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Clean up mavlink inspector code to prevent crashing #13413

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Merged
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Sep 22, 2025
Merged

Clean up mavlink inspector code to prevent crashing #13413

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26 changes: 16 additions & 10 deletions src/AnalyzeView/MAVLinkChartController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -18,43 +18,49 @@

Q_DECLARE_METATYPE(QAbstractSeries*)

QGC_LOGGING_CATEGORY(MAVLinkChartControllerLog, "qgc.analyzeview.mavlinkchartcontroller")
QGC_LOGGING_CATEGORY(MAVLinkChartControllerLog, "MAVLinkChartControllerLog")

MAVLinkChartController::MAVLinkChartController(MAVLinkInspectorController *controller, int index, QObject *parent)
MAVLinkChartController::MAVLinkChartController(QObject *parent)
: QObject(parent)
, _index(index)
, _controller(controller)
, _updateSeriesTimer(new QTimer(this))
{
// qCDebug(MAVLinkChartControllerLog) << Q_FUNC_INFO << this;

(void) qRegisterMetaType<QAbstractSeries*>("QAbstractSeries*");

(void) connect(_updateSeriesTimer, &QTimer::timeout, this, &MAVLinkChartController::_refreshSeries);

updateXRange();
}

MAVLinkChartController::~MAVLinkChartController()
{
// qCDebug(MAVLinkChartControllerLog) << Q_FUNC_INFO << this;
}

void MAVLinkChartController::setInspectorController(MAVLinkInspectorController *controller)
{
if (_inspectorController == controller) {
return;
}

_inspectorController = controller;
updateXRange();
}

void MAVLinkChartController::setRangeYIndex(quint32 index)
{
if (index == _rangeYIndex) {
return;
}

if (index >= static_cast<quint32>(_controller->rangeSt().count())) {
if (index >= static_cast<quint32>(_inspectorController->rangeSt().count())) {
return;
}

_rangeYIndex = index;
emit rangeYIndexChanged();

// If not Auto, use defined range
const qreal range = _controller->rangeSt()[static_cast<int>(index)]->range;
const qreal range = _inspectorController->rangeSt()[static_cast<int>(index)]->range;
if (_rangeYIndex > 0) {
_rangeYMin = -range;
emit rangeYMinChanged();
Expand All @@ -78,15 +84,15 @@ void MAVLinkChartController::setRangeXIndex(quint32 index)

void MAVLinkChartController::updateXRange()
{
if (_rangeXIndex >= static_cast<quint32>(_controller->timeScaleSt().count())) {
if (_rangeXIndex >= static_cast<quint32>(_inspectorController->timeScaleSt().count())) {
return;
}

const qint64 bootTime = static_cast<qint64>(qgcApp()->msecsSinceBoot());
_rangeXMax = QDateTime::fromMSecsSinceEpoch(bootTime);
emit rangeXMaxChanged();

_rangeXMin = QDateTime::fromMSecsSinceEpoch(bootTime - _controller->timeScaleSt()[static_cast<int>(_rangeXIndex)]->timeScale);
_rangeXMin = QDateTime::fromMSecsSinceEpoch(bootTime - _inspectorController->timeScaleSt()[static_cast<int>(_rangeXIndex)]->timeScale);
emit rangeXMinChanged();
}

Expand Down
21 changes: 10 additions & 11 deletions src/AnalyzeView/MAVLinkChartController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,6 @@
*
****************************************************************************/

/// @file
/// @brief MAVLink message inspector and charting controller
/// @author Gus Grubba <gus@auterion.com>

#pragma once

#include <QtCore/QDateTime>
Expand All @@ -30,35 +26,38 @@ class MAVLinkChartController : public QObject
{
Q_OBJECT
QML_ELEMENT
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Copilot AI Sep 21, 2025

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Removing QML_UNCREATABLE(\"\") makes this type creatable from QML, but the constructor now requires parameters that can't be provided from QML creation. Consider keeping QML_UNCREATABLE or adding a default constructor that handles uninitialized state gracefully.

Suggested change
QML_ELEMENT
QML_UNCREATABLE("Cannot be created from QML. Use factory or set required properties.")

Copilot uses AI. Check for mistakes.

QML_UNCREATABLE("")
Q_MOC_INCLUDE("MAVLinkInspectorController.h")
Q_MOC_INCLUDE("MAVLinkMessageField.h")
Q_MOC_INCLUDE("QtCharts/qabstractseries.h")

Q_PROPERTY(MAVLinkInspectorController* inspectorController READ inspectorController WRITE setInspectorController REQUIRED)
Q_PROPERTY(int chartIndex MEMBER _chartIndex REQUIRED)
Q_PROPERTY(QVariantList chartFields READ chartFields NOTIFY chartFieldsChanged)
Q_PROPERTY(QDateTime rangeXMin READ rangeXMin NOTIFY rangeXMinChanged)
Q_PROPERTY(QDateTime rangeXMax READ rangeXMax NOTIFY rangeXMaxChanged)
Q_PROPERTY(qreal rangeYMin READ rangeYMin NOTIFY rangeYMinChanged)
Q_PROPERTY(qreal rangeYMax READ rangeYMax NOTIFY rangeYMaxChanged)
Q_PROPERTY(int chartIndex READ chartIndex CONSTANT)
Q_PROPERTY(quint32 rangeYIndex READ rangeYIndex WRITE setRangeYIndex NOTIFY rangeYIndexChanged)
Q_PROPERTY(quint32 rangeXIndex READ rangeXIndex WRITE setRangeXIndex NOTIFY rangeXIndexChanged)


public:
explicit MAVLinkChartController(MAVLinkInspectorController *controller, int index, QObject *parent = nullptr);
explicit MAVLinkChartController(QObject *parent = nullptr);
~MAVLinkChartController();

Q_INVOKABLE void addSeries(QGCMAVLinkMessageField *field, QAbstractSeries *series);
Q_INVOKABLE void delSeries(QGCMAVLinkMessageField *field);
Q_INVOKABLE MAVLinkInspectorController *controller() const { return _controller; }

void setInspectorController(MAVLinkInspectorController *inspectorController);
MAVLinkInspectorController *inspectorController() const { return _inspectorController; }
QVariantList chartFields() const { return _chartFields; }
QDateTime rangeXMin() const { return _rangeXMin; }
QDateTime rangeXMax() const { return _rangeXMax; }
qreal rangeYMin() const { return _rangeYMin; }
qreal rangeYMax() const { return _rangeYMax; }
quint32 rangeXIndex() const { return _rangeXIndex; }
quint32 rangeYIndex() const { return _rangeYIndex; }
int chartIndex() const { return _index; }
int chartIndex() const { return _chartIndex; }

void setRangeXIndex(quint32 index);
void setRangeYIndex(quint32 index);
Expand All @@ -78,8 +77,8 @@ private slots:
void _refreshSeries();

private:
int _index = 0;
MAVLinkInspectorController *_controller = nullptr;
int _chartIndex = 0;
MAVLinkInspectorController *_inspectorController = nullptr;
QTimer *_updateSeriesTimer = nullptr;

QDateTime _rangeXMin;
Expand Down
37 changes: 1 addition & 36 deletions src/AnalyzeView/MAVLinkInspectorController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@

#include <QtQml/QQmlEngine>

QGC_LOGGING_CATEGORY(MAVLinkInspectorControllerLog, "qgc.analyzeview.mavlinkinspectorcontroller")
QGC_LOGGING_CATEGORY(MAVLinkInspectorControllerLog, "MAVLinkInspectorControllerLog")

MAVLinkInspectorController::TimeScale_st::TimeScale_st(const QString &label_, uint32_t timeScale_)
: label(label_)
Expand All @@ -44,7 +44,6 @@ MAVLinkInspectorController::MAVLinkInspectorController(QObject *parent)
: QObject(parent)
, _updateFrequencyTimer(new QTimer(this))
, _systems(new QmlObjectListModel(this))
, _charts(new QmlObjectListModel(this))
{
// qCDebug(MAVLinkInspectorControllerLog) << Q_FUNC_INFO << this;

Expand Down Expand Up @@ -84,7 +83,6 @@ MAVLinkInspectorController::~MAVLinkInspectorController()
{
qDeleteAll(_timeScaleSt);
qDeleteAll(_rangeSt);
_charts->clearAndDeleteContents();
_systems->clearAndDeleteContents();

// qCDebug(MAVLinkInspectorControllerLog) << Q_FUNC_INFO << this;
Expand Down Expand Up @@ -227,39 +225,6 @@ void MAVLinkInspectorController::_receiveMessage(LinkInterface *link, const mavl
}
}

MAVLinkChartController *MAVLinkInspectorController::createChart()
{
MAVLinkChartController *const pChart = new MAVLinkChartController(this, _charts->count());
QQmlEngine::setObjectOwnership(pChart, QQmlEngine::CppOwnership);

_charts->append(pChart);
emit chartsChanged();

return pChart;
}

void MAVLinkInspectorController::deleteChart(MAVLinkChartController *chart)
{
if (!chart) {
return;
}

bool found = false;
for (int i = 0; i < _charts->count(); i++) {
MAVLinkChartController *const controller = qobject_cast<MAVLinkChartController*>(_charts->get(i));
if (controller && (controller == chart)) {
found = true;
_charts->removeOne(controller);
delete controller;
break;
}
}

if (found) {
emit chartsChanged();
}
}

void MAVLinkInspectorController::setActiveSystem(int systemId)
{
QGCMAVLinkSystem *const system = _findVehicle(systemId);
Expand Down
6 changes: 0 additions & 6 deletions src/AnalyzeView/MAVLinkInspectorController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,6 @@ class MAVLinkInspectorController : public QObject
Q_MOC_INCLUDE("MAVLinkChartController.h")
Q_MOC_INCLUDE("QmlObjectListModel.h")
Q_PROPERTY(QmlObjectListModel *systems READ systems NOTIFY systemsChanged)
Q_PROPERTY(QmlObjectListModel *charts READ charts NOTIFY chartsChanged)
Q_PROPERTY(QGCMAVLinkSystem *activeSystem READ activeSystem NOTIFY activeSystemChanged)
Q_PROPERTY(QStringList timeScales READ timeScales NOTIFY timeScalesChanged)
Q_PROPERTY(QStringList rangeList READ rangeList NOTIFY rangeListChanged)
Expand All @@ -62,13 +61,10 @@ class MAVLinkInspectorController : public QObject
explicit MAVLinkInspectorController(QObject *parent = nullptr);
~MAVLinkInspectorController();

Q_INVOKABLE MAVLinkChartController *createChart();
Q_INVOKABLE void deleteChart(MAVLinkChartController *chart);
Q_INVOKABLE void setActiveSystem(int systemId);
Q_INVOKABLE void setMessageInterval(int32_t rate) const;

QmlObjectListModel *systems() const { return _systems; }
QmlObjectListModel *charts() const { return _charts; }
QGCMAVLinkSystem *activeSystem() const { return _activeSystem; }
QStringList systemNames() const { return _systemNames; }
QStringList timeScales();
Expand All @@ -79,7 +75,6 @@ class MAVLinkInspectorController : public QObject

signals:
void activeSystemChanged();
void chartsChanged();
void rangeListChanged();
void systemsChanged();
void timeScalesChanged();
Expand All @@ -104,5 +99,4 @@ private slots:
QGCMAVLinkSystem *_activeSystem = nullptr;
QTimer *_updateFrequencyTimer = nullptr;
QmlObjectListModel *_systems = nullptr; ///< List of QGCMAVLinkSystem
QmlObjectListModel *_charts = nullptr; ///< List of MAVLinkCharts
};
35 changes: 16 additions & 19 deletions src/AnalyzeView/MAVLinkInspectorPage.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,6 @@ import QGroundControl

import QGroundControl.Controls



AnalyzePage {
id: root
headerComponent: headerComponent
Expand All @@ -45,27 +43,22 @@ AnalyzePage {
if(!checkBox) {
continue
}
const object = message.fields.get(i)
checkBox.enabled = isCheckboxEnabled(checkBox, object, chart)
const messageField = message.fields.get(i)
checkBox.enabled = isCheckboxEnabled(checkBox, messageField, chart)
}
}

function isCheckboxEnabled(checkBox, object, chart) {
function isCheckboxEnabled(checkBox, messageField, chart) {
if(checkBox.checkState === Qt.Checked) {
return true
}
if(!object.selectable) {
if(!messageField.selectable) {
return false
}
if(object.series !== null) {
if(messageField.series !== null) {
return false
}
if(chart.chartController !== null) {
if (chart.chartController.chartFields.length >= chart.seriesColors.length) {
return false
}
}
return true
return chart.roomForNewDimension()
}

Component {
Expand Down Expand Up @@ -338,14 +331,18 @@ AnalyzePage {
}
Item { height: ScreenTools.defaultFontPixelHeight * 0.25; width: 1 }
MAVLinkChart {
id: chart1
height: ScreenTools.defaultFontPixelHeight * 20
width: parent.width
id: chart1
height: ScreenTools.defaultFontPixelHeight * 20
width: parent.width
inspectorController: controller
chartIndex: 0
}
MAVLinkChart {
id: chart2
height: ScreenTools.defaultFontPixelHeight * 20
width: parent.width
id: chart2
height: ScreenTools.defaultFontPixelHeight * 20
width: parent.width
inspectorController: controller
chartIndex: 1
}
}
}
Expand Down
16 changes: 8 additions & 8 deletions src/AnalyzeView/MAVLinkMessageField.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,13 +34,13 @@ QGCMAVLinkMessageField::~QGCMAVLinkMessageField()
// qCDebug(MAVLinkMessageFieldLog) << Q_FUNC_INFO << this;
}

void QGCMAVLinkMessageField::addSeries(MAVLinkChartController *chart, QAbstractSeries *series)
void QGCMAVLinkMessageField::addSeries(MAVLinkChartController *chartController, QAbstractSeries *series)
{
if (_pSeries) {
return;
}

_chart = chart;
_chartController = chartController;
_pSeries = series;
emit seriesChanged();

Expand All @@ -58,7 +58,7 @@ void QGCMAVLinkMessageField::delSeries()
QLineSeries *const lineSeries = static_cast<QLineSeries*>(_pSeries);
lineSeries->replace(_values);
_pSeries = nullptr;
_chart = nullptr;
_chartController = nullptr;
emit seriesChanged();
_msg->updateFieldSelection();
}
Expand All @@ -78,8 +78,8 @@ void QGCMAVLinkMessageField::setSelectable(bool sel)

int QGCMAVLinkMessageField::chartIndex() const
{
if (_chart) {
return _chart->chartIndex();
if (_chartController) {
return _chartController->chartIndex();
}

return 0;
Expand All @@ -92,7 +92,7 @@ void QGCMAVLinkMessageField::updateValue(const QString &newValue, qreal v)
emit valueChanged();
}

if (!_pSeries || !_chart) {
if (!_pSeries || !_chartController) {
return;
}

Expand All @@ -109,7 +109,7 @@ void QGCMAVLinkMessageField::updateValue(const QString &newValue, qreal v)
_dataIndex++;
}

if (_chart->rangeYIndex() != 0) {
if (_chartController->rangeYIndex() != 0) {
return;
}

Expand Down Expand Up @@ -137,7 +137,7 @@ void QGCMAVLinkMessageField::updateValue(const QString &newValue, qreal v)
}

if (changed) {
_chart->updateYRange();
_chartController->updateYRange();
}
}

Expand Down
4 changes: 2 additions & 2 deletions src/AnalyzeView/MAVLinkMessageField.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ class QGCMAVLinkMessageField : public QObject
void setSelectable(bool sel);
void updateValue(const QString &newValue, qreal v);

void addSeries(MAVLinkChartController *chart, QAbstractSeries *series);
void addSeries(MAVLinkChartController *chartController, QAbstractSeries *series);
void delSeries();
void updateSeries();

Expand All @@ -75,5 +75,5 @@ class QGCMAVLinkMessageField : public QObject
QList<QPointF> _values;

QAbstractSeries *_pSeries = nullptr;
MAVLinkChartController *_chart = nullptr;
MAVLinkChartController *_chartController = nullptr;
};
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