GCS/Logging: First pass at a logging plugin. Data format is 32 bit timestamp (in ms from start of logging) then the UAVObject.pack. Still want to add a header to indicate the objects available. Next part will be writing a reader and then making a gadget to control playback (and to indicate recording status).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1478 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/logging/LoggingGadget.pluginspec

@@ -0,0 +1,10 @@
+<plugin name="LoggingGadget" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2010 OpenPilot</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>A plugin that logs all UAVObject updates to a binary file</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+    </dependencyList>
+</plugin>    

ground/src/plugins/logging/logging.pro

@@ -0,0 +1,26 @@
+TEMPLATE = lib
+TARGET = LoggingGadget
+DEFINES += LOGGING_LIBRARY
+QT += svg
+include(../../openpilotgcsplugin.pri)
+include(../../plugins/uavobjects/uavobjects.pri)
+include(logging_dependencies.pri)
+HEADERS += loggingplugin.h
+#    logginggadgetwidget.h \
+#    loggingdialog.h \
+#    logginggadget.h \
+#    logginggadgetfactory.h \
+#    logginggadgetconfiguration.h
+#   logginggadgetoptionspage.h
+
+SOURCES += loggingplugin.cpp
+#    logginggadgetwidget.cpp \
+#    loggingdialog.cpp \
+#    logginggadget.cpp \
+#    logginggadgetfactory.cpp \
+#    logginggadgetconfiguration.cpp \
+#    logginggadgetoptionspage.cpp
+OTHER_FILES += LoggingGadget.pluginspec
+#FORMS += logginggadgetoptionspage.ui \
+#    logginggadgetwidget.ui \
+#    loggingdialog.ui

ground/src/plugins/logging/logging_dependencies.pri

@@ -0,0 +1 @@
+include(../../plugins/coreplugin/coreplugin.pri)

ground/src/plugins/logging/loggingplugin.cpp

@@ -0,0 +1,234 @@
+/**
+ ******************************************************************************
+ *
+ * @file       logging.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @brief      Import/Export Plugin
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup   Logging
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "loggingplugin.h"
+#include <QDebug>
+#include <QtPlugin>
+#include <QThread>
+#include <QStringList>
+#include <QDir>
+#include <QFileDialog>
+#include <QList>
+#include <QErrorMessage>
+#include <QWriteLocker>
+
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/coreconstants.h>
+#include <coreplugin/actionmanager/actionmanager.h>
+#include <coreplugin/icore.h>
+#include <QKeySequence>
+
+/**
+  * Sets the file to use for logging and takes the parent plugin
+  * to connect to stop logging signal
+  * @param[in] file File name to write to
+  * @param[in] parent plugin
+  */
+bool LoggingThread::openFile(QString file, LoggingPlugin * parent)
+{
+    // TODO: Write a header at the beginng describing objects so that in future
+    // they can be read back if ID's change
+    logFile.setFileName(file);
+    if(logFile.open(QIODevice::WriteOnly) == FALSE)
+    {
+        qDebug() << "Unable to open " << file << " for logging";
+        return false;
+    }
+
+    connect(parent,SIGNAL(stopLoggingSignal()),this,SLOT(stopLogging()));
+
+    return true;
+};
+
+/**
+  * Logs an object update to the file.  Data format is the
+  * timestamp as a 32 bit uint counting ms from start of
+  * file writing (flight time will be embedded in stream)
+  * the UAVtalk packed object.
+  */
+void LoggingThread::objectUpdated(UAVObject * obj)
+{
+    quint32 timeStamp = myTime.elapsed();
+    quint32 objSize = obj->getNumBytes();
+    quint8 * buffer = new quint8[objSize+4];
+
+    if(buffer == NULL)
+        return;
+
+    obj->pack(&buffer[4]);
+    memcpy(buffer,&timeStamp,4);
+
+    QWriteLocker locker(&lock);
+    qint64 written = logFile.write((char *) buffer,objSize+4);
+
+    delete(buffer);
+
+    //qDebug() << obj->getName() << " logged at " << timeStamp << " size: " << objSize << " written " << written;
+};
+
+/**
+  * Connect signals from all the objects updates to the write routine then
+  * run event loop
+  */
+void LoggingThread::run()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+    QList< QList<UAVObject*> > list;
+    list = objManager->getObjects();
+    QList< QList<UAVObject*> >::const_iterator i;
+    QList<UAVObject*>::const_iterator j;
+    int objects = 0;
+
+    for (i = list.constBegin(); i != list.constEnd(); ++i)
+    {
+        for (j = (*i).constBegin(); j != (*i).constEnd(); ++j)
+        {
+            connect(*j, SIGNAL(objectUpdated(UAVObject*)), (LoggingThread*) this, SLOT(objectUpdated(UAVObject*)));
+            objects++;
+            //qDebug() << "Detected " << j[0];
+        }
+    }
+
+    myTime.restart();
+    exec();
+}
+
+
+/**
+  * Pass this command to the correct thread then close the file
+  */
+void LoggingThread::stopLogging()
+{
+    QWriteLocker locker(&lock);
+    logFile.close();
+    qDebug() << "File " << logFile.fileName() << " closed";
+    quit();
+}
+
+
+LoggingPlugin::LoggingPlugin() : state(IDLE)
+{
+    // Do nothing
+}
+
+LoggingPlugin::~LoggingPlugin()
+{
+    // Do nothing
+}
+
+bool LoggingPlugin::initialize(const QStringList& args, QString *errMsg)
+{
+    Q_UNUSED(args);
+    Q_UNUSED(errMsg);
+
+    // Add Menu entry
+    Core::ActionManager* am = Core::ICore::instance()->actionManager();
+    Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_FILE);
+
+    Core::Command* cmd = am->registerAction(new QAction(this),
+                                            "LoggingPlugin.Logging",
+                                            QList<int>() <<
+                                            Core::Constants::C_GLOBAL_ID);
+    cmd->setDefaultKeySequence(QKeySequence("Ctrl+L"));
+    cmd->action()->setText("Logging...");
+
+    ac->menu()->addSeparator();
+    ac->appendGroup("Logging");
+    ac->addAction(cmd, "Logging");
+
+    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(toggleLogging()));
+
+    return true;
+}
+
+/**
+  * The action that is triggered by the menu item which opens the
+  * file and begins logging if successful
+  */
+void LoggingPlugin::toggleLogging()
+{
+    if(state == IDLE)
+    {
+        QFileDialog * fd = new QFileDialog();
+        fd->setAcceptMode(QFileDialog::AcceptSave);
+        fd->setNameFilter("OpenPilot Log (*.opl)");
+        connect(fd, SIGNAL(fileSelected(QString)), this, SLOT(startLogging(QString)));
+        fd->exec();
+    }
+    else
+    {
+        stopLogging();
+    }
+}
+
+/**
+  * Starts the logging thread to a certain file
+  */
+void LoggingPlugin::startLogging(QString file)
+{
+    qDebug() << "Logging to " << file;
+    LoggingThread *loggingThread = new LoggingThread();
+    if(loggingThread->openFile(file,this))
+    {
+        connect(loggingThread,SIGNAL(finished()),this,SLOT(loggingStopped()));
+        state = LOGGING;
+        loggingThread->start();
+    } else {
+        QErrorMessage err;
+        err.showMessage("Unable to open file for logging");
+        err.exec();
+    }
+}
+
+void LoggingPlugin::stopLogging()
+{
+    emit stopLoggingSignal();
+}
+
+void LoggingPlugin::loggingStopped()
+{
+    state = IDLE;
+}
+void LoggingPlugin::extensionsInitialized()
+{
+    // Do nothing
+}
+
+void LoggingPlugin::shutdown()
+{
+    // Do nothing
+}
+Q_EXPORT_PLUGIN(LoggingPlugin)
+
+/**
+ * @}
+ * @}
+ */

ground/src/plugins/logging/loggingplugin.h

@@ -0,0 +1,86 @@
+/**
+ ******************************************************************************
+ * @file       loggingplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup loggingplugin
+ * @{
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef LOGGINGPLUGIN_H_
+#define LOGGINGPLUGIN_H_
+
+#include <extensionsystem/iplugin.h>
+#include <uavobjects/uavobjectmanager.h>
+#include <QThread>
+#include <QTime>
+#include <QReadWriteLock>
+
+class LoggingPlugin;
+
+class LoggingThread : public QThread
+{
+Q_OBJECT
+public:
+    bool openFile(QString file, LoggingPlugin * parent);
+
+private slots:
+    void objectUpdated(UAVObject * obj);
+
+public slots:
+    void stopLogging();
+
+protected:
+    void run();
+    QFile logFile;
+    QTime myTime;
+    QReadWriteLock lock;
+};
+
+class LoggingPlugin : public ExtensionSystem::IPlugin
+{
+    Q_OBJECT
+
+public:
+    LoggingPlugin();
+    ~LoggingPlugin();
+
+    void extensionsInitialized();
+    bool initialize(const QStringList & arguments, QString * errorString);
+    void shutdown();
+
+signals:
+    void stopLoggingSignal(void);
+
+protected:
+    enum {IDLE, LOGGING} state;
+    LoggingThread * loggingThread;
+
+private slots:
+    void toggleLogging();
+    void startLogging(QString file);
+    void stopLogging();
+    void loggingStopped();
+};
+#endif /* LoggingPLUGIN_H_ */
+/**
+ * @}
+ * @}
+ */

ground/src/plugins/plugins.pro

@@ -111,12 +111,6 @@ plugin_config.depends = plugin_coreplugin
 plugin_config.depends = plugin_uavobjects
 SUBDIRS += plugin_config
 
-# Export and Import GCS Configuration.
-#plugin_importexport.subdir = importexport
-#plugin_importexport.depends = plugin_coreplugin
-#SUBDIRS += plugin_importexport
-
-
 #GPS Display Gadget
 plugin_gpsdisplay.subdir = gpsdisplay
 plugin_gpsdisplay.depends = plugin_coreplugin
@@ -147,6 +141,11 @@ plugin_importexport.subdir = importexport
 plugin_importexport.depends = plugin_coreplugin
 SUBDIRS += plugin_importexport
 
+# Export and Import GCS Configuration.
+plugin_logging.subdir = logging
+plugin_logging.depends = plugin_coreplugin
+SUBDIRS += plugin_logging
+
 #GCS Control of UAV Gadget
 plugin_gcscontrol.subdir = gcscontrol
 plugin_gcscontrol.depends = plugin_coreplugin