From 96522cf70646354c6baa6049f1204a8e564e0ebf Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@student.ethz.ch>
Date: Mon, 7 Jun 2010 21:45:45 +0200
Subject: [PATCH] Working on real log replay in simulation link

---
 src/comm/MAVLinkProtocol.h        |  2 +-
 src/comm/MAVLinkSimulationLink.cc | 20 ++++++++++++++++++++
 src/comm/MAVLinkSimulationLink.h  |  1 +
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index e2fbafb..82cf9b1 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -69,7 +69,7 @@ public:
     /** @brief Get logging state */
     bool loggingEnabled(void);
     /** @brief Get the name of the packet log file */
-    QString getLogfileName();
+    static QString getLogfileName();
 
 public slots:
     /** @brief Receive bytes from a communication interface */
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 8af036e..2049e55 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -38,6 +38,7 @@ This file is part of the PIXHAWK project
 #include <QDebug>
 #include "MG.h"
 #include "LinkManager.h"
+#include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
 // MAVLINK includes
 #include <mavlink.h>
@@ -92,6 +93,10 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     maxTimeNoise = 0;
     this->id = getNextLinkId();
     LinkManager::instance()->add(this);
+
+    // Open packet log
+    mavlinkLogFile = new QFile(MAVLinkProtocol::getLogfileName());
+    mavlinkLogFile->open(QIODevice::ReadOnly);
 }
 
 MAVLinkSimulationLink::~MAVLinkSimulationLink()
@@ -121,6 +126,21 @@ void MAVLinkSimulationLink::run()
             if (_isConnected)
             {
                 mainloop();
+
+                // FIXME Hacky code to read from packet log file
+//                readyBufferMutex.lock();
+//                for (int i = 0; i < streampointer; i++)
+//                {
+//                    readyBuffer.enqueue(*(stream + i));
+//                }
+//                readyBufferMutex.unlock();
+
+
+
+
+
+
+
                 emit bytesReady(this);
             }
             last = MG::TIME::getGroundTimeNow();
diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h
index b6b5564..0b10e37 100644
--- a/src/comm/MAVLinkSimulationLink.h
+++ b/src/comm/MAVLinkSimulationLink.h
@@ -98,6 +98,7 @@ protected:
     QTimer* timer;
     /** File which contains the input data (simulated robot messages) **/
     QFile* simulationFile;
+    QFile* mavlinkLogFile;
     QString simulationHeader;
     /** File where the commands sent by the groundstation are stored **/
     QFile* receiveFile;