Merge branch 'Stable_V3.3' of https://github.com/mavlink/qgroundcontrol into UpstreamStableMerge

src/AnalyzeView/GeoTagController.cc

@@ -70,8 +70,7 @@ void GeoTagController::startTagging(void)
 
     QDir imageDirectory = QDir(_worker.imageDirectory());
     if(!imageDirectory.exists()) {
-        _errorMessage = tr("Cannot find the image directory");
-        emit errorMessageChanged(_errorMessage);
+        _setErrorMessage(tr("Cannot find the image directory"));
         return;
     }
     if(_worker.saveDirectory() == "") {
@@ -83,23 +82,20 @@ void GeoTagController::startTagging(void)
             msgBox.setWindowModality(Qt::ApplicationModal);
             msgBox.addButton(tr("Replace"), QMessageBox::ActionRole);
             if (msgBox.exec() == QMessageBox::Cancel) {
-                _errorMessage = tr("Images have already been tagged");
-                emit errorMessageChanged(_errorMessage);
+                _setErrorMessage(tr("Images have already been tagged"));
                 return;
             }
             QDir oldTaggedFolder = QDir(_worker.imageDirectory() + "/TAGGED");
             oldTaggedFolder.removeRecursively();
             if(!imageDirectory.mkdir(_worker.imageDirectory() + "/TAGGED")) {
-                _errorMessage = tr("Couldn't replace the previously tagged images");
-                emit errorMessageChanged(_errorMessage);
+                _setErrorMessage(tr("Couldn't replace the previously tagged images"));
                 return;
             }
         }
     } else {
         QDir saveDirectory = QDir(_worker.saveDirectory());
         if(!saveDirectory.exists()) {
-            _errorMessage = tr("Cannot find the save directory");
-            emit errorMessageChanged(_errorMessage);
+            _setErrorMessage(tr("Cannot find the save directory"));
             return;
         }
         saveDirectory.setFilter(QDir::Files | QDir::Readable | QDir::NoSymLinks | QDir::Writable);
@@ -115,15 +111,13 @@ void GeoTagController::startTagging(void)
             msgBox.setWindowModality(Qt::ApplicationModal);
             msgBox.addButton(tr("Replace"), QMessageBox::ActionRole);
             if (msgBox.exec() == QMessageBox::Cancel) {
-                _errorMessage = tr("Save folder not empty");
-                emit errorMessageChanged(_errorMessage);
+                _setErrorMessage(tr("Save folder not empty"));
                 return;
             }
             foreach(QString dirFile, imageList)
             {
                 if(!saveDirectory.remove(dirFile)) {
-                    _errorMessage = tr("Couldn't replace the existing images");
-                    emit errorMessageChanged(_errorMessage);
+                    _setErrorMessage(tr("Couldn't replace the existing images"));
                     return;
                 }
             }
@@ -144,6 +138,13 @@ void GeoTagController::_workerError(QString errorMessage)
     emit errorMessageChanged(errorMessage);
 }
 
+
+void GeoTagController::_setErrorMessage(const QString& error)
+{
+    _errorMessage = error;
+    emit errorMessageChanged(error);
+}
+
 GeoTagWorker::GeoTagWorker(void)
     : _cancel(false)
     , _logFile("")
@@ -210,9 +211,10 @@ void GeoTagWorker::run(void)
     // Instantiate appropriate parser
     _triggerList.clear();
     bool parseComplete = false;
-    if(isULog) {
+    QString errorString;
+    if (isULog) {
         ULogParser parser;
-        parseComplete = parser.getTagsFromLog(log, _triggerList);
+        parseComplete = parser.getTagsFromLog(log, _triggerList, errorString);
 
     } else {
         PX4LogParser parser;
@@ -227,7 +229,8 @@ void GeoTagWorker::run(void)
             return;
         } else {
             qCDebug(GeotaggingLog) << "Log parsing failed";
-            emit error(tr("Log parsing failed - tagging cancelled"));
+            errorString = tr("%1 - tagging cancelled").arg(errorString.isEmpty() ? tr("Log parsing failed") : errorString);
+            emit error(errorString);
             return;
         }
     }

src/AnalyzeView/GeoTagController.h

@@ -117,8 +117,9 @@ signals:
     void errorMessageChanged            (QString errorMessage);
 
 private slots:
-    void _workerProgressChanged(double progress);
-    void _workerError(QString errorMsg);
+    void _workerProgressChanged (double progress);
+    void _workerError           (QString errorMsg);
+    void _setErrorMessage       (const QString& error);
 
 private:
     QString             _errorMessage;

src/AnalyzeView/GeoTagPage.qml

@@ -124,8 +124,9 @@ AnalyzePage {
             }
 
             QGCButton {
-                text: geoController.inProgress ? qsTr("Cancel Tagging") : qsTr("Start Tagging")
-                width:      ScreenTools.defaultFontPixelWidth * 30
+                text:   geoController.inProgress ? qsTr("Cancel Tagging") : qsTr("Start Tagging")
+                width:  ScreenTools.defaultFontPixelWidth * 30
+
                 onClicked: {
                     if (geoController.inProgress) {
                         geoController.cancelTagging()

src/AnalyzeView/LogDownloadController.cc

@@ -321,7 +321,7 @@ LogDownloadController::_logData(UASInterface* uas, uint32_t ofs, uint16_t id, ui
     if(ofs <= _downloadData->entry->size()) {
         const uint32_t chunk = ofs / kChunkSize;
         if (chunk != _downloadData->current_chunk) {
-            qWarning() << "Ignored packet for out of order chunk" << chunk;
+            qWarning() << "Ignored packet for out of order chunk actual:expected" << chunk << _downloadData->current_chunk;
             return;
         }
         const uint16_t bin = (ofs - chunk*kChunkSize) / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;

src/AnalyzeView/LogDownloadPage.qml

@@ -155,7 +155,7 @@ AnalyzePage {
                         fileDialog.qgcView =        logDownloadPage
                         fileDialog.title =          qsTr("Select save directory")
                         fileDialog.selectExisting = true
-                        fileDialog.folder =         QGroundControl.settingsManager.appSettings.telemetrySavePath
+                        fileDialog.folder =         QGroundControl.settingsManager.appSettings.logSavePath
                         fileDialog.selectFolder =   true
                         fileDialog.openForLoad()
                     }

src/AnalyzeView/ULogParser.cc

@@ -86,11 +86,13 @@ bool ULogParser::parseFieldFormat(QString& fields)
     return false;
 }
 
-bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback)
+bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback, QString& errorMessage)
 {
+    errorMessage.clear();
+
     //verify it's an ULog file
     if(!log.contains(_ULogMagic)) {
-        qWarning() << "Could not detect ULog file header magic";
+        errorMessage = tr("Could not detect ULog file header magic");
         return false;
     }
 
@@ -175,7 +177,11 @@ bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedb
     }
 
     if (cameraFeedback.count() == 0) {
+<<<<<<< HEAD
         qWarning() << "Could not detect camera_capture packets in ULog";
+=======
+        errorMessage = tr("Could not detect camera_capture packets in ULog");
+>>>>>>> b4f4085c6733b934358b00389d734600eab87bf7
         return false;
     }
 

src/AnalyzeView/ULogParser.h

@@ -3,6 +3,7 @@
 
 #include <QGeoCoordinate>
 #include <QDebug>
+#include <QCoreApplication>
 
 #include "GeoTagController.h"
 
@@ -10,10 +11,14 @@
 
 class ULogParser
 {
+    Q_DECLARE_TR_FUNCTIONS(ULogParser)
+
 public:
     ULogParser();
     ~ULogParser();
-    bool getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback);
+
+    /// @return true: failed, errorMessage set
+    bool getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback, QString& errorMessage);
 
 private:
 

src/VideoStreaming/VideoReceiver.cc

@@ -674,6 +674,14 @@ VideoReceiver::startRecording(const QString &videoFile)
     gst_element_sync_state_with_parent(_sink->mux);
     gst_element_sync_state_with_parent(_sink->filesink);
 
+    // Install a probe on the recording branch to drop buffers until we hit our first keyframe
+    // When we hit our first keyframe, we can offset the timestamps appropriately according to the first keyframe time
+    // This will ensure the first frame is a keyframe at t=0, and decoding can begin immediately on playback
+    GstPad* probepad = gst_element_get_static_pad(_sink->queue, "src");
+    gst_pad_add_probe(probepad, (GstPadProbeType)(GST_PAD_PROBE_TYPE_BUFFER /* | GST_PAD_PROBE_TYPE_BLOCK */), _keyframeWatch, this, NULL); // to drop the buffer or to block the buffer?
+    gst_object_unref(probepad);
+
+    // Link the recording branch to the pipeline
     GstPad* sinkpad = gst_element_get_static_pad(_sink->queue, "sink");
     gst_pad_link(_sink->teepad, sinkpad);
     gst_object_unref(sinkpad);
@@ -802,6 +810,33 @@ VideoReceiver::_unlinkCallBack(GstPad* pad, GstPadProbeInfo* info, gpointer user
 }
 #endif
 
+//-----------------------------------------------------------------------------
+#if defined(QGC_GST_STREAMING)
+GstPadProbeReturn
+VideoReceiver::_keyframeWatch(GstPad* pad, GstPadProbeInfo* info, gpointer user_data)
+{
+    Q_UNUSED(pad);
+    if(info != NULL && user_data != NULL) {
+        GstBuffer* buf = gst_pad_probe_info_get_buffer(info);
+        if(GST_BUFFER_FLAG_IS_SET(buf, GST_BUFFER_FLAG_DELTA_UNIT)) { // wait for a keyframe
+            return GST_PAD_PROBE_DROP;
+        } else {
+            VideoReceiver* pThis = (VideoReceiver*)user_data;
+            // reset the clock
+            GstClock* clock = gst_pipeline_get_clock(GST_PIPELINE(pThis->_pipeline));
+            GstClockTime time = gst_clock_get_time(clock);
+            gst_object_unref(clock);
+            gst_element_set_base_time(pThis->_pipeline, time); // offset pipeline timestamps to start at zero again
+            buf->dts = 0; // The offset will not apply to this current buffer, our first frame, timestamp is zero
+            buf->pts = 0;
+            qCDebug(VideoReceiverLog) << "Got keyframe, stop dropping buffers";
+        }
+    }
+
+    return GST_PAD_PROBE_REMOVE;
+}
+#endif
+
 //-----------------------------------------------------------------------------
 void
 VideoReceiver::_updateTimer()

src/VideoStreaming/VideoReceiver.h

@@ -119,6 +119,7 @@ private:
 
     static gboolean             _onBusMessage           (GstBus* bus, GstMessage* message, gpointer user_data);
     static GstPadProbeReturn    _unlinkCallBack         (GstPad* pad, GstPadProbeInfo* info, gpointer user_data);
+    static GstPadProbeReturn    _keyframeWatch          (GstPad* pad, GstPadProbeInfo* info, gpointer user_data);
     void                        _detachRecordingBranch  (GstPadProbeInfo* info);
     void                        _shutdownRecordingBranch();
     void                        _shutdownPipeline       ();

src/comm/BluetoothLink.cc

@@ -75,30 +75,25 @@ QString BluetoothLink::getName() const
 
 void BluetoothLink::_writeBytes(const QByteArray bytes)
 {
-    if(_targetSocket)
-    {
-        if(_targetSocket->isWritable())
-        {
-            if(_targetSocket->write(bytes) > 0) {
-                _logOutputDataRate(bytes.size(), QDateTime::currentMSecsSinceEpoch());
-            }
-            else
-                qWarning() << "Bluetooth write error";
+    if (_targetSocket) {
+        if(_targetSocket->write(bytes) > 0) {
+            _logOutputDataRate(bytes.size(), QDateTime::currentMSecsSinceEpoch());
+        } else {
+            qWarning() << "Bluetooth write error";
         }
-        else
-            qWarning() << "Bluetooth not writable error";
     }
 }
 
 void BluetoothLink::readBytes()
 {
-    while (_targetSocket->bytesAvailable() > 0)
-    {
-        QByteArray datagram;
-        datagram.resize(_targetSocket->bytesAvailable());
-        _targetSocket->read(datagram.data(), datagram.size());
-        emit bytesReceived(this, datagram);
-        _logInputDataRate(datagram.length(), QDateTime::currentMSecsSinceEpoch());
+    if (_targetSocket) {
+        while (_targetSocket->bytesAvailable() > 0) {
+            QByteArray datagram;
+            datagram.resize(_targetSocket->bytesAvailable());
+            _targetSocket->read(datagram.data(), datagram.size());
+            emit bytesReceived(this, datagram);
+            _logInputDataRate(datagram.length(), QDateTime::currentMSecsSinceEpoch());
+        }
     }
 }
 
@@ -114,7 +109,7 @@ void BluetoothLink::_disconnect(void)
 #endif
     if(_targetSocket)
     {
-        delete _targetSocket;
+        _targetSocket->deleteLater();
         _targetSocket = NULL;
         emit disconnected();
     }

src/comm/SerialLink.cc

@@ -57,10 +57,6 @@ void SerialLink::requestReset()
 SerialLink::~SerialLink()
 {
     _disconnect();
-    if (_port) {
-        delete _port;
-    }
-    _port = NULL;
 }
 
 bool SerialLink::_isBootloader()
@@ -92,6 +88,7 @@ void SerialLink::_writeBytes(const QByteArray data)
         _port->write(data);
     } else {
         // Error occurred
+        qWarning() << "Serial port not writeable";
         _emitLinkError(tr("Could not send data - link %1 is disconnected!").arg(getName()));
     }
 }
@@ -105,7 +102,7 @@ void SerialLink::_disconnect(void)
 {
     if (_port) {
         _port->close();
-        delete _port;
+        _port->deleteLater();
         _port = NULL;
     }
 
@@ -199,7 +196,7 @@ bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString&
         }
     }
 
-    _port = new QSerialPort(_serialConfig->portName());
+    _port = new QSerialPort(_serialConfig->portName(), this);
 
     QObject::connect(_port, static_cast<void (QSerialPort::*)(QSerialPort::SerialPortError)>(&QSerialPort::error),
                      this, &SerialLink::linkError);
@@ -261,12 +258,18 @@ bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString&
 
 void SerialLink::_readBytes(void)
 {
-    qint64 byteCount = _port->bytesAvailable();
-    if (byteCount) {
-        QByteArray buffer;
-        buffer.resize(byteCount);
-        _port->read(buffer.data(), buffer.size());
-        emit bytesReceived(this, buffer);
+    if (_port && _port->isOpen()) {
+        qint64 byteCount = _port->bytesAvailable();
+        if (byteCount) {
+            QByteArray buffer;
+            buffer.resize(byteCount);
+            _port->read(buffer.data(), buffer.size());
+            emit bytesReceived(this, buffer);
+        }
+    } else {
+        // Error occurred
+        qWarning() << "Serial port not readable";
+        _emitLinkError(tr("Could not read data - link %1 is disconnected!").arg(getName()));
     }
 }
 

src/comm/TCPLink.cc

@@ -78,11 +78,11 @@ void TCPLink::_writeBytes(const QByteArray data)
 #ifdef TCPLINK_READWRITE_DEBUG
     _writeDebugBytes(data);
 #endif
-    if (!_socket)
-        return;
 
-    _socket->write(data);
-    _logOutputDataRate(data.size(), QDateTime::currentMSecsSinceEpoch());
+    if (_socket) {
+        _socket->write(data);
+        _logOutputDataRate(data.size(), QDateTime::currentMSecsSinceEpoch());
+    }
 }
 
 /**
@@ -93,17 +93,19 @@ void TCPLink::_writeBytes(const QByteArray data)
  **/
 void TCPLink::readBytes()
 {
-    qint64 byteCount = _socket->bytesAvailable();
-    if (byteCount)
-    {
-        QByteArray buffer;
-        buffer.resize(byteCount);
-        _socket->read(buffer.data(), buffer.size());
-        emit bytesReceived(this, buffer);
-        _logInputDataRate(byteCount, QDateTime::currentMSecsSinceEpoch());
+    if (_socket) {
+        qint64 byteCount = _socket->bytesAvailable();
+        if (byteCount)
+        {
+            QByteArray buffer;
+            buffer.resize(byteCount);
+            _socket->read(buffer.data(), buffer.size());
+            emit bytesReceived(this, buffer);
+            _logInputDataRate(byteCount, QDateTime::currentMSecsSinceEpoch());
 #ifdef TCPLINK_READWRITE_DEBUG
-        writeDebugBytes(buffer.data(), buffer.size());
+            writeDebugBytes(buffer.data(), buffer.size());
 #endif
+        }
     }
 }
 
@@ -118,9 +120,9 @@ void TCPLink::_disconnect(void)
     wait();
     if (_socket) {
         _socketIsConnected = false;
-        _socket->deleteLater(); // Make sure delete happens on correct thread
         _socket->disconnectFromHost(); // Disconnect tcp
         _socket->waitForDisconnected();        
+        _socket->deleteLater(); // Make sure delete happens on correct thread
         _socket = NULL;
         emit disconnected();
     }

src/comm/UDPLink.cc

@@ -160,6 +160,7 @@ QString UDPLink::getName() const
 
 void UDPLink::_writeBytes(const QByteArray data)
 {
+<<<<<<< HEAD
     if (!_socket)
         return;
     // Send to all manually targeted systems
@@ -167,6 +168,37 @@ void UDPLink::_writeBytes(const QByteArray data)
         // Skip it if it's part of the session clients below
         if(!contains_target(_sessionTargets, target->address, target->port)) {
             _writeDataGram(data, target);
+=======
+    if (_socket) {
+        QStringList goneHosts;
+        // Send to all connected systems
+        QString host;
+        int port;
+        if(_udpConfig->firstHost(host, port)) {
+            do {
+                QHostAddress currentHost(host);
+                if(_socket->writeDatagram(data, currentHost, (quint16)port) < 0) {
+                    // This host is gone. Add to list to be removed
+                    // We should keep track of hosts that were manually added (static) and
+                    // hosts that were added because we heard from them (dynamic). Only
+                    // dynamic hosts should be removed and even then, after a few tries, not
+                    // the first failure. In the mean time, we don't remove anything.
+                    if(REMOVE_GONE_HOSTS) {
+                        goneHosts.append(host);
+                    }
+                } else {
+                    // Only log rate if data actually got sent. Not sure about this as
+                    // "host not there" takes time too regardless of size of data. In fact,
+                    // 1 byte or "UDP frame size" bytes are the same as that's the data
+                    // unit sent by UDP.
+                    _logOutputDataRate(data.size(), QDateTime::currentMSecsSinceEpoch());
+                }
+            } while (_udpConfig->nextHost(host, port));
+            //-- Remove hosts that are no longer there
+            foreach (const QString& ghost, goneHosts) {
+                _udpConfig->removeHost(ghost);
+            }
+>>>>>>> b4f4085c6733b934358b00389d734600eab87bf7
         }
     }
     // Send to all connected systems
@@ -193,20 +225,32 @@ void UDPLink::_writeDataGram(const QByteArray data, const UDPCLient* target)
  **/
 void UDPLink::readBytes()
 {
-    QByteArray databuffer;
-    while (_socket->hasPendingDatagrams())
-    {
-        QByteArray datagram;
-        datagram.resize(_socket->pendingDatagramSize());
-        QHostAddress sender;
-        quint16 senderPort;
-        _socket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
-        databuffer.append(datagram);
-        //-- Wait a bit before sending it over
-        if(databuffer.size() > 10 * 1024) {
+    if (_socket) {
+        QByteArray databuffer;
+        while (_socket->hasPendingDatagrams()) {
+            QByteArray datagram;
+            datagram.resize(_socket->pendingDatagramSize());
+            QHostAddress sender;
+            quint16 senderPort;
+            _socket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
+            databuffer.append(datagram);
+            //-- Wait a bit before sending it over
+            if(databuffer.size() > 10 * 1024) {
+                emit bytesReceived(this, databuffer);
+                databuffer.clear();
+            }
+            _logInputDataRate(datagram.length(), QDateTime::currentMSecsSinceEpoch());
+            // TODO This doesn't validade the sender. Anything sending UDP packets to this port gets
+            // added to the list and will start receiving datagrams from here. Even a port scanner
+            // would trigger this.
+            // Add host to broadcast list if not yet present, or update its port
+            _udpConfig->addHost(sender.toString(), (int)senderPort);
+        }
+        //-- Send whatever is left
+        if(databuffer.size()) {
             emit bytesReceived(this, databuffer);
-            databuffer.clear();
         }
+<<<<<<< HEAD
         _logInputDataRate(datagram.length(), QDateTime::currentMSecsSinceEpoch());
         // TODO: This doesn't validade the sender. Anything sending UDP packets to this port gets
         // added to the list and will start receiving datagrams from here. Even a port scanner
@@ -225,6 +269,8 @@ void UDPLink::readBytes()
     //-- Send whatever is left
     if(databuffer.size()) {
         emit bytesReceived(this, databuffer);
+=======
+>>>>>>> b4f4085c6733b934358b00389d734600eab87bf7
     }
 }
 
@@ -272,7 +318,7 @@ bool UDPLink::_hardwareConnect()
         _socket = NULL;
     }
     QHostAddress host = QHostAddress::AnyIPv4;
-    _socket = new QUdpSocket();
+    _socket = new QUdpSocket(this);
     _socket->setProxy(QNetworkProxy::NoProxy);
     _connectState = _socket->bind(host, _udpConfig->localPort(), QAbstractSocket::ReuseAddressHint | QUdpSocket::ShareAddress);
     if (_connectState) {