New mavlink logging support

- Logging now always on to temp file
- User prompted to save temp file after disconnect
- Orphaned temp logs checked for on boot
- Logs saved to new save file location
- Log file starts/stops with first and last connnection

src/comm/MAVLinkProtocol.h

@@ -37,6 +37,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QFile>
 #include <QMap>
 #include <QByteArray>
+#include <QTemporaryFile>
+
 #include "ProtocolInterface.h"
 #include "LinkInterface.h"
 #include "QGCMAVLink.h"
@@ -69,10 +71,7 @@ public:
     bool heartbeatsEnabled() const {
         return m_heartbeatsEnabled;
     }
-    /** @brief Get logging state */
-    bool loggingEnabled() const {
-        return m_loggingEnabled;
-    }
+    
     /** @brief Get protocol version check state */
     bool versionCheckEnabled() const {
         return m_enable_version_check;
@@ -93,8 +92,6 @@ public:
     QString getAuthKey() {
         return m_authKey;
     }
-    /** @brief Get the name of the packet log file */
-    QString getLogfileName();
     /** @brief Get state of parameter retransmission */
     bool paramGuardEnabled() {
         return m_paramGuardEnabled;
@@ -161,9 +158,6 @@ public slots:
     /** @brief Enable / disable the heartbeat emission */
     void enableHeartbeats(bool enabled);
 
-    /** @brief Enable/disable binary packet logging */
-    void enableLogging(bool enabled);
-
     /** @brief Enabled/disable packet multiplexing */
     void enableMultiplexing(bool enabled);
 
@@ -182,9 +176,6 @@ public slots:
     /** @brief Set parameter read timeout */
     void setActionRetransmissionTimeout(int ms);
 
-    /** @brief Set log file name */
-    void setLogfileName(const QString& filename);
-
     /** @brief Enable / disable version check */
     void enableVersionCheck(bool enabled);
 
@@ -204,15 +195,21 @@ public slots:
     /** @brief Store protocol settings */
     void storeSettings();
     
+    /// @brief Suspend/Restart logging during replay. This must be emitted as a signal
+    ///         and not called directly in order to synchronize with the bytesReady signal
+    ///         which may be ahead of it in the signal queue.
+    void suspendLogForReplay(bool suspend);
+
 protected:    
+    // Override from QObject
+    virtual void connectNotify(const QMetaMethod& signal);
+
     QTimer *heartbeatTimer;    ///< Timer to emit heartbeats
     int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
     bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
     bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
     bool m_authEnabled;        ///< Enable authentication token broadcast
     QString m_authKey;         ///< Authentication key
-    bool m_loggingEnabled;     ///< Enable/disable packet logging
-    QFile* m_logfile;           ///< Logfile
     bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
     int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
     int m_paramRewriteTimeout;    ///< Timeout for sending re-write request
@@ -235,8 +232,6 @@ signals:
     void messageReceived(LinkInterface* link, mavlink_message_t message);
     /** @brief Emitted if heartbeat emission mode is changed */
     void heartbeatChanged(bool heartbeats);
-    /** @brief Emitted if logging is started / stopped */
-    void loggingChanged(bool enabled);
     /** @brief Emitted if multiplexing is started / stopped */
     void multiplexingChanged(bool enabled);
     /** @brief Emitted if authentication support is enabled / disabled */
@@ -272,6 +267,27 @@ signals:
      */
     void radioStatusChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi,
     unsigned txbuf, unsigned noise, unsigned remnoise);
+    
+    /// @brief Emitted when a temporary log file is ready for saving
+    void saveTempFlightDataLog(QString tempLogfile);
+    
+private:
+    bool _closeLogFile(void);
+    void _startLogging(void);
+    void _stopLogging(void);
+    void _checkLostLogFiles(void);
+    
+    QList<LinkInterface*> _connectedLinks;  ///< List of all links connected to protocol
+    
+    bool _logSuspendError;      ///< true: Logging suspended due to error
+    bool _logSuspendReplay;     ///< true: Logging suspended due to replay
+    
+    QTemporaryFile _tempLogFile;                ///< File to log to
+    static const char* _tempLogFileTemplate;    ///< Template for temporary log file
+    static const char* _logFileExtension;       ///< Extension for log files
+    
+    bool _protocolStatusMessageConnected;   ///< true: protocolStatusMessage signal has been connected
+    bool _saveTempFlightDataLogConnected;   ///< true: saveTempFlightDataLog signal has been connected
 };
 
 #endif // MAVLINKPROTOCOL_H_

src/ui/MAVLinkSettingsWidget.cc

@@ -55,7 +55,6 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
 
     // Initialize state
     m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled());
-    m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled());
     m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled());
     m_ui->multiplexingCheckBox->setChecked(protocol->multiplexingEnabled());
     m_ui->systemIdSpinBox->setValue(protocol->getSystemId());
@@ -71,14 +70,9 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
     // Heartbeat
     connect(protocol, SIGNAL(heartbeatChanged(bool)), m_ui->heartbeatCheckBox, SLOT(setChecked(bool)));
     connect(m_ui->heartbeatCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableHeartbeats(bool)));
-    // Logging
-    connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->loggingCheckBox, SLOT(setChecked(bool)));
-    connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableLogging(bool)));
     // Version check
     connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionCheckBox, SLOT(setChecked(bool)));
     connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableVersionCheck(bool)));
-    // Logfile
-    connect(m_ui->logFileButton, SIGNAL(clicked()), this, SLOT(chooseLogfileName()));
     // System ID
     connect(protocol, SIGNAL(systemIdChanged(int)), m_ui->systemIdSpinBox, SLOT(setValue(int)));
     connect(m_ui->systemIdSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setSystemId(int)));
@@ -110,16 +104,10 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
 
     // Update values
     m_ui->versionLabel->setText(tr("MAVLINK_VERSION: %1").arg(protocol->getVersion()));
-    updateLogfileName(protocol->getLogfileName());
 
     // Connect visibility updates
     connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionLabel, SLOT(setVisible(bool)));
     m_ui->versionLabel->setVisible(protocol->versionCheckEnabled());
-    // Logging visibility
-    connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileLabel, SLOT(setVisible(bool)));
-    m_ui->logFileLabel->setVisible(protocol->loggingEnabled());
-    connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileButton, SLOT(setVisible(bool)));
-    m_ui->logFileButton->setVisible(protocol->loggingEnabled());
 //    // Multiplexing visibility
 //    connect(protocol, SIGNAL(multiplexingChanged(bool)), m_ui->multiplexingFilterCheckBox, SLOT(setVisible(bool)));
 //    m_ui->multiplexingFilterCheckBox->setVisible(protocol->multiplexingEnabled());
@@ -146,39 +134,6 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
     m_ui->multiplexingFilterLineEdit->setVisible(false);
 }
 
-void MAVLinkSettingsWidget::updateLogfileName(const QString& fileName)
-{
-    QFileInfo file(fileName);
-    m_ui->logFileLabel->setText(file.fileName());
-}
-
-void MAVLinkSettingsWidget::chooseLogfileName()
-{
-    QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file name"), QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), tr("MAVLink Logfile (*.mavlink);;"));
-
-    if (!fileName.endsWith(".mavlink"))
-    {
-        fileName.append(".mavlink");
-    }
-
-    QFileInfo file(fileName);
-    if (file.exists() && !file.isWritable())
-    {
-        QMessageBox msgBox;
-        msgBox.setIcon(QMessageBox::Critical);
-        msgBox.setText(tr("The selected logfile is not writable"));
-        msgBox.setInformativeText(tr("Please make sure that the file %1 is writable or select a different file").arg(fileName));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        msgBox.exec();
-    }
-    else
-    {
-        updateLogfileName(fileName);
-        protocol->setLogfileName(fileName);
-    }
-}
-
 void MAVLinkSettingsWidget::enableDroneOS(bool enable)
 {
     // Enable multiplexing

src/ui/MAVLinkSettingsWidget.h

@@ -18,10 +18,6 @@ public:
     ~MAVLinkSettingsWidget();
 
 public slots:
-    /** @brief Update the log file name display */
-    void updateLogfileName(const QString& fileName);
-    /** @brief Start the file select dialog for the log file */
-    void chooseLogfileName();
     /** @brief Enable DroneOS forwarding */
     void enableDroneOS(bool enable);
 

src/ui/MainWindow.h

@@ -100,30 +100,17 @@ public:
         CUSTOM_MODE_WIFI
     };
 
-    /**
-     * A static function for obtaining the sole instance of the MainWindow. The screen
-     * argument is only important on the FIRST call to this function. The provided splash
-     * screen is updated with some status messages that are emitted during init(). This
-     * function cannot be used within the MainWindow constructor!
-     */
-    static MainWindow* instance(QSplashScreen* screen = 0);
-    static MainWindow* instance_mode(QSplashScreen* screen = 0, enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_NONE);
+    /// @brief Returns the MainWindow singleton. Will not create the MainWindow if it has not already
+    ///         been created.
+    static MainWindow* instance(void);
     
-    /**
-     * Initializes the MainWindow. Some variables are initialized and the widget is hidden.
-     * Initialization of the MainWindow class really occurs in init(), which loads the UI
-     * and does everything important. The constructor is split in two like this so that
-     * the instance() is available for all classes.
-     */
-    MainWindow(QWidget *parent = NULL);
-    ~MainWindow();
+    /// @brief Creates the MainWindow singleton. Should only be called once by QGCApplication.
+    static MainWindow* _create(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode);
     
-    /**
-     * This function actually performs the non-trivial initialization of the MainWindow
-     * class. This is separate from the constructor because instance() won't work within
-     * code executed in the MainWindow constructor.
-     */
-    void init();
+    /// @brief Called to indicate that splash screen is no longer being displayed.
+    void splashScreenFinished(void) { _splashScreen = NULL; }
+
+    ~MainWindow();
 
     enum QGC_MAINWINDOW_STYLE
     {
@@ -476,7 +463,17 @@ protected:
     QTimer windowNameUpdateTimer;
     CUSTOM_MODE customMode;
     
+private slots:
+    /// @brief Save the specified Flight Data Log
+    void _saveTempFlightDataLog(QString tempLogfile);
+
 private:
+    /// Constructor is private since all creation should be through MainWindow::instance.
+    MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode);
+    
+    void _hideSplashScreen(void);
+    void _openUrl(const QString& url, const QString& errorMessage);
+    
     QList<QObject*> commsWidgetList;
     QMap<QString,QString> customWidgetNameToFilenameMap;
     MenuActionHelper *menuActionHelper;
@@ -490,6 +487,8 @@ private:
     QString getWindowStateKey();
     QString getWindowGeometryKey();
     
+    QSplashScreen* _splashScreen;   ///< Splash screen, NULL is splash screen not currently being shown
+
     friend class MenuActionHelper; //For VIEW_SECTIONS
 };
 

src/ui/QGCMAVLinkLogPlayer.h

@@ -37,29 +37,15 @@ public:
         return logFile.isOpen();
     }
 
-    /**
-     * @brief Set the last log file name
-     * @param filename
-     */
-    void setLastLogFile(const QString& filename) {
-        lastLogDirectory = filename;
-    }
-
 public slots:
     /** @brief Toggle between play and pause */
     void playPauseToggle();
-    /** @brief Play / pause the log */
-    void playPause(bool play);
     /** @brief Replay the logfile */
     void play();
     /** @brief Pause the log player. */
     void pause();
     /** @brief Reset the internal log player state, including the UI */
     void reset();
-    /** @brief Select logfile */
-    bool selectLogFile(const QString startDirectory);
-    /** @brief Select logfile */
-    bool selectLogFile();
     /** @brief Load log file */
     bool loadLogFile(const QString& file);
     /** @brief Jump to a position in the logfile */
@@ -74,6 +60,9 @@ signals:
     void bytesReady(LinkInterface* link, const QByteArray& bytes);
     void logFileEndReached();
     
+    /// @brief Connected to the MAVLinkProtocol::suspendLogForReplay
+    void suspendLogForReplay(bool suspend);
+
 protected:
     quint64 playbackStartTime;     ///< 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. In units of milliseconds since epoch UTC.
     quint64 logCurrentTime;        ///< The timestamp of the next message in the log file. In units of microseconds since epoch UTC.
@@ -92,11 +81,10 @@ protected:
     unsigned int currPacketCount;
     static const int packetLen = MAVLINK_MAX_PACKET_LEN;
     static const int timeLen = sizeof(quint64);
-    QString lastLogDirectory;
     void changeEvent(QEvent *e);
     
-    void loadSettings();
-    void storeSettings();
+private slots:
+    void _selectLogFileForPlayback(void);
 
 private:
     Ui::QGCMAVLinkLogPlayer *ui;
@@ -130,6 +118,9 @@ private:
      * @return True if the new file position was successfully jumped to, false otherwise
      */
     bool jumpToPlaybackLocation(float percentage);
+    
+    void _finishPlayback(void);
+    void _playbackError(void);
 };
 
 #endif // QGCMAVLINKLOGPLAYER_H

src/ui/QGCMAVLinkLogPlayer.ui

@@ -36,13 +36,13 @@
    <item>
     <widget class="QToolButton" name="playButton">
      <property name="toolTip">
-      <string>Start to replay the logfile</string>
+      <string>Start to replay Flight Data</string>
      </property>
      <property name="statusTip">
-      <string>Start to replay the logfile</string>
+      <string>Start to replay Flight Data</string>
      </property>
      <property name="whatsThis">
-      <string>Start to replay the logfile</string>
+      <string>Start to replay Flight Data</string>
      </property>
      <property name="text">
       <string>...</string>
@@ -129,23 +129,23 @@
    <item>
     <widget class="QLabel" name="logFileNameLabel">
      <property name="text">
-      <string>No logfile selected..</string>
+      <string>No Flight Data selected..</string>
      </property>
     </widget>
    </item>
    <item>
     <widget class="QPushButton" name="selectFileButton">
      <property name="toolTip">
-      <string>Select the logfile to replay</string>
+      <string>Select the Flight Data to replay</string>
      </property>
      <property name="statusTip">
-      <string>Select the logfile to replay</string>
+      <string>Select the Flight Data to replay</string>
      </property>
      <property name="whatsThis">
-      <string>Select the logfile to replay</string>
+      <string>Select the Flight Data to replay</string>
      </property>
      <property name="text">
-      <string>Replay Logfile</string>
+      <string>Replay Flight Data</string>
      </property>
     </widget>
    </item>

src/ui/QGCStatusBar.cc

@@ -27,21 +27,15 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCStatusBar.h"
 #include "UASManager.h"
 #include "MainWindow.h"
+#include "QGCCore.h"
 
 QGCStatusBar::QGCStatusBar(QWidget *parent) :
     QStatusBar(parent),
-    toggleLoggingButton(NULL),
     player(NULL),
     changed(true),
     lastLogDirectory(QStandardPaths::writableLocation(QStandardPaths::DesktopLocation))
 {
     setObjectName("QGC_STATUSBAR");
-
-    toggleLoggingButton = new QPushButton(tr("Log to file"), this);
-    toggleLoggingButton->setCheckable(true);
-
-    addPermanentWidget(toggleLoggingButton);
-
     loadSettings();
 }
 
@@ -58,58 +52,6 @@ void QGCStatusBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
 {
     this->player = player;
     addPermanentWidget(player);
-    connect(toggleLoggingButton, SIGNAL(clicked(bool)), this, SLOT(logging(bool)));
-}
-
-void QGCStatusBar::logging(bool checked)
-{
-    // Stop logging in any case
-    MainWindow::instance()->getMAVLink()->enableLogging(false);
-
-    if (!checked && player)
-    {
-        player->setLastLogFile(lastLogDirectory);
-    }
-
-	// If the user is enabling logging
-    if (checked)
-    {
-		// Prompt the user for a filename/location to save to
-        QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file to save to"), lastLogDirectory, tr("MAVLink Logfile (*.mavlink *.log *.bin);;"));
-
-		// Check that they didn't cancel out
-		if (fileName.isNull())
-		{
-            toggleLoggingButton->setChecked(false);
-			return;
-		}
-
-		// Make sure the file's named properly
-        if (!fileName.endsWith(".mavlink"))
-        {
-            fileName.append(".mavlink");
-        }
-
-		// Check that we can save the logfile
-        QFileInfo file(fileName);
-        if ((file.exists() && !file.isWritable()))
-        {
-            QMessageBox msgBox;
-            msgBox.setIcon(QMessageBox::Critical);
-            msgBox.setText(tr("The selected logfile is not writable"));
-            msgBox.setInformativeText(tr("Please make sure that the file %1 is writable or select a different file").arg(fileName));
-            msgBox.setStandardButtons(QMessageBox::Ok);
-            msgBox.setDefaultButton(QMessageBox::Ok);
-            msgBox.exec();
-        }
-		// Otherwise we're off and logging
-        else
-        {
-            MainWindow::instance()->getMAVLink()->setLogfileName(fileName);
-            MainWindow::instance()->getMAVLink()->enableLogging(true);
-            lastLogDirectory = file.absoluteDir().absolutePath(); //save last log directory
-        }
-    }
 }
 
 void QGCStatusBar::loadSettings()
@@ -132,5 +74,4 @@ void QGCStatusBar::storeSettings()
 QGCStatusBar::~QGCStatusBar()
 {
     storeSettings();
-    if (toggleLoggingButton) toggleLoggingButton->deleteLater();
 }

src/ui/QGCStatusBar.h

@@ -43,8 +43,6 @@ public:
     ~QGCStatusBar();
 
 public slots:
-    /** @brief Start / stop logging */
-    void logging(bool checked);
     /** @brief Set log playing component */
     void setLogPlayer(QGCMAVLinkLogPlayer* player);
     virtual void paintEvent(QPaintEvent * event);
@@ -53,7 +51,6 @@ protected:
     void storeSettings();
     void loadSettings();
 
-    QPushButton* toggleLoggingButton;
     QGCMAVLinkLogPlayer* player;
     bool changed;
     QString lastLogDirectory;