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#include <QFileDialog>
#include <QMessageBox>
#include <QStandardPaths>
#include <QtEndian>
#include "MainWindow.h"
#include "SerialLink.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGC.h"
#include "ui_QGCMAVLinkLogPlayer.h"
QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent) :
QWidget(parent),
playbackStartTime(0),
logStartTime(0),
logEndTime(0),
accelerationFactor(1.0f),
mavlink(mavlink),
logLink(NULL),
loopCounter(0),
mavlinkLogFormat(true),
binaryBaudRate(defaultBinaryBaudRate),
isPlaying(false),
currPacketCount(0),
lastLogDirectory(QStandardPaths::writableLocation(QStandardPaths::DesktopLocation)),
ui(new Ui::QGCMAVLinkLogPlayer)
{
ui->setupUi(this);
ui->horizontalLayout->setAlignment(Qt::AlignTop);
// Connect protocol
connect(this, SIGNAL(bytesReady(LinkInterface*,QByteArray)), mavlink, SLOT(receiveBytes(LinkInterface*,QByteArray)));
// Setup timer
connect(&loopTimer, SIGNAL(timeout()), this, SLOT(logLoop()));
// Setup buttons
connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectLogFile()));
connect(ui->playButton, SIGNAL(clicked()), this, SLOT(playPauseToggle()));
connect(ui->speedSlider, SIGNAL(valueChanged(int)), this, SLOT(setAccelerationFactorInt(int)));
connect(ui->positionSlider, SIGNAL(valueChanged(int)), this, SLOT(jumpToSliderVal(int)));
connect(ui->positionSlider, SIGNAL(sliderPressed()), this, SLOT(pause()));
setAccelerationFactorInt(49);
ui->speedSlider->setValue(49);
updatePositionSliderUi(0.0);
ui->playButton->setEnabled(false);
ui->speedSlider->setEnabled(false);
ui->positionSlider->setEnabled(false);
ui->speedLabel->setEnabled(false);
ui->logFileNameLabel->setEnabled(false);
ui->logStatsLabel->setEnabled(false);
// Monitor for when the end of the log file is reached. This is done using signals because the main work is in a timer.
connect(this, SIGNAL(logFileEndReached()), &loopTimer, SLOT(stop()));
loadSettings();
}
QGCMAVLinkLogPlayer::~QGCMAVLinkLogPlayer()
{
storeSettings();
delete ui;
}
void QGCMAVLinkLogPlayer::playPause(bool enabled)
{
if (enabled)
{
play();
}
else
{
pause();
}
}
void QGCMAVLinkLogPlayer::playPauseToggle()
{
if (isPlaying)
{
pause();
}
else
{
play();
}
}
void QGCMAVLinkLogPlayer::play()
{
if (logFile.isOpen())
{
// Disable the log file selector button
ui->selectFileButton->setEnabled(false);
// Make sure we aren't at the end of the file, if we are, reset to the beginning and play from there.
if (logFile.atEnd())
{
reset();
}
// Always correct the current start time such that the next message will play immediately at playback.
// We do this by subtracting the current file playback offset from now()
playbackStartTime = (quint64)QDateTime::currentMSecsSinceEpoch() - (logCurrentTime - logStartTime) / 1000;
// Start timer
if (mavlinkLogFormat)
{
loopTimer.start(1);
}
else
{
// Read len bytes at a time
int len = 100;
// Calculate the number of times to read 100 bytes per second
// to guarantee the baud rate, then divide 1000 by the number of read
// operations to obtain the interval in milliseconds
int interval = 1000 / ((binaryBaudRate / 10) / len);
loopTimer.start(interval / accelerationFactor);
}
isPlaying = true;
ui->playButton->setChecked(true);
ui->playButton->setIcon(QIcon(":files/images/actions/media-playback-pause.svg"));
}
else
{
ui->playButton->setChecked(false);
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Information);
msgBox.setText(tr("No logfile selected"));
msgBox.setInformativeText(tr("Please select first a MAVLink log file before playing it."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
}
}
void QGCMAVLinkLogPlayer::pause()
{
loopTimer.stop();
isPlaying = false;
ui->playButton->setIcon(QIcon(":files/images/actions/media-playback-start.svg"));
ui->playButton->setChecked(false);
ui->selectFileButton->setEnabled(true);
}
void QGCMAVLinkLogPlayer::reset()
{
pause();
loopCounter = 0;
logFile.reset();
// Now update the position slider to its default location
updatePositionSliderUi(0.0);
// And since we haven't starting playback, clear the time of initial playback and the current timestamp.
playbackStartTime = 0;
logCurrentTime = logStartTime;
}
bool QGCMAVLinkLogPlayer::jumpToPlaybackLocation(float percentage)
{
// Reset only for valid values
if (percentage <= 100.0f && percentage >= 0.0f)
{
bool result = true;
if (mavlinkLogFormat)
{
// But if we have a timestamped MAVLink log, then actually aim to hit that percentage in terms of
// time through the file.
qint64 newFilePos = (qint64)(percentage * (float)logFile.size());
// Now seek to the appropriate position, failing gracefully if we can't.
if (!logFile.seek(newFilePos))
{
// Fallback: Start from scratch
logFile.reset();
ui->logStatsLabel->setText(tr("Changing packet index failed, back to start."));
result = false;
}
// But we do align to the next MAVLink message for consistency.
mavlink_message_t dummy;
logCurrentTime = findNextMavlinkMessage(&dummy);
// Now calculate the current file location based on time.
float newRelativeTime = (float)(logCurrentTime - logStartTime);
// Calculate the effective baud rate of the file in bytes/s.
float logDuration = (logEndTime - logStartTime);
float baudRate = logFile.size() / logDuration / 1e6;
// And the desired time is:
float desiredTime = percentage * logDuration;
// And now jump the necessary number of bytes in the proper direction
qint64 offset = (newRelativeTime - desiredTime) * baudRate;
logFile.seek(logFile.pos() + offset);
// And scan until we reach the start of a MAVLink message. We make sure to record this timestamp for
// smooth jumping around the file.
logCurrentTime = findNextMavlinkMessage(&dummy);
// Now update the UI with our actual final position.
newRelativeTime = (float)(logCurrentTime - logStartTime);
percentage = newRelativeTime / logDuration;
updatePositionSliderUi(percentage);
}
else
{
// If we're working with a non-timestamped file, we just jump to that percentage of the file,
// align to the next MAVLink message and roll with it. No reason to do anything more complicated.
qint64 newFilePos = (qint64)(percentage * (float)logFile.size());
// Now seek to the appropriate position, failing gracefully if we can't.
if (!logFile.seek(newFilePos))
{
// Fallback: Start from scratch
logFile.reset();
ui->logStatsLabel->setText(tr("Changing packet index failed, back to start."));
result = false;
}
// But we do align to the next MAVLink message for consistency.
mavlink_message_t dummy;
findNextMavlinkMessage(&dummy);
}
// Now update the UI. This is necessary because stop() is called when loading a new logfile
return result;
}
else
{
return false;
}
}
void QGCMAVLinkLogPlayer::updatePositionSliderUi(float percent)
{
ui->positionSlider->blockSignals(true);
int sliderVal = ui->positionSlider->minimum() + (int)(percent * (float)(ui->positionSlider->maximum() - ui->positionSlider->minimum()));
ui->positionSlider->setValue(sliderVal);
// Calculate the runtime in hours:minutes:seconds
// WARNING: Order matters in this computation
quint32 seconds = percent * (logEndTime - logStartTime) / 1e6;
quint32 minutes = seconds / 60;
quint32 hours = minutes / 60;
seconds -= 60*minutes;
minutes -= 60*hours;
// And show the user the details we found about this file.
QString timeLabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->positionSlider->setToolTip(timeLabel);
ui->positionSlider->blockSignals(false);
}
void QGCMAVLinkLogPlayer::loadSettings()
{
QSettings settings;
settings.beginGroup("QGC_MAVLINKLOGPLAYER");
lastLogDirectory = settings.value("LAST_LOG_DIRECTORY", lastLogDirectory).toString();
settings.endGroup();
}
void QGCMAVLinkLogPlayer::storeSettings()
{
QSettings settings;
settings.beginGroup("QGC_MAVLINKLOGPLAYER");
settings.setValue("LAST_LOG_DIRECTORY", lastLogDirectory);
settings.endGroup();
settings.sync();
}
/**
* @brief Select a log file
* @param startDirectory Directory where the file dialog will be opened
* @return filename of the logFile
*/
bool QGCMAVLinkLogPlayer::selectLogFile()
{
// Prompt the user for a new file using the last directory they searched.
return selectLogFile(lastLogDirectory);
}
/**
* @brief Select a log file
* @param startDirectory Directory where the file dialog will be opened
* @return filename of the logFile
*/
bool QGCMAVLinkLogPlayer::selectLogFile(const QString startDirectory)
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Specify MAVLink log file name to replay"), startDirectory, tr("MAVLink or Binary Logfile (*.mavlink *.bin *.log)"));
if (fileName == "")
{
return false;
}
else
{
lastLogDirectory = fileName;
return loadLogFile(fileName);
}
}
/**
* @param factor 0: 0.01X, 50: 1.0X, 100: 100.0X
*/
void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor)
{
float f = factor+1.0f;
f -= 50.0f;
if (f < 0.0f)
{
accelerationFactor = 1.0f / (-f/2.0f);
}
else
{
accelerationFactor = 1+(f/2.0f);
}
// Update timer interval
if (!mavlinkLogFormat)
{
// Read len bytes at a time
int len = 100;
// Calculate the number of times to read 100 bytes per second
// to guarantee the baud rate, then divide 1000 by the number of read
// operations to obtain the interval in milliseconds
int interval = 1000 / ((binaryBaudRate / 10) / len);
loopTimer.stop();
loopTimer.start(interval / accelerationFactor);
}
ui->speedLabel->setText(tr("Speed: %1X").arg(accelerationFactor, 5, 'f', 2, '0'));
}
bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
{
// Enable controls
ui->playButton->setEnabled(true);
ui->speedSlider->setEnabled(true);
ui->positionSlider->setEnabled(true);
ui->speedLabel->setEnabled(true);
ui->logFileNameLabel->setEnabled(true);
ui->logStatsLabel->setEnabled(true);
// Disable logging while replaying a log file.
if (mavlink->loggingEnabled())
{
mavlink->enableLogging(false);
MainWindow::instance()->showInfoMessage(tr("MAVLink Logging Stopped during Replay"), tr("MAVLink logging has been stopped during the log replay. To re-enable logging, use the link properties in the communication menu."));
}
// Make sure to stop the logging process and reset everything.
reset();
// And that the old file is closed nicely.
if (logFile.isOpen())
{
logFile.close();
}
// Now load the new file.
logFile.setFileName(file);
if (!logFile.open(QFile::ReadOnly))
{
MainWindow::instance()->showCriticalMessage(tr("The selected logfile is unreadable"), tr("Please make sure that the file %1 is readable or select a different file").arg(file));
logFile.setFileName("");
return false;
}
else
{
QFileInfo logFileInfo(file);
logFile.reset();
ui->logFileNameLabel->setText(tr("Logfile: %1").arg(logFileInfo.fileName()));
// If there's an existing MAVLinkSimulationLink() being used for an old file,
// we replace it.
if (logLink)
{
logLink->disconnect();
LinkManager::instance()->removeLink(logLink);
delete logLink;
}
logLink = new MAVLinkSimulationLink("");
// Select if binary or MAVLink log format is used
mavlinkLogFormat = file.endsWith(".mavlink");
if (mavlinkLogFormat)
{
// Get the first timestamp from the logfile
// This should be a big-endian uint64.
QByteArray timestamp = logFile.read(timeLen);
quint64 starttime = parseTimestamp(timestamp);
// Now find the last timestamp by scanning for the last MAVLink packet and
// find the timestamp before it. To do this we start searchin a little before
// the end of the file, specifically the maximum MAVLink packet size + the
// timestamp size. This guarantees that we will hit a MAVLink packet before
// the end of the file. Unfortunately, it basically guarantees that we will
// hit more than one. This is why we have to search for a bit.
qint64 fileLoc = logFile.size() - MAVLINK_MAX_PACKET_LEN - timeLen;
logFile.seek(fileLoc);
quint64 endtime = starttime; // Set a sane default for the endtime
mavlink_message_t msg;
quint64 newTimestamp;
while ((newTimestamp = findNextMavlinkMessage(&msg)) > endtime) {
endtime = newTimestamp;
}
if (endtime == starttime) {
MainWindow::instance()->showCriticalMessage(tr("The selected logfile cannot be processed"), tr("No valid timestamps were found at the end of the logfile.").arg(file));
logFile.setFileName("");
ui->logFileNameLabel->setText(tr("No logfile selected"));
return false;
}
// Remember the start and end time so we can move around this logfile with the slider.
logEndTime = endtime;
logStartTime = starttime;
logCurrentTime = logStartTime;
// Reset our log file so when we go to read it for the first time, we start at the beginning.
logFile.reset();
// Calculate the runtime in hours:minutes:seconds
// WARNING: Order matters in this computation
quint32 seconds = (endtime - starttime)/1000000;
quint32 minutes = seconds / 60;
quint32 hours = minutes / 60;
seconds -= 60*minutes;
minutes -= 60*hours;
// And show the user the details we found about this file.
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
currPacketCount = logFileInfo.size()/(32 + MAVLINK_NUM_NON_PAYLOAD_BYTES + sizeof(quint64)); // Count packets by assuming an average payload size of 32 bytes
ui->logStatsLabel->setText(tr("%2 MB, ~%3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(currPacketCount).arg(timelabel));
}
else
{
// Load in binary mode. In this mode, files should be have a filename postfix
// of the baud rate they were recorded at, like `test_run_115200.bin`. Then on
// playback, the datarate is equal to set to this value.
// Set baud rate if any present. Otherwise we default to 57600.
QStringList parts = logFileInfo.baseName().split("_");
binaryBaudRate = defaultBinaryBaudRate;
if (parts.count() > 1)
{
bool ok;
int rate = parts.last().toInt(&ok);
// 9600 baud to 100 MBit
if (ok && (rate > 9600 && rate < 100000000))
{
// Accept this as valid baudrate
binaryBaudRate = rate;
}
}
int seconds = logFileInfo.size() / (binaryBaudRate / 10);
int minutes = seconds / 60;
int hours = minutes / 60;
seconds -= 60*minutes;
minutes -= 60*hours;
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2));
}
// Check if a serial link is connected
bool linkWarning = false;
foreach (LinkInterface* link, LinkManager::instance()->getLinks())
{
SerialLink* s = dynamic_cast<SerialLink*>(link);
if (s && s->isConnected())
linkWarning = true;
}
if (linkWarning)
MainWindow::instance()->showInfoMessage(tr("Active MAVLink links found"), tr("Currently other links are connected. It is recommended to disconnect any active link before replaying a log."));
play();
return true;
}
}
quint64 QGCMAVLinkLogPlayer::parseTimestamp(const QByteArray &data)
{
// Retrieve the timestamp from the ByteArray assuming a proper BigEndian quint64 timestamp in microseconds.
quint64 timestamp = qFromBigEndian(*((quint64*)(data.constData())));
// And get the current time in microseconds
quint64 currentTimestamp = ((quint64)QDateTime::currentMSecsSinceEpoch()) * 1000;
// Now if the parsed timestamp is in the future, it must be an old file where the timestamp was stored as
// little endian, so switch it.
if (timestamp > currentTimestamp) {
timestamp = qbswap(timestamp);
}
return timestamp;
}
/**
* Jumps to the current percentage of the position slider. When this is called, the LogPlayer should already
* have been paused, so it just jumps to the proper location in the file and resumes playing.
*/
void QGCMAVLinkLogPlayer::jumpToSliderVal(int slidervalue)
{
// Determine what percentage through the file we should be (time or packet number depending).
float newLocation = slidervalue / (float)(ui->positionSlider->maximum() - ui->positionSlider->minimum());
// And clamp our calculated values to the valid range of [0,100]
if (newLocation > 100.0f)
{
newLocation = 100.0f;
}
if (newLocation < 0.0f)
{
newLocation = 0.0f;
}
// Do only valid jumps
if (jumpToPlaybackLocation(newLocation))
{
if (mavlinkLogFormat)
{
// Grab the total seconds of this file (1e6 is due to microsecond -> second conversion)
int seconds = newLocation * (logEndTime - logStartTime) / 1e6;
int minutes = seconds / 60;
int hours = minutes / 60;
seconds -= 60*minutes;
minutes -= 60*hours;
ui->logStatsLabel->setText(tr("Jumped to time %1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2));
}
else
{
ui->logStatsLabel->setText(tr("Jumped to %1").arg(newLocation));
}
play();
}
else
{
reset();
}
}
/**
* This function is the "mainloop" of the log player, reading one line
* and adjusting the mainloop timer to read the next line in time.
* It might not perfectly match the timing of the log file,
* but it will never induce a static drift into the log file replay.
* For scientific logging, the use of onboard timestamps and the log
* functionality of the line chart plot is recommended.
*/
void QGCMAVLinkLogPlayer::logLoop()
{
// If we have a file with timestamps, try and pace this out following the time differences
// between the timestamps and the current playback speed.
if (mavlinkLogFormat)
{
// Now parse MAVLink messages, grabbing their timestamps as we go. We stop once we
// have at least 3ms until the next one.
// We track what the next execution time should be in milliseconds, which we use to set
// the next timer interrupt.
int nextExecutionTime = 0;
// We use the `findNextMavlinkMessage()` function to scan ahead for MAVLink messages. This
// is necessary because we don't know how big each MAVLink message is until we finish parsing
// one, and since we only output arrays of bytes, we need to know the size of that array.
mavlink_message_t msg;
findNextMavlinkMessage(&msg);
while (nextExecutionTime < 3) {
// Now we're sitting at the start of a MAVLink message, so read it all into a byte array for feeding to our parser.
QByteArray message = logFile.read(msg.len + MAVLINK_NUM_NON_PAYLOAD_BYTES);
// Emit this message to our MAVLink parser.
emit bytesReady(logLink, message);
// If we've reached the end of the of the file, make sure we handle that well
if (logFile.atEnd())
{
// For some reason calling pause() here doesn't work, so we update the UI manually here.
isPlaying = false;
ui->playButton->setIcon(QIcon(":files/images/actions/media-playback-start.svg"));
ui->playButton->setChecked(false);
ui->selectFileButton->setEnabled(true);
// Note that we explicitly set the slider to 100%, as it may not hit that by itself depending on log file size.
updatePositionSliderUi(100.0f);
emit logFileEndReached();
return;
}
// Run our parser to find the next timestamp and leave us at the start of the next MAVLink message.
logCurrentTime = findNextMavlinkMessage(&msg);
// Calculate how long we should wait in real time until parsing this message.
// We pace ourselves relative to the start time of playback to fix any drift (initially set in play())
qint64 timediff = (logCurrentTime - logStartTime) / accelerationFactor;
quint64 desiredPacedTime = playbackStartTime + ((quint64)timediff) / 1000;
quint64 currentTime = (quint64)QDateTime::currentMSecsSinceEpoch();
nextExecutionTime = desiredPacedTime - currentTime;
}
// And schedule the next execution of this function.
loopTimer.start(nextExecutionTime);
}
else
{
// Binary format - read at fixed rate
const int len = 100;
QByteArray chunk = logFile.read(len);
// Emit this packet
emit bytesReady(logLink, chunk);
// Check if reached end of file before reading next timestamp
if (chunk.length() < len || logFile.atEnd())
{
// Reached end of file
reset();
QString status = tr("Reached end of binary log file.");
ui->logStatsLabel->setText(status);
MainWindow::instance()->showStatusMessage(status);
return;
}
}
// Update the UI every 2^5=32 times, or when there isn't much data to be played back.
// Reduces flickering and minimizes CPU load.
if ((loopCounter & 0x1F) == 0 || currPacketCount < 2000)
{
QFileInfo logFileInfo(logFile);
updatePositionSliderUi(logFile.pos() / static_cast<float>(logFileInfo.size()));
}
loopCounter++;
}
/**
* This function parses out the next MAVLink message and its corresponding timestamp.
*
* It makes no assumptions about where in the file we currently are. It leaves the file right
* at the beginning of the successfully parsed message. Note that this function will not attempt to
* correct for any MAVLink parsing failures, so it always returns the next successfully-parsed
* message.
*
* @param msg[output] Where the final parsed message output will go.
* @return A Unix timestamp in microseconds UTC or 0 if parsing failed
*/
quint64 QGCMAVLinkLogPlayer::findNextMavlinkMessage(mavlink_message_t *msg)
{
char nextByte;
mavlink_status_t comm;
while (logFile.getChar(&nextByte)) { // Loop over every byte
bool messageFound = mavlink_parse_char(logLink->getId(), nextByte, msg, &comm);
// If we've found a message, jump back to the start of the message, grab the timestamp,
// and go back to the end of this file.
if (messageFound) {
logFile.seek(logFile.pos() - (msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES + timeLen));
QByteArray rawTime = logFile.read(timeLen);
return parseTimestamp(rawTime);
}
}
// Otherwise, if we never find a message, return a failure code of 0.
return 0;
}
void QGCMAVLinkLogPlayer::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type())
{
case QEvent::LanguageChange:
ui->retranslateUi(this);
break;
default:
break;
}
}
/**
* Implement paintEvent() so that stylesheets work for our custom widget.
*/
void QGCMAVLinkLogPlayer::paintEvent(QPaintEvent *)
{
QStyleOption opt;
opt.init(this);
QPainter p(this);
style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this);
}