Merge pull request #1741 from DonLakeFlyer/LogReplay

Convert Log Replay to Link

QGCApplication.pro

@@ -161,6 +161,7 @@ FORMS += \
     src/QGCQmlWidgetHolder.ui \
     src/ui/HDDisplay.ui \
     src/ui/Linechart.ui \
+    src/ui/LogReplayLinkConfigurationWidget.ui \
     src/ui/MainWindow.ui \
     src/ui/map/QGCMapTool.ui \
     src/ui/map/QGCMapToolBar.ui \
@@ -228,6 +229,7 @@ HEADERS += \
     src/comm/LinkConfiguration.h \
     src/comm/LinkInterface.h \
     src/comm/LinkManager.h \
+    src/comm/LogReplayLink.h \
     src/comm/MAVLinkProtocol.h \
     src/comm/MockLink.h \
     src/comm/MockLinkFileServer.h \
@@ -276,6 +278,7 @@ HEADERS += \
     src/ui/linechart/LinechartWidget.h \
     src/ui/linechart/Scrollbar.h \
     src/ui/linechart/ScrollZoomer.h \
+    src/ui/LogReplayLinkConfigurationWidget.h \
     src/ui/MainWindow.h \
     src/ui/map/MAV2DIcon.h \
     src/ui/map/QGCMapTool.h \
@@ -365,6 +368,7 @@ SOURCES += \
     src/CmdLineOptParser.cc \
     src/comm/LinkConfiguration.cc \
     src/comm/LinkManager.cc \
+    src/comm/LogReplayLink.cc \
     src/comm/MAVLinkProtocol.cc \
     src/comm/MockLink.cc \
     src/comm/MockLinkFileServer.cc \
@@ -405,6 +409,7 @@ SOURCES += \
     src/ui/linechart/LinechartWidget.cc \
     src/ui/linechart/Scrollbar.cc \
     src/ui/linechart/ScrollZoomer.cc \
+    src/ui/LogReplayLinkConfigurationWidget.cc \
     src/ui/MainWindow.cc \
     src/ui/map/MAV2DIcon.cc \
     src/ui/map/QGCMapTool.cc \

src/comm/LinkConfiguration.cc

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #include "UDPLink.h"
 #include "TCPLink.h"
+#include "LogReplayLink.h"
 
 #ifdef QT_DEBUG
 #include "MockLink.h"
@@ -95,6 +96,9 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na
         case LinkConfiguration::TypeTcp:
             config = new TCPConfiguration(name);
             break;
+        case LinkConfiguration::TypeLogReplay:
+            config = new LogReplayLinkConfiguration(name);
+            break;
 #ifdef QT_DEBUG
         case LinkConfiguration::TypeMock:
             config = new MockConfiguration(name);
@@ -123,6 +127,9 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
         case TypeTcp:
             dupe = new TCPConfiguration(dynamic_cast<TCPConfiguration*>(source));
             break;
+        case TypeLogReplay:
+            dupe = new LogReplayLinkConfiguration(dynamic_cast<LogReplayLinkConfiguration*>(source));
+            break;
 #ifdef QT_DEBUG
         case TypeMock:
             dupe = new MockConfiguration(dynamic_cast<MockConfiguration*>(source));

src/comm/LinkConfiguration.h

@@ -44,13 +44,14 @@ public:
 #endif
         TypeUdp,        ///< UDP Link
         TypeTcp,        ///< TCP Link
-        // TODO Below is not yet implemented
 #if 0
+        // TODO Below is not yet implemented
         TypeForwarding, ///< Forwarding Link
         TypeXbee,       ///< XBee Proprietary Link
         TypeOpal,       ///< Opal-RT Link
 #endif
         TypeMock,       ///< Mock Link for Unitesting
+        TypeLogReplay,
         TypeLast        // Last type value (type >= TypeLast == invalid)
     };
 

src/comm/LinkInterface.h

@@ -91,6 +91,9 @@ public:
      * @return The nominal data rate of the interface in bit per second, 0 if unknown
      **/
     virtual qint64 getConnectionSpeed() const = 0;
+    
+    /// @return true: This link is replaying a log file, false: Normal two-way communication link
+    virtual bool isLogReplay(void) { return false; }
 
     /**
      * @Brief Get the current incoming data rate.

src/comm/LinkManager.cc

@@ -96,6 +96,9 @@ LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
         case LinkConfiguration::TypeTcp:
             pLink = new TCPLink(dynamic_cast<TCPConfiguration*>(config));
             break;
+        case LinkConfiguration::TypeLogReplay:
+            pLink = new LogReplayLink(dynamic_cast<LogReplayLinkConfiguration*>(config));
+            break;
 #ifdef QT_DEBUG
         case LinkConfiguration::TypeMock:
             pLink = new MockLink(dynamic_cast<MockConfiguration*>(config));
@@ -394,6 +397,10 @@ void LinkManager::loadLinkConfigurationList()
                                     pLink = (LinkConfiguration*)new TCPConfiguration(name);
                                     pLink->setPreferred(preferred);
                                     break;
+                                case LinkConfiguration::TypeLogReplay:
+                                    pLink = (LinkConfiguration*)new LogReplayLinkConfiguration(name);
+                                    pLink->setPreferred(preferred);
+                                    break;
 #ifdef QT_DEBUG
                                 case LinkConfiguration::TypeMock:
                                     pLink = (LinkConfiguration*)new MockConfiguration(name);

src/comm/LinkManager.h

@@ -41,6 +41,7 @@ This file is part of the PIXHAWK project
 #endif
 #include "UDPLink.h"
 #include "TCPLink.h"
+#include "LogReplayLink.h"
 
 #ifdef QT_DEBUG
 #include "MockLink.h"
@@ -110,6 +111,7 @@ public:
     void setConnectionsAllowed(void) { _connectionsSuspended = false; }
 
     /// Creates, connects (and adds) a link  based on the given configuration instance.
+    /// Link takes ownership of config.
     LinkInterface* createConnectedLink(LinkConfiguration* config);
 
     /// Creates, connects (and adds) a link  based on the given configuration name.

src/comm/LogReplayLink.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#ifndef LogReplayLink_H
+#define LogReplayLink_H
+
+#include "LinkInterface.h"
+#include "LinkConfiguration.h"
+#include "MAVLinkProtocol.h"
+
+#include <QTimer>
+#include <QFile>
+
+class LogReplayLinkConfiguration : public LinkConfiguration
+{
+public:
+    LogReplayLinkConfiguration(const QString& name);
+    LogReplayLinkConfiguration(LogReplayLinkConfiguration* copy);
+    
+    QString logFilename(void) { return _logFilename; }
+    void setLogFilename(const QString& logFilename) { _logFilename = logFilename; }
+    
+    QString logFilenameShort(void);
+
+    // Virtuals from LinkConfiguration
+    virtual int  type() { return LinkConfiguration::TypeLogReplay; }
+    virtual void copyFrom(LinkConfiguration* source);
+    virtual void loadSettings(QSettings& settings, const QString& root);
+    virtual void saveSettings(QSettings& settings, const QString& root);
+    virtual void updateSettings();
+
+private:
+    static const char*  _logFilenameKey;
+    QString             _logFilename;
+};
+
+class LogReplayLink : public LinkInterface
+{
+    Q_OBJECT
+
+    friend class LinkManager;
+    
+public:
+    /// @return true: log is currently playing, false: log playback is paused
+    bool isPlaying(void) { return _readTickTimer.isActive(); }
+    
+    /// Start replay at current position
+    void play(void) { emit _playOnThread(); }
+    
+    /// Pause replay
+    void pause(void) { emit _pauseOnThread(); }
+    
+    /// Move the playhead to the specified percent complete
+    void movePlayhead(int percentComplete);
+    
+    /// Sets the acceleration factor: -100: 0.01X, 0: 1.0X, 100: 100.0X
+    void setAccelerationFactor(int factor) { emit _setAccelerationFactorOnThread(factor); }
+    
+    // Virtuals from LinkInterface
+    virtual QString getName(void) const { return _config->name(); }
+    virtual void requestReset(void){ }
+    virtual bool isConnected(void) const { return _connected; }
+    virtual qint64 getConnectionSpeed(void) const { return 100000000; }
+    virtual qint64 bytesAvailable(void) { return 0; }
+    virtual bool isLogReplay(void) { return true; }
+
+    // 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.
+    bool connect(void);
+    bool disconnect(void);
+
+public slots:
+    virtual void writeBytes(const char *bytes, qint64 cBytes);
+    
+signals:
+    void logFileStats(bool logTimestamped, int logDurationSecs, int binaryBaudRate);
+    void playbackStarted(void);
+    void playbackPaused(void);
+    void playbackAtEnd(void);
+    void playbackError(void);
+    void playbackPercentCompleteChanged(int percentComplete);
+    
+    // Internal signals
+    void _playOnThread(void);
+    void _pauseOnThread(void);
+    void _setAccelerationFactorOnThread(int factor);
+
+protected slots:
+    // FIXME: This should not be part of LinkInterface. It is an internal link implementation detail.
+    virtual void readBytes(void);
+    
+private slots:
+    void _readNextLogEntry(void);
+    void _play(void);
+    void _pause(void);
+    void _setAccelerationFactor(int factor);
+
+private:
+    // Links are only created/destroyed by LinkManager so constructor/destructor is not public
+    LogReplayLink(LogReplayLinkConfiguration* config);
+    ~LogReplayLink();
+    
+    void _replayError(const QString& errorMsg);
+    quint64 _parseTimestamp(const QByteArray& bytes);
+    quint64 _seekToNextMavlinkMessage(mavlink_message_t* nextMsg);
+    bool _loadLogFile(void);
+    void _finishPlayback(void);
+    void _playbackError(void);
+    void _resetPlaybackToBeginning(void);
+    
+    // Virtuals from LinkInterface
+    virtual bool _connect(void);
+    virtual bool _disconnect(void);
+    
+    // Virtuals from QThread
+    virtual void run(void);
+    
+    LogReplayLinkConfiguration* _config;
+
+    bool    _connected;
+    QTimer _readTickTimer;      ///< Timer which signals a read of next log record
+    
+    static const char* _errorTitle; ///< Title for communicatorError signals
+    
+    quint64 _logCurrentTimeUSecs;   ///< The timestamp of the next message in the log file.
+    quint64 _logStartTimeUSecs;     ///< The first timestamp in the current log file.
+    quint64 _logEndTimeUSecs;       ///< The last timestamp in the current log file.
+    quint64 _logDurationUSecs;
+    
+    static const int    _defaultBinaryBaudRate = 57600;
+    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.
+    
+    MAVLinkProtocol*    _mavlink;
+    QFile               _logFile;
+    quint64             _logFileSize;
+    bool                _logTimestamped;    ///< true: Timestamped log format, false: no timestamps
+    
+    static const int cbTimestamp = sizeof(quint64);
+};
+
+#endif

src/comm/SerialLink.cc

@@ -353,17 +353,12 @@ qint64 SerialLink::getConnectionSpeed() const
 
 void SerialLink::_resetConfiguration()
 {
-    bool somethingChanged = false;
     if (_port) {
-        somethingChanged = _port->setBaudRate     (_config->baud());
-        somethingChanged |= _port->setDataBits    (static_cast<QSerialPort::DataBits>    (_config->dataBits()));
-        somethingChanged |= _port->setFlowControl (static_cast<QSerialPort::FlowControl> (_config->flowControl()));
-        somethingChanged |= _port->setStopBits    (static_cast<QSerialPort::StopBits>    (_config->stopBits()));
-        somethingChanged |= _port->setParity      (static_cast<QSerialPort::Parity>      (_config->parity()));
-    }
-    if(somethingChanged) {
-        qCDebug(SerialLinkLog) << "Reconfiguring port";
-        emit updateLink(this);
+        _port->setBaudRate      (_config->baud());
+        _port->setDataBits      (static_cast<QSerialPort::DataBits>    (_config->dataBits()));
+        _port->setFlowControl   (static_cast<QSerialPort::FlowControl> (_config->flowControl()));
+        _port->setStopBits      (static_cast<QSerialPort::StopBits>    (_config->stopBits()));
+        _port->setParity        (static_cast<QSerialPort::Parity>      (_config->parity()));
     }
 }
 

src/comm/SerialLink.h

@@ -119,14 +119,12 @@ public:
     void    requestReset();
     bool    isConnected() const;
     qint64  getConnectionSpeed() const;
+    
     // 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.
     bool    connect(void);
     bool    disconnect(void);
 
-signals: //[TODO] Refactor to Linkinterface
-    void updateLink(LinkInterface*);
-
 public slots:
 
     void readBytes();

src/uas/UAS.cc

@@ -3414,3 +3414,14 @@ bool UAS::_containsLink(LinkInterface* link)
 
     return false;
 }
+
+bool UAS::isLogReplay(void)
+{
+    QList<LinkInterface*> links = getLinks();
+    
+    if (links.count() == 1) {
+        return links[0]->isLogReplay();
+    } else {
+        return false;
+    }
+}

src/uas/UAS.h

@@ -93,6 +93,7 @@ public:
     float filterVoltage(float value) const;
     /** @brief Get the links associated with this robot */
     QList<LinkInterface*> getLinks();
+    bool isLogReplay(void);
 
     Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
     Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)

src/uas/UASInterface.h

@@ -166,6 +166,9 @@ public:
          *         interface. The LinkInterface can support multiple protocols.
          **/
     virtual QList<LinkInterface*> getLinks() = 0;
+    
+    /// @returns true: UAS is connected to log replay link
+    virtual bool isLogReplay(void) = 0;
 
     /**
      * @brief Get the color for this UAS

src/ui/LogReplayLinkConfigurationWidget.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "LogReplayLinkConfigurationWidget.h"
+#include "QGCFileDialog.h"
+#include "QGCApplication.h"
+
+LogReplayLinkConfigurationWidget::LogReplayLinkConfigurationWidget(LogReplayLinkConfiguration *config, QWidget *parent, Qt::WindowFlags flags) :
+    QWidget(parent, flags)
+{
+    _ui.setupUi(this);
+    
+    Q_ASSERT(config != NULL);
+    _config = config;
+    
+    _ui.logFilename->setText(_config->logFilename());
+    
+    connect(_ui.selectLogFileButton, &QPushButton::clicked, this, &LogReplayLinkConfigurationWidget::_selectLogFile);
+}
+
+void LogReplayLinkConfigurationWidget::_selectLogFile(bool checked)
+{
+    Q_UNUSED(checked);
+    
+    QString logFile = QGCFileDialog::getOpenFileName(this,
+                                                     "Select log file to replay",
+                                                     qgcApp()->mavlinkLogFilesLocation(),
+                                                     "MAVLink Log Files (*.mavlink);;All Files (*)");
+    if (!logFile.isEmpty()) {
+        _ui.logFilename->setText(logFile);
+        _config->setLogFilename(logFile);
+    }
+}
\ No newline at end of file

src/ui/LogReplayLinkConfigurationWidget.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef _LogReplayLinkConfigurationWidget_H_
+#define _LogReplayLinkConfigurationWidget_H_
+
+#include <QWidget>
+
+#include "LogReplayLink.h"
+#include "ui_LogReplayLinkConfigurationWidget.h"
+
+class LogReplayLinkConfigurationWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    LogReplayLinkConfigurationWidget(LogReplayLinkConfiguration* config, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
+    
+private slots:
+    void _selectLogFile(bool checked);
+
+private:
+    Ui::LogReplayLinkConfigurationWidget    _ui;
+    LogReplayLinkConfiguration*             _config;
+};
+
+
+#endif

src/ui/LogReplayLinkConfigurationWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>LogReplayLinkConfigurationWidget</class>
+ <widget class="QWidget" name="LogReplayLinkConfigurationWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>325</width>
+    <height>347</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Log File:</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QLabel" name="logFilename">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>60</height>
+      </size>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="selectLogFileButton">
+     <property name="text">
+      <string>Select Log File</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_8"/>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+  <action name="actionDelete">
+   <property name="text">
+    <string>Delete</string>
+   </property>
+   <property name="toolTip">
+    <string>Delete this link</string>
+   </property>
+   <property name="statusTip">
+    <string>Delete this link</string>
+   </property>
+   <property name="whatsThis">
+    <string>Link delete button</string>
+   </property>
+  </action>
+  <action name="actionConnect">
+   <property name="text">
+    <string>Connect</string>
+   </property>
+   <property name="toolTip">
+    <string>Connect this link</string>
+   </property>
+   <property name="statusTip">
+    <string>Connect this link</string>
+   </property>
+   <property name="whatsThis">
+    <string>Connect this link</string>
+   </property>
+  </action>
+  <action name="actionClose">
+   <property name="text">
+    <string>Close</string>
+   </property>
+   <property name="toolTip">
+    <string>Close the configuration window</string>
+   </property>
+   <property name="statusTip">
+    <string>Close the configuration window</string>
+   </property>
+   <property name="whatsThis">
+    <string>Close the configuration window</string>
+   </property>
+  </action>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>actionClose</sender>
+   <signal>triggered()</signal>
+   <receiver>LogReplayLinkConfigurationWidget</receiver>
+   <slot>close()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>-1</x>
+     <y>-1</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>224</x>
+     <y>195</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

src/ui/MainWindow.cc

@@ -395,7 +395,7 @@ void MainWindow::_buildCommonWidgets(void)
 
     // Log player
     // TODO: Make this optional with a preferences setting or under a "View" menu
-    logPlayer = new QGCMAVLinkLogPlayer(MAVLinkProtocol::instance(), statusBar());
+    logPlayer = new QGCMAVLinkLogPlayer(statusBar());
     statusBar()->addPermanentWidget(logPlayer);
 
     // In order for Qt to save and restore state of widgets all widgets must be created ahead of time. We only create the QDockWidget

src/ui/QGCCommConfiguration.cc

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #include "QGCUDPLinkConfiguration.h"
 #include "QGCTCPLinkConfiguration.h"
+#include "LogReplayLinkConfigurationWidget.h"
 #include "QGCCommConfiguration.h"
 #include "ui_QGCCommConfiguration.h"
 
@@ -52,6 +53,7 @@ QGCCommConfiguration::QGCCommConfiguration(QWidget *parent, LinkConfiguration *c
 #endif
     _ui->typeCombo->addItem(tr("UDP"),          LinkConfiguration::TypeUdp);
     _ui->typeCombo->addItem(tr("TCP"),          LinkConfiguration::TypeTcp);
+    _ui->typeCombo->addItem(tr("Log replay"),   LinkConfiguration::TypeLogReplay);
 #ifdef QT_DEBUG
     _ui->typeCombo->addItem(tr("Mock"),         LinkConfiguration::TypeMock);
 #endif
@@ -140,6 +142,13 @@ void QGCCommConfiguration::_loadTypeConfigWidget(int type)
             _ui->typeCombo->setCurrentIndex(_ui->typeCombo->findData(LinkConfiguration::TypeTcp));
         }
         break;
+        case LinkConfiguration::TypeLogReplay: {
+            QWidget* conf = new LogReplayLinkConfigurationWidget((LogReplayLinkConfiguration*)_config, this);
+            _ui->linkScrollArea->setWidget(conf);
+            _ui->linkGroupBox->setTitle("Log Replay");
+            _ui->typeCombo->setCurrentIndex(_ui->typeCombo->findData(LinkConfiguration::TypeLogReplay));
+        }
+            break;
 #ifdef QT_DEBUG
         case LinkConfiguration::TypeMock: {
             _ui->linkScrollArea->setWidget(NULL);

src/ui/QGCLinkConfiguration.cc

@@ -160,6 +160,13 @@ void QGCLinkConfiguration::_fixUnnamed(LinkConfiguration* config)
                     }
                 }
                 break;
+            case LinkConfiguration::TypeLogReplay: {
+                LogReplayLinkConfiguration* tconfig = dynamic_cast<LogReplayLinkConfiguration*>(config);
+                if(tconfig) {
+                    config->setName(QString("Log Replay %1").arg(tconfig->logFilenameShort()));
+                }
+            }
+                break;
 #ifdef QT_DEBUG
             case LinkConfiguration::TypeMock:
                 config->setName(

src/ui/QGCMAVLinkLogPlayer.h

@@ -6,7 +6,7 @@
 
 #include "MAVLinkProtocol.h"
 #include "LinkInterface.h"
-#include "MockLink.h"
+#include "LogReplayLink.h"
 
 namespace Ui
 {
@@ -25,99 +25,31 @@ class QGCMAVLinkLogPlayer : public QWidget
     Q_OBJECT
 
 public:
-    explicit QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent = 0);
+    explicit QGCMAVLinkLogPlayer(QWidget *parent = 0);
     ~QGCMAVLinkLogPlayer();
-    bool isPlayingLogFile()
-    {
-        return isPlaying;
-    }
 
-    bool isLogFileSelected()
-    {
-        return logFile.isOpen();
-    }
-
-public slots:
-    /** @brief Toggle between play and pause */
-    void playPauseToggle();
-    /** @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 Load log file */
-    bool loadLogFile(const QString& file);
-    /** @brief Jump to a position in the logfile */
-    void jumpToSliderVal(int slidervalue);
-    /** @brief The logging mainloop */
-    void logLoop();
-    /** @brief Set acceleration factor in percent */
-    void setAccelerationFactorInt(int factor);
-
-signals:
-    /** @brief Send ready bytes */
-    void bytesReady(LinkInterface* link, const QByteArray& bytes);
-    void logFileEndReached();
-
-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.
-    quint64 logStartTime;          ///< The first timestamp in the current log file. In units of microseconds since epoch UTC.
-    quint64 logEndTime;            ///< The last timestamp in the current log file. In units of microseconds since epoch UTC.
-    float accelerationFactor;
-    MAVLinkProtocol* mavlink;
-    MockLink* logLink;
-    QFile logFile;
-    QTimer loopTimer;
-    int loopCounter;
-    bool mavlinkLogFormat; ///< If the logfile is stored in the timestamped MAVLink log format
-    int binaryBaudRate;
-    static const int defaultBinaryBaudRate = 57600;
-    bool isPlaying;
-    unsigned int currPacketCount;
-    static const int packetLen = MAVLINK_MAX_PACKET_LEN;
-    static const int timeLen = sizeof(quint64);
-    void changeEvent(QEvent *e);
-    
 private slots:
     void _selectLogFileForPlayback(void);
+    void _playPauseToggle(void);
+    void _pause(void);
+    void _setPlayheadFromSlider(int value);
+    void _setAccelerationFromSlider(int value);
+    void _logFileStats(bool logTimestamped, int logDurationSeconds, int binaryBaudRate);
+    void _playbackStarted(void);
+    void _playbackPaused(void);
+    void _playbackPercentCompleteChanged(int percentComplete);
+    void _playbackError(void);
+    void _replayLinkDisconnected(void);
 
 private:
-    Ui::QGCMAVLinkLogPlayer *ui;
-	virtual void paintEvent(QPaintEvent *);
-
-    /** @brief Parse out a quint64 timestamp in microseconds in the proper endianness. */
-    quint64 parseTimestamp(const QByteArray &data);
-
-    /**
-     * This function parses out the next MAVLink message and its corresponding timestamp.
-     *
-     * It makes no assumptions about where in the file we currently are. It leaves the file right
-     * at the beginning of the successfully parsed message. Note that this function will not attempt to
-     * correct for any MAVLink parsing failures, so it always returns the next successfully-parsed
-     * message.
-     *
-     * @param msg[output] Where the final parsed message output will go.
-     * @return A Unix timestamp in microseconds UTC or 0 if parsing failed
-     */
-    quint64 findNextMavlinkMessage(mavlink_message_t *msg);
-
-    /**
-     * Updates the QSlider UI to be at the given percentage.
-     * @param percent A percentage value between 0.0% and 100.0%.
-     */
-    void updatePositionSliderUi(float percent);
+    void _finishPlayback(void);
+    QString _secondsToHMS(int seconds);
+    void _enablePlaybackControls(bool enabled);
 
-    /**
-     * Jumps to a new position in the current playback file as a percentage.
-     * @param percentage The position of the file to jump to as a percentage.
-     * @return True if the new file position was successfully jumped to, false otherwise
-     */
-    bool jumpToPlaybackLocation(float percentage);
+    LogReplayLink*  _replayLink;
+    int             _logDurationSeconds;
     
-    void _finishPlayback(void);
-    void _playbackError(void);
+    Ui::QGCMAVLinkLogPlayer* _ui;
 };
 
-#endif // QGCMAVLINKLOGPLAYER_H
+#endif

src/ui/QGCMAVLinkLogPlayer.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>789</width>
+    <width>948</width>
     <height>38</height>
    </rect>
   </property>
@@ -49,7 +49,7 @@
      </property>
      <property name="icon">
       <iconset resource="../../qgroundcontrol.qrc">
-       <normaloff>:/res/Play</normaloff>:/res.Play</iconset>
+       <normaloff>:/res/Play</normaloff>:/res/Play</iconset>
      </property>
      <property name="checkable">
       <bool>true</bool>