Support PGM in tracking signals tab[DIP-64]

Author: john-michaelburke

console_backend/src/process_messages.rs

@@ -31,7 +31,7 @@ use sbp::{
         observation::{MsgObsDepA, MsgSvAzEl},
         orientation::{MsgAngularRate, MsgBaselineHeading, MsgOrientEuler},
         piksi::{MsgDeviceMonitor, MsgNetworkStateResp, MsgThreadState},
-        system::{MsgHeartbeat, MsgInsStatus, MsgInsUpdates, MsgStartup},
+        system::{MsgHeartbeat, MsgInsStatus, MsgInsUpdates, MsgStartup, MsgStatusReport},
         tracking::{MsgMeasurementState, MsgTrackingState},
     },
 };
@@ -321,6 +321,12 @@ fn register_events(link: sbp::link::Link<Tabs>) {
             .unwrap()
             .handle_specan(msg);
     });
+    link.register(|tabs: &Tabs, msg: MsgStatusReport| {
+        tabs.tracking_signals
+            .lock()
+            .unwrap()
+            .handle_msg_status_report(msg);
+    });
     link.register(|tabs: &Tabs, msg: MsgSvAzEl| {
         tabs.tracking_sky_plot.lock().unwrap().handle_sv_az_el(msg);
     });

console_backend/src/tabs/tracking_tab/tracking_signals_tab.rs

@@ -24,7 +24,10 @@ use std::{
 
 use capnp::message::Builder;
 use log::warn;
-use sbp::messages::tracking::{MeasurementState, TrackingChannelState};
+use sbp::messages::{
+    system::{msg_status_report::System, MsgStatusReport},
+    tracking::{MeasurementState, TrackingChannelState},
+};
 
 use crate::client_sender::BoxedClientSender;
 use crate::constants::{
@@ -43,6 +46,8 @@ use crate::utils::{serialize_capnproto_builder, signal_key_color, signal_key_lab
 pub struct TrackingSignalsTab {
     /// Whether a MsgTrackingState has been received. If so block Obs Msgs from being processed.
     pub at_least_one_track_received: bool,
+    /// Whether to disable processing of MsgTrackingState and MsgMeasurementState messages.
+    pub disable_track: bool,
 
     pub check_labels: [&'static str; 13],
     pub client_sender: BoxedClientSender,
@@ -85,6 +90,7 @@ impl TrackingSignalsTab {
     pub fn new(shared_state: SharedState, client_sender: BoxedClientSender) -> TrackingSignalsTab {
         TrackingSignalsTab {
             at_least_one_track_received: false,
+            disable_track: false,
             check_labels: [
                 GPS_L1CA_STR,
                 GPS_L2CM_STR,
@@ -221,6 +227,9 @@ impl TrackingSignalsTab {
     ///
     /// - `states`: All states contained within the measurementstate message.
     pub fn handle_msg_measurement_state(&mut self, states: Vec<MeasurementState>) {
+        if self.disable_track {
+            return;
+        }
         self.at_least_one_track_received = true;
         let mut codes_that_came: Vec<(SignalCodes, i16)> = Vec::new();
         let t = (Instant::now()).duration_since(self.t_init).as_secs_f64();
@@ -258,12 +267,28 @@ impl TrackingSignalsTab {
         self.update_plot();
         self.send_data();
     }
+
+    /// Handle MsgStatusReport message states.
+    ///
+    /// # Parameters:
+    ///
+    /// - `msg`: The full SBP message cast as an MsgStatusReport variant.
+    pub fn handle_msg_status_report(&mut self, msg: MsgStatusReport) {
+        if let Ok(system) = msg.system() {
+            self.disable_track = system == System::PrecisionGnssModule;
+            self.at_least_one_track_received = false;
+        }
+    }
+
     /// Handle MsgTrackingState message states.
     ///
     /// # Parameters:
     ///
     /// - `states`: All states contained within the trackingstate message.
     pub fn handle_msg_tracking_state(&mut self, states: Vec<TrackingChannelState>) {
+        if self.disable_track {
+            return;
+        }
         self.at_least_one_track_received = true;
         let mut codes_that_came: Vec<(SignalCodes, i16)> = Vec::new();
         let t = (Instant::now()).duration_since(self.t_init).as_secs_f64();