Skip to content

Q
qgroundcontrol
Commit 4d23912a authored by Gus Grubba's avatar Gus Grubba
Browse files
Options

Receiving and writing logs. 

Forcing QGC to use Mavlink V2 if vehicle supports it.
parent f91c5bef
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 168 additions and 74 deletions
src/Vehicle/Vehicle.cc
View file @ 4d23912a
......@@ -481,7 +481,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_handleCommandAck(message);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
_handleAutopilotVersion(message);
_handleAutopilotVersion(link, message);
break;
case MAVLINK_MSG_ID_WIND_COV:
_handleWindCov(message);
......@@ -508,11 +508,17 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_uas->receiveMessage(message);
}
void Vehicle::_handleAutopilotVersion(mavlink_message_t& message)
void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
{
mavlink_autopilot_version_t autopilotVersion;
mavlink_msg_autopilot_version_decode(&message, &autopilotVersion);
bool isMavlink2 = (autopilotVersion.capabilities & MAV_PROTOCOL_CAPABILITY_MAVLINK2) != 0;
if(isMavlink2) {
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(link->mavlinkChannel());
mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
if (autopilotVersion.flight_sw_version != 0) {
int majorVersion, minorVersion, patchVersion;
FIRMWARE_VERSION_TYPE versionType;
......@@ -2002,7 +2008,6 @@ Vehicle::_ackMavlinkLogData(uint16_t sequence)
void
Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
{
qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA";
mavlink_logging_data_t log;
mavlink_msg_logging_data_decode(&message, &log);
emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, false);
......@@ -2012,7 +2017,6 @@ Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
void
Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
{
qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA_ACKED";
mavlink_logging_data_t log;
mavlink_msg_logging_data_decode(&message, &log);
_ackMavlinkLogData(log.sequence);
......
src/Vehicle/Vehicle.h
View file @ 4d23912a
......@@ -692,7 +692,7 @@ private:
void _handleVibration(mavlink_message_t& message);
void _handleExtendedSysState(mavlink_message_t& message);
void _handleCommandAck(mavlink_message_t& message);
void _handleAutopilotVersion(mavlink_message_t& message);
void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message);
void _handleHilActuatorControls(mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
void _geoFenceManagerError(int errorCode, const QString& errorMsg);
......
src/comm/MAVLinkProtocol.cc
View file @ 4d23912a
......@@ -73,7 +73,7 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
MAVLinkProtocol::~MAVLinkProtocol()
{
storeSettings();
#ifndef __mobile__
_closeLogFile();
#endif
......@@ -162,7 +162,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (!_linkMgr->links()->contains(link)) {
return;
}
// receiveMutex.lock();
mavlink_message_t message;
mavlink_status_t status;
......@@ -214,6 +214,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
decodedFirstPacket = true;
/*
* Handled in Vehicle.cc now.
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
qDebug() << "switch to mavlink 2.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
......@@ -222,6 +224,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
qDebug() << "switch to mavlink 1.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
*/
if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
{
......@@ -255,7 +258,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
#ifndef __mobile__
// Log data
if (!_logSuspendError && !_logSuspendReplay && _tempLogFile.isOpen()) {
uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
......@@ -280,7 +283,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
_stopLogging();
_logSuspendError = true;
}
// Check for the vehicle arming going by. This is used to trigger log save.
if (!_logPromptForSave && message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
mavlink_heartbeat_t state;
......@@ -412,7 +415,7 @@ bool MAVLinkProtocol::_closeLogFile(void)
return true;
}
}
return false;
}
......@@ -458,11 +461,11 @@ void MAVLinkProtocol::_stopLogging(void)
void MAVLinkProtocol::checkForLostLogFiles(void)
{
QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
QString filter(QString("*.%1").arg(_logFileExtension));
QFileInfoList fileInfoList = tempDir.entryInfoList(QStringList(filter), QDir::Files);
qDebug() << "Orphaned log file count" << fileInfoList.count();
foreach(const QFileInfo fileInfo, fileInfoList) {
qDebug() << "Orphaned log file" << fileInfo.filePath();
if (fileInfo.size() == 0) {
......@@ -488,10 +491,10 @@ void MAVLinkProtocol::suspendLogForReplay(bool suspend)
void MAVLinkProtocol::deleteTempLogFiles(void)
{
QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
QString filter(QString("*.%1").arg(_logFileExtension));
QFileInfoList fileInfoList = tempDir.entryInfoList(QStringList(filter), QDir::Files);
foreach(const QFileInfo fileInfo, fileInfoList) {
QFile::remove(fileInfo.filePath());
}
......
src/uas/MavlinkLogManager.cc
View file @ 4d23912a
This diff is collapsed.
src/uas/MavlinkLogManager.h
View file @ 4d23912a
......@@ -131,6 +131,8 @@ private slots:
private:
bool _sendLog (const QString& logFile);
bool _processUploadResponse (int http_code, QByteArray &data);
bool _createNewLog ();
int _getFirstSelected ();
private:
QString _description;
......@@ -144,6 +146,10 @@ private:
MavlinkLogFiles* _currentLogfile;
Vehicle* _vehicle;
bool _logRunning;
bool _loggingDisabled;
FILE* _currentSavingFileFd;
QString _currentSavingFileStr;
uint16_t _sequence;
};
#endif
src/ui/preferences/MavlinkSettings.qml
View file @ 4d23912a
......@@ -37,12 +37,10 @@ Rectangle {
var selected = 0
for(var i = 0; i < QGroundControl.mavlinkLogManager.logFiles.count; i++) {
var logFile = QGroundControl.mavlinkLogManager.logFiles.get(i)
console.log(logFile.selected)
if(logFile.selected)
selected++
}
_selectedCount = selected
console.log(_selectedCount)
}
}
......@@ -296,26 +294,27 @@ Rectangle {
id: logFilesColumn
spacing: ScreenTools.defaultFontPixelWidth
anchors.centerIn: parent
width: ScreenTools.defaultFontPixelWidth * 68
Rectangle {
width: ScreenTools.defaultFontPixelWidth * 52
width: ScreenTools.defaultFontPixelWidth * 64
height: ScreenTools.defaultFontPixelHeight * 10
anchors.horizontalCenter: parent.horizontalCenter
color: qgcPal.windowShade
color: qgcPal.window
border.color: qgcPal.text
border.width: 0.5
ListView {
width: ScreenTools.defaultFontPixelWidth * 50
height: ScreenTools.defaultFontPixelHeight * 9
width: ScreenTools.defaultFontPixelWidth * 56
height: ScreenTools.defaultFontPixelHeight * 8.75
anchors.centerIn: parent
orientation: ListView.Vertical
model: QGroundControl.mavlinkLogManager.logFiles
clip: true
delegate: Rectangle {
width: ScreenTools.defaultFontPixelWidth * 48
width: ScreenTools.defaultFontPixelWidth * 52
height: ScreenTools.defaultFontPixelHeight * 1.25
color: index % 2 == 0 ? qgcPal.window : qgcPal.windowShade
anchors.horizontalCenter: parent.horizontalCenter;
color: qgcPal.window
Row {
width: ScreenTools.defaultFontPixelWidth * 46
width: ScreenTools.defaultFontPixelWidth * 50
anchors.centerIn: parent
spacing: ScreenTools.defaultFontPixelWidth
QGCCheckBox {
......@@ -327,10 +326,10 @@ Rectangle {
}
QGCLabel {
text: object.name
width: ScreenTools.defaultFontPixelWidth * 20
width: ScreenTools.defaultFontPixelWidth * 28
}
QGCLabel {
text: object.size
text: Number(object.size).toLocaleString(Qt.locale(), 'f', 0)
visible: !object.uploading
width: ScreenTools.defaultFontPixelWidth * 20;
horizontalAlignment: Text.AlignRight
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment