Setting up Mavlink logging Start/Stop (and receiving the data)

src/Vehicle/Vehicle.cc

@@ -400,6 +400,7 @@ Vehicle::resetCounters()
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
 {
+
     if (message.sysid != _id && message.sysid != 0) {
         return;
     }
@@ -488,6 +489,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
         _handleHilActuatorControls(message);
         break;
+    case MAVLINK_MSG_ID_LOGGING_DATA:
+        _handleMavlinkLoggingData(message);
+        break;
+    case MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
+        _handleMavlinkLoggingDataAcked(message);
+        break;
 
     // Following are ArduPilot dialect messages
 
@@ -1959,6 +1966,62 @@ VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
     _courseOverGroundFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
 }
 
+//-----------------------------------------------------------------------------
+void
+Vehicle::startMavlinkLog()
+{
+    doCommandLong(defaultComponentId(), MAV_CMD_LOGGING_START);
+}
+
+//-----------------------------------------------------------------------------
+void
+Vehicle::stopMavlinkLog()
+{
+    doCommandLong(defaultComponentId(), MAV_CMD_LOGGING_STOP);
+}
+
+//-----------------------------------------------------------------------------
+void
+Vehicle::_ackMavlinkLogData(uint16_t sequence)
+{
+    mavlink_message_t msg;
+    mavlink_logging_ack_t ack;
+    ack.sequence = sequence;
+    ack.target_component = defaultComponentId();
+    ack.target_system = id();
+    mavlink_msg_logging_ack_encode_chan(
+        _mavlink->getSystemId(),
+        _mavlink->getComponentId(),
+        priorityLink()->mavlinkChannel(),
+        &msg,
+        &ack);
+    sendMessageOnLink(priorityLink(), msg);
+}
+
+//-----------------------------------------------------------------------------
+void
+Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
+{
+    qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA";
+    mavlink_logging_data_t log;
+    mavlink_msg_logging_data_decode(&message, &log);
+    emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, false);
+}
+
+//-----------------------------------------------------------------------------
+void
+Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
+{
+    qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA_ACKED";
+    mavlink_logging_data_t log;
+    mavlink_msg_logging_data_decode(&message, &log);
+    _ackMavlinkLogData(log.sequence);
+    emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, true);
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+
 void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
 {
     _vehicle = vehicle;

src/Vehicle/Vehicle.h

@@ -485,6 +485,10 @@ public:
 
     int  flowImageIndex() { return _flowImageIndex; }
 
+    //-- Mavlink Logging
+    void startMavlinkLog();
+    void stopMavlinkLog();
+
     /// Requests the specified data stream from the vehicle
     ///     @param stream Stream which is being requested
     ///     @param rate Rate at which to send stream in Hz
@@ -638,6 +642,9 @@ signals:
     void mavlinkScaledImu2(mavlink_message_t message);
     void mavlinkScaledImu3(mavlink_message_t message);
 
+    // Mavlink Log Download
+    void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool acked);
+
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
     void _linkInactiveOrDeleted(LinkInterface* link);
@@ -695,6 +702,9 @@ private:
     void _connectionActive(void);
     void _say(const QString& text);
     QString _vehicleIdSpeech(void);
+    void _handleMavlinkLoggingData(mavlink_message_t& message);
+    void _handleMavlinkLoggingDataAcked(mavlink_message_t& message);
+    void _ackMavlinkLogData(uint16_t sequence);
 
 private:
     int     _id;                    ///< Mavlink system id

src/uas/MavlinkLogManager.cc

@@ -21,13 +21,13 @@
 
 QGC_LOGGING_CATEGORY(MavlinkLogManagerLog, "MavlinkLogManagerLog")
 
-static const char* kEmailAddressKey = "MavlinkLogEmail";
-static const char* kDescriptionsKey = "MavlinkLogDescription";
-static const char* kDefaultDescr    = "QGroundControl Session";
-static const char* kPx4URLKey       = "MavlinkLogURL";
-static const char* kDefaultPx4URL   = "http://logs.px4.io/upload";
-static const char* kEnableAutologKey= "EnableAutologKey";
-
+static const char* kEmailAddressKey         = "MavlinkLogEmail";
+static const char* kDescriptionsKey         = "MavlinkLogDescription";
+static const char* kDefaultDescr            = "QGroundControl Session";
+static const char* kPx4URLKey               = "MavlinkLogURL";
+static const char* kDefaultPx4URL           = "http://logs.px4.io/upload";
+static const char* kEnableAutoUploadKey     = "EnableAutoUploadKey";
+static const char* kEnableAutoStartKey      = "EnableAutoStartKey";
 
 //-----------------------------------------------------------------------------
 MavlinkLogFiles::MavlinkLogFiles(MavlinkLogManager *manager, const QString& filePath)
@@ -70,16 +70,20 @@ MavlinkLogFiles::setProgress(qreal progress)
 //-----------------------------------------------------------------------------
 MavlinkLogManager::MavlinkLogManager(QGCApplication* app)
     : QGCTool(app)
-    , _enableAutolog(true)
+    , _enableAutoUpload(true)
+    , _enableAutoStart(true)
     , _nam(NULL)
     , _currentLogfile(NULL)
+    , _vehicle(NULL)
+    , _logRunning(false)
 {
     //-- Get saved settings
     QSettings settings;
     setEmailAddress(settings.value(kEmailAddressKey, QString()).toString());
     setDescription(settings.value(kDescriptionsKey, QString(kDefaultDescr)).toString());
     setUploadURL(settings.value(kPx4URLKey, QString(kDefaultPx4URL)).toString());
-    setEnableAutolog(settings.value(kEnableAutologKey, true).toBool());
+    setEnableAutoUpload(settings.value(kEnableAutoUploadKey, true).toBool());
+    setEnableAutoStart(settings.value(kEnableAutoStartKey, true).toBool());
     //-- Logging location
     _logPath = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
     _logPath += "/MavlinkLogs";
@@ -109,6 +113,7 @@ MavlinkLogManager::setToolbox(QGCToolbox *toolbox)
    QGCTool::setToolbox(toolbox);
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
    qmlRegisterUncreatableType<MavlinkLogManager>("QGroundControl.MavlinkLogManager", 1, 0, "MavlinkLogManager", "Reference only");
+   connect(toolbox->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &MavlinkLogManager::_activeVehicleChanged);
 
    //    _uploadURL = "http://192.168.1.21/px4";
    //    _uploadURL = "http://192.168.1.9:8080";
@@ -153,12 +158,22 @@ MavlinkLogManager::setUploadURL(QString url)
 
 //-----------------------------------------------------------------------------
 void
-MavlinkLogManager::setEnableAutolog(bool enable)
+MavlinkLogManager::setEnableAutoUpload(bool enable)
+{
+    _enableAutoUpload = enable;
+    QSettings settings;
+    settings.setValue(kEnableAutoUploadKey, enable);
+    emit enableAutoUploadChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
+MavlinkLogManager::setEnableAutoStart(bool enable)
 {
-    _enableAutolog = enable;
+    _enableAutoStart = enable;
     QSettings settings;
-    settings.setValue(kEnableAutologKey, enable);
-    emit enableAutologChanged();
+    settings.setValue(kEnableAutoStartKey, enable);
+    emit enableAutoStartChanged();
 }
 
 //-----------------------------------------------------------------------------
@@ -219,6 +234,28 @@ MavlinkLogManager::cancelUpload()
 }
 
 //-----------------------------------------------------------------------------
+void
+MavlinkLogManager::startLogging()
+{
+    if(_vehicle) {
+        _vehicle->startMavlinkLog();
+        _logRunning = true;
+        emit logRunningChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+MavlinkLogManager::stopLogging()
+{
+    if(_vehicle) {
+        _vehicle->stopMavlinkLog();
+        _logRunning = false;
+        emit logRunningChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
 QHttpPart
 create_form_part(const QString& name, const QString& value)
 {
@@ -347,3 +384,60 @@ MavlinkLogManager::_uploadProgress(qint64 bytesSent, qint64 bytesTotal)
     }
     qCDebug(MavlinkLogManagerLog) << bytesSent << "of" << bytesTotal;
 }
+
+//-----------------------------------------------------------------------------
+void
+MavlinkLogManager::_activeVehicleChanged(Vehicle* vehicle)
+{
+    //-- TODO: This is not quite right. This is being used to detect when a vehicle
+    //   connects/disconnects. In reality, if QGC is connected to multiple vehicles,
+    //   this is called each time the user switches from one vehicle to another. So
+    //   far, I'm working on the assumption that multiple vehicles is a rare exception.
+
+    // Disconnect the previous one (if any)
+    if (_vehicle) {
+        disconnect(_vehicle, &Vehicle::armedChanged,   this, &MavlinkLogManager::_armedChanged);
+        disconnect(_vehicle, &Vehicle::mavlinkLogData, this, &MavlinkLogManager::_mavlinkLogData);
+        _vehicle = NULL;
+        emit canStartLogChanged();
+    }
+    // Connect new system
+    if (vehicle)
+    {
+        _vehicle = vehicle;
+        connect(_vehicle, &Vehicle::armedChanged,   this, &MavlinkLogManager::_armedChanged);
+        connect(_vehicle, &Vehicle::mavlinkLogData, this, &MavlinkLogManager::_mavlinkLogData);
+        emit canStartLogChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+MavlinkLogManager::_mavlinkLogData(Vehicle * /*vehicle*/, uint8_t /*target_system*/, uint8_t /*target_component*/, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool /*acked*/)
+{
+    Q_UNUSED(data);
+    qDebug() << "Mavlink Log:" << sequence << length << first_message;
+}
+
+//-----------------------------------------------------------------------------
+void
+MavlinkLogManager::_armedChanged(bool armed)
+{
+    if(_vehicle) {
+        if(armed) {
+            if(_enableAutoStart) {
+                _vehicle->startMavlinkLog();
+                _logRunning = true;
+                emit logRunningChanged();
+            }
+        } else {
+            if(_logRunning && _enableAutoStart) {
+                _vehicle->stopMavlinkLog();
+                emit logRunningChanged();
+                if(_enableAutoUpload) {
+                    //-- TODO: Queue log for auto upload
+                }
+            }
+        }
+    }
+}

src/uas/MavlinkLogManager.h

@@ -16,6 +16,7 @@
 #include "QmlObjectListModel.h"
 #include "QGCLoggingCategory.h"
 #include "QGCToolbox.h"
+#include "Vehicle.h"
 
 Q_DECLARE_LOGGING_CATEGORY(MavlinkLogManagerLog)
 
@@ -67,29 +68,38 @@ public:
     MavlinkLogManager    (QGCApplication* app);
     ~MavlinkLogManager   ();
 
-    Q_PROPERTY(QString              emailAddress    READ    emailAddress    WRITE setEmailAddress   NOTIFY emailAddressChanged)
-    Q_PROPERTY(QString              description     READ    description     WRITE setDescription    NOTIFY descriptionChanged)
-    Q_PROPERTY(QString              uploadURL       READ    uploadURL       WRITE setUploadURL      NOTIFY uploadURLChanged)
-    Q_PROPERTY(bool                 enableAutolog   READ    enableAutolog   WRITE setEnableAutolog  NOTIFY enableAutologChanged)
-    Q_PROPERTY(bool                 busy            READ    busy                                    NOTIFY busyChanged)
-    Q_PROPERTY(QmlObjectListModel*  logFiles        READ    logFiles                                NOTIFY logFilesChanged)
+    Q_PROPERTY(QString              emailAddress        READ    emailAddress        WRITE setEmailAddress       NOTIFY emailAddressChanged)
+    Q_PROPERTY(QString              description         READ    description         WRITE setDescription        NOTIFY descriptionChanged)
+    Q_PROPERTY(QString              uploadURL           READ    uploadURL           WRITE setUploadURL          NOTIFY uploadURLChanged)
+    Q_PROPERTY(bool                 enableAutoUpload    READ    enableAutoUpload    WRITE setEnableAutoUpload   NOTIFY enableAutoUploadChanged)
+    Q_PROPERTY(bool                 enableAutoStart     READ    enableAutoStart     WRITE setEnableAutoStart    NOTIFY enableAutoStartChanged)
+    Q_PROPERTY(bool                 busy                READ    busy                                            NOTIFY busyChanged)
+    Q_PROPERTY(bool                 logRunning          READ    logRunning                                      NOTIFY logRunningChanged)
+    Q_PROPERTY(bool                 canStartLog         READ    canStartLog                                     NOTIFY canStartLogChanged)
+    Q_PROPERTY(QmlObjectListModel*  logFiles            READ    logFiles                                        NOTIFY logFilesChanged)
 
     Q_INVOKABLE void uploadLog      ();
     Q_INVOKABLE void deleteLog      ();
     Q_INVOKABLE void cancelUpload   ();
+    Q_INVOKABLE void startLogging   ();
+    Q_INVOKABLE void stopLogging    ();
 
     QString     emailAddress        () { return _emailAddress; }
     QString     description         () { return _description; }
     QString     uploadURL           () { return _uploadURL; }
-    bool        enableAutolog       () { return _enableAutolog; }
+    bool        enableAutoUpload    () { return _enableAutoUpload; }
+    bool        enableAutoStart     () { return _enableAutoStart; }
     bool        busy                ();
+    bool        logRunning          () { return _logRunning; }
+    bool        canStartLog         () { return _vehicle != NULL; }
 
     QmlObjectListModel* logFiles    () { return &_logFiles; }
 
     void        setEmailAddress     (QString email);
     void        setDescription      (QString description);
     void        setUploadURL        (QString url);
-    void        setEnableAutolog    (bool enable);
+    void        setEnableAutoUpload (bool enable);
+    void        setEnableAutoStart  (bool enable);
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
@@ -98,7 +108,8 @@ signals:
     void emailAddressChanged        ();
     void descriptionChanged         ();
     void uploadURLChanged           ();
-    void enableAutologChanged       ();
+    void enableAutoUploadChanged    ();
+    void enableAutoStartChanged     ();
     void logFilesChanged            ();
     void selectedCountChanged       ();
     void busyChanged                ();
@@ -106,11 +117,16 @@ signals:
     void failed                     ();
     void succeed                    ();
     void abortUpload                ();
+    void logRunningChanged          ();
+    void canStartLogChanged         ();
 
 private slots:
     void _uploadFinished            ();
     void _dataAvailable             ();
     void _uploadProgress            (qint64 bytesSent, qint64 bytesTotal);
+    void _activeVehicleChanged      (Vehicle* vehicle);
+    void _mavlinkLogData            (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool acked);
+    void _armedChanged              (bool armed);
 
 private:
     bool _sendLog                   (const QString& logFile);
@@ -121,10 +137,13 @@ private:
     QString                 _emailAddress;
     QString                 _uploadURL;
     QString                 _logPath;
-    bool                    _enableAutolog;
+    bool                    _enableAutoUpload;
+    bool                    _enableAutoStart;
     QNetworkAccessManager*  _nam;
     QmlObjectListModel      _logFiles;
     MavlinkLogFiles*        _currentLogfile;
+    Vehicle*                _vehicle;
+    bool                    _logRunning;
 };
 
 #endif

src/uas/UASInterface.h

@@ -307,6 +307,7 @@ signals:
     // Log Download Signals
     void logEntry   (UASInterface* uas, uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num);
     void logData    (UASInterface* uas, uint32_t ofs, uint16_t id, uint8_t count, const uint8_t* data);
+
 };
 
 Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0")

src/ui/preferences/MavlinkSettings.qml

@@ -132,12 +132,63 @@ Rectangle {
             //-- Mavlink Logging
             Item {
                 width:              __mavlinkRoot.width * 0.8
+                height:             mavlogLabel.height
+                anchors.margins:    ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter: parent.horizontalCenter
+                QGCLabel {
+                    id:             mavlogLabel
+                    text:           qsTr("Vehicle Mavlink Logging")
+                    font.family:    ScreenTools.demiboldFontFamily
+                }
+            }
+            Rectangle {
+                height:         mavlogColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
+                width:          __mavlinkRoot.width * 0.8
+                color:          qgcPal.windowShade
+                anchors.margins: ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter: parent.horizontalCenter
+                Column {
+                    id:         mavlogColumn
+                    width:      gcsColumn.width
+                    spacing:    ScreenTools.defaultFontPixelWidth
+                    anchors.centerIn: parent
+                    //-----------------------------------------------------------------
+                    //-- Enable auto log on arming
+                    QGCCheckBox {
+                        text:       qsTr("Enable automatic logging start when vehicle is armed")
+                        checked:    QGroundControl.mavlinkLogManager.enableAutoStart
+                        onClicked: {
+                            QGroundControl.mavlinkLogManager.enableAutoStart = checked
+                        }
+                    }
+                    //-----------------------------------------------------------------
+                    //-- Manual Start/Stop
+                    Row {
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCButton {
+                            text:       "Start Logging"
+                            enabled:    !QGroundControl.mavlinkLogManager.logRunning && QGroundControl.mavlinkLogManager.canStartLog
+                            onClicked:  QGroundControl.mavlinkLogManager.startLogging()
+                        }
+                        QGCButton {
+                            text:       "Stop Logging"
+                            enabled:    QGroundControl.mavlinkLogManager.logRunning
+                            onClicked:  QGroundControl.mavlinkLogManager.stopLogging()
+                        }
+                    }
+                }
+            }
+            //-----------------------------------------------------------------
+            //-- Mavlink Logging
+            Item {
+                width:              __mavlinkRoot.width * 0.8
                 height:             logLabel.height
                 anchors.margins:    ScreenTools.defaultFontPixelWidth
                 anchors.horizontalCenter: parent.horizontalCenter
                 QGCLabel {
                     id:             logLabel
-                    text:           qsTr("Vehicle Mavlink Logging")
+                    text:           qsTr("Mavlink Log Uploads")
                     font.family:    ScreenTools.demiboldFontFamily
                 }
             }
@@ -214,10 +265,10 @@ Rectangle {
                     //-- Automatic Upload
                     QGCCheckBox {
                         text:       qsTr("Enable automatic log uploads")
-                        checked:    QGroundControl.mavlinkLogManager.enableAutolog
+                        checked:    QGroundControl.mavlinkLogManager.enableAutoUpload
                         enabled:    emailField.text !== "" && urlField !== ""
                         onClicked: {
-                            QGroundControl.mavlinkLogManager.enableAutolog = checked
+                            QGroundControl.mavlinkLogManager.enableAutoUpload = checked
                         }
                     }
                 }