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Unverified Commit 4b6163ec authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #7686 from DonLakeFlyer/LogReplay 

Log replay: Support changing speed of playback
parents 0c60f8b3 8bab7d7a
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ChangeLog.md
View file @ 4b6163ec
...@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes. ...@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build ### 3.6.0 - Daily Build
* Log Replay: Support changing speed of playback
* Basic object avoidance added to vehicles. * Basic object avoidance added to vehicles.
* Added ability to set a joystick button to be single action or repeated action while the button is held down. * Added ability to set a joystick button to be single action or repeated action while the button is held down.
* Rework joysticks. Fixed several issues and updated setup UI. * Rework joysticks. Fixed several issues and updated setup UI.
......
src/QmlControls/LogReplayStatusBar.qml
View file @ 4b6163ec
import QtQuick 2.3 import QtQuick 2.3
import QtQuick.Controls 1.2 import QtQuick.Controls 2.4
import QtQuick.Layouts 1.11 import QtQuick.Layouts 1.11
import QtQuick.Dialogs 1.2 import QtQuick.Dialogs 1.2
...@@ -11,8 +11,8 @@ Rectangle { ...@@ -11,8 +11,8 @@ Rectangle {
height: visible ? (rowLayout.height + (_margins * 2)) : 0 height: visible ? (rowLayout.height + (_margins * 2)) : 0
color: qgcPal.window color: qgcPal.window
property real _margins: ScreenTools.defaultFontPixelHeight / 4 property real _margins: ScreenTools.defaultFontPixelHeight / 4
property var _logReplayLink: null property var _logReplayLink: null
function pickLogFile() { function pickLogFile() {
if (mainWindow.activeVehicle) { if (mainWindow.activeVehicle) {
...@@ -56,13 +56,29 @@ Rectangle { ...@@ -56,13 +56,29 @@ Rectangle {
onClicked: controller.isPlaying = !controller.isPlaying onClicked: controller.isPlaying = !controller.isPlaying
} }
QGCComboBox {
textRole: "text"
currentIndex: 3
model: ListModel {
ListElement { text: "0.1"; value: 0.1 }
ListElement { text: "0.25"; value: 0.25 }
ListElement { text: "0.5"; value: 0.5 }
ListElement { text: "1x"; value: 1 }
ListElement { text: "2x"; value: 2 }
ListElement { text: "5x"; value: 5 }
}
onActivated: controller.playbackSpeed = model.get(currentIndex).value
}
QGCLabel { text: controller.playheadTime } QGCLabel { text: controller.playheadTime }
Slider { Slider {
id: slider id: slider
Layout.fillWidth: true Layout.fillWidth: true
minimumValue: 0 from: 0
maximumValue: 100 to: 100
enabled: controller.link enabled: controller.link
property bool manualUpdate: false property bool manualUpdate: false
......
src/QmlControls/QGCComboBox.qml
View file @ 4b6163ec
...@@ -37,7 +37,7 @@ ComboBox { ...@@ -37,7 +37,7 @@ ComboBox {
width: control.width width: control.width
contentItem: Text { contentItem: Text {
text: textRole ? modelData[textRole] : modelData text: control.textRole ? (Array.isArray(control.model) ? modelData[control.textRole] : model[control.textRole]) : modelData
color: control.currentIndex === index ? qgcPal.buttonHighlightText : qgcPal.buttonText color: control.currentIndex === index ? qgcPal.buttonHighlightText : qgcPal.buttonText
verticalAlignment: Text.AlignVCenter verticalAlignment: Text.AlignVCenter
} }
......
src/comm/LogReplayLink.cc
View file @ 4b6163ec
...@@ -67,10 +67,10 @@ QString LogReplayLinkConfiguration::logFilenameShort(void) ...@@ -67,10 +67,10 @@ QString LogReplayLinkConfiguration::logFilenameShort(void)
} }
LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config) LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config)
: LinkInterface(config) : LinkInterface (config)
, _logReplayConfig(qobject_cast<LogReplayLinkConfiguration*>(config.data())) , _logReplayConfig (qobject_cast<LogReplayLinkConfiguration*>(config.data()))
, _connected(false) , _connected (false)
, _replayAccelerationFactor(1.0f) , _playbackSpeed (1)
{ {
if (!_logReplayConfig) { if (!_logReplayConfig) {
qWarning() << "Internal error"; qWarning() << "Internal error";
...@@ -80,10 +80,10 @@ LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config) ...@@ -80,10 +80,10 @@ LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config)
_readTickTimer.moveToThread(this); _readTickTimer.moveToThread(this);
QObject::connect(&_readTickTimer, &QTimer::timeout, this, &LogReplayLink::_readNextLogEntry); QObject::connect(&_readTickTimer, &QTimer::timeout, this, &LogReplayLink::_readNextLogEntry);
QObject::connect(this, &LogReplayLink::_playOnThread, this, &LogReplayLink::_play); QObject::connect(this, &LogReplayLink::_playOnThread, this, &LogReplayLink::_play);
QObject::connect(this, &LogReplayLink::_pauseOnThread, this, &LogReplayLink::_pause); QObject::connect(this, &LogReplayLink::_pauseOnThread, this, &LogReplayLink::_pause);
QObject::connect(this, &LogReplayLink::_setAccelerationFactorOnThread, this, &LogReplayLink::_setAccelerationFactor); QObject::connect(this, &LogReplayLink::_setPlaybackSpeedOnThread, this, &LogReplayLink::_setPlaybackSpeed);
moveToThread(this); moveToThread(this);
} }
...@@ -269,7 +269,9 @@ bool LogReplayLink::_loadLogFile(void) ...@@ -269,7 +269,9 @@ bool LogReplayLink::_loadLogFile(void)
QString logFilename = _logReplayConfig->logFilename(); QString logFilename = _logReplayConfig->logFilename();
QFileInfo logFileInfo; QFileInfo logFileInfo;
int logDurationSecondsTotal; int logDurationSecondsTotal;
quint64 startTimeUSecs;
quint64 endTimeUSecs;
if (_logFile.isOpen()) { if (_logFile.isOpen()) {
errorMsg = tr("Attempt to load new log while log being played"); errorMsg = tr("Attempt to load new log while log being played");
goto Error; goto Error;
...@@ -283,52 +285,26 @@ bool LogReplayLink::_loadLogFile(void) ...@@ -283,52 +285,26 @@ bool LogReplayLink::_loadLogFile(void)
logFileInfo.setFile(logFilename); logFileInfo.setFile(logFilename);
_logFileSize = logFileInfo.size(); _logFileSize = logFileInfo.size();
_logTimestamped = logFilename.endsWith(".tlog"); startTimeUSecs = _parseTimestamp(_logFile.read(cbTimestamp));
endTimeUSecs = _findLastTimestamp();
if (_logTimestamped) {
quint64 startTimeUSecs = _parseTimestamp(_logFile.read(cbTimestamp));
quint64 endTimeUSecs = _findLastTimestamp();
if (endTimeUSecs <= startTimeUSecs) {
errorMsg = tr("The log file '%1' is corrupt or empty.").arg(logFilename);
goto Error;
}
// Remember the start and end time so we can move around this _logFile with the slider.
_logEndTimeUSecs = endTimeUSecs;
_logStartTimeUSecs = startTimeUSecs;
_logDurationUSecs = endTimeUSecs - startTimeUSecs;
_logCurrentTimeUSecs = startTimeUSecs;
// Reset our log file so when we go to read it for the first time, we start at the beginning. if (endTimeUSecs <= startTimeUSecs) {
_logFile.reset(); errorMsg = tr("The log file '%1' is corrupt or empty.").arg(logFilename);
goto Error;
logDurationSecondsTotal = (_logDurationUSecs) / 1000000;
} 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;
}
}
logDurationSecondsTotal = logFileInfo.size() / (_binaryBaudRate / 10);
} }
// Remember the start and end time so we can move around this _logFile with the slider.
_logEndTimeUSecs = endTimeUSecs;
_logStartTimeUSecs = startTimeUSecs;
_logDurationUSecs = endTimeUSecs - startTimeUSecs;
_logCurrentTimeUSecs = startTimeUSecs;
// Reset our log file so when we go to read it for the first time, we start at the beginning.
_logFile.reset();
logDurationSecondsTotal = (_logDurationUSecs) / 1000000;
emit logFileStats(_logTimestamped, logDurationSecondsTotal, _binaryBaudRate); emit logFileStats(logDurationSecondsTotal);
return true; return true;
...@@ -348,59 +324,40 @@ void LogReplayLink::_readNextLogEntry(void) ...@@ -348,59 +324,40 @@ void LogReplayLink::_readNextLogEntry(void)
{ {
QByteArray bytes; QByteArray bytes;
// If we have a file with timestamps, try and pace this out following the time differences // Now parse MAVLink messages, grabbing their timestamps as we go. We stop once we
// between the timestamps and the current playback speed. // have at least 3ms until the next one.
if (_logTimestamped) {
// 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 timeToNextExecutionMSecs = 0;
while (timeToNextExecutionMSecs < 3) {
// Read the next mavlink message from the log
qint64 nextTimeUSecs = _readNextMavlinkMessage(bytes);
emit bytesReceived(this, bytes);
emit playbackPercentCompleteChanged(((float)(_logCurrentTimeUSecs - _logStartTimeUSecs) / (float)_logDurationUSecs) * 100);
if (_logFile.atEnd()) {
_finishPlayback();
return;
}
_logCurrentTimeUSecs = nextTimeUSecs;
// 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 timeDiffMSecs = ((_logCurrentTimeUSecs - _logStartTimeUSecs) / 1000) / _replayAccelerationFactor;
quint64 desiredPacedTimeMSecs = _playbackStartTimeMSecs + timeDiffMSecs;
quint64 currentTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
timeToNextExecutionMSecs = desiredPacedTimeMSecs - currentTimeMSecs;
}
_signalCurrentLogTimeSecs(); // We track what the next execution time should be in milliseconds, which we use to set
// the next timer interrupt.
int timeToNextExecutionMSecs = 0;
// And schedule the next execution of this function. while (timeToNextExecutionMSecs < 3) {
_readTickTimer.start(timeToNextExecutionMSecs); // Read the next mavlink message from the log
} qint64 nextTimeUSecs = _readNextMavlinkMessage(bytes);
else emit bytesReceived(this, bytes);
{ emit playbackPercentCompleteChanged(((float)(_logCurrentTimeUSecs - _logStartTimeUSecs) / (float)_logDurationUSecs) * 100);
// Binary format - read at fixed rate
const int len = 100; if (_logFile.atEnd()) {
QByteArray chunk = _logFile.read(len);
emit bytesReceived(this, chunk);
emit playbackPercentCompleteChanged(((float)_logFile.pos() / (float)_logFileSize) * 100);
// Check if reached end of file before reading next timestamp
if (chunk.length() < len || _logFile.atEnd())
{
_finishPlayback(); _finishPlayback();
return; return;
} }
_logCurrentTimeUSecs = nextTimeUSecs;
// 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())
quint64 currentTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
quint64 desiredPlayheadMovementTimeMSecs = ((_logCurrentTimeUSecs - _playbackStartLogTimeUSecs) / 1000) / _playbackSpeed;
quint64 desiredCurrentTimeMSecs = _playbackStartTimeMSecs + desiredPlayheadMovementTimeMSecs;
timeToNextExecutionMSecs = desiredCurrentTimeMSecs - currentTimeMSecs;
} }
_signalCurrentLogTimeSecs();
// And schedule the next execution of this function.
_readTickTimer.start(timeToNextExecutionMSecs);
} }
void LogReplayLink::_play(void) void LogReplayLink::_play(void)
...@@ -415,22 +372,9 @@ void LogReplayLink::_play(void) ...@@ -415,22 +372,9 @@ void LogReplayLink::_play(void)
_resetPlaybackToBeginning(); _resetPlaybackToBeginning();
} }
// Always correct the current start time such that the next message will play immediately at playback. _playbackStartTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
// We do this by subtracting the current file playback offset from now() _playbackStartLogTimeUSecs = _logCurrentTimeUSecs;
_playbackStartTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch() - ((_logCurrentTimeUSecs - _logStartTimeUSecs) / 1000); _readTickTimer.start(1);
// Start timer
if (_logTimestamped) {
_readTickTimer.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);
_readTickTimer.start(interval / _replayAccelerationFactor);
}
emit playbackStarted(); emit playbackStarted();
} }
...@@ -455,6 +399,7 @@ void LogReplayLink::_resetPlaybackToBeginning(void) ...@@ -455,6 +399,7 @@ void LogReplayLink::_resetPlaybackToBeginning(void)
// And since we haven't starting playback, clear the time of initial playback and the current timestamp. // And since we haven't starting playback, clear the time of initial playback and the current timestamp.
_playbackStartTimeMSecs = 0; _playbackStartTimeMSecs = 0;
_playbackStartLogTimeUSecs = 0;
_logCurrentTimeUSecs = _logStartTimeUSecs; _logCurrentTimeUSecs = _logStartTimeUSecs;
} }
...@@ -462,7 +407,7 @@ void LogReplayLink::movePlayhead(qreal percentComplete) ...@@ -462,7 +407,7 @@ void LogReplayLink::movePlayhead(qreal percentComplete)
{ {
if (isPlaying()) { if (isPlaying()) {
_pauseOnThread(); _pauseOnThread();
QSignalSpy waitForPause(this, SIGNAL(playbackPaused)); QSignalSpy waitForPause(this, SIGNAL(playbackPaused()));
waitForPause.wait(); waitForPause.wait();
if (_readTickTimer.isActive()) { if (_readTickTimer.isActive()) {
return; return;
...@@ -478,90 +423,55 @@ void LogReplayLink::movePlayhead(qreal percentComplete) ...@@ -478,90 +423,55 @@ void LogReplayLink::movePlayhead(qreal percentComplete)
qreal percentCompleteMult = percentComplete / 100.0; qreal percentCompleteMult = percentComplete / 100.0;
if (_logTimestamped) { // But if we have a timestamped MAVLink log, then actually aim to hit that percentage in terms of
// But if we have a timestamped MAVLink log, then actually aim to hit that percentage in terms of // time through the file.
// time through the file. qint64 newFilePos = (qint64)(percentCompleteMult * (qreal)_logFile.size());
qint64 newFilePos = (qint64)(percentCompleteMult * (qreal)_logFile.size());
// Now seek to the appropriate position, failing gracefully if we can't.
// Now seek to the appropriate position, failing gracefully if we can't. if (!_logFile.seek(newFilePos)) {
if (!_logFile.seek(newFilePos)) { _replayError(tr("Unable to seek to new position"));
_replayError(tr("Unable to seek to new position")); return;
return;
}
// But we do align to the next MAVLink message for consistency.
mavlink_message_t dummy;
_logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
// Now calculate the current file location based on time.
qreal newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
// Calculate the effective baud rate of the file in bytes/s.
qreal baudRate = _logFile.size() / (qreal)_logDurationUSecs / 1e6;
// And the desired time is:
qreal desiredTimeUSecs = percentCompleteMult * _logDurationUSecs;
// And now jump the necessary number of bytes in the proper direction
qint64 offset = (newRelativeTimeUSecs - desiredTimeUSecs) * baudRate;
if (!_logFile.seek(_logFile.pos() + offset)) {
_replayError(tr("Unable to seek to new position"));
return;
}
// And scan until we reach the start of a MAVLink message. We make sure to record this timestamp for
// smooth jumping around the file.
_logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
_signalCurrentLogTimeSecs();
// Now update the UI with our actual final position.
newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
percentComplete = (newRelativeTimeUSecs / _logDurationUSecs) * 100;
emit playbackPercentCompleteChanged(percentComplete);
} 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)(percentCompleteMult * (qreal)_logFile.size());
// Now seek to the appropriate position, failing gracefully if we can't.
if (!_logFile.seek(newFilePos)) {
_replayError(tr("Unable to seek to new position"));
return;
}
// But we do align to the next MAVLink message for consistency.
mavlink_message_t dummy;
_seekToNextMavlinkMessage(&dummy);
} }
// But we do align to the next MAVLink message for consistency.
mavlink_message_t dummy;
_logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
// Now calculate the current file location based on time.
qreal newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
// Calculate the effective baud rate of the file in bytes/s.
qreal baudRate = _logFile.size() / (qreal)_logDurationUSecs / 1e6;
// And the desired time is:
qreal desiredTimeUSecs = percentCompleteMult * _logDurationUSecs;
// And now jump the necessary number of bytes in the proper direction
qint64 offset = (newRelativeTimeUSecs - desiredTimeUSecs) * baudRate;
if (!_logFile.seek(_logFile.pos() + offset)) {
_replayError(tr("Unable to seek to new position"));
return;
}
// And scan until we reach the start of a MAVLink message. We make sure to record this timestamp for
// smooth jumping around the file.
_logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
_signalCurrentLogTimeSecs();
// Now update the UI with our actual final position.
newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
percentComplete = (newRelativeTimeUSecs / _logDurationUSecs) * 100;
emit playbackPercentCompleteChanged(percentComplete);
} }
void LogReplayLink::_setAccelerationFactor(int factor) void LogReplayLink::_setPlaybackSpeed(qreal playbackSpeed)
{ {
// factor: -100: 0.01X, 0: 1.0X, 100: 100.0X _playbackSpeed = playbackSpeed;
if (factor < 0) {
_replayAccelerationFactor = 0.01f;
factor -= -100;
if (factor > 0) {
_replayAccelerationFactor *= (float)factor;
}
} else if (factor > 0) {
_replayAccelerationFactor = 1.0f * (float)factor;
} else {
_replayAccelerationFactor = 1.0f;
}
// Update timer interval // Let _readNextLogEntry update to correct speed
if (!_logTimestamped) { _playbackStartTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
// Read len bytes at a time _playbackStartLogTimeUSecs = _logCurrentTimeUSecs;
int len = 100; _readTickTimer.start(1);
// 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);
_readTickTimer.stop();
_readTickTimer.start(interval / _replayAccelerationFactor);
}
} }
/// @brief Called when playback is complete /// @brief Called when playback is complete
...@@ -582,14 +492,15 @@ LogReplayLinkController::LogReplayLinkController(void) ...@@ -582,14 +492,15 @@ LogReplayLinkController::LogReplayLinkController(void)
, _isPlaying (false) , _isPlaying (false)
, _percentComplete (0) , _percentComplete (0)
, _playheadSecs (0) , _playheadSecs (0)
, _playbackSpeed (1)
{ {
} }
void LogReplayLinkController::setLink(LogReplayLink* link) void LogReplayLinkController::setLink(LogReplayLink* link)
{ {
if (_link) { if (_link) {
disconnect(_link); disconnect(_link);
disconnect(this, &LogReplayLinkController::playbackSpeedChanged, _link, &LogReplayLink::setPlaybackSpeed);
_isPlaying = false; _isPlaying = false;
_percentComplete = 0; _percentComplete = 0;
_playheadTime.clear(); _playheadTime.clear();
...@@ -605,12 +516,16 @@ void LogReplayLinkController::setLink(LogReplayLink* link) ...@@ -605,12 +516,16 @@ void LogReplayLinkController::setLink(LogReplayLink* link)
if (link) { if (link) {
_link = link; _link = link;
connect(_link, &LogReplayLink::logFileStats, this, &LogReplayLinkController::_logFileStats); connect(_link, &LogReplayLink::logFileStats, this, &LogReplayLinkController::_logFileStats);
connect(_link, &LogReplayLink::playbackStarted, this, &LogReplayLinkController::_playbackStarted); connect(_link, &LogReplayLink::playbackStarted, this, &LogReplayLinkController::_playbackStarted);
connect(_link, &LogReplayLink::playbackPaused, this, &LogReplayLinkController::_playbackPaused); connect(_link, &LogReplayLink::playbackPaused, this, &LogReplayLinkController::_playbackPaused);
connect(_link, &LogReplayLink::playbackPercentCompleteChanged, this, &LogReplayLinkController::_playbackPercentCompleteChanged); connect(_link, &LogReplayLink::playbackPercentCompleteChanged, this, &LogReplayLinkController::_playbackPercentCompleteChanged);
connect(_link, &LogReplayLink::currentLogTimeSecs, this, &LogReplayLinkController::_currentLogTimeSecs); connect(_link, &LogReplayLink::currentLogTimeSecs, this, &LogReplayLinkController::_currentLogTimeSecs);
connect(_link, &LogReplayLink::disconnected, this, &LogReplayLinkController::_linkDisconnected); connect(_link, &LogReplayLink::disconnected, this, &LogReplayLinkController::_linkDisconnected);
connect(this, &LogReplayLinkController::playbackSpeedChanged, _link, &LogReplayLink::setPlaybackSpeed);
emit linkChanged(_link); emit linkChanged(_link);
} }
} }
...@@ -629,11 +544,8 @@ void LogReplayLinkController::setPercentComplete(qreal percentComplete) ...@@ -629,11 +544,8 @@ void LogReplayLinkController::setPercentComplete(qreal percentComplete)
_link->movePlayhead(percentComplete); _link->movePlayhead(percentComplete);
} }
void LogReplayLinkController::_logFileStats(bool logTimestamped, int logDurationSecs, int binaryBaudRate) void LogReplayLinkController::_logFileStats(int logDurationSecs)
{ {
Q_UNUSED(logTimestamped);
Q_UNUSED(binaryBaudRate);
_totalTime = _secondsToHMS(logDurationSecs); _totalTime = _secondsToHMS(logDurationSecs);
emit totalTimeChanged(_totalTime); emit totalTimeChanged(_totalTime);
} }
...@@ -684,5 +596,9 @@ QString LogReplayLinkController::_secondsToHMS(int seconds) ...@@ -684,5 +596,9 @@ QString LogReplayLinkController::_secondsToHMS(int seconds)
secondsPart -= 60 * minutesPart; secondsPart -= 60 * minutesPart;
minutesPart -= 60 * hoursPart; minutesPart -= 60 * hoursPart;
return tr("%1h:%2m:%3s").arg(hoursPart, 2).arg(minutesPart, 2).arg(secondsPart, 2); if (hoursPart == 0) {
return tr("%2m:%3s").arg(minutesPart, 2, 10, QLatin1Char('0')).arg(secondsPart, 2, 10, QLatin1Char('0'));
} else {
return tr("%1h:%2m:%3s").arg(hoursPart, 2, 10, QLatin1Char('0')).arg(minutesPart, 2, 10, QLatin1Char('0')).arg(secondsPart, 2, 10, QLatin1Char('0'));
}
} }
src/comm/LogReplayLink.h
View file @ 4b6163ec
...@@ -57,70 +57,66 @@ public: ...@@ -57,70 +57,66 @@ public:
/// @return true: log is currently playing, false: log playback is paused /// @return true: log is currently playing, false: log playback is paused
bool isPlaying(void) { return _readTickTimer.isActive(); } bool isPlaying(void) { return _readTickTimer.isActive(); }
/// Start replay at current position void play (void) { emit _playOnThread(); }
void play(void) { emit _playOnThread(); } void pause (void) { emit _pauseOnThread(); }
void movePlayhead (qreal percentComplete);
/// Pause replay
void pause(void) { emit _pauseOnThread(); }
/// Move the playhead to the specified percent complete
void movePlayhead(qreal percentComplete);
/// Sets the acceleration factor: -100: 0.01X, 0: 1.0X, 100: 100.0X
void setAccelerationFactor(int factor) { emit _setAccelerationFactorOnThread(factor); }
// Virtuals from LinkInterface // Virtuals from LinkInterface
virtual QString getName(void) const { return _config->name(); } virtual QString getName (void) const { return _config->name(); }
virtual void requestReset(void){ } virtual void requestReset (void){ }
virtual bool isConnected(void) const { return _connected; } virtual bool isConnected (void) const { return _connected; }
virtual qint64 getConnectionSpeed(void) const { return 100000000; } virtual qint64 getConnectionSpeed (void) const { return 100000000; }
virtual qint64 bytesAvailable(void) { return 0; } virtual qint64 bytesAvailable (void) { return 0; }
virtual bool isLogReplay(void) { return true; } virtual bool isLogReplay (void) { return true; }
// These are left unimplemented in order to cause linker errors which indicate incorrect usage of // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager. // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
bool connect(void); bool connect (void);
bool disconnect(void); bool disconnect (void);
public slots:
/// Sets the acceleration factor: -100: 0.01X, 0: 1.0X, 100: 100.0X
void setPlaybackSpeed(qreal playbackSpeed) { emit _setPlaybackSpeedOnThread(playbackSpeed); }
private slots: private slots:
virtual void _writeBytes(const QByteArray bytes); virtual void _writeBytes(const QByteArray bytes);
signals: signals:
void logFileStats(bool logTimestamped, int logDurationSecs, int binaryBaudRate); void logFileStats (int logDurationSecs);
void playbackStarted(void); void playbackStarted (void);
void playbackPaused(void); void playbackPaused (void);
void playbackAtEnd(void); void playbackAtEnd (void);
void playbackPercentCompleteChanged(qreal percentComplete); void playbackPercentCompleteChanged (qreal percentComplete);
void currentLogTimeSecs(int secs); void currentLogTimeSecs (int secs);
// Internal signals // Internal signals
void _playOnThread(void); void _playOnThread (void);
void _pauseOnThread(void); void _pauseOnThread (void);
void _setAccelerationFactorOnThread(int factor); void _setPlaybackSpeedOnThread (qreal playbackSpeed);
private slots: private slots:
void _readNextLogEntry(void); void _readNextLogEntry (void);
void _play(void); void _play (void);
void _pause(void); void _pause (void);
void _setAccelerationFactor(int factor); void _setPlaybackSpeed (qreal playbackSpeed);
private: private:
// Links are only created/destroyed by LinkManager so constructor/destructor is not public // Links are only created/destroyed by LinkManager so constructor/destructor is not public
LogReplayLink(SharedLinkConfigurationPointer& config); LogReplayLink(SharedLinkConfigurationPointer& config);
~LogReplayLink(); ~LogReplayLink();
void _replayError(const QString& errorMsg); void _replayError (const QString& errorMsg);
quint64 _parseTimestamp(const QByteArray& bytes); quint64 _parseTimestamp (const QByteArray& bytes);
quint64 _seekToNextMavlinkMessage(mavlink_message_t* nextMsg); quint64 _seekToNextMavlinkMessage (mavlink_message_t* nextMsg);
quint64 _findLastTimestamp(void); quint64 _findLastTimestamp (void);
quint64 _readNextMavlinkMessage(QByteArray& bytes); quint64 _readNextMavlinkMessage (QByteArray& bytes);
bool _loadLogFile(void); bool _loadLogFile (void);
void _finishPlayback(void); void _finishPlayback (void);
void _resetPlaybackToBeginning(void); void _resetPlaybackToBeginning (void);
void _signalCurrentLogTimeSecs(void); void _signalCurrentLogTimeSecs (void);
// Virtuals from LinkInterface // Virtuals from LinkInterface
virtual bool _connect(void); virtual bool _connect (void);
virtual void _disconnect(void); virtual void _disconnect(void);
// Virtuals from QThread // Virtuals from QThread
...@@ -139,16 +135,13 @@ private: ...@@ -139,16 +135,13 @@ private:
quint64 _logEndTimeUSecs; ///< The last timestamp in the current log file. quint64 _logEndTimeUSecs; ///< The last timestamp in the current log file.
quint64 _logDurationUSecs; quint64 _logDurationUSecs;
static const int _defaultBinaryBaudRate = 57600; qreal _playbackSpeed;
int _binaryBaudRate; ///< Playback rate for binary log format
float _replayAccelerationFactor; ///< Factor to apply to playback rate
quint64 _playbackStartTimeMSecs; ///< The time when the logfile was first played back. This is used to pace out replaying the messages to fix long-term drift/skew. 0 indicates that the player hasn't initiated playback of this log file. quint64 _playbackStartTimeMSecs; ///< The time when the logfile was first played back. This is used to pace out replaying the messages to fix long-term drift/skew. 0 indicates that the player hasn't initiated playback of this log file.
quint64 _playbackStartLogTimeUSecs;
MAVLinkProtocol* _mavlink; MAVLinkProtocol* _mavlink;
QFile _logFile; QFile _logFile;
quint64 _logFileSize; quint64 _logFileSize;
bool _logTimestamped; ///< true: Timestamped log format, false: no timestamps
static const int cbTimestamp = sizeof(quint64); static const int cbTimestamp = sizeof(quint64);
}; };
...@@ -163,6 +156,7 @@ public: ...@@ -163,6 +156,7 @@ public:
Q_PROPERTY(qreal percentComplete READ percentComplete WRITE setPercentComplete NOTIFY percentCompleteChanged) Q_PROPERTY(qreal percentComplete READ percentComplete WRITE setPercentComplete NOTIFY percentCompleteChanged)
Q_PROPERTY(QString totalTime MEMBER _totalTime NOTIFY totalTimeChanged) Q_PROPERTY(QString totalTime MEMBER _totalTime NOTIFY totalTimeChanged)
Q_PROPERTY(QString playheadTime MEMBER _playheadTime NOTIFY playheadTimeChanged) Q_PROPERTY(QString playheadTime MEMBER _playheadTime NOTIFY playheadTimeChanged)
Q_PROPERTY(qreal playbackSpeed MEMBER _playbackSpeed NOTIFY playbackSpeedChanged)
LogReplayLinkController(void); LogReplayLinkController(void);
...@@ -180,9 +174,10 @@ signals: ...@@ -180,9 +174,10 @@ signals:
void percentCompleteChanged (qreal percentComplete); void percentCompleteChanged (qreal percentComplete);
void playheadTimeChanged (QString playheadTime); void playheadTimeChanged (QString playheadTime);
void totalTimeChanged (QString totalTime); void totalTimeChanged (QString totalTime);
void playbackSpeedChanged (qreal playbackSpeed);
private slots: private slots:
void _logFileStats (bool logTimestamped, int logDurationSecs, int binaryBaudRate); void _logFileStats (int logDurationSecs);
void _playbackStarted (void); void _playbackStarted (void);
void _playbackPaused (void); void _playbackPaused (void);
void _playbackAtEnd (void); void _playbackAtEnd (void);
...@@ -199,5 +194,6 @@ private: ...@@ -199,5 +194,6 @@ private:
int _playheadSecs; int _playheadSecs;
QString _playheadTime; QString _playheadTime;
QString _totalTime; QString _totalTime;
qreal _playbackSpeed;
}; };
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