OnboardLogController.cc

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#include "OnboardLogController.h"
#include "AppSettings.h"
#include "OnboardLogEntry.h"
#include "MAVLinkLib.h"
#include "MAVLinkProtocol.h"
#include "MultiVehicleManager.h"
#include "ParameterManager.h"
#include "QGC.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
#include "SettingsManager.h"
#include "Vehicle.h"
#include "VehicleLinkManager.h"
 
#include <QtCore/QApplicationStatic>
#include <QtCore/QTimer>
 
QGC_LOGGING_CATEGORY(OnboardLogControllerLog, "AnalyzeView.OnboardLogController")
 
OnboardLogController::OnboardLogController(QObject *parent)
    : QObject(parent)
    , _timer(new QTimer(this))
    , _logEntriesModel(new QmlObjectListModel(this))
{
    qCDebug(OnboardLogControllerLog) << this;
 
    (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &OnboardLogController::_setActiveVehicle);
    (void) connect(_timer, &QTimer::timeout, this, &OnboardLogController::_processDownload);
 
    _timer->setSingleShot(false);
 
    _setActiveVehicle(MultiVehicleManager::instance()->activeVehicle());
}
 
OnboardLogController::~OnboardLogController()
{
    qCDebug(OnboardLogControllerLog) << this;
}
 
void OnboardLogController::download(const QString &path)
{
    const QString dir = path.isEmpty() ? SettingsManager::instance()->appSettings()->logSavePath() : path;
    _downloadToDirectory(dir);
}
 
void OnboardLogController::_downloadToDirectory(const QString &dir)
{
    _receivedAllEntries();
 
    _downloadData.reset();
 
    _downloadPath = dir;
    if (_downloadPath.isEmpty()) {
        return;
    }
 
    if (!_downloadPath.endsWith(QDir::separator())) {
        _downloadPath += QDir::separator();
    }
 
    QGCOnboardLogEntry *const log = _getNextSelected();
    if (log) {
        log->setStatus(tr("Waiting"));
    }
 
    _setDownloading(true);
    _receivedAllData();
}
 
void OnboardLogController::_processDownload()
{
    if (_requestingLogEntries) {
        _findMissingEntries();
    } else if (_downloadingLogs) {
        _findMissingData();
    }
}
 
void OnboardLogController::_findMissingEntries()
{
    const int num_logs = _logEntriesModel->count();
    int start = -1;
    int end = -1;
    for (int i = 0; i < num_logs; i++) {
        const QGCOnboardLogEntry *const entry = _logEntriesModel->value<const QGCOnboardLogEntry*>(i);
        if (!entry) {
            continue;
        }
 
        if (!entry->received()) {
            if (start < 0) {
                start = i;
            } else {
                end = i;
            }
        } else if (start >= 0) {
            break;
        }
    }
 
    if (start < 0) {
        _receivedAllEntries();
        return;
    }
 
    if (_retries++ > 2) {
        for (int i = 0; i < num_logs; i++) {
            QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(i);
            if (entry && !entry->received()) {
                entry->setStatus(tr("Error"));
            }
        }
 
        _receivedAllEntries();
        qCWarning(OnboardLogControllerLog) << "Too many errors retreiving log list. Giving up.";
        return;
    }
 
    if (end < 0) {
        end = start;
    }
 
    start += _apmOffset;
    end += _apmOffset;
 
    _requestLogList(static_cast<uint32_t>(start), static_cast<uint32_t>(end));
}
 
void OnboardLogController::_setActiveVehicle(Vehicle *vehicle)
{
    if (vehicle == _vehicle) {
        return;
    }
 
    if (_vehicle) {
        _logEntriesModel->clearAndDeleteContents();
        (void) disconnect(_vehicle, &Vehicle::logEntry, this, &OnboardLogController::_logEntry);
        (void) disconnect(_vehicle, &Vehicle::logData,  this, &OnboardLogController::_logData);
    }
 
    _vehicle = vehicle;
 
    if (_vehicle) {
        (void) connect(_vehicle, &Vehicle::logEntry, this, &OnboardLogController::_logEntry);
        (void) connect(_vehicle, &Vehicle::logData,  this, &OnboardLogController::_logData);
    }
}
 
void OnboardLogController::_logEntry(uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num)
{
    Q_UNUSED(last_log_num);
 
    if (!_requestingLogEntries) {
        return;
    }
 
    if ((_logEntriesModel->count() == 0) && (num_logs > 0)) {
        if (_vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            // APM ID starts at 1
            _apmOffset = 1;
        }
 
        for (int i = 0; i < num_logs; i++) {
            QGCOnboardLogEntry *const entry = new QGCOnboardLogEntry(i);
            _logEntriesModel->append(entry);
        }
    }
 
    if (num_logs > 0) {
        if ((size > 0) || (_vehicle->firmwareType() != MAV_AUTOPILOT_ARDUPILOTMEGA)) {
            id -= _apmOffset;
            if (id < _logEntriesModel->count()) {
                QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(id);
                entry->setSize(size);
                entry->setTime(QDateTime::fromSecsSinceEpoch(time_utc));
                entry->setReceived(true);
                entry->setStatus(tr("Available"));
            } else {
                qCWarning(OnboardLogControllerLog) << "Received onboard log entry for out-of-bound index:" << id;
            }
        }
    } else {
        _receivedAllEntries();
    }
 
    _retries = 0;
 
    if (_entriesComplete()) {
        _receivedAllEntries();
    } else {
        _timer->start(kTimeOutMs);
    }
}
 
void OnboardLogController::_receivedAllEntries()
{
    _timer->stop();
    _setListing(false);
}
 
bool OnboardLogController::_entriesComplete() const
{
    const int num_logs = _logEntriesModel->count();
    for (int i = 0; i < num_logs; i++) {
        const QGCOnboardLogEntry *const entry = _logEntriesModel->value<const QGCOnboardLogEntry*>(i);
        if (!entry) {
            continue;
        }
 
        if (!entry->received()) {
            return false;
        }
    }
 
    return true;
}
 
void OnboardLogController::_logData(uint32_t ofs, uint16_t id, uint8_t count, const uint8_t *data)
{
    if (!_downloadingLogs || !_downloadData) {
        return;
    }
 
    id -= _apmOffset;
    if (_downloadData->ID != id) {
        qCWarning(OnboardLogControllerLog) << "Received log data for wrong log";
        return;
    }
 
    if ((ofs % MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) != 0) {
        qCWarning(OnboardLogControllerLog) << "Ignored misaligned incoming packet @" << ofs;
        return;
    }
 
    bool result = false;
    if (ofs <= _downloadData->entry->size()) {
        const uint32_t chunk = ofs / OnboardLogDownloadData::kChunkSize;
        // qCDebug(OnboardLogControllerLog) << "Received data - Offset:" << ofs << "Chunk:" << chunk;
        if (chunk != _downloadData->current_chunk) {
            qCWarning(OnboardLogControllerLog) << "Ignored packet for out of order chunk actual:expected" << chunk << _downloadData->current_chunk;
            return;
        }
 
        const uint16_t bin = (ofs - (chunk * OnboardLogDownloadData::kChunkSize)) / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;
        if (bin >= _downloadData->chunk_table.size()) {
            qCWarning(OnboardLogControllerLog) << "Out of range bin received";
        } else {
            _downloadData->chunk_table.setBit(bin);
        }
 
        if (_downloadData->file.pos() != ofs) {
            if (!_downloadData->file.seek(ofs)) {
                qCWarning(OnboardLogControllerLog) << "Error while seeking log file offset";
                return;
            }
        }
 
        if (_downloadData->file.write(reinterpret_cast<const char*>(data), count)) {
            _downloadData->written += count;
            _downloadData->rate_bytes += count;
            _updateDataRate();
 
            result = true;
            _retries = 0;
 
            _timer->start(kTimeOutMs);
            if (_logComplete()) {
                _downloadData->entry->setStatus(tr("Downloaded"));
                _receivedAllData();
            } else if (_chunkComplete()) {
                _downloadData->advanceChunk();
                _requestLogData(_downloadData->ID,
                                _downloadData->current_chunk * OnboardLogDownloadData::kChunkSize,
                                _downloadData->chunk_table.size() * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
            } else if ((bin < (_downloadData->chunk_table.size() - 1)) && _downloadData->chunk_table.at(bin + 1)) {
                // Likely to be grabbing fragments and got to the end of a gap
                _findMissingData();
            }
        } else {
            qCWarning(OnboardLogControllerLog) << "Error while writing log file chunk";
        }
    } else {
        qCWarning(OnboardLogControllerLog) << "Received log offset greater than expected";
    }
 
    if (!result) {
        _downloadData->entry->setStatus(tr("Error"));
    }
}
 
void OnboardLogController::_findMissingData()
{
    if (_logComplete()) {
        _receivedAllData();
        return;
    }
 
    if (_chunkComplete()) {
        _downloadData->advanceChunk();
    }
 
    _retries++;
 
    _updateDataRate();
 
    uint16_t start = 0, end = 0;
    const int size = _downloadData->chunk_table.size();
    for (; start < size; start++) {
        if (!_downloadData->chunk_table.testBit(start)) {
            break;
        }
    }
 
    for (end = start; end < size; end++) {
        if (_downloadData->chunk_table.testBit(end)) {
            break;
        }
    }
 
    const uint32_t pos = (_downloadData->current_chunk * OnboardLogDownloadData::kChunkSize) + (start * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
    const uint32_t len = (end - start) * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;
    _requestLogData(_downloadData->ID, pos, len, _retries);
}
 
void OnboardLogController::_updateDataRate()
{
    constexpr uint kSizeUpdateThreshold = 102400; // 0.1 MB
    const bool timeThresholdMet = _downloadData->elapsed.elapsed() >= kGUIRateMs;
    const bool sizeThresholdMet = (_downloadData->written - _downloadData->last_status_written) >= kSizeUpdateThreshold;
 
    if (!timeThresholdMet && !sizeThresholdMet) {
        return;
    }
 
    QString status;
    if (timeThresholdMet) {
        // Update both rate and size
        const qreal rate = _downloadData->rate_bytes / (_downloadData->elapsed.elapsed() / 1000.0);
        _downloadData->rate_avg = (_downloadData->rate_avg * 0.95) + (rate * 0.05);
        _downloadData->rate_bytes = 0;
 
        status = QStringLiteral("%1 (%2/s)").arg(QGC::bigSizeToString(_downloadData->written),
                                                   QGC::bigSizeToString(_downloadData->rate_avg));
        _downloadData->elapsed.start();
    } else {
        // Update size only, keep previous rate
        status = QStringLiteral("%1 (%2/s)").arg(QGC::bigSizeToString(_downloadData->written),
                                                   QGC::bigSizeToString(_downloadData->rate_avg));
    }
 
    _downloadData->entry->setStatus(status);
    _downloadData->last_status_written = _downloadData->written;
}
 
bool OnboardLogController::_chunkComplete() const
{
    return _downloadData->chunkEquals(true);
}
 
bool OnboardLogController::_logComplete() const
{
    return (_chunkComplete() && ((_downloadData->current_chunk + 1) == _downloadData->numChunks()));
}
 
void OnboardLogController::_receivedAllData()
{
    _timer->stop();
    if (_prepareLogDownload()) {
        _requestLogData(_downloadData->ID, 0, _downloadData->chunk_table.size() * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
        _timer->start(kTimeOutMs);
    } else {
        _resetSelection();
        _setDownloading(false);
    }
}
 
bool OnboardLogController::_prepareLogDownload()
{
    _downloadData.reset();
 
    QGCOnboardLogEntry *const entry = _getNextSelected();
    if (!entry) {
        return false;
    }
 
    entry->setSelected(false);
    emit selectionChanged();
 
    const QString ftime = (entry->time().date().year() >= 2010) ? entry->time().toString(QStringLiteral("yyyy-M-d-hh-mm-ss")) : QStringLiteral("UnknownDate");
 
    _downloadData = std::make_unique<OnboardLogDownloadData>(entry);
    _downloadData->filename = QStringLiteral("log_") + QString::number(entry->id()) + "_" + ftime;
 
    if (_vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
        const QString loggerParam = QStringLiteral("SYS_LOGGER");
        ParameterManager *const parameterManager = _vehicle->parameterManager();
        if (parameterManager->parameterExists(ParameterManager::defaultComponentId, loggerParam) && parameterManager->getParameter(ParameterManager::defaultComponentId, loggerParam)->rawValue().toInt() == 0) {
            _downloadData->filename += ".px4log";
        } else {
            _downloadData->filename += ".ulg";
        }
    } else {
        _downloadData->filename += ".bin";
    }
 
    _downloadData->file.setFileName(_downloadPath + _downloadData->filename);
 
    if (_downloadData->file.exists()) {
        uint32_t numDups = 0;
        const QStringList filename_spl = _downloadData->filename.split('.');
        do {
            numDups += 1;
            const QString filename = filename_spl[0] + '_' + QString::number(numDups) + '.' + filename_spl[1];
            _downloadData->file.setFileName(_downloadPath + filename);
        } while ( _downloadData->file.exists());
    }
 
    bool result = false;
    if (!_downloadData->file.open(QIODevice::WriteOnly)) {
        qCWarning(OnboardLogControllerLog) << "Failed to create log file:" <<  _downloadData->filename;
    } else if (!_downloadData->file.resize(entry->size())) {
        qCWarning(OnboardLogControllerLog) << "Failed to allocate space for log file:" <<  _downloadData->filename;
    } else {
        _downloadData->current_chunk = 0;
        _downloadData->chunk_table = QBitArray(_downloadData->chunkBins(), false);
        _downloadData->elapsed.start();
        result = true;
    }
 
    if (!result) {
        if (_downloadData->file.exists()) {
            (void) _downloadData->file.remove();
        }
 
        _downloadData->entry->setStatus(QStringLiteral("Error"));
        _downloadData.reset();
    }
 
    return result;
}
 
void OnboardLogController::refresh()
{
    _logEntriesModel->clearAndDeleteContents();
    _requestLogList(0, 0xffff);
}
 
QGCOnboardLogEntry *OnboardLogController::_getNextSelected() const
{
    const int numLogs = _logEntriesModel->count();
    for (int i = 0; i < numLogs; i++) {
        QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(i);
        if (!entry) {
            continue;
        }
 
        if (entry->selected()) {
           return entry;
        }
    }
 
    return nullptr;
}
 
void OnboardLogController::cancel()
{
    _requestLogEnd();
    _receivedAllEntries();
 
    if (_downloadData) {
        _downloadData->entry->setStatus(QStringLiteral("Canceled"));
        if (_downloadData->file.exists()) {
            (void) _downloadData->file.remove();
        }
 
        _downloadData.reset();
    }
 
    _resetSelection(true);
    _setDownloading(false);
}
 
void OnboardLogController::_resetSelection(bool canceled)
{
    const int num_logs = _logEntriesModel->count();
    for (int i = 0; i < num_logs; i++) {
        QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(i);
        if (!entry) {
            continue;
        }
 
        if (entry->selected()) {
            if (canceled) {
                entry->setStatus(tr("Canceled"));
            }
            entry->setSelected(false);
        }
    }
 
    emit selectionChanged();
}
 
void OnboardLogController::eraseAll()
{
    if (!_vehicle) {
        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
        return;
    }
 
    SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
        return;
    }
 
    mavlink_message_t msg{};
    (void) mavlink_msg_log_erase_pack_chan(
        MAVLinkProtocol::instance()->getSystemId(),
        MAVLinkProtocol::getComponentId(),
        sharedLink->mavlinkChannel(),
        &msg,
        _vehicle->id(),
        _vehicle->defaultComponentId()
    );
 
    if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
        qCWarning(OnboardLogControllerLog) << "Failed to send";
        return;
    }
 
    refresh();
}
 
void OnboardLogController::_requestLogList(uint32_t start, uint32_t end)
{
    if (!_vehicle) {
        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
        return;
    }
 
    SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
        return;
    }
 
    mavlink_message_t msg{};
    (void) mavlink_msg_log_request_list_pack_chan(
        MAVLinkProtocol::instance()->getSystemId(),
        MAVLinkProtocol::getComponentId(),
        sharedLink->mavlinkChannel(),
        &msg,
        _vehicle->id(),
        _vehicle->defaultComponentId(),
        start,
        end
    );
 
    if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
        qCWarning(OnboardLogControllerLog) << "Failed to send";
        return;
    }
 
    qCDebug(OnboardLogControllerLog) << "Request onboard log entry list (" << start << "through" << end << ")";
    _setListing(true);
    _timer->start(kRequestLogListTimeoutMs);
}
 
void OnboardLogController::_requestLogData(uint16_t id, uint32_t offset, uint32_t count, int retryCount)
{
    if (!_vehicle) {
        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
        return;
    }
 
    SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
        return;
    }
 
    id += _apmOffset;
    qCDebug(OnboardLogControllerLog) << "Request log data (id:" << id << "offset:" << offset << "size:" << count << "retryCount" << retryCount << ")";
 
    mavlink_message_t msg{};
    (void) mavlink_msg_log_request_data_pack_chan(
        MAVLinkProtocol::instance()->getSystemId(),
        MAVLinkProtocol::getComponentId(),
        sharedLink->mavlinkChannel(),
        &msg,
        _vehicle->id(),
        _vehicle->defaultComponentId(),
        id,
        offset,
        count
    );
 
    if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
        qCWarning(OnboardLogControllerLog) << "Failed to send";
    }
}
 
void OnboardLogController::_requestLogEnd()
{
    if (!_vehicle) {
        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
        return;
    }
 
    SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
        return;
    }
 
    mavlink_message_t msg{};
    (void) mavlink_msg_log_request_end_pack_chan(
        MAVLinkProtocol::instance()->getSystemId(),
        MAVLinkProtocol::getComponentId(),
        sharedLink->mavlinkChannel(),
        &msg,
        _vehicle->id(),
        _vehicle->defaultComponentId()
    );
 
    if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
        qCWarning(OnboardLogControllerLog) << "Failed to send";
    }
}
 
void OnboardLogController::_setDownloading(bool active)
{
    if (_downloadingLogs != active) {
        _downloadingLogs = active;
        _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(!active);
        emit downloadingLogsChanged();
    }
}
 
void OnboardLogController::_setListing(bool active)
{
    if (_requestingLogEntries != active) {
        _requestingLogEntries = active;
        _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(!active);
        emit requestingListChanged();
    }
}
 
void OnboardLogController::setCompressLogs(bool compress)
{
    if (_compressLogs != compress) {
        _compressLogs = compress;
        emit compressLogsChanged();
    }
}
 
bool OnboardLogController::compressLogFile(const QString &logPath)
{
    Q_UNUSED(logPath)
    qCWarning(OnboardLogControllerLog) << "Log compression not yet implemented (decompression-only API)";
    return false;
}
 
void OnboardLogController::cancelCompression()
{
    // Not implemented - compression API is decompression-only
}
 
void OnboardLogController::_handleCompressionProgress(qreal progress)
{
    Q_UNUSED(progress)
    // Not implemented - compression API is decompression-only
}
 
void OnboardLogController::_handleCompressionFinished(bool success)
{
    Q_UNUSED(success)
    // Not implemented - compression API is decompression-only
}