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Commit f91c5bef authored by Gus Grubba's avatar Gus Grubba
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Setting up Mavlink logging Start/Stop (and receiving the data)

parent c862245d
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Showing with 264 additions and 26 deletions
src/Vehicle/Vehicle.cc
View file @ f91c5bef
......@@ -400,6 +400,7 @@ Vehicle::resetCounters()
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
if (message.sysid != _id && message.sysid != 0) {
return;
}
......@@ -488,6 +489,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
_handleHilActuatorControls(message);
break;
case MAVLINK_MSG_ID_LOGGING_DATA:
_handleMavlinkLoggingData(message);
break;
case MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
_handleMavlinkLoggingDataAcked(message);
break;
// Following are ArduPilot dialect messages
......@@ -1959,6 +1966,62 @@ VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
_courseOverGroundFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
}
//-----------------------------------------------------------------------------
void
Vehicle::startMavlinkLog()
{
doCommandLong(defaultComponentId(), MAV_CMD_LOGGING_START);
}
//-----------------------------------------------------------------------------
void
Vehicle::stopMavlinkLog()
{
doCommandLong(defaultComponentId(), MAV_CMD_LOGGING_STOP);
}
//-----------------------------------------------------------------------------
void
Vehicle::_ackMavlinkLogData(uint16_t sequence)
{
mavlink_message_t msg;
mavlink_logging_ack_t ack;
ack.sequence = sequence;
ack.target_component = defaultComponentId();
ack.target_system = id();
mavlink_msg_logging_ack_encode_chan(
_mavlink->getSystemId(),
_mavlink->getComponentId(),
priorityLink()->mavlinkChannel(),
&msg,
&ack);
sendMessageOnLink(priorityLink(), msg);
}
//-----------------------------------------------------------------------------
void
Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
{
qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA";
mavlink_logging_data_t log;
mavlink_msg_logging_data_decode(&message, &log);
emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, false);
}
//-----------------------------------------------------------------------------
void
Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
{
qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA_ACKED";
mavlink_logging_data_t log;
mavlink_msg_logging_data_decode(&message, &log);
_ackMavlinkLogData(log.sequence);
emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, true);
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
......
src/Vehicle/Vehicle.h
View file @ f91c5bef
......@@ -485,6 +485,10 @@ public:
int flowImageIndex() { return _flowImageIndex; }
//-- Mavlink Logging
void startMavlinkLog();
void stopMavlinkLog();
/// Requests the specified data stream from the vehicle
/// @param stream Stream which is being requested
/// @param rate Rate at which to send stream in Hz
......@@ -638,6 +642,9 @@ signals:
void mavlinkScaledImu2(mavlink_message_t message);
void mavlinkScaledImu3(mavlink_message_t message);
// Mavlink Log Download
void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool acked);
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _linkInactiveOrDeleted(LinkInterface* link);
......@@ -695,6 +702,9 @@ private:
void _connectionActive(void);
void _say(const QString& text);
QString _vehicleIdSpeech(void);
void _handleMavlinkLoggingData(mavlink_message_t& message);
void _handleMavlinkLoggingDataAcked(mavlink_message_t& message);
void _ackMavlinkLogData(uint16_t sequence);
private:
int _id; ///< Mavlink system id
......
src/uas/MavlinkLogManager.cc
View file @ f91c5bef
......@@ -21,13 +21,13 @@
QGC_LOGGING_CATEGORY(MavlinkLogManagerLog, "MavlinkLogManagerLog")
static const char* kEmailAddressKey = "MavlinkLogEmail";
static const char* kDescriptionsKey = "MavlinkLogDescription";
static const char* kDefaultDescr = "QGroundControl Session";
static const char* kPx4URLKey = "MavlinkLogURL";
static const char* kDefaultPx4URL = "http://logs.px4.io/upload";
static const char* kEnableAutologKey= "EnableAutologKey";
static const char* kEmailAddressKey = "MavlinkLogEmail";
static const char* kDescriptionsKey = "MavlinkLogDescription";
static const char* kDefaultDescr = "QGroundControl Session";
static const char* kPx4URLKey = "MavlinkLogURL";
static const char* kDefaultPx4URL = "http://logs.px4.io/upload";
static const char* kEnableAutoUploadKey = "EnableAutoUploadKey";
static const char* kEnableAutoStartKey = "EnableAutoStartKey";
//-----------------------------------------------------------------------------
MavlinkLogFiles::MavlinkLogFiles(MavlinkLogManager *manager, const QString& filePath)
......@@ -70,16 +70,20 @@ MavlinkLogFiles::setProgress(qreal progress)
//-----------------------------------------------------------------------------
MavlinkLogManager::MavlinkLogManager(QGCApplication* app)
: QGCTool(app)
, _enableAutolog(true)
, _enableAutoUpload(true)
, _enableAutoStart(true)
, _nam(NULL)
, _currentLogfile(NULL)
, _vehicle(NULL)
, _logRunning(false)
{
//-- Get saved settings
QSettings settings;
setEmailAddress(settings.value(kEmailAddressKey, QString()).toString());
setDescription(settings.value(kDescriptionsKey, QString(kDefaultDescr)).toString());
setUploadURL(settings.value(kPx4URLKey, QString(kDefaultPx4URL)).toString());
setEnableAutolog(settings.value(kEnableAutologKey, true).toBool());
setEnableAutoUpload(settings.value(kEnableAutoUploadKey, true).toBool());
setEnableAutoStart(settings.value(kEnableAutoStartKey, true).toBool());
//-- Logging location
_logPath = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
_logPath += "/MavlinkLogs";
......@@ -109,6 +113,7 @@ MavlinkLogManager::setToolbox(QGCToolbox *toolbox)
QGCTool::setToolbox(toolbox);
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<MavlinkLogManager>("QGroundControl.MavlinkLogManager", 1, 0, "MavlinkLogManager", "Reference only");
connect(toolbox->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &MavlinkLogManager::_activeVehicleChanged);
// _uploadURL = "http://192.168.1.21/px4";
// _uploadURL = "http://192.168.1.9:8080";
......@@ -153,12 +158,22 @@ MavlinkLogManager::setUploadURL(QString url)
//-----------------------------------------------------------------------------
void
MavlinkLogManager::setEnableAutolog(bool enable)
MavlinkLogManager::setEnableAutoUpload(bool enable)
{
_enableAutoUpload = enable;
QSettings settings;
settings.setValue(kEnableAutoUploadKey, enable);
emit enableAutoUploadChanged();
}
//-----------------------------------------------------------------------------
void
MavlinkLogManager::setEnableAutoStart(bool enable)
{
_enableAutolog = enable;
_enableAutoStart = enable;
QSettings settings;
settings.setValue(kEnableAutologKey, enable);
emit enableAutologChanged();
settings.setValue(kEnableAutoStartKey, enable);
emit enableAutoStartChanged();
}
//-----------------------------------------------------------------------------
......@@ -218,6 +233,28 @@ MavlinkLogManager::cancelUpload()
}
}
//-----------------------------------------------------------------------------
void
MavlinkLogManager::startLogging()
{
if(_vehicle) {
_vehicle->startMavlinkLog();
_logRunning = true;
emit logRunningChanged();
}
}
//-----------------------------------------------------------------------------
void
MavlinkLogManager::stopLogging()
{
if(_vehicle) {
_vehicle->stopMavlinkLog();
_logRunning = false;
emit logRunningChanged();
}
}
//-----------------------------------------------------------------------------
QHttpPart
create_form_part(const QString& name, const QString& value)
......@@ -347,3 +384,60 @@ MavlinkLogManager::_uploadProgress(qint64 bytesSent, qint64 bytesTotal)
}
qCDebug(MavlinkLogManagerLog) << bytesSent << "of" << bytesTotal;
}
//-----------------------------------------------------------------------------
void
MavlinkLogManager::_activeVehicleChanged(Vehicle* vehicle)
{
//-- TODO: This is not quite right. This is being used to detect when a vehicle
// connects/disconnects. In reality, if QGC is connected to multiple vehicles,
// this is called each time the user switches from one vehicle to another. So
// far, I'm working on the assumption that multiple vehicles is a rare exception.
// Disconnect the previous one (if any)
if (_vehicle) {
disconnect(_vehicle, &Vehicle::armedChanged, this, &MavlinkLogManager::_armedChanged);
disconnect(_vehicle, &Vehicle::mavlinkLogData, this, &MavlinkLogManager::_mavlinkLogData);
_vehicle = NULL;
emit canStartLogChanged();
}
// Connect new system
if (vehicle)
{
_vehicle = vehicle;
connect(_vehicle, &Vehicle::armedChanged, this, &MavlinkLogManager::_armedChanged);
connect(_vehicle, &Vehicle::mavlinkLogData, this, &MavlinkLogManager::_mavlinkLogData);
emit canStartLogChanged();
}
}
//-----------------------------------------------------------------------------
void
MavlinkLogManager::_mavlinkLogData(Vehicle * /*vehicle*/, uint8_t /*target_system*/, uint8_t /*target_component*/, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool /*acked*/)
{
Q_UNUSED(data);
qDebug() << "Mavlink Log:" << sequence << length << first_message;
}
//-----------------------------------------------------------------------------
void
MavlinkLogManager::_armedChanged(bool armed)
{
if(_vehicle) {
if(armed) {
if(_enableAutoStart) {
_vehicle->startMavlinkLog();
_logRunning = true;
emit logRunningChanged();
}
} else {
if(_logRunning && _enableAutoStart) {
_vehicle->stopMavlinkLog();
emit logRunningChanged();
if(_enableAutoUpload) {
//-- TODO: Queue log for auto upload
}
}
}
}
}
src/uas/MavlinkLogManager.h
View file @ f91c5bef
......@@ -16,6 +16,7 @@
#include "QmlObjectListModel.h"
#include "QGCLoggingCategory.h"
#include "QGCToolbox.h"
#include "Vehicle.h"
Q_DECLARE_LOGGING_CATEGORY(MavlinkLogManagerLog)
......@@ -67,29 +68,38 @@ public:
MavlinkLogManager (QGCApplication* app);
~MavlinkLogManager ();
Q_PROPERTY(QString emailAddress READ emailAddress WRITE setEmailAddress NOTIFY emailAddressChanged)
Q_PROPERTY(QString description READ description WRITE setDescription NOTIFY descriptionChanged)
Q_PROPERTY(QString uploadURL READ uploadURL WRITE setUploadURL NOTIFY uploadURLChanged)
Q_PROPERTY(bool enableAutolog READ enableAutolog WRITE setEnableAutolog NOTIFY enableAutologChanged)
Q_PROPERTY(bool busy READ busy NOTIFY busyChanged)
Q_PROPERTY(QmlObjectListModel* logFiles READ logFiles NOTIFY logFilesChanged)
Q_PROPERTY(QString emailAddress READ emailAddress WRITE setEmailAddress NOTIFY emailAddressChanged)
Q_PROPERTY(QString description READ description WRITE setDescription NOTIFY descriptionChanged)
Q_PROPERTY(QString uploadURL READ uploadURL WRITE setUploadURL NOTIFY uploadURLChanged)
Q_PROPERTY(bool enableAutoUpload READ enableAutoUpload WRITE setEnableAutoUpload NOTIFY enableAutoUploadChanged)
Q_PROPERTY(bool enableAutoStart READ enableAutoStart WRITE setEnableAutoStart NOTIFY enableAutoStartChanged)
Q_PROPERTY(bool busy READ busy NOTIFY busyChanged)
Q_PROPERTY(bool logRunning READ logRunning NOTIFY logRunningChanged)
Q_PROPERTY(bool canStartLog READ canStartLog NOTIFY canStartLogChanged)
Q_PROPERTY(QmlObjectListModel* logFiles READ logFiles NOTIFY logFilesChanged)
Q_INVOKABLE void uploadLog ();
Q_INVOKABLE void deleteLog ();
Q_INVOKABLE void cancelUpload ();
Q_INVOKABLE void startLogging ();
Q_INVOKABLE void stopLogging ();
QString emailAddress () { return _emailAddress; }
QString description () { return _description; }
QString uploadURL () { return _uploadURL; }
bool enableAutolog () { return _enableAutolog; }
bool enableAutoUpload () { return _enableAutoUpload; }
bool enableAutoStart () { return _enableAutoStart; }
bool busy ();
bool logRunning () { return _logRunning; }
bool canStartLog () { return _vehicle != NULL; }
QmlObjectListModel* logFiles () { return &_logFiles; }
void setEmailAddress (QString email);
void setDescription (QString description);
void setUploadURL (QString url);
void setEnableAutolog (bool enable);
void setEnableAutoUpload (bool enable);
void setEnableAutoStart (bool enable);
// Override from QGCTool
void setToolbox (QGCToolbox *toolbox);
......@@ -98,7 +108,8 @@ signals:
void emailAddressChanged ();
void descriptionChanged ();
void uploadURLChanged ();
void enableAutologChanged ();
void enableAutoUploadChanged ();
void enableAutoStartChanged ();
void logFilesChanged ();
void selectedCountChanged ();
void busyChanged ();
......@@ -106,11 +117,16 @@ signals:
void failed ();
void succeed ();
void abortUpload ();
void logRunningChanged ();
void canStartLogChanged ();
private slots:
void _uploadFinished ();
void _dataAvailable ();
void _uploadProgress (qint64 bytesSent, qint64 bytesTotal);
void _activeVehicleChanged (Vehicle* vehicle);
void _mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool acked);
void _armedChanged (bool armed);
private:
bool _sendLog (const QString& logFile);
......@@ -121,10 +137,13 @@ private:
QString _emailAddress;
QString _uploadURL;
QString _logPath;
bool _enableAutolog;
bool _enableAutoUpload;
bool _enableAutoStart;
QNetworkAccessManager* _nam;
QmlObjectListModel _logFiles;
MavlinkLogFiles* _currentLogfile;
Vehicle* _vehicle;
bool _logRunning;
};
#endif
src/uas/UASInterface.h
View file @ f91c5bef
......@@ -307,6 +307,7 @@ signals:
// Log Download Signals
void logEntry (UASInterface* uas, uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num);
void logData (UASInterface* uas, uint32_t ofs, uint16_t id, uint8_t count, const uint8_t* data);
};
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0")
......
src/ui/preferences/MavlinkSettings.qml
View file @ f91c5bef
......@@ -130,6 +130,57 @@ Rectangle {
}
//-----------------------------------------------------------------
//-- Mavlink Logging
Item {
width: __mavlinkRoot.width * 0.8
height: mavlogLabel.height
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
id: mavlogLabel
text: qsTr("Vehicle Mavlink Logging")
font.family: ScreenTools.demiboldFontFamily
}
}
Rectangle {
height: mavlogColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
width: __mavlinkRoot.width * 0.8
color: qgcPal.windowShade
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: mavlogColumn
width: gcsColumn.width
spacing: ScreenTools.defaultFontPixelWidth
anchors.centerIn: parent
//-----------------------------------------------------------------
//-- Enable auto log on arming
QGCCheckBox {
text: qsTr("Enable automatic logging start when vehicle is armed")
checked: QGroundControl.mavlinkLogManager.enableAutoStart
onClicked: {
QGroundControl.mavlinkLogManager.enableAutoStart = checked
}
}
//-----------------------------------------------------------------
//-- Manual Start/Stop
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCButton {
text: "Start Logging"
enabled: !QGroundControl.mavlinkLogManager.logRunning && QGroundControl.mavlinkLogManager.canStartLog
onClicked: QGroundControl.mavlinkLogManager.startLogging()
}
QGCButton {
text: "Stop Logging"
enabled: QGroundControl.mavlinkLogManager.logRunning
onClicked: QGroundControl.mavlinkLogManager.stopLogging()
}
}
}
}
//-----------------------------------------------------------------
//-- Mavlink Logging
Item {
width: __mavlinkRoot.width * 0.8
height: logLabel.height
......@@ -137,7 +188,7 @@ Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
id: logLabel
text: qsTr("Vehicle Mavlink Logging")
text: qsTr("Mavlink Log Uploads")
font.family: ScreenTools.demiboldFontFamily
}
}
......@@ -214,10 +265,10 @@ Rectangle {
//-- Automatic Upload
QGCCheckBox {
text: qsTr("Enable automatic log uploads")
checked: QGroundControl.mavlinkLogManager.enableAutolog
checked: QGroundControl.mavlinkLogManager.enableAutoUpload
enabled: emailField.text !== "" && urlField !== ""
onClicked: {
QGroundControl.mavlinkLogManager.enableAutolog = checked
QGroundControl.mavlinkLogManager.enableAutoUpload = checked
}
}
}
......
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