Cleaned up debug output and fixed logging using settings

src/comm/MAVLinkProtocol.cc

@@ -73,15 +73,16 @@ void MAVLinkProtocol::loadSettings()
     QSettings settings;
     settings.sync();
     settings.beginGroup("QGC_MAVLINK_PROTOCOL");
-    m_heartbeatsEnabled = settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool();
-    m_loggingEnabled = settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool();
-    m_enable_version_check = settings.value("VERION_CHECK_ENABLED", m_enable_version_check).toBool();
+    enableHeartbeats(settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool());
+    enableVersionCheck(settings.value("VERION_CHECK_ENABLED", m_enable_version_check).toBool());
 
     // Only set logfile if there is a name present in settings
     if (settings.contains("LOGFILE_NAME") && m_logfile == NULL)
     {
         m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
     }
+    // Enable logging
+    enableLogging(settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool());
 
     // Only set system id if it was valid
     int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
@@ -116,8 +117,11 @@ MAVLinkProtocol::~MAVLinkProtocol()
     storeSettings();
     if (m_logfile)
     {
-        m_logfile->flush();
-        m_logfile->close();
+        if (m_logfile->isOpen())
+        {
+            m_logfile->flush();
+            m_logfile->close();
+        }
         delete m_logfile;
     }
 }
@@ -137,7 +141,7 @@ QString MAVLinkProtocol::getLogfileName()
     }
     else
     {
-        return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "qgrouncontrol_packetlog.mavlink";
+        return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgrouncontrol_packetlog.mavlink";
     }
 }
 
@@ -161,20 +165,21 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         if (decodeState == 1)
         {
             // Log data
-            if (m_loggingEnabled)
+            if (m_loggingEnabled && m_logfile)
             {
                 const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
                 uint8_t buf[len];
                 quint64 time = QGC::groundTimeUsecs();
                 memcpy(buf, (void*)&time, sizeof(quint64));
-                //                int packetlen =
-//                quint64 checktime = *((quint64*)buf);
-//                qDebug() << "TIME" << time << "CHECKTIME:" << checktime;
+                // Write message to buffer
                 mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
                 QByteArray b((const char*)buf, len);
-                //int packetlen =
-                if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64)) qDebug() << "WRITING TO LOG FAILED!";
-                //qDebug() << "WROTE LOGFILE";
+                if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64))
+                {
+                    emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, disabling logging.").arg(m_logfile->fileName()));
+                    // Stop logging
+                    enableLogging(false);
+                }
             }
 
             // ORDER MATTERS HERE!
@@ -399,8 +404,8 @@ void MAVLinkProtocol::enableLogging(bool enabled)
         {
             if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
             {
-                emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
-                qDebug() << "OPENING LOGFILE FAILED!";
+                emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file. Stopping logging.").arg(m_logfile->fileName()));
+                m_loggingEnabled = false;
             }
         }
     }
@@ -408,8 +413,11 @@ void MAVLinkProtocol::enableLogging(bool enabled)
     {
         if (m_logfile)
         {
-            m_logfile->flush();
-            m_logfile->close();
+            if (m_logfile->isOpen())
+            {
+                m_logfile->flush();
+                m_logfile->close();
+            }
             delete m_logfile;
             m_logfile = NULL;
         }

src/uas/UAS.cc

@@ -16,10 +16,10 @@
 #include <iostream>
 #include <QDebug>
 #include <cmath>
+#include <qmath.h>
 #include "UAS.h"
 #include "LinkInterface.h"
 #include "UASManager.h"
-//#include "MG.h"
 #include "QGC.h"
 #include "GAudioOutput.h"
 #include "MAVLinkProtocol.h"
@@ -27,20 +27,6 @@
 #include "LinkManager.h"
 #include "SerialLink.h"
 
-#ifndef M_PI
-#define M_PI        3.14159265358979323846  /* pi */
-#endif
-
-#ifndef M_PI_2
-#define M_PI_2      1.57079632679489661923  /* pi/2 */
-#endif
-
-#ifndef M_PI_4
-#define M_PI_4      0.78539816339744830962  /* pi/4 */
-#endif
-
-
-
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 uasId(id),
 startTime(MG::TIME::getGroundTimeNow()),
@@ -322,8 +308,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit voltageChanged(message.sysid, state.vbat/1000.0f);
 
                 // LOW BATTERY ALARM
-                float chargeLevel = getChargeLevel();
-                if (chargeLevel <= 20.0f)
+                if (lpVoltage < warnVoltage)
                 {
                     startLowBattAlarm();
                 }
@@ -1426,6 +1411,25 @@ void UAS::setParameter(const int component, const QString& id, const float value
     }
 }
 
+void UAS::setSystemType(int systemType)
+{
+    type = systemType;
+    // If the airframe is still generic, change it to a close default type
+    if (airframe == 0)
+    {
+        switch (systemType)
+        {
+        case MAV_FIXED_WING:
+            airframe = QGC_AIRFRAME_EASYSTAR;
+            break;
+        case MAV_QUADROTOR:
+            airframe = QGC_AIRFRAME_MIKROKOPTER;
+            break;
+        }
+    }
+    emit systemSpecsChanged(uasId);
+}
+
 void UAS::setUASName(const QString& name)
 {
     this->name = name;

src/uas/UAS.h

@@ -122,8 +122,8 @@ protected: //COMMENTS FOR TEST UNIT
     // Battery stats
     float fullVoltage;          ///< Voltage of the fully charged battery (100%)
     float emptyVoltage;         ///< Voltage of the empty battery (0%)
-    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
     float startVoltage;         ///< Voltage at system start
+    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
     double currentVoltage;      ///< Voltage currently measured
     float lpVoltage;            ///< Low-pass filtered voltage
     int timeRemaining;          ///< Remaining time calculated based on previous and current
@@ -181,7 +181,7 @@ public slots:
     /** @brief Set the autopilot type */
     void setAutopilotType(int apType) { autopilot = apType; emit systemSpecsChanged(uasId); }
     /** @brief Set the type of airframe */
-    void setSystemType(int systemType) { type = systemType; emit systemSpecsChanged(uasId); }
+    void setSystemType(int systemType);
     /** @brief Set the specific airframe type */
     void setAirframe(int airframe) { this->airframe = airframe; emit systemSpecsChanged(uasId); }
     /** @brief Set a new name **/

src/uas/UASManager.cc

@@ -64,6 +64,11 @@ UASManager::UASManager() :
 
 UASManager::~UASManager()
 {
+    // Delete all systems
+    foreach (UASInterface* mav, systems)
+    {
+        delete mav;
+    }
 }
 
 

src/ui/MainWindow.cc

@@ -260,7 +260,6 @@ void MainWindow::buildCustomWidget()
 
         for(int i = 0; i < widgets.size(); ++i)
         {
-            qDebug() << "ADDING WIDGET #" << i << widgets.at(i);
             // Check if this widget already has a parent, do not create it in this case
             QDockWidget* dock = dynamic_cast<QDockWidget*>(widgets.at(i)->parentWidget());
             if (!dock)
@@ -771,20 +770,16 @@ void MainWindow::showToolWidget(bool visible)
 
             QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);
 
-            qDebug() << "DATA:" << tool << "FLOATING" << dockWidget->isFloating() << "checked" << action->isChecked() << "visible" << dockWidget->isVisible() << "action vis:" << action->isVisible();
             if (dockWidget && dockWidget->isVisible() != visible)
             {
                 if (visible)
                 {
-                    qDebug() << "DOCK WIDGET ADDED";
                     addDockWidget(dockWidgetLocations[tool], dockWidget);
                     dockWidget->show();
                 }
                 else
                 {
-                    qDebug() << "DOCK WIDGET REMOVED";
                     removeDockWidget(dockWidget);
-                    //dockWidget->hide();
                 }
 
                 QHashIterator<int, QWidget*> i(dockWidgets);
@@ -795,7 +790,7 @@ void MainWindow::showToolWidget(bool visible)
                     {
                         QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                         settings.setValue(chKey,visible);
-                        qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
+                        //qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
                         break;
                     }
                 }
@@ -804,14 +799,14 @@ void MainWindow::showToolWidget(bool visible)
 
         QDockWidget* dockWidget = qobject_cast<QDockWidget*>(QObject::sender());
 
-        qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
+        //qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
 
         if (dockWidget)
         {
             // Get action
             int tool = dockWidgets.key(dockWidget);
 
-            qDebug() << "Updating widget setting" << tool << "to" << visible;
+            //qDebug() << "Updating widget setting" << tool << "to" << visible;
 
             QAction* action = toolsMenuActions[tool];
             action->blockSignals(true);
@@ -826,7 +821,7 @@ void MainWindow::showToolWidget(bool visible)
                 {
                     QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                     settings.setValue(chKey,visible);
-                    qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
+                   // qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
                     break;
                 }
             }
@@ -843,7 +838,7 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
 
     tempVisible =  settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();
 
-     qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
+     //qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
 
     if (tempWidget)
     {
@@ -855,14 +850,6 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
 
     tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt());
 
-    //    if (widget == MainWindow::MENU_UAS_LIST)
-    //    {
-    //        if (!settings.contains(buildMenuKey (SUB_SECTION_LOCATION,widget, view)))
-    //        {
-    //            tempLocation = Qt::RightDockWidgetArea;
-    //        }
-    //    }
-
     if (tempWidget != NULL)
     {
         if (tempVisible)
@@ -897,6 +884,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
     //settings.setValue("windowState", saveState());
     aboutToCloseFlag = true;
     mavlink->storeSettings();
+    joystick->deleteLater();
     // Save the last current view in any case
     settings.setValue("CURRENT_VIEW", currentView);
     // Save the current window state, but only if a system is connected (else no real number of widgets would be present)
@@ -997,7 +985,6 @@ void MainWindow::connectCommonWidgets()
 
 void MainWindow::createCustomWidget()
 {
-    //qDebug() << "ADDING CUSTOM WIDGET";
     QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", this);
 
     if (QGCToolWidget::instances()->size() < 2)
@@ -1425,9 +1412,6 @@ void MainWindow::addLink(LinkInterface *link)
 
     // Error handling
     connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
-
-    //qDebug() << "ADDING LINK:" << link->getName() << "ACTION IS: " << commWidget->getAction();
-
     // Special case for simulationlink
     MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
     if (sim)
@@ -1599,8 +1583,6 @@ void MainWindow::UASCreated(UASInterface* uas)
         // the currently active UAS
         if (UASManager::instance()->getUASList().size() == 1)
         {
-            //qDebug() << "UPDATING THE VIEW SINCE THIS IS THE FIRST CONNECTED SYSTEM";
-
             // Load last view if setting is present
             if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
             {
@@ -1659,12 +1641,12 @@ void MainWindow::clearView()
 
         if (temp)
         {
-            qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
+            //qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
             settings.setValue(chKey,temp->isChecked());
         }
         else
         {
-            qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
+            //qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
             settings.setValue(chKey,false);
         }
     }
@@ -1876,16 +1858,16 @@ void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SE
     QWidget* tempWidget = dockWidgets[centralWidget];
 
     tempVisible =  settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
-    qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
+    //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
     if (toolsMenuActions[centralWidget])
     {
-        qDebug() << "SETTING TO:" << tempVisible;
+        //qDebug() << "SETTING TO:" << tempVisible;
         toolsMenuActions[centralWidget]->setChecked(tempVisible);
     }
 
     if (centerStack && tempWidget && tempVisible)
     {
-        qDebug() << "ACTIVATING MAIN WIDGET";
+        //qDebug() << "ACTIVATING MAIN WIDGET";
         centerStack->setCurrentWidget(tempWidget);
     }
 }

src/ui/designer/QGCToolWidget.cc

@@ -32,7 +32,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
     }
 
     // Try with parent
-    dock = dynamic_cast<QDockWidget*>(this->parentWidget());
+    dock = dynamic_cast<QDockWidget*>(parent);
     if (dock)
     {
         dock->setWindowTitle(title);