Logging plugin will refresh all the settings if telemetry is already connected, so that the log file always contains all the setting objects, which is vital for post-flight analysis.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2184 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/logging/loggingplugin.cpp

@@ -44,6 +44,7 @@
 #include <coreplugin/actionmanager/actionmanager.h>
 #include <coreplugin/icore.h>
 #include <QKeySequence>
+#include "uavobjects/uavobjectmanager.h"
 #include <uavobjects/uavobjectmanager.h>
 
 /**
@@ -104,6 +105,17 @@ void LoggingThread::run()
         }
     }
 
+    GCSTelemetryStats* gcsStatsObj = GCSTelemetryStats::GetInstance(objManager);
+    GCSTelemetryStats::DataFields gcsStats = gcsStatsObj->getData();
+    if ( gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED )
+    {
+        qDebug() << "Logging: connected already, ask for all settings";
+        retrieveSettings();
+    } else {
+        qDebug() << "Logging: not connected, do no ask for settings";
+    }
+
+
     exec();
 }
 
@@ -119,6 +131,84 @@ void LoggingThread::stopLogging()
     quit();
 }
 
+/**
+ * Initialize queue with settings objects to be retrieved.
+ */
+void LoggingThread::retrieveSettings()
+{
+    // Clear object queue
+    queue.clear();
+    // Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
+    // Get UAVObjectManager instance
+    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
+    QList< QList<UAVDataObject*> > objs = objMngr->getDataObjects();
+    for (int n = 0; n < objs.length(); ++n)
+    {
+        UAVDataObject* obj = objs[n][0];
+        if ( obj->isSettings() )
+                {
+                    queue.enqueue(obj);
+                }
+        }
+    // Start retrieving
+    qDebug() << tr("Logging: retrieve settings objects from the autopilot (%1 objects)")
+                  .arg( queue.length());
+    retrieveNextObject();
+}
+
+
+/**
+ * Retrieve the next object in the queue
+ */
+void LoggingThread::retrieveNextObject()
+{
+    // If queue is empty return
+    if ( queue.isEmpty() )
+    {
+        qDebug() << "Logging: Object retrieval completed";
+        return;
+    }
+    // Get next object from the queue
+    UAVObject* obj = queue.dequeue();
+    // Connect to object
+    connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
+    // Request update
+    obj->requestUpdate();
+}
+
+/**
+ * Called by the retrieved object when a transaction is completed.
+ */
+void LoggingThread::transactionCompleted(UAVObject* obj, bool success)
+{
+    Q_UNUSED(success);
+    // Disconnect from sending object
+    obj->disconnect(this);
+    // Process next object if telemetry is still available
+    // Get stats objects
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    GCSTelemetryStats* gcsStatsObj = GCSTelemetryStats::GetInstance(objManager);
+    GCSTelemetryStats::DataFields gcsStats = gcsStatsObj->getData();
+    if ( gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED )
+    {
+        retrieveNextObject();
+    }
+    else
+    {
+        qDebug() << "Logging: Object retrieval has been cancelled";
+        queue.clear();
+    }
+}
+
+
+
+/****************************************************************
+    Logging plugin
+ ********************************/
+
+
 LoggingPlugin::LoggingPlugin() : state(IDLE)
 {
     // Do nothing
@@ -306,6 +396,9 @@ void LoggingPlugin::replayStopped()
 }
 
 
+
+
+
 void LoggingPlugin::extensionsInitialized()
 {
     // Do nothing

ground/src/plugins/logging/loggingplugin.h

@@ -29,10 +29,12 @@
 
 #include <extensionsystem/iplugin.h>
 #include <uavobjects/uavobjectmanager.h>
+#include "uavobjects/gcstelemetrystats.h"
 #include <uavtalk/uavtalk.h>
 #include <logfile.h>
 
 #include <QThread>
+#include <QQueue>
 #include <QReadWriteLock>
 
 class LoggingPlugin;
@@ -46,6 +48,7 @@ public:
 
 private slots:
     void objectUpdated(UAVObject * obj);
+    void transactionCompleted(UAVObject* obj, bool success);
 
 public slots:
     void stopLogging();
@@ -55,6 +58,13 @@ protected:
     QReadWriteLock lock;
     LogFile logFile;
     UAVTalk * uavTalk;
+
+private:
+    QQueue<UAVDataObject*> queue;
+
+    void retrieveSettings();
+    void retrieveNextObject();
+
 };
 
 class LoggingPlugin : public ExtensionSystem::IPlugin
@@ -96,6 +106,7 @@ private slots:
 
 private:
     LoggingGadgetFactory *mf;
+
 };
 #endif /* LoggingPLUGIN_H_ */
 /**