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Commit c28456d4 authored by pixhawk's avatar pixhawk
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Cleaned up debug output and fixed logging using settings

parent 5d47f6a8
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Inline Side-by-side
Showing with 65 additions and 66 deletions
src/comm/MAVLinkProtocol.cc
View file @ c28456d4
......@@ -73,15 +73,16 @@ void MAVLinkProtocol::loadSettings()
QSettings settings;
settings.sync();
settings.beginGroup("QGC_MAVLINK_PROTOCOL");
m_heartbeatsEnabled = settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool();
m_loggingEnabled = settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool();
m_enable_version_check = settings.value("VERION_CHECK_ENABLED", m_enable_version_check).toBool();
enableHeartbeats(settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool());
enableVersionCheck(settings.value("VERION_CHECK_ENABLED", m_enable_version_check).toBool());
// Only set logfile if there is a name present in settings
if (settings.contains("LOGFILE_NAME") && m_logfile == NULL)
{
m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
}
// Enable logging
enableLogging(settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool());
// Only set system id if it was valid
int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
......@@ -116,8 +117,11 @@ MAVLinkProtocol::~MAVLinkProtocol()
storeSettings();
if (m_logfile)
{
m_logfile->flush();
m_logfile->close();
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
delete m_logfile;
}
}
......@@ -137,7 +141,7 @@ QString MAVLinkProtocol::getLogfileName()
}
else
{
return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "qgrouncontrol_packetlog.mavlink";
return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgrouncontrol_packetlog.mavlink";
}
}
......@@ -161,20 +165,21 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (decodeState == 1)
{
// Log data
if (m_loggingEnabled)
if (m_loggingEnabled && m_logfile)
{
const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
uint8_t buf[len];
quint64 time = QGC::groundTimeUsecs();
memcpy(buf, (void*)&time, sizeof(quint64));
// int packetlen =
// quint64 checktime = *((quint64*)buf);
// qDebug() << "TIME" << time << "CHECKTIME:" << checktime;
// Write message to buffer
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
QByteArray b((const char*)buf, len);
//int packetlen =
if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64)) qDebug() << "WRITING TO LOG FAILED!";
//qDebug() << "WROTE LOGFILE";
if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64))
{
emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, disabling logging.").arg(m_logfile->fileName()));
// Stop logging
enableLogging(false);
}
}
// ORDER MATTERS HERE!
......@@ -399,8 +404,8 @@ void MAVLinkProtocol::enableLogging(bool enabled)
{
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
qDebug() << "OPENING LOGFILE FAILED!";
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file. Stopping logging.").arg(m_logfile->fileName()));
m_loggingEnabled = false;
}
}
}
......@@ -408,8 +413,11 @@ void MAVLinkProtocol::enableLogging(bool enabled)
{
if (m_logfile)
{
m_logfile->flush();
m_logfile->close();
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
delete m_logfile;
m_logfile = NULL;
}
......
src/uas/UAS.cc
View file @ c28456d4
......@@ -16,10 +16,10 @@
#include <iostream>
#include <QDebug>
#include <cmath>
#include <qmath.h>
#include "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
//#include "MG.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
......@@ -27,20 +27,6 @@
#include "LinkManager.h"
#include "SerialLink.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846 /* pi */
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923 /* pi/2 */
#endif
#ifndef M_PI_4
#define M_PI_4 0.78539816339744830962 /* pi/4 */
#endif
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id),
startTime(MG::TIME::getGroundTimeNow()),
......@@ -322,8 +308,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit voltageChanged(message.sysid, state.vbat/1000.0f);
// LOW BATTERY ALARM
float chargeLevel = getChargeLevel();
if (chargeLevel <= 20.0f)
if (lpVoltage < warnVoltage)
{
startLowBattAlarm();
}
......@@ -1426,6 +1411,25 @@ void UAS::setParameter(const int component, const QString& id, const float value
}
}
void UAS::setSystemType(int systemType)
{
type = systemType;
// If the airframe is still generic, change it to a close default type
if (airframe == 0)
{
switch (systemType)
{
case MAV_FIXED_WING:
airframe = QGC_AIRFRAME_EASYSTAR;
break;
case MAV_QUADROTOR:
airframe = QGC_AIRFRAME_MIKROKOPTER;
break;
}
}
emit systemSpecsChanged(uasId);
}
void UAS::setUASName(const QString& name)
{
this->name = name;
......
src/uas/UAS.h
View file @ c28456d4
......@@ -122,8 +122,8 @@ protected: //COMMENTS FOR TEST UNIT
// Battery stats
float fullVoltage; ///< Voltage of the fully charged battery (100%)
float emptyVoltage; ///< Voltage of the empty battery (0%)
float warnVoltage; ///< Voltage where QGC will start to warn about low battery
float startVoltage; ///< Voltage at system start
float warnVoltage; ///< Voltage where QGC will start to warn about low battery
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
int timeRemaining; ///< Remaining time calculated based on previous and current
......@@ -181,7 +181,7 @@ public slots:
/** @brief Set the autopilot type */
void setAutopilotType(int apType) { autopilot = apType; emit systemSpecsChanged(uasId); }
/** @brief Set the type of airframe */
void setSystemType(int systemType) { type = systemType; emit systemSpecsChanged(uasId); }
void setSystemType(int systemType);
/** @brief Set the specific airframe type */
void setAirframe(int airframe) { this->airframe = airframe; emit systemSpecsChanged(uasId); }
/** @brief Set a new name **/
......
src/uas/UASManager.cc
View file @ c28456d4
......@@ -64,6 +64,11 @@ UASManager::UASManager() :
UASManager::~UASManager()
{
// Delete all systems
foreach (UASInterface* mav, systems)
{
delete mav;
}
}
......
src/ui/MainWindow.cc
View file @ c28456d4
......@@ -260,7 +260,6 @@ void MainWindow::buildCustomWidget()
for(int i = 0; i < widgets.size(); ++i)
{
qDebug() << "ADDING WIDGET #" << i << widgets.at(i);
// Check if this widget already has a parent, do not create it in this case
QDockWidget* dock = dynamic_cast<QDockWidget*>(widgets.at(i)->parentWidget());
if (!dock)
......@@ -771,20 +770,16 @@ void MainWindow::showToolWidget(bool visible)
QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);
qDebug() << "DATA:" << tool << "FLOATING" << dockWidget->isFloating() << "checked" << action->isChecked() << "visible" << dockWidget->isVisible() << "action vis:" << action->isVisible();
if (dockWidget && dockWidget->isVisible() != visible)
{
if (visible)
{
qDebug() << "DOCK WIDGET ADDED";
addDockWidget(dockWidgetLocations[tool], dockWidget);
dockWidget->show();
}
else
{
qDebug() << "DOCK WIDGET REMOVED";
removeDockWidget(dockWidget);
//dockWidget->hide();
}
QHashIterator<int, QWidget*> i(dockWidgets);
......@@ -795,7 +790,7 @@ void MainWindow::showToolWidget(bool visible)
{
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,visible);
qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
//qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
break;
}
}
......@@ -804,14 +799,14 @@ void MainWindow::showToolWidget(bool visible)
QDockWidget* dockWidget = qobject_cast<QDockWidget*>(QObject::sender());
qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
//qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
if (dockWidget)
{
// Get action
int tool = dockWidgets.key(dockWidget);
qDebug() << "Updating widget setting" << tool << "to" << visible;
//qDebug() << "Updating widget setting" << tool << "to" << visible;
QAction* action = toolsMenuActions[tool];
action->blockSignals(true);
......@@ -826,7 +821,7 @@ void MainWindow::showToolWidget(bool visible)
{
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,visible);
qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
// qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
break;
}
}
......@@ -843,7 +838,7 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();
qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
//qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
if (tempWidget)
{
......@@ -855,14 +850,6 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt());
// if (widget == MainWindow::MENU_UAS_LIST)
// {
// if (!settings.contains(buildMenuKey (SUB_SECTION_LOCATION,widget, view)))
// {
// tempLocation = Qt::RightDockWidgetArea;
// }
// }
if (tempWidget != NULL)
{
if (tempVisible)
......@@ -897,6 +884,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
//settings.setValue("windowState", saveState());
aboutToCloseFlag = true;
mavlink->storeSettings();
joystick->deleteLater();
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", currentView);
// Save the current window state, but only if a system is connected (else no real number of widgets would be present)
......@@ -997,7 +985,6 @@ void MainWindow::connectCommonWidgets()
void MainWindow::createCustomWidget()
{
//qDebug() << "ADDING CUSTOM WIDGET";
QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", this);
if (QGCToolWidget::instances()->size() < 2)
......@@ -1425,9 +1412,6 @@ void MainWindow::addLink(LinkInterface *link)
// Error handling
connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
//qDebug() << "ADDING LINK:" << link->getName() << "ACTION IS: " << commWidget->getAction();
// Special case for simulationlink
MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
if (sim)
......@@ -1599,8 +1583,6 @@ void MainWindow::UASCreated(UASInterface* uas)
// the currently active UAS
if (UASManager::instance()->getUASList().size() == 1)
{
//qDebug() << "UPDATING THE VIEW SINCE THIS IS THE FIRST CONNECTED SYSTEM";
// Load last view if setting is present
if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
{
......@@ -1659,12 +1641,12 @@ void MainWindow::clearView()
if (temp)
{
qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
//qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
settings.setValue(chKey,temp->isChecked());
}
else
{
qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
//qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
settings.setValue(chKey,false);
}
}
......@@ -1876,16 +1858,16 @@ void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SE
QWidget* tempWidget = dockWidgets[centralWidget];
tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
//qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
if (toolsMenuActions[centralWidget])
{
qDebug() << "SETTING TO:" << tempVisible;
//qDebug() << "SETTING TO:" << tempVisible;
toolsMenuActions[centralWidget]->setChecked(tempVisible);
}
if (centerStack && tempWidget && tempVisible)
{
qDebug() << "ACTIVATING MAIN WIDGET";
//qDebug() << "ACTIVATING MAIN WIDGET";
centerStack->setCurrentWidget(tempWidget);
}
}
......
src/ui/designer/QGCToolWidget.cc
View file @ c28456d4
......@@ -32,7 +32,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
}
// Try with parent
dock = dynamic_cast<QDockWidget*>(this->parentWidget());
dock = dynamic_cast<QDockWidget*>(parent);
if (dock)
{
dock->setWindowTitle(title);
......
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