zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Added status progress message to log player

QGC4.4
pixhawk 14 years ago
parent
b997b4d899
commit
75a1db30a7
1 changed files with 151 additions and 136 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 287
      src/ui/QGCMAVLinkLogPlayer.cc

287
src/ui/QGCMAVLinkLogPlayer.cc
Unescape View File

@ -8,19 +8,19 @@ @@ -8,19 +8,19 @@
#include "ui_QGCMAVLinkLogPlayer.h"
QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent) :
QWidget(parent),
lineCounter(0),
totalLines(0),
startTime(0),
endTime(0),
currentStartTime(0),
accelerationFactor(1.0f),
mavlink(mavlink),
logLink(NULL),
loopCounter(0),
mavlinkLogFormat(true),
binaryBaudRate(57600),
ui(new Ui::QGCMAVLinkLogPlayer)
QWidget(parent),
lineCounter(0),
totalLines(0),
startTime(0),
endTime(0),
currentStartTime(0),
accelerationFactor(1.0f),
mavlink(mavlink),
logLink(NULL),
loopCounter(0),
mavlinkLogFormat(true),
binaryBaudRate(57600),
ui(new Ui::QGCMAVLinkLogPlayer)
{
ui->setupUi(this);
ui->gridLayout->setAlignment(Qt::AlignTop);
@ -76,7 +76,7 @@ void QGCMAVLinkLogPlayer::play() @@ -76,7 +76,7 @@ void QGCMAVLinkLogPlayer::play()
// to guarantee the baud rate, then divide 1000 by the number of read
// operations to obtain the interval in milliseconds
int interval = 1000 / ((binaryBaudRate / 10) / len);
loopTimer.start(interval);
loopTimer.start(interval*accelerationFactor);
}
}
else
@ -111,6 +111,7 @@ bool QGCMAVLinkLogPlayer::reset(int packetIndex) @@ -111,6 +111,7 @@ bool QGCMAVLinkLogPlayer::reset(int packetIndex)
// Reset only for valid values
if (packetIndex >= 0 && packetIndex <= logFile.size() - (packetLen+timeLen))
{
bool result = true;
pause();
loopCounter = 0;
@ -161,6 +162,19 @@ void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor) @@ -161,6 +162,19 @@ void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor)
accelerationFactor = 1+(f/2.0f);
}
// Update timer interval
if (!mavlinkLogFormat)
{
// Read len bytes at a time
int len = 100;
// Calculate the number of times to read 100 bytes per second
// to guarantee the baud rate, then divide 1000 by the number of read
// operations to obtain the interval in milliseconds
int interval = 1000 / ((binaryBaudRate / 10) / len);
loopTimer.stop();
loopTimer.start(interval/accelerationFactor);
}
//qDebug() << "FACTOR:" << accelerationFactor;
ui->speedLabel->setText(tr("Speed: %1X").arg(accelerationFactor, 5, 'f', 2, '0'));
@ -200,34 +214,37 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) @@ -200,34 +214,37 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
if (mavlinkLogFormat)
{
// Get the time interval from the logfile
QByteArray timestamp = logFile.read(timeLen);
// Get the time interval from the logfile
QByteArray timestamp = logFile.read(timeLen);
// First timestamp
quint64 starttime = *((quint64*)(timestamp.constData()));
// First timestamp
quint64 starttime = *((quint64*)(timestamp.constData()));
// Last timestamp
logFile.seek(logFile.size()-packetLen-timeLen);
QByteArray timestamp2 = logFile.read(timeLen);
quint64 endtime = *((quint64*)(timestamp2.constData()));
// Reset everything
logFile.reset();
// Last timestamp
logFile.seek(logFile.size()-packetLen-timeLen);
QByteArray timestamp2 = logFile.read(timeLen);
quint64 endtime = *((quint64*)(timestamp2.constData()));
// Reset everything
logFile.reset();
qDebug() << "Starttime:" << starttime << "End:" << endtime;
qDebug() << "Starttime:" << starttime << "End:" << endtime;
// WARNING: Order matters in this computation
int seconds = (endtime - starttime)/1000000;
int minutes = seconds / 60;
int hours = minutes / 60;
seconds -= 60*minutes;
minutes -= 60*hours;
// WARNING: Order matters in this computation
int seconds = (endtime - starttime)/1000000;
int minutes = seconds / 60;
int hours = minutes / 60;
seconds -= 60*minutes;
minutes -= 60*hours;
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel));
}
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel));
}
else
{
QStringList parts = file.split("_");
// Load in binary mode
// Set baud rate if any present
QStringList parts = logFileInfo.baseName().split("_");
if (parts.count() > 1)
{
@ -248,7 +265,7 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) @@ -248,7 +265,7 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
minutes -= 60*hours;
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10/1024));
ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2));
}
}
}
@ -259,17 +276,19 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) @@ -259,17 +276,19 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
void QGCMAVLinkLogPlayer::jumpToSliderVal(int slidervalue)
{
loopTimer.stop();
// Set the logfile to the correct percentage and
// align to the timestamp values
int packetCount = logFile.size() / (packetLen + timeLen);
int packetIndex = (packetCount - 1) * (slidervalue / (double)(ui->positionSlider->maximum() - ui->positionSlider->minimum()));
// Set the logfile to the correct percentage and
// align to the timestamp values
int packetCount = logFile.size() / (packetLen + timeLen);
int packetIndex = (packetCount - 1) * (slidervalue / (double)(ui->positionSlider->maximum() - ui->positionSlider->minimum()));
// Do only accept valid jumps
if (reset(packetIndex))
{
ui->logStatsLabel->setText(tr("Jumped to packet %1").arg(packetIndex));
//qDebug() << "SET POSITION TO PACKET:" << packetIndex;
}
// Do only accept valid jumps
if (reset(packetIndex))
{
if (mavlinkLogFormat)
{
ui->logStatsLabel->setText(tr("Jumped to packet %1").arg(packetIndex));
}
}
}
/**
@ -284,116 +303,99 @@ void QGCMAVLinkLogPlayer::logLoop() @@ -284,116 +303,99 @@ void QGCMAVLinkLogPlayer::logLoop()
{
if (mavlinkLogFormat)
{
bool ok;
bool ok;
// First check initialization
if (startTime == 0)
{
QByteArray startBytes = logFile.read(timeLen);
// Check if the correct number of bytes could be read
if (startBytes.length() != timeLen)
// First check initialization
if (startTime == 0)
{
ui->logStatsLabel->setText(tr("Error reading first %1 bytes").arg(timeLen));
MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Error reading first %1 bytes from logfile. Got %2 instead of %1 bytes. Is the logfile readable?").arg(timeLen).arg(startBytes.length()));
reset();
return;
}
QByteArray startBytes = logFile.read(timeLen);
// Convert data to timestamp
startTime = *((quint64*)(startBytes.constData()));
currentStartTime = QGC::groundTimeUsecs();
ok = true;
// Check if the correct number of bytes could be read
if (startBytes.length() != timeLen)
{
ui->logStatsLabel->setText(tr("Error reading first %1 bytes").arg(timeLen));
MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Error reading first %1 bytes from logfile. Got %2 instead of %1 bytes. Is the logfile readable?").arg(timeLen).arg(startBytes.length()));
reset();
return;
}
//qDebug() << "START TIME: " << startTime;
// Convert data to timestamp
startTime = *((quint64*)(startBytes.constData()));
currentStartTime = QGC::groundTimeUsecs();
ok = true;
// Check if these bytes could be correctly decoded
if (!ok)
{
ui->logStatsLabel->setText(tr("Error decoding first timestamp, aborting."));
MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Could not load initial timestamp from file %1. Is the file corrupted?").arg(logFile.fileName()));
reset();
return;
}
}
//qDebug() << "START TIME: " << startTime;
// Check if these bytes could be correctly decoded
if (!ok)
{
ui->logStatsLabel->setText(tr("Error decoding first timestamp, aborting."));
MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Could not load initial timestamp from file %1. Is the file corrupted?").arg(logFile.fileName()));
reset();
return;
}
}
// Initialization seems fine, load next chunk
QByteArray chunk = logFile.read(timeLen+packetLen);
QByteArray packet = chunk.mid(0, packetLen);
// Emit this packet
emit bytesReady(logLink, packet);
// Initialization seems fine, load next chunk
QByteArray chunk = logFile.read(timeLen+packetLen);
QByteArray packet = chunk.mid(0, packetLen);
// Check if reached end of file before reading next timestamp
if (chunk.length() < timeLen+packetLen || logFile.atEnd())
{
// Reached end of file
reset();
// Emit this packet
emit bytesReady(logLink, packet);
QString status = tr("Reached end of MAVLink log file.");
ui->logStatsLabel->setText(status);
MainWindow::instance()->showStatusMessage(status);
return;
}
// Check if reached end of file before reading next timestamp
if (chunk.length() < timeLen+packetLen || logFile.atEnd())
{
// Reached end of file
reset();
// End of file not reached, read next timestamp
QByteArray rawTime = chunk.mid(packetLen);
QString status = tr("Reached end of MAVLink log file.");
ui->logStatsLabel->setText(status);
MainWindow::instance()->showStatusMessage(status);
return;
}
// This is the timestamp of the next packet
quint64 time = *((quint64*)(rawTime.constData()));
ok = true;
if (!ok)
{
// Convert it to 64bit number
QString status = tr("Time conversion error during log replay. Continuing..");
ui->logStatsLabel->setText(status);
MainWindow::instance()->showStatusMessage(status);
}
else
{
// Normal processing, passed all checks
// start timer to match time offset between
// this and next packet
// End of file not reached, read next timestamp
QByteArray rawTime = chunk.mid(packetLen);
// This is the timestamp of the next packet
quint64 time = *((quint64*)(rawTime.constData()));
ok = true;
if (!ok)
{
// Convert it to 64bit number
QString status = tr("Time conversion error during log replay. Continuing..");
ui->logStatsLabel->setText(status);
MainWindow::instance()->showStatusMessage(status);
}
else
{
// Normal processing, passed all checks
// start timer to match time offset between
// this and next packet
// Offset in ms
qint64 timediff = (time - startTime)/accelerationFactor;
// Immediately load any data within
// a 3 ms interval
// Offset in ms
qint64 timediff = (time - startTime)/accelerationFactor;
int nextExecutionTime = (((qint64)currentStartTime + (qint64)timediff) - (qint64)QGC::groundTimeUsecs())/1000;
// Immediately load any data within
// a 3 ms interval
//qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
int nextExecutionTime = (((qint64)currentStartTime + (qint64)timediff) - (qint64)QGC::groundTimeUsecs())/1000;
if (nextExecutionTime < 2)
{
logLoop();
}
else
{
loopTimer.start(nextExecutionTime);
}
// loopTimer.start(20);
//qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
if (loopCounter % 40 == 0)
{
QFileInfo logFileInfo(logFile);
int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size()));
//qDebug() << "Progress:" << progress;
ui->positionSlider->blockSignals(true);
ui->positionSlider->setValue(progress);
ui->positionSlider->blockSignals(false);
if (nextExecutionTime < 2)
{
logLoop();
}
else
{
loopTimer.start(nextExecutionTime);
}
}
loopCounter++;
// Ui update: Only every 20 messages
// to prevent flickering and high CPU load
// Update status label
// Update progress bar
}
}
else
{
// Binary format - read at fixed rate
@ -414,9 +416,22 @@ void QGCMAVLinkLogPlayer::logLoop() @@ -414,9 +416,22 @@ void QGCMAVLinkLogPlayer::logLoop()
MainWindow::instance()->showStatusMessage(status);
return;
}
}
// Ui update: Only every 20 messages
// to prevent flickering and high CPU load
// Update status label
// Update progress bar
if (loopCounter % 40 == 0)
{
QFileInfo logFileInfo(logFile);
int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size()));
//qDebug() << "Progress:" << progress;
ui->positionSlider->blockSignals(true);
ui->positionSlider->setValue(progress);
ui->positionSlider->blockSignals(false);
}
loopCounter++;
}
void QGCMAVLinkLogPlayer::changeEvent(QEvent *e)

Write Preview
Loading…
Cancel
Save