Merge pull request #1085 from DonLakeFlyer/QLoggingCategory

Better QLoggingCategory support, fixed parameter list request

qgroundcontrol.qrc

@@ -231,4 +231,7 @@
     <qresource prefix="/unittest">
         <file alias="MockLink.param">src/qgcunittest/MockLink.param</file>
     </qresource>
+    <qresource prefix="/QLoggingCategory">
+        <file alias="qtlogging.ini">files/QLoggingCategory/qtlogging.ini</file>
+    </qresource>
 </RCC>

src/QGCApplication.cc

@@ -92,6 +92,36 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) :
     Q_ASSERT(_app == NULL);
     _app = this;
     
+    
+#ifdef QT_DEBUG
+    // First thing we want to do is set up the qtlogging.ini file. If it doesn't already exist we copy
+    // it to the correct location. This way default debug builds will have logging turned off.
+    
+    bool loggingDirectoryOk = false;
+    QDir iniFileLocation(QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation));
+    if (!iniFileLocation.cd("QtProjects")) {
+        if (!iniFileLocation.mkdir("QtProjects")) {
+            qDebug() << "Unable to create qtlogging.ini directory" << iniFileLocation.filePath("QtProjects");
+        } else {
+            if (!iniFileLocation.cd("QtProjects")) {
+                qDebug() << "Unable to access qtlogging.ini directory" << iniFileLocation.filePath("QtProjects");;
+            }
+            loggingDirectoryOk = true;
+        }
+    } else {
+        loggingDirectoryOk = true;
+    }
+    
+    if (loggingDirectoryOk) {
+        qDebug () << iniFileLocation;
+        if (!iniFileLocation.exists("qtlogging.ini")) {
+            if (!QFile::copy(":QLoggingCategory/qtlogging.ini", iniFileLocation.filePath("qtlogging.ini"))) {
+                qDebug() << "Unable to copy qtlogging.ini to" << iniFileLocation;
+            }
+        }
+    }
+#endif
+    
     // Set application information
     if (_runningUnitTests) {
         // We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app

src/qgcunittest/MockUAS.h

@@ -133,7 +133,6 @@ public slots:
     virtual void setTargetPosition(float x, float y, float z, float yaw) { Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(yaw); Q_ASSERT(false); };
     virtual void setLocalOriginAtCurrentGPSPosition() { Q_ASSERT(false); };
     virtual void setHomePosition(double lat, double lon, double alt) { Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_ASSERT(false); };
-    virtual void requestParameters() { Q_ASSERT(false); };
     virtual void requestParameter(int component, const QString& parameter) { Q_UNUSED(component); Q_UNUSED(parameter); Q_ASSERT(false); };
     virtual void writeParametersToStorage() { Q_ASSERT(false); };
     virtual void readParametersFromStorage() { Q_ASSERT(false); };

src/uas/QGCMAVLinkUASFactory.cc

@@ -79,7 +79,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     uas->addLink(link);
 
     // First thing we do with a new UAS is get the parameters
-    uas->requestParameters();
+    uas->getParamManager()->requestParameterList();
     
     // Now add UAS to "official" list, which makes the whole application aware of it
     UASManager::instance()->addUAS(uas);

src/uas/QGCUASParamManager.cc

@@ -217,6 +217,8 @@ void QGCUASParamManager::requestRcCalibrationParamsUpdate() {
 
 void QGCUASParamManager::_parameterListUpToDate(void)
 {
+    qDebug() << "Emitting parameters ready, count:" << paramDataModel.countOnboardParams();
+
     _parametersReady = true;
     emit parameterListUpToDate();
 }

src/uas/UAS.cc

@@ -1968,16 +1968,6 @@ int UAS::getCommunicationStatus() const
     return commStatus;
 }
 
-void UAS::requestParameters()
-{
-    mavlink_message_t msg;
-    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
-    sendMessage(msg);
-
-    QDateTime time = QDateTime::currentDateTime();
-    qDebug() << __FILE__ << ":" << __LINE__ << time.toString() << "LOADING PARAM LIST";
-}
-
 void UAS::writeParametersToStorage()
 {
     mavlink_message_t msg;

src/uas/UAS.h

@@ -830,9 +830,6 @@ public slots:
     /** @brief Set current mode of operation, e.g. auto or manual, does not check the arming status, for anything else than arming/disarming operations use setMode instead */
     void setModeArm(uint8_t newBaseMode, uint32_t newCustomMode);
 
-    /** @brief Request all parameters */
-    void requestParameters();
-
     /** @brief Request a single parameter by name */
     void requestParameter(int component, const QString& parameter);
     /** @brief Request a single parameter by index */

src/uas/UASInterface.h

@@ -315,8 +315,6 @@ public slots:
     virtual void setLocalOriginAtCurrentGPSPosition() = 0;
     /** @brief Set world frame origin / home position at this GPS position */
     virtual void setHomePosition(double lat, double lon, double alt) = 0;
-    /** @brief Request all onboard parameters of all components */
-    virtual void requestParameters() = 0;
     /** @brief Request one specific onboard parameter */
     virtual void requestParameter(int component, const QString& parameter) = 0;
     /** @brief Write parameter to permanent storage */

src/uas/UASParameterCommsMgr.cc

@@ -5,11 +5,13 @@
 
 #include "QGCUASParamManagerInterface.h"
 #include "UASInterface.h"
-
-
+#include "MAVLinkProtocol.h"
+#include "MainWindow.h"
 
 #define RC_CAL_CHAN_MAX 8
 
+Q_LOGGING_CATEGORY(UASParameterCommsMgrLog, "UASParameterCommsMgrLog")
+
 UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent) :
     QObject(parent),
     lastReceiveTime(0),
@@ -67,7 +69,15 @@ void UASParameterCommsMgr::loadParamCommsSettings()
     settings.endGroup();
 }
 
-
+void UASParameterCommsMgr::_sendParamRequestListMsg(void)
+{
+    MAVLinkProtocol* mavlink = MainWindow::instance()->getMAVLink();
+    Q_ASSERT(mavlink);
+    
+    mavlink_message_t msg;
+    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, mav->getUASID(), MAV_COMP_ID_ALL);
+    mav->sendMessage(msg);
+}
 
 /**
  * Send a request to deliver the list of onboard parameters
@@ -78,16 +88,20 @@ void UASParameterCommsMgr::requestParameterList()
     if (!mav) {
         return;
     }
+    
 
     if (!transmissionListMode) {
+        qCDebug(UASParameterCommsMgrLog) << "Requesting full parameter list";
         transmissionListMode = true;//TODO eliminate?
         //we use (compId 0, paramId 0) as  indicating all params for the system
         markReadParamWaiting(0,0);
-        mav->requestParameters();
+        
+        _sendParamRequestListMsg();
+        
         updateSilenceTimer();
     }
     else {
-        qDebug() << __FILE__ << __LINE__ << "Ignoring requestParameterList because we're receiving params list";
+        qCDebug(UASParameterCommsMgrLog) << "Ignoring requestParameterList because we're receiving params list";
     }
 
 }
@@ -119,7 +133,7 @@ void UASParameterCommsMgr::markWriteParamWaiting(int compId, QString paramName,
 */
 void UASParameterCommsMgr::clearRetransmissionLists(int& missingReadCount, int& missingWriteCount )
 {
-    qDebug() << __FILE__ << __LINE__ << "clearRetransmissionLists";
+    qCDebug(UASParameterCommsMgrLog) << "Clearing re-transmission lists";
 
     missingReadCount = 0;
     QList<int> compIds = readsWaiting.keys();
@@ -192,7 +206,7 @@ void UASParameterCommsMgr::resendReadWriteRequests()
         qDebug() << "compId " << compId << "readsWaiting:" << missingReadParams->count();
         foreach (int paramId, *missingReadParams) {
             if (0 == paramId && 0 == compId) {
-                mav->requestParameters();
+                _sendParamRequestListMsg();
                 //don't request any other params individually for this component
                 break;
             }
@@ -203,7 +217,7 @@ void UASParameterCommsMgr::resendReadWriteRequests()
                 requestedReadCount++;
             }
             else {
-                qDebug() << "Throttling read retransmit requests at" << requestedReadCount;
+                qCDebug(UASParameterCommsMgrLog) << "Throttling read retransmit requests at" << requestedReadCount;
                 break;
             }
         }
@@ -223,7 +237,7 @@ void UASParameterCommsMgr::resendReadWriteRequests()
                 requestedWriteCount++;
             }
             else {
-                qDebug() << "Throttling write retransmit requests at" << requestedWriteCount;
+                qCDebug(UASParameterCommsMgrLog) << "Throttling write retransmit requests at" << requestedWriteCount;
                 break;
             }
         }
@@ -243,7 +257,7 @@ void UASParameterCommsMgr::silenceTimerExpired()
 {
     quint64 curTime = QGC::groundTimeMilliseconds();
     int elapsed = (int)(curTime - lastSilenceTimerReset);
-    qDebug() << "silenceTimerExpired elapsed:" << elapsed;
+    qCDebug(UASParameterCommsMgrLog) << "silenceTimerExpired elapsed:" << elapsed;
 
     if (elapsed < silenceTimeout) {
         //reset the guard timer: it fired prematurely
@@ -253,7 +267,7 @@ void UASParameterCommsMgr::silenceTimerExpired()
 
     int totalElapsed = (int)(curTime - lastReceiveTime);
     if (totalElapsed > maxSilenceTimeout) {
-        qDebug() << "maxSilenceTimeout exceeded: " << totalElapsed;
+        qCDebug(UASParameterCommsMgrLog) << "maxSilenceTimeout exceeded: " << totalElapsed;
         int missingReads, missingWrites;
         clearRetransmissionLists(missingReads,missingWrites);
         emit _stopSilenceTimer(); // Stop timer on our thread;
@@ -299,7 +313,7 @@ void UASParameterCommsMgr::requestRcCalibrationParamsUpdate()
         }
     }
     else {
-        qDebug() << __FILE__ << __LINE__ << "Ignoring requestRcCalibrationParamsUpdate because we're receiving params list";
+        qCDebug(UASParameterCommsMgrLog) << "Ignoring requestRcCalibrationParamsUpdate because we're receiving params list";
     }
 }
 
@@ -377,6 +391,7 @@ void UASParameterCommsMgr::updateSilenceTimer()
     }
     else {
         //all parameters have been received, broadcast to UI
+        qCDebug(UASParameterCommsMgrLog) << "emitting parameterListUpToDate";
         emit parameterListUpToDate();
         resetAfterListReceive();
         emit _stopSilenceTimer(); // Stop timer on our thread;
@@ -396,6 +411,8 @@ void UASParameterCommsMgr::setParameterStatusMsg(const QString& msg, ParamCommsS
 
 void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value)
 {
+    qCDebug(UASParameterCommsMgrLog) << QString("Received parameter update for: name(%1) count(%2) index(%3)").arg(paramName).arg(paramCount).arg(paramId);
+
     Q_UNUSED(uas); //this object is assigned to one UAS only
     lastReceiveTime = QGC::groundTimeMilliseconds();
     // qDebug() << "compId" << compId << "receivedParameterUpdate:" << paramName;
@@ -423,7 +440,7 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
             //remove our placeholder read request for all params
             readsWaiting.value(0)->remove(0);
 
-            qDebug() << "Mark all parameters as missing: " << paramCount;
+            qCDebug(UASParameterCommsMgrLog) << "receivedParameterUpdate: Mark all parameters as missing: " << paramCount;
             for (int i = 1; i < paramCount; ++i) { //param Id 0 is  "all parameters" and not valid
                 compMissingReads->insert(i);
             }
@@ -533,7 +550,7 @@ void UASParameterCommsMgr::sendPendingParameters(bool copyToPersistent, bool for
     }
     else {
         setParameterStatusMsg(tr("Transmitting %1 parameters.").arg(parametersSent));
-        qDebug() << "Pending parameters now:" << paramDataModel->countPendingParams();
+        qCDebug(UASParameterCommsMgrLog) << "Pending parameters now:" << paramDataModel->countPendingParams();
     }
 
 
@@ -546,7 +563,7 @@ UASParameterCommsMgr::~UASParameterCommsMgr()
 
     QString ptrStr;
     ptrStr.sprintf("%8p", this);
-    qDebug() <<  "UASParameterCommsMgr destructor: " << ptrStr ;
+    qCDebug(UASParameterCommsMgrLog) <<  "UASParameterCommsMgr destructor: " << ptrStr ;
 
 }
 

src/uas/UASParameterCommsMgr.h

@@ -6,11 +6,12 @@
 #include <QTimer>
 #include <QVariant>
 #include <QVector>
+#include <QLoggingCategory>
 
 class UASInterface;
 class UASParameterDataModel;
 
-
+Q_DECLARE_LOGGING_CATEGORY(UASParameterCommsMgrLog)
 
 class UASParameterCommsMgr : public QObject
 {
@@ -122,6 +123,9 @@ private slots:
     /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
     void _startSilenceTimerOnThisThread(void);
     void _stopSilenceTimerOnThisThread(void);
+    
+private:
+    void _sendParamRequestListMsg(void);
 };