Merge remote branch 'internal/experimental' 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

-/*=====================================================================
-
+/*===================================================================
 QGroundControl Open Source Ground Control Station
 
 (c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
     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/>.
-
+    
 ======================================================================*/
 
 /**
@@ -32,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QTextStream>
 #include <QStringList>
 #include <QFileInfo>
+#include <QList>
 #include "LogCompressor.h"
 
 #include <QDebug>
@@ -56,32 +56,46 @@ void LogCompressor::run()
     QFile file(fileName);
     QFile outfile(outFileName);
     QStringList* keys = new QStringList();
-    QStringList* times = new QStringList();
+    QList<quint64> times;// = new QList<quint64>();
+    QList<quint64> finalTimes;
 
-    if (!file.exists()) return;
-    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
-        return;
-
-    if (outFileName != "")
+    qDebug() << "LOG COMPRESSOR: Starting" << fileName;
+    
+    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;
+    }
+    
         // 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);
-    while (!in.atEnd()) {
+
+    // Search only a certain region, assuming that not more
+    // than N dimensions at H Hertz can be send
+    const unsigned int keySearchLimit = 15000;
+    // e.g. 500 Hz * 30 values or
+    // e.g. 100 Hz * 150 values
+
+    unsigned int keyCounter = 0;
+    while (!in.atEnd() && keyCounter < keySearchLimit) {
         QString line = in.readLine();
         // Accumulate map of keys
         // Data field name is at position 2
         QString key = line.split(separator).at(2);
         if (!keys->contains(key)) keys->append(key);
+        keyCounter++;
     }
     keys->sort();
-
+    
     QString header = "";
     QString spacer = "";
     for (int i = 0; i < keys->length(); i++)
@@ -90,48 +104,67 @@ void LogCompressor::run()
         spacer += " " + separator;
     }
 
+    emit logProcessingStatusChanged(tr("Log compressor: Dataset contains dimension: ") + header);
+    
     //qDebug() << header;
-
+    
     //qDebug() << "NOW READING TIMES";
-
+    
     // Find all times
     //in.reset();
     file.reset();
     in.reset();
     in.resetStatus();
-    while (!in.atEnd()) {
+    bool ok;
+    while (!in.atEnd())
+    {
         QString line = in.readLine();
         // Accumulate map of keys
-        // Data field name is at position 2
-        QString time = line.split(separator).at(0);
-        if (!times->contains(time))
+        // Data field name is at position 2b
+        quint64 time = static_cast<QString>(line.split(separator).at(0)).toLongLong(&ok);
+        if (ok)
         {
-            times->append(time);
+            times.append(time);
         }
     }
-
-    dataLines = times->length();
-
-    times->sort();
-
+    
+    qSort(times);
+    
+    qint64 lastTime = -1;
+    
     // Create lines
     QStringList* outLines = new QStringList();
-    for (int i = 0; i < times->length(); i++)
+    for (int i = 0; i < times.length(); i++)
     {
-        outLines->append(times->at(i) + separator + spacer);
+        // 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));
+            finalTimes.append(times.at(i));
+            //qDebug() << "ADDED:" << outLines->last();
+        }
     }
 
+    dataLines = finalTimes.length();
+
+    emit logProcessingStatusChanged(tr("Log compressor: Now processing %1 log lines").arg(finalTimes.length()));
+    
     // Fill in the values for all keys
     file.reset();
     QTextStream data(&file);
     int linecounter = 0;
-    while (!data.atEnd()) {
+    quint64 lastTimeIndex = 0;
+    bool failed = false;
+    
+    while (!data.atEnd())
+    {
         linecounter++;
         currentDataLine = linecounter;
         QString line = data.readLine();
         QStringList parts = line.split(separator);
         // Get time
-        QString time = parts.first();
+        quint64 time = static_cast<QString>(parts.first()).toLongLong(&ok);
         QString field = parts.at(2);
         QString value = parts.at(3);
         // Enforce NaN if no value is present
@@ -140,20 +173,66 @@ void LogCompressor::run()
             value = "NaN";
         }
         // Get matching output line
-        quint64 index = times->indexOf(time);
-        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);
-    }
-
-
+        
+        // Constraining the search area might result in not finding a key,
+        // but it significantly reduces the time needed for the search
+        // setting a window of 1000 entries means that a 1 Hz data point
+        // can still be located
+        quint64 offsetLimit = 100;
+        quint64 offset;
+        qint64 index = -1;
+        failed = false;
+
+        // Search the index until it is valid (!= -1)
+        // or the start of the list has been reached (failed)
+        while (index == -1 && !failed)
+        {
+            if (lastTimeIndex > offsetLimit)
+            {
+                offset = lastTimeIndex - offsetLimit;
+            }
+            else
+            {
+                offset = 0;
+            }
+            
+            index = finalTimes.indexOf(time, offset);
+            if (index == -1)
+            {
+                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;
+                }
+                else
+                {
+                    emit logProcessingStatusChanged(tr("Log compressor: Timestamp %1 not found in dataset, restarting search.").arg(time));
+                    offsetLimit*=2;
+                }
+            }
+        }
 
+        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));
+        
+        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);
+        }
+    }
+    
+    
     // Add header, write out file
     file.close();
-
+    
     if (outFileName == "")
     {
         QFile::remove(file.fileName());
@@ -163,18 +242,19 @@ void LogCompressor::run()
         return;
     outfile.write(QString(QString("unix_timestamp") + separator + header.replace(" ", "_") + QString("\n")).toLatin1());
     //QString fileHeader = QString("unix_timestamp") + header.replace(" ", "_") + QString("\n");
-
+    
     // File output
     for (int i = 0; i < outLines->length(); i++)
     {
         //qDebug() << outLines->at(i);
         outfile.write(QString(outLines->at(i) + "\n").toLatin1());
-
+        
     }
-
+    
     currentDataLine = 0;
     dataLines = 1;
     delete keys;
+    emit logProcessingStatusChanged(tr("Log compressor: Finished processing file: %1").arg(outfile.fileName()));
     qDebug() << "Done with logfile processing";
     emit finishedFile(outfile.fileName());
     running = false;

src/LogCompressor.h

@@ -27,6 +27,7 @@ signals:
     /** @brief This signal is emitted once a logfile has been finished writing
      * @param fileName The name out the output (CSV) file
      */
+    void logProcessingStatusChanged(QString);
     void finishedFile(QString fileName);
 };
 

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
@@ -161,16 +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
-                    QMessageBox msgBox(MainWindow::instance());
-                    msgBox.setIcon(QMessageBox::Critical);
-                    msgBox.setText(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"));
-                    msgBox.setInformativeText(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));
-                    msgBox.setStandardButtons(QMessageBox::Ok);
-                    msgBox.setDefaultButton(QMessageBox::Ok);
-                    msgBox.exec();
+                    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;
@@ -401,6 +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;
@@ -411,6 +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/Parameter.h

@@ -61,8 +61,8 @@ namespace OpalRT
 
         const QGCParamID& getParamID() const {return *paramID;}
         void setOpalID(unsigned short opalID) {this->opalID = opalID;}
-        const QString& getSimulinkPath() {return *simulinkPath;}
-        const QString& getSimulinkName() {return *simulinkName;}
+        const QString& getSimulinkPath() const {return *simulinkPath;}
+        const QString& getSimulinkName() const {return *simulinkName;}
         uint8_t getComponentID() const {return componentID;}
         float getValue();
         void setValue(float value);

src/comm/ParameterList.h

@@ -53,11 +53,11 @@ namespace OpalRT
             const_iterator(const const_iterator& other);
 
             const_iterator& operator+=(int i) {index += i; return *this;}
-            bool operator<(const const_iterator& other) {return (this->paramList == other.paramList)
+            bool operator<(const const_iterator& other) const {return (this->paramList == other.paramList)
                                                          &&(this->index<other.index);}
-            bool operator==(const const_iterator& other) {return (this->paramList == other.paramList)
+            bool operator==(const const_iterator& other) const {return (this->paramList == other.paramList)
                                                           &&(this->index==other.index);}
-            bool operator!=(const const_iterator& other) {return !((*this) == other);}
+            bool operator!=(const const_iterator& other) const {return !((*this) == other);}
             const Parameter& operator*() const {return paramList[index];}
             const Parameter* operator->() const {return &paramList[index];}
 

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

@@ -120,6 +120,8 @@ MainWindow::MainWindow(QWidget *parent):
     // Load mavlink view as default widget set
     //loadMAVLinkView();
 
+    statusBar()->setSizeGripEnabled(true);
+
     if (settings.contains("geometry"))
     {
         // Restore the window geometry
@@ -144,14 +146,14 @@ MainWindow::MainWindow(QWidget *parent):
 
 MainWindow::~MainWindow()
 {
-    delete statusBar;
-    statusBar = NULL;
+
 }
 
 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)
@@ -201,6 +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()
@@ -741,6 +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);
@@ -811,15 +820,6 @@ void MainWindow::configureWindowName()
 #endif
 }
 
-QStatusBar* MainWindow::createStatusBar()
-{
-    QStatusBar* bar = new QStatusBar();
-    /* Add status fields and messages */
-    /* Enable resize grip in the bottom right corner */
-    bar->setSizeGripEnabled(true);
-    return bar;
-}
-
 void MainWindow::startVideoCapture()
 {
     QString format = "bmp";
@@ -882,17 +882,48 @@ void MainWindow::reloadStylesheet()
     delete styleSheet;
 }
 
+/**
+ * The status message will be overwritten if a new message is posted to this function
+ *
+ * @param status message text
+ * @param timeout how long the status should be displayed
+ */
 void MainWindow::showStatusMessage(const QString& status, int timeout)
 {
-    Q_UNUSED(status);
-    Q_UNUSED(timeout);
-    //statusBar->showMessage(status, timeout);
+    statusBar()->showMessage(status, timeout);
 }
 
+/**
+ * The status message will be overwritten if a new message is posted to this function.
+ * it will be automatically hidden after 5 seconds.
+ *
+ * @param status message text
+ */
 void MainWindow::showStatusMessage(const QString& status)
 {
-    Q_UNUSED(status);
-    //statusBar->showMessage(status, 5);
+    statusBar()->showMessage(status, 20000);
+}
+
+void MainWindow::showCriticalMessage(const QString& title, const QString& message)
+{
+    QMessageBox msgBox(MainWindow::instance());
+    msgBox.setIcon(QMessageBox::Critical);
+    msgBox.setText(title);
+    msgBox.setInformativeText(message);
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    msgBox.exec();
+}
+
+void MainWindow::showInfoMessage(const QString& title, const QString& message)
+{
+    QMessageBox msgBox(MainWindow::instance());
+    msgBox.setIcon(QMessageBox::Information);
+    msgBox.setText(title);
+    msgBox.setInformativeText(message);
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    msgBox.exec();
 }
 
 /**

src/ui/MainWindow.h

@@ -92,24 +92,15 @@ public slots:
 //    /** @brief Store the mainwindow settings */
 //    void storeSettings();
 
-    /**
-     * @brief Shows a status message on the bottom status bar
-     *
-     * The status message will be overwritten if a new message is posted to this function
-     *
-     * @param status message text
-     * @param timeout how long the status should be displayed
-     */
+    /** @brief Shows a status message on the bottom status bar */
     void showStatusMessage(const QString& status, int timeout);
-    /**
-     * @brief Shows a status message on the bottom status bar
-     *
-     * The status message will be overwritten if a new message is posted to this function.
-     * it will be automatically hidden after 5 seconds.
-     *
-     * @param status message text
-     */
+    /** @brief Shows a status message on the bottom status bar */
     void showStatusMessage(const QString& status);
+    /** @brief Shows a critical message as popup or as widget */
+    void showCriticalMessage(const QString& title, const QString& message);
+    /** @brief Shows an info message as popup or as widget */
+    void showInfoMessage(const QString& title, const QString& message);
+
     void addLink();
     void addLink(LinkInterface* link);
     void configure();
@@ -307,10 +298,6 @@ protected:
     VIEW_SECTIONS currentView;
     bool aboutToCloseFlag;
 
-    QStatusBar* statusBar;
-    QStatusBar* createStatusBar();
-
-
     void clearView();
 
     void buildCommonWidgets();

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

src/ui/RadioCalibration/RadioCalibrationData.cc

@@ -48,18 +48,14 @@ const float* RadioCalibrationData::operator [](int i) const
     return NULL;
 }
 
-const QVector<float>& RadioCalibrationData::operator ()(int i) const
+const QVector<float>& RadioCalibrationData::operator ()(const int i) const throw(std::out_of_range)
 {
-    if (i < data->size())
+    if ((i < data->size()) && (i >=0))
     {
         return (*data)[i];
     }
 
-    // FIXME Bryan
-    // FIXME James
-
-    // This is not good.  If it is ever used after being returned it will cause a crash
-//    return QVector<float>();
+    throw std::out_of_range("Invalid channel index");
 }
 
 QString RadioCalibrationData::toString(RadioElement element) const

src/ui/RadioCalibration/RadioCalibrationData.h

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 #include <QVector>
 #include <QString>
+#include <stdexcept>
 
 
 /**
@@ -66,7 +67,7 @@ public:
     };
 
     const float* operator[](int i) const;
-    const QVector<float>& operator()(int i) const;
+    const QVector<float>& operator()(int i) const throw(std::out_of_range);
     void set(int element, int index, float value) {(*data)[element][index] = value;}
 
 public slots:

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -52,38 +52,38 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
     setUASId(0);
 }
 
-void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
-{
-    /** this expects a particular channel to function mapping
-       \todo allow run-time channel mapping
-       */
-    switch (ch)
-    {
-    case 0:
-        aileron->channelChanged(raw);
-        break;
-    case 1:
-        elevator->channelChanged(raw);
-        break;
-    case 2:
-        throttle->channelChanged(raw);
-        break;
-    case 3:
-        rudder->channelChanged(raw);
-        break;
-    case 4:
-        gyro->channelChanged(raw);
-        break;
-    case 5:
-        pitch->channelChanged(raw);
-        break;
+//void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
+//{
+//    /** this expects a particular channel to function mapping
+//       \todo allow run-time channel mapping
+//       */
+//    switch (ch)
+//    {
+//    case 0:
+//        aileron->channelChanged(raw);
+//        break;
+//    case 1:
+//        elevator->channelChanged(raw);
+//        break;
+//    case 2:
+//        throttle->channelChanged(raw);
+//        break;
+//    case 3:
+//        rudder->channelChanged(raw);
+//        break;
+//    case 4:
+//        gyro->channelChanged(raw);
+//        break;
+//    case 5:
+//        pitch->channelChanged(raw);
+//        break;
 
 
-    }
-}
+//    }
+//}
 
-void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
-{
+//void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
+//{
     // FIXME James
     // FIXME Bryan
 
@@ -113,9 +113,9 @@ void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
 
 
 //    }
-}
+//}
 
-void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
+void RadioCalibrationWindow::setChannel(int ch, float raw)
 {
     /** this expects a particular channel to function mapping
        \todo allow run-time channel mapping

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -66,9 +66,10 @@ public:
     explicit RadioCalibrationWindow(QWidget *parent = 0);
 
 public slots:
-    void setChannel(int ch, float raw, float normalized);
-    void setChannelRaw(int ch, float raw);
-    void setChannelScaled(int ch, float normalized);
+    void setChannel(int ch, float raw);
+    // @todo remove these functions if they are not needed - were added by lm on dec 14, 2010
+//    void setChannelRaw(int ch, float raw);
+//    void setChannelScaled(int ch, float normalized);
     void loadFile();
     void saveFile();
     void send();

src/ui/linechart/LinechartWidget.cc

@@ -48,6 +48,7 @@ This file is part of the PIXHAWK project
 #include "LinechartWidget.h"
 #include "LinechartPlot.h"
 #include "LogCompressor.h"
+#include "MainWindow.h"
 #include "QGC.h"
 #include "MG.h"
 
@@ -348,7 +349,7 @@ void LinechartWidget::startLogging()
     // Let user select the log file name
     QDate date(QDate::currentDate());
     // QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
-    QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.csv, *.txt);;"));
+    QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.csv *.txt);;"));
 
     if (!fileName.contains("."))
     {
@@ -399,6 +400,8 @@ void LinechartWidget::stopLogging()
         // Postprocess log file
         compressor = new LogCompressor(logFile->fileName());
         connect(compressor, SIGNAL(finishedFile(QString)), this, SIGNAL(logfileWritten(QString)));
+        connect(compressor, SIGNAL(logProcessingStatusChanged(QString)), MainWindow::instance(), SLOT(showStatusMessage(QString)));
+        MainWindow::instance()->showInfoMessage("Logging ended", "QGroundControl is now compressing the logfile in a consistent CVS file. This may take a while, you can continue to use QGroundControl. Status updates appear at the bottom of the window.");
         compressor->startCompression();
     }
     logButton->setText(tr("Start logging"));