@ -23,6 +23,9 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
@@ -23,6 +23,9 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
ui - > setupUi ( this ) ;
ui - > gridLayout - > setAlignment ( Qt : : AlignTop ) ;
// Connect protocol
connect ( this , SIGNAL ( bytesReady ( LinkInterface * , QByteArray ) ) , mavlink , SLOT ( receiveBytes ( LinkInterface * , QByteArray ) ) ) ;
// Setup timer
connect ( & loopTimer , SIGNAL ( timeout ( ) ) , this , SLOT ( logLoop ( ) ) ) ;
@ -31,9 +34,12 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
@@ -31,9 +34,12 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
connect ( ui - > pauseButton , SIGNAL ( clicked ( ) ) , this , SLOT ( pause ( ) ) ) ;
connect ( ui - > playButton , SIGNAL ( clicked ( ) ) , this , SLOT ( play ( ) ) ) ;
connect ( ui - > speedSlider , SIGNAL ( valueChanged ( int ) ) , this , SLOT ( setAccelerationFactorInt ( int ) ) ) ;
connect ( ui - > positionSlider , SIGNAL ( valueChanged ( int ) ) , this , SLOT ( jumpToSliderVal ( int ) ) ) ;
connect ( ui - > positionSlider , SIGNAL ( sliderPressed ( ) ) , this , SLOT ( pause ( ) ) ) ;
setAccelerationFactorInt ( 49 ) ;
ui - > speedSlider - > setValue ( 49 ) ;
ui - > positionSlider - > setValue ( ui - > positionSlider - > minimum ( ) ) ;
}
QGCMAVLinkLogPlayer : : ~ QGCMAVLinkLogPlayer ( )
@ -47,8 +53,10 @@ void QGCMAVLinkLogPlayer::play()
@@ -47,8 +53,10 @@ void QGCMAVLinkLogPlayer::play()
{
ui - > pauseButton - > setChecked ( false ) ;
ui - > selectFileButton - > setEnabled ( false ) ;
if ( logLink ! = NULL )
if ( logLink )
{
logLink - > disconnect ( ) ;
LinkManager : : instance ( ) - > removeLink ( logLink ) ;
delete logLink ;
}
logLink = new MAVLinkSimulationLink ( " " ) ;
@ -74,18 +82,44 @@ void QGCMAVLinkLogPlayer::pause()
@@ -74,18 +82,44 @@ void QGCMAVLinkLogPlayer::pause()
loopTimer . stop ( ) ;
ui - > playButton - > setChecked ( false ) ;
ui - > selectFileButton - > setEnabled ( true ) ;
delete logLink ;
logLink = NULL ;
if ( logLink )
{
logLink - > disconnect ( ) ;
LinkManager : : instance ( ) - > removeLink ( logLink ) ;
delete logLink ;
logLink = NULL ;
}
}
void QGCMAVLinkLogPlayer : : reset ( )
bool QGCMAVLinkLogPlayer : : reset ( int packetIndex )
{
pause ( ) ;
loopCounter = 0 ;
logFile . reset ( ) ;
ui - > pauseButton - > setChecked ( true ) ;
ui - > progressBar - > setValue ( 0 ) ;
startTime = 0 ;
// Reset only for valid values
if ( packetIndex > = 0 & & packetIndex < = logFile . size ( ) - ( packetLen + timeLen ) )
{
bool result = true ;
pause ( ) ;
loopCounter = 0 ;
logFile . reset ( ) ;
if ( ! logFile . seek ( packetIndex * ( timeLen + packetLen ) ) )
{
// Fallback: Start from scratch
logFile . reset ( ) ;
ui - > logStatsLabel - > setText ( tr ( " Changing packet index failed, back to start. " ) ) ;
result = false ;
}
ui - > pauseButton - > setChecked ( true ) ;
ui - > positionSlider - > blockSignals ( true ) ;
int sliderVal = ( packetIndex / ( double ) ( logFile . size ( ) / ( packetLen + timeLen ) ) ) * ( ui - > positionSlider - > maximum ( ) - ui - > positionSlider - > minimum ( ) ) ;
ui - > positionSlider - > setValue ( sliderVal ) ;
ui - > positionSlider - > blockSignals ( false ) ;
startTime = 0 ;
return result ;
}
else
{
return false ;
}
}
void QGCMAVLinkLogPlayer : : selectLogFile ( )
@ -129,8 +163,7 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
@@ -129,8 +163,7 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
// Ensure that the playback process is stopped
if ( logFile . isOpen ( ) )
{
loopTimer . stop ( ) ;
logFile . reset ( ) ;
pause ( ) ;
logFile . close ( ) ;
}
logFile . setFileName ( file ) ;
@ -146,15 +179,52 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
@@ -146,15 +179,52 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
logFile . reset ( ) ;
startTime = 0 ;
ui - > logFileNameLabel - > setText ( tr ( " %1 " ) . arg ( logFileInfo . baseName ( ) ) ) ;
ui - > logStatsLabel - > setText ( tr ( " Log: %2 MB, %3 packets " ) . arg ( logFileInfo . size ( ) / 1000000.0f , 0 , ' f ' , 2 ) . arg ( logFileInfo . size ( ) / ( MAVLINK_MAX_PACKET_LEN + sizeof ( quint64 ) ) ) ) ;
// Get the time interval from the logfile
QByteArray timestamp = logFile . read ( timeLen ) ;
// 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 ( ) ;
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 ;
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 ) ) ;
}
}
union log64
/**
* Jumps to the current percentage of the position slider
*/
void QGCMAVLinkLogPlayer : : jumpToSliderVal ( int slidervalue )
{
quint64 q ;
const char * b ;
} ;
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 ( ) ) ) ;
// Do only accept valid jumps
if ( reset ( packetIndex ) )
{
ui - > logStatsLabel - > setText ( tr ( " Jumped to packet %1 " ) . arg ( packetIndex ) ) ;
//qDebug() << "SET POSITION TO PACKET:" << packetIndex;
}
}
/**
* This function is the " mainloop " of the log player , reading one line
@ -166,8 +236,6 @@ union log64
@@ -166,8 +236,6 @@ union log64
*/
void QGCMAVLinkLogPlayer : : logLoop ( )
{
const int packetLen = MAVLINK_MAX_PACKET_LEN ;
const int timeLen = sizeof ( quint64 ) ;
bool ok ;
// First check initialization
@ -207,7 +275,7 @@ void QGCMAVLinkLogPlayer::logLoop()
@@ -207,7 +275,7 @@ void QGCMAVLinkLogPlayer::logLoop()
QByteArray packet = chunk . mid ( 0 , packetLen ) ;
// Emit this packet
mavlink - > receiveBytes ( logLink , packet ) ;
emit bytesReady ( logLink , packet ) ;
// Check if reached end of file before reading next timestamp
if ( chunk . length ( ) < timeLen + packetLen | | logFile . atEnd ( ) )
@ -217,7 +285,6 @@ void QGCMAVLinkLogPlayer::logLoop()
@@ -217,7 +285,6 @@ void QGCMAVLinkLogPlayer::logLoop()
QString status = tr ( " Reached end of MAVLink log file. " ) ;
ui - > logStatsLabel - > setText ( status ) ;
ui - > progressBar - > setValue ( 100 ) ;
MainWindow : : instance ( ) - > showStatusMessage ( status ) ;
return ;
}
@ -265,9 +332,11 @@ void QGCMAVLinkLogPlayer::logLoop()
@@ -265,9 +332,11 @@ void QGCMAVLinkLogPlayer::logLoop()
if ( loopCounter % 40 = = 0 )
{
QFileInfo logFileInfo ( logFile ) ;
int progress = 100.0f * ( loopCounter / ( float ) ( logFileInfo . size ( ) / ( MAVLINK_MAX_PACKET_LEN + sizeof ( quint64 ) ) ) ) ;
int progress = ( ui - > positionSlider - > maximum ( ) - ui - > positionSlider - > minimum ( ) ) * ( logFile . pos ( ) / static_cast < float > ( logFileInfo . size ( ) ) ) ;
//qDebug() << "Progress:" << progress;
ui - > progressBar - > setValue ( progress ) ;
ui - > positionSlider - > blockSignals ( true ) ;
ui - > positionSlider - > setValue ( progress ) ;
ui - > positionSlider - > blockSignals ( false ) ;
}
loopCounter + + ;
// Ui update: Only every 20 messages
pixhawk
14 years ago