
 
 namespace SharpBladeFlightAnalyzer
 {
@@ -29,7 +30,7 @@ public class ULogFile :IDisposable
 		//key,value
 		List<Tuple<string, string>> infomations;
 		//key,value
-		List<Tuple<string, float>> parameters;
+		List<Parameter> parameters;
 
 		List<LoggedMessage> messages;
 
@@ -76,7 +77,7 @@ public static Dictionary<string, int> TypeSize
 			}
 		}
 
-		public List<Tuple<string, float>> Parameters
+		public List<Parameter> Parameters
 		{
 			get { return parameters; }
 			set { parameters = value; }
@@ -103,7 +104,7 @@ public ULogFile()
 			FormatList = new Dictionary<string, MessageFormat>();
 			MessageDict = new Dictionary<int, Message>();
 			infomations=new List<Tuple<string, string>>();
-			parameters=new List<Tuple<string, float>>();
+			parameters=new List<Parameter>();
 			Messages = new List<LoggedMessage>();				
 		}
 
@@ -211,38 +212,71 @@ private bool readMessage()
 			byte msgtype = reader.ReadByte();
 			if (reader.BaseStream.Length - reader.BaseStream.Position < size)
 				return false;
+			bool res = false;
+			string errmsg="读取类型为"+msgtype.ToString()+"的消息时发生未知错误";
 			switch (msgtype)
 			{
 				case 66://B
-					return readFlagBitset(size);
+					res = readFlagBitset(size);
+					break;
 				case 70://F
-					return readFormatDefinition(size);
+					res = readFormatDefinition(size);
+					break;
 				case 73://I
-					return readInformation(size);
+					res = readInformation(size);
+					break;
 				case 77://M
-					return readInformationMulti(size);
+					res = readInformationMulti(size);
+					break;
 				case 80://P
-					return readParameter(size);
+					res = readParameter(size, false);
+					break;
+				case 81://Q
+					res = readParameter(size, true);
+					break;
 				case 65://A
 					if(!defEndFlag)					
-						expendDefinition();					
-					return readSubscribe(size);
+						expendDefinition();
+					res = readSubscribe(size);
+					break;
 				case 82://R
-					return readUnsubscribe(size);
+					res = readUnsubscribe(size);
+					break;
 				case 68://D
-					return readLoggedData(size);
+					res = readLoggedData(size);
+					break;
 				case 76://L
 					if (!defEndFlag)
 						expendDefinition();
-					return readLoggedString(size);
+					res = readLoggedString(size,false);
+					break;
+				case 67://C Tagged Logged string message
+					res = readLoggedString(size, true);
+					break;
 				case 83://S
-					return readSynchronization(size);
+					res = readSynchronization(size);
+					break;
 				case 79://O
-					return readDropoutMark(size);
+					res = readDropoutMark(size);
+					break;
 				default:
-					Debug.WriteLine("Unknow message type:{0}.", msgtype);
+					Debug.WriteLine("Unknow message type:{0},at {1}, size {2}.", msgtype, reader.BaseStream.Position,size);
+					byte[] tmp= reader.ReadBytes(size);
+					res = false;
+					errmsg = "未知日志消息类型：" + msgtype.ToString();
+					break;
+			}
+
+			if (!res)
+			{
+				errmsg = "读取文件时发生错误：" + System.Environment.NewLine + errmsg + System.Environment.NewLine + "是否继续？";
+				if (MessageBox.Show(errmsg, "SharpBladeFlightAnalyzer", MessageBoxButtons.YesNo) == DialogResult.Yes)
+					return true;
+				else
 					return false;
 			}
+
+			return res;
 		}
 		private void expendDefinition()
 		{
@@ -385,26 +419,50 @@ private bool readInformationMulti(ushort msglen)
 			return true;
 		}
 
-		private bool readParameter(ushort msglen)
+		private bool readParameter(ushort msglen,bool def)
 		{
+			Parameter p = new Parameter();
+			byte defaultType=0;
+			if(def)
+			{
+				defaultType = reader.ReadByte();
+			}
 			int keylen = reader.ReadByte();
 			string key = readASCIIString(keylen);
 			string keytype = key.Substring(0, key.IndexOf(' '));
-			string keyname = key.Substring(keytype.Length + 1);
-			float val=0;
+			p.Name = key.Substring(keytype.Length + 1);
+			float v;
 			switch(keytype)
 			{
 				case "int32_t":
-					val = reader.ReadInt32();
+					v = reader.ReadInt32();
 					break;
 				case "float":
-					val = reader.ReadSingle();
+					v = reader.ReadSingle();
 					break;
 				default:
 					Debug.WriteLine("[P]:Unknow parameter type {0}.", keytype);
 					return false;
 			}
-			parameters.Add(new Tuple<string, float>(keyname, val));
+			if (!def)
+			{
+				p.Value = v;
+				parameters.Add(p);
+				return true;
+			}
+			else
+			{				
+				for(int i=0;i<parameters.Count;i++)
+				{
+					if(parameters[i].Name==p.Name)
+					{
+						if ((defaultType & 0x01) != 0)
+							parameters[i].SystemDefaultValue = v;
+						if ((defaultType & 0x02) != 0)
+							parameters[i].AirframeDefaultValue = v;
+					}					
+				}
+			}
 			return true;
 		}
 
@@ -521,10 +579,12 @@ private bool readLoggedData(ushort msglen)
 			return true;
 		}
 
-		private bool readLoggedString(ushort msglen)
+		private bool readLoggedString(ushort msglen,bool taged)
 		{
 			LoggedMessage msg = new LoggedMessage();
 			msg.Level = (LogLevel)reader.ReadByte();
+			if (taged)
+				msg.Tag = (LogTag)reader.ReadUInt16();
 			msg.Timestamp = reader.ReadUInt64();
 			msg.Message = readASCIIString(msglen - 9);
 			Messages.Add(msg);