Merge branch 'experimental' of pixhawk.ethz.ch:qgroundcontrol into experimental

src/Core.cc

@@ -126,8 +126,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     //mainWindow->addLink(simulationLink);
 
     mainWindow = MainWindow::instance();
-
-    // Remove splash screen
+        // Remove splash screen
     splashScreen->finish(mainWindow);
 
     // Check if link could be connected

src/LogCompressor.cc

@@ -58,19 +58,23 @@ void LogCompressor::run()
     QStringList* keys = new QStringList();
     QList<quint64> times;// = new QList<quint64>();
     QList<quint64> finalTimes;
+
+    qDebug() << "LOG COMPRESSOR: Starting" << fileName;
     
-    if (!file.exists()) return;
-    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+    if (!file.exists() || !file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        qDebug() << "LOG COMPRESSOR: INPUT FILE DOES NOT EXIST";
+        emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since input file %1 is not readable").arg(QFileInfo(fileName).absoluteFilePath()));
         return;
+    }
     
-    if (outFileName != "")
-    {
         // Check if file is writeable
-        if (!QFileInfo(outfile).isWritable())
+        if (outFileName == ""/* || !QFileInfo(outfile).isWritable()*/)
         {
+            qDebug() << "LOG COMPRESSOR: OUTPUT FILE DOES NOT EXIST" << outFileName;
+            emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outFileName).absoluteFilePath()));
             return;
         }
-    }
     
     // Find all keys
     QTextStream in(&file);
@@ -132,7 +136,8 @@ void LogCompressor::run()
     QStringList* outLines = new QStringList();
     for (int i = 0; i < times.length(); i++)
     {
-        if (times.at(i) != lastTime)
+        // Cast to signed on purpose, 64 bit timestamp still long enough
+        if (static_cast<qint64>(times.at(i)) != lastTime)
         {
             outLines->append(QString("%1").arg(times.at(i)) + separator + spacer);
             lastTime = static_cast<qint64>(times.at(i));
@@ -197,6 +202,7 @@ void LogCompressor::run()
                 if (offset == 0)
                 {
                     emit logProcessingStatusChanged(tr("Log compressor: Timestamp %1 not found in dataset, ignoring log line %2").arg(time).arg(linecounter));
+                    qDebug() << "Completely failed finding value";
                     //continue;
                     failed = true;
                 }
@@ -208,16 +214,19 @@ void LogCompressor::run()
             }
         }
 
-        if (index % (dataLines/10) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1%% of %2 lines").arg(index/(float)dataLines).arg(dataLines));
+        if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
         
-        // When the algorithm reaches here the correct index was found
-        lastTimeIndex = index;
-        QString outLine = outLines->at(index);
-        QStringList outParts = outLine.split(separator);
-        // Replace measurement placeholder with current value
-        outParts.replace(keys->indexOf(field)+1, value);
-        outLine = outParts.join(separator);
-        outLines->replace(index, outLine);
+        if (!failed)
+        {
+            // When the algorithm reaches here the correct index was found
+            lastTimeIndex = index;
+            QString outLine = outLines->at(index);
+            QStringList outParts = outLine.split(separator);
+            // Replace measurement placeholder with current value
+            outParts.replace(keys->indexOf(field)+1, value);
+            outLine = outParts.join(separator);
+            outLines->replace(index, outLine);
+        }
     }
     
     
@@ -246,7 +255,7 @@ void LogCompressor::run()
     dataLines = 1;
     delete keys;
     emit logProcessingStatusChanged(tr("Log compressor: Finished processing file: %1").arg(outfile.fileName()));
-    //qDebug() << "Done with logfile processing";
+    qDebug() << "Done with logfile processing";
     emit finishedFile(outfile.fileName());
     running = false;
 }

src/comm/MAVLinkProtocol.cc

@@ -59,7 +59,9 @@ MAVLinkProtocol::MAVLinkProtocol() :
         heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
         m_heartbeatsEnabled(false),
         m_loggingEnabled(false),
-        m_logfile(NULL)
+        m_logfile(NULL),
+        m_enable_version_check(true),
+        versionMismatchIgnore(false)
 {
     start(QThread::LowPriority);
     // Start heartbeat timer, emitting a heartbeat at the configured rate
@@ -76,6 +78,8 @@ MAVLinkProtocol::MAVLinkProtocol() :
             lastIndex[i][j] = -1;
         }
     }
+
+    emit versionCheckChanged(m_enable_version_check);
 }
 
 MAVLinkProtocol::~MAVLinkProtocol()
@@ -91,7 +95,6 @@ MAVLinkProtocol::~MAVLinkProtocol()
 
 void MAVLinkProtocol::run()
 {
-
 }
 
 QString MAVLinkProtocol::getLogfileName()
@@ -146,7 +149,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // Check if the UAS has the same id like this system
                 if (message.sysid == getSystemId())
                 {
-                    qDebug() << "WARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\n\n RECEIVED MESSAGE FROM THIS SYSTEM WITH ID" << message.msgid << "FROM COMPONENT" << message.compid;
+                    emit protocolStatusMessage(tr("SYSTEM ID CONFLICT!"), tr("Warning: A second system is using the same system id (%1)").arg(getSystemId()));
                 }
 
                 // Create a new UAS based on the heartbeat received
@@ -161,12 +164,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
 
                 // Check if the UAS has a different protocol version
-                if (heartbeat.mavlink_version != MAVLINK_VERSION)
+                if (m_enable_version_check && (heartbeat.mavlink_version != MAVLINK_VERSION))
                 {
                     // Bring up dialog to inform user
-                    MainWindow::instance()->showCriticalMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
+                    if (!versionMismatchIgnore)
+                    {
+                        emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
                                                                  tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
-
+                        versionMismatchIgnore = true;
+                    }
 
                     // Ignore this message and continue gracefully
                     continue;
@@ -397,6 +403,11 @@ void MAVLinkProtocol::enableLogging(bool enabled)
     m_loggingEnabled = enabled;
 }
 
+void MAVLinkProtocol::enableVersionCheck(bool enabled)
+{
+    m_enable_version_check = enabled;
+}
+
 bool MAVLinkProtocol::heartbeatsEnabled(void)
 {
     return m_heartbeatsEnabled;
@@ -407,6 +418,11 @@ bool MAVLinkProtocol::loggingEnabled(void)
     return m_loggingEnabled;
 }
 
+bool MAVLinkProtocol::versionCheckEnabled(void)
+{
+    return m_enable_version_check;
+}
+
 /**
  * The default rate is 1 Hertz.
  *

src/comm/MAVLinkProtocol.h

@@ -68,6 +68,8 @@ public:
     bool heartbeatsEnabled(void);
     /** @brief Get logging state */
     bool loggingEnabled(void);
+    /** @brief Get protocol version check state */
+    bool versionCheckEnabled(void);
     /** @brief Get the name of the packet log file */
     static QString getLogfileName();
 
@@ -87,6 +89,9 @@ public slots:
     /** @brief Enable/disable binary packet logging */
     void enableLogging(bool enabled);
 
+    /** @brief Enable / disable version check */
+    void enableVersionCheck(bool enabled);
+
     /** @brief Send an extra heartbeat to all connected units */
     void sendHeartbeat();
 
@@ -96,12 +101,14 @@ protected:
     bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
     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
     QMutex receiveMutex;       ///< Mutex to protect receiveBytes function
     int lastIndex[256][256];
     int totalReceiveCounter;
     int totalLossCounter;
     int currReceiveCounter;
     int currLossCounter;
+    bool versionMismatchIgnore;
 
 signals:
     /** @brief Message received and directly copied via signal */
@@ -110,6 +117,10 @@ signals:
     void heartbeatChanged(bool heartbeats);
     /** @brief Emitted if logging is started / stopped */
     void loggingChanged(bool enabled);
+    /** @brief Emitted if version check is enabled / disabled */
+    void versionCheckChanged(bool enabled);
+    /** @brief Emitted if a message from the protocol should reach the user */
+    void protocolStatusMessage(const QString& title, const QString& message);
 };
 
 #endif // MAVLINKPROTOCOL_H_

src/comm/SerialLink.cc

@@ -85,6 +85,8 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
 
 #endif
 
+    loadSettings();
+
     // Link is setup, register it with link manager
     LinkManager::instance()->add(this);
 }

src/uas/PxQuadMAV.cc

@@ -118,6 +118,21 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "vis. z", pos.z, time);
             }
             break;
+        case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
+                {
+                    mavlink_vicon_position_estimate_t pos;
+                    mavlink_msg_vicon_position_estimate_decode(&message, &pos);
+                    quint64 time = getUnixTime(pos.usec);
+                    //emit valueChanged(uasId, "vis. time", pos.usec, time);
+                    emit valueChanged(uasId, "vicon roll", pos.roll, time);
+                    emit valueChanged(uasId, "vicon pitch", pos.pitch, time);
+                    emit valueChanged(uasId, "vicon yaw", pos.yaw, time);
+                    emit valueChanged(uasId, "vicon x", pos.x, time);
+                    emit valueChanged(uasId, "vicon y", pos.y, time);
+                    emit valueChanged(uasId, "vicon z", pos.z, time);
+                    emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
+                }
+                break;
     case MAVLINK_MSG_ID_AUX_STATUS:
             {
                 mavlink_aux_status_t status;

src/ui/MAVLinkSettingsWidget.cc

@@ -37,15 +37,19 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
 {
     m_ui->setupUi(this);
 
+    // Initialize state
+    m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled());
+    m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled());
+    m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled());
+
     // Connect actions
     connect(protocol, SIGNAL(heartbeatChanged(bool)), m_ui->heartbeatCheckBox, SLOT(setChecked(bool)));
     connect(m_ui->heartbeatCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableHeartbeats(bool)));
     connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->loggingCheckBox, SLOT(setChecked(bool)));
     connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableLogging(bool)));
+    connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionCheckBox, SLOT(setChecked(bool)));
+    connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableVersionCheck(bool)));
 
-    // Initialize state
-    m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled());
-    m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled());
 }
 
 MAVLinkSettingsWidget::~MAVLinkSettingsWidget()

src/ui/MAVLinkSettingsWidget.ui

@@ -31,6 +31,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QCheckBox" name="versionCheckBox">
+     <property name="text">
+      <string>Only accept MAVs with same protocol version</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <spacer name="verticalSpacer">
      <property name="orientation">

src/ui/MainWindow.cc

@@ -153,6 +153,7 @@ void MainWindow::buildCommonWidgets()
 {
     //TODO:  move protocol outside UI
     mavlink     = new MAVLinkProtocol();
+    connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
 
     // Dock widgets
     if (!controlDockWidget)
@@ -202,6 +203,12 @@ void MainWindow::buildCommonWidgets()
         protocolWidget    = new XMLCommProtocolWidget(this);
         addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
     }
+
+    if (!dataplotWidget)
+    {
+        dataplotWidget    = new QGCDataPlot2D(this);
+        addToCentralWidgetsMenu (dataplotWidget, "Data Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
+    }
 }
 
 void MainWindow::buildPxWidgets()
@@ -742,6 +749,7 @@ void MainWindow::arrangeCommonCenterStack()
     if (!centerStack) return;
 
     if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget);
+    if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
     if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget);
 
     setCentralWidget(centerStack);

src/ui/QGCDataPlot2D.cc

@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCDataPlot2D.h"
 #include "ui_QGCDataPlot2D.h"
 #include "MG.h"
+#include "MainWindow.h"
 #include <cmath>
 
 #include <QDebug>
@@ -75,7 +76,7 @@ void QGCDataPlot2D::reloadFile()
 {
     if (QFileInfo(fileName).isReadable())
     {
-        if (ui->inputFileType->currentText().contains("pxIMU"))
+        if (ui->inputFileType->currentText().contains("pxIMU") || ui->inputFileType->currentText().contains("RAW"))
         {
             loadRawLog(fileName, ui->xAxis->currentText(), ui->yAxis->text());
         }
@@ -88,9 +89,10 @@ void QGCDataPlot2D::reloadFile()
 
 void QGCDataPlot2D::loadFile()
 {
+    qDebug() << "DATA PLOT: Loading file:" << fileName;
     if (QFileInfo(fileName).isReadable())
     {
-        if (ui->inputFileType->currentText().contains("pxIMU"))
+        if (ui->inputFileType->currentText().contains("pxIMU") || ui->inputFileType->currentText().contains("RAW"))
         {
             loadRawLog(fileName);
         }
@@ -110,7 +112,7 @@ void QGCDataPlot2D::loadFile(QString file)
         {
             loadRawLog(fileName);
         }
-        else if (fileName.contains(".txt") || fileName.contains(".csv"))
+        else if (fileName.contains(".txt") || fileName.contains(".csv") || fileName.contains(".csv"))
         {
             loadCsvLog(fileName);
         }
@@ -129,7 +131,7 @@ void QGCDataPlot2D::savePlot()
 
     if (!fileName.contains("."))
     {
-        // .csv is default extension
+        // .pdf is default extension
         fileName.append(".pdf");
     }
 
@@ -269,7 +271,16 @@ void QGCDataPlot2D::selectFile()
     // Let user select the log file name
     //QDate date(QDate::currentDate());
     // QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
-    fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), QString(), "Logfile (*.csv *.txt *.log)");
+
+    if (ui->inputFileType->currentText().contains("pxIMU") || ui->inputFileType->currentText().contains("RAW"))
+    {
+        fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), QString(), "Logfile (*.imu *.raw)");
+    }
+    else
+    {
+        fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), QString(), "Logfile (*.csv *.txt *.log)");
+    }
+
     // Store reference to file
 
     QFileInfo fileInfo(fileName);
@@ -296,32 +307,36 @@ void QGCDataPlot2D::selectFile()
 
 void QGCDataPlot2D::loadRawLog(QString file, QString xAxisName, QString yAxisFilter)
 {
+    qDebug() << "LOADING RAW LOG!";
+
     if (logFile != NULL)
     {
         logFile->close();
         delete logFile;
     }
     // Postprocess log file
-    logFile = new QTemporaryFile();
+    logFile = new QTemporaryFile("qt_qgc_temp_log.XXXXXX.csv");
     compressor = new LogCompressor(file, logFile->fileName());
+    connect(compressor, SIGNAL(logProcessingStatusChanged(QString)), MainWindow::instance(), SLOT(showStatusMessage(QString)));
+    connect(compressor, SIGNAL(finishedFile(QString)), this, SLOT(loadFile(QString)));
     compressor->startCompression();
 
-    // Block UI
-    QProgressDialog progress("Transforming RAW log file to CSV", "Abort Transformation", 0, 1, this);
-    progress.setWindowModality(Qt::WindowModal);
+//    // Block UI
+//    QProgressDialog progress("Transforming RAW log file to CSV", "Abort Transformation", 0, 1, this);
+//    progress.setWindowModality(Qt::WindowModal);
 
-    while (!compressor->isFinished())
-    {
-        MG::SLEEP::usleep(100000);
-        progress.setMaximum(compressor->getDataLines());
-        progress.setValue(compressor->getCurrentLine());
-    }
-    // Enforce end
-    progress.setMaximum(compressor->getDataLines());
-    progress.setValue(compressor->getDataLines());
+//    while (!compressor->isFinished())
+//    {
+//        MG::SLEEP::usleep(100000);
+////        progress.setMaximum(compressor->getDataLines());
+////        progress.setValue(compressor->getCurrentLine());
+//    }
+//    // Enforce end
+//    progress.setMaximum(compressor->getDataLines());
+//    progress.setValue(compressor->getDataLines());
 
     // Done with preprocessing - now load csv log
-    loadCsvLog(logFile->fileName(), xAxisName, yAxisFilter);
+    //loadFile(logFile->fileName());
 }
 
 /**
@@ -654,6 +669,13 @@ void QGCDataPlot2D::saveCsvLog()
     fileName = QFileDialog::getSaveFileName(
             this, "Export CSV File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
             "CSV file (*.csv);;Text file (*.txt)");
+
+    if (!fileName.contains("."))
+    {
+        // .csv is default extension
+        fileName.append(".csv");
+    }
+
     //    QFileInfo fileInfo(fileName);
     //
     //    // Check if we could create a new file in this directory