From d3b45c527199837cfd75d7f555766e33e6f5f65d Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@student.ethz.ch>
Date: Mon, 7 Jun 2010 21:34:08 +0200
Subject: [PATCH] Added packet logging

---
 src/comm/MAVLinkProtocol.cc     | 22 +++++++++++++++++++++-
 src/comm/MAVLinkProtocol.h      |  2 ++
 src/ui/MAVLinkSettingsWidget.ui |  7 +++++++
 3 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 8d3abf0fd..c9924110b 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -80,6 +80,11 @@ MAVLinkProtocol::MAVLinkProtocol() :
 
 MAVLinkProtocol::~MAVLinkProtocol()
 {
+    if (m_logfile)
+    {
+        m_logfile->close();
+        delete m_logfile;
+    }
 }
 
 
@@ -89,6 +94,11 @@ void MAVLinkProtocol::run()
 
 }
 
+QString MAVLinkProtocol::getLogfileName()
+{
+    return QCoreApplication::applicationDirPath()+"/mavlink.log";
+}
+
 /**
  * The bytes are copied by calling the LinkInterface::readBytes() method.
  * This method parses all incoming bytes and constructs a MAVLink packet.
@@ -115,6 +125,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
 
         if (decodeState == 1)
         {
+            // Log data
+            if (m_loggingEnabled)
+            {
+                uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+                mavlink_msg_to_send_buffer(buf, &message);
+                m_logfile->write((const char*) buf);
+                qDebug() << "WROTE LOGFILE";
+            }
+
             // ORDER MATTERS HERE!
             // If the matching UAS object does not yet exist, it has to be created
             // before emitting the packetReceived signal
@@ -324,7 +343,8 @@ void MAVLinkProtocol::enableLogging(bool enabled)
 {
     if (enabled && !m_loggingEnabled)
     {
-       m_logfile = new QFile(QCoreApplication::applicationDirPath()+"mavlink.log");
+       m_logfile = new QFile(getLogfileName());
+       m_logfile->open(QIODevice::WriteOnly | QIODevice::Append);
     }
     else
     {
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index 4a02a163a..e2fbafbf2 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -68,6 +68,8 @@ public:
     bool heartbeatsEnabled(void);
     /** @brief Get logging state */
     bool loggingEnabled(void);
+    /** @brief Get the name of the packet log file */
+    QString getLogfileName();
 
 public slots:
     /** @brief Receive bytes from a communication interface */
diff --git a/src/ui/MAVLinkSettingsWidget.ui b/src/ui/MAVLinkSettingsWidget.ui
index de9b67073..c65627d3b 100644
--- a/src/ui/MAVLinkSettingsWidget.ui
+++ b/src/ui/MAVLinkSettingsWidget.ui
@@ -24,6 +24,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QCheckBox" name="loggingCheckBox">
+     <property name="text">
+      <string>Log all MAVLink packets</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <spacer name="verticalSpacer">
      <property name="orientation">
-- 
2.22.0