Merge pull request mavlink#1736 from DonLakeFlyer/ArmedLog

Prompt for log save only if armed

src/VehicleSetup/SetupViewTest.cc

@@ -110,14 +110,11 @@ void SetupViewTest::_clickThrough_test(void)
         QTest::qWait(1000);
     }
 
-    // On MainWindow close we should get a message box telling the user to disconnect first. Disconnect will then pop
-    // the log file save dialog.
+    // On MainWindow close we should get a message box telling the user to disconnect first.
 
     setExpectedMessageBox(QGCMessageBox::Yes);
-    setExpectedFileDialog(getSaveFileName, QStringList());
 
     _mainWindow->close();
     QTest::qWait(1000); // Need to allow signals to move between threads
     checkExpectedMessageBox();
-    checkExpectedFileDialog();
 }

src/comm/MAVLinkProtocol.cc

@@ -56,6 +56,7 @@ MAVLinkProtocol::MAVLinkProtocol(QObject* parent) :
     systemId(QGC::defaultSystemId),
     _logSuspendError(false),
     _logSuspendReplay(false),
+    _logWasArmed(false),
     _tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension)),
     _linkMgr(LinkManager::instance()),
     _heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
@@ -330,6 +331,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     _stopLogging();
                     _logSuspendError = true;
                 }
+
+                // Check for the vehicle arming going by. This is used to trigger log save.
+                if (!_logWasArmed && message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
+                    mavlink_heartbeat_t state;
+                    mavlink_msg_heartbeat_decode(&message, &state);
+                    if (state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
+                        _logWasArmed = true;
+                    }
+                }
             }
 
             // ORDER MATTERS HERE!
@@ -690,12 +700,13 @@ void MAVLinkProtocol::_stopLogging(void)
 {
     if (_closeLogFile()) {
         // If the signals are not connected it means we are running a unit test. In that case just delete log files
-        if (qgcApp()->promptFlightDataSave()) {
+        if (_logWasArmed && qgcApp()->promptFlightDataSave()) {
             emit saveTempFlightDataLog(_tempLogFile.fileName());
         } else {
             QFile::remove(_tempLogFile.fileName());
         }
     }
+    _logWasArmed = false;
 }
 
 /// @brief Checks the temp directory for log files which may have been left there.

src/comm/MAVLinkProtocol.h

@@ -292,6 +292,7 @@ public slots:
 
     bool _logSuspendError;      ///< true: Logging suspended due to error
     bool _logSuspendReplay;     ///< true: Logging suspended due to replay
+    bool _logWasArmed;          ///< true: vehicle was armed during logging
 
     QGCTemporaryFile    _tempLogFile;            ///< File to log to
     static const char*  _tempLogFileTemplate;    ///< Template for temporary log file

src/comm/MockLink.h

@@ -144,9 +144,9 @@ private slots:
     typedef QMap<uint16_t, mavlink_mission_item_t>   MissionList_t;
     MissionList_t   _missionItems;
 
-    uint8_t _mavBaseMode;
-    uint8_t _mavCustomMode;
-    uint8_t _mavState;
+    uint8_t     _mavBaseMode;
+    uint32_t    _mavCustomMode;
+    uint8_t     _mavState;
 
     MockConfiguration* _config;
     MAV_AUTOPILOT _autopilotType;

src/qgcunittest/MainWindowTest.cc

@@ -100,11 +100,8 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
     QTest::qWait(1000); // Need to allow signals to move between threads    
     checkExpectedMessageBox();
 
-    // We are going to disconnect the link which is going to pop a save file dialog
-    setExpectedFileDialog(getSaveFileName, QStringList());
     linkMgr->disconnectLink(link);
     QTest::qWait(1000); // Need to allow signals to move between threads
-    checkExpectedFileDialog();
 }
 
 void MainWindowTest::_connectWindowClosePX4_test(void) {

src/qgcunittest/MavlinkLogTest.cc

@@ -31,6 +31,7 @@
 #include "MockLink.h"
 #include "QGCTemporaryFile.h"
 #include "QGCApplication.h"
+#include "UAS.h"
 
 UT_REGISTER_TEST(MavlinkLogTest)
 
@@ -133,7 +134,7 @@ void MavlinkLogTest::_bootLogDetectionZeroLength_test(void)
     // Zero length log files should not generate any additional UI pop-ups. It should just be deleted silently.
 }
 
-void MavlinkLogTest::_connectLog_test(void)
+void MavlinkLogTest::_connectLogWorker(bool arm)
 {
     LinkManager* linkMgr = LinkManager::instance();
     Q_CHECK_PTR(linkMgr);
@@ -142,20 +143,48 @@ void MavlinkLogTest::_connectLog_test(void)
     Q_CHECK_PTR(link);
     LinkManager::instance()->_addLink(link);
     linkMgr->connectLink(link);
-    QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
 
-    // On Disconnect: We should get a getSaveFileName dialog.
-    QDir logSaveDir(QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation));
-    QString logSaveFile(logSaveDir.filePath(_saveLogFilename));
-    setExpectedFileDialog(getSaveFileName, QStringList(logSaveFile));
+    // Wait for the uas to work it's way through the various threads
+
+    QSignalSpy spyUas(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)));
+    QCOMPARE(spyUas.wait(5000), true);
+
+    UASInterface* uasInterface = UASManager::instance()->getActiveUAS();
+    QVERIFY(uasInterface);
+    UAS* uas = dynamic_cast<UAS*>(uasInterface);
+    QVERIFY(uas);
+
+    QDir logSaveDir;
+
+    if (arm) {
+        uas->armSystem();
+        QTest::qWait(1500); // Wait long enough for heartbeat to come through
+
+        // On Disconnect: We should get a getSaveFileName dialog.
+        logSaveDir.setPath(QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation));
+        QString logSaveFile(logSaveDir.filePath(_saveLogFilename));
+        setExpectedFileDialog(getSaveFileName, QStringList(logSaveFile));
+    }
 
     linkMgr->disconnectLink(link);
     QTest::qWait(1000); // Need to allow signals to move between threads
 
-    checkExpectedFileDialog();
+    if (arm) {
+        checkExpectedFileDialog();
 
-    // Make sure the file is there and delete it
-    QCOMPARE(logSaveDir.remove(_saveLogFilename), true);
+        // Make sure the file is there and delete it
+        QCOMPARE(logSaveDir.remove(_saveLogFilename), true);
+    }
+}
+
+void MavlinkLogTest::_connectLogNoArm_test(void)
+{
+    _connectLogWorker(false);
+}
+
+void MavlinkLogTest::_connectLogArm_test(void)
+{
+    _connectLogWorker(true);
 }
 
 void MavlinkLogTest::_deleteTempLogFiles_test(void)

src/qgcunittest/MavlinkLogTest.h

@@ -45,14 +45,16 @@ private slots:
     void _bootLogDetectionCancel_test(void);
     void _bootLogDetectionSave_test(void);
     void _bootLogDetectionZeroLength_test(void);
-    void _connectLog_test(void);
+    void _connectLogNoArm_test(void);
+    void _connectLogArm_test(void);
     void _deleteTempLogFiles_test(void);
 
 signals:
     void checkForLostLogFiles(void);
 
 private:
     void _createTempLogFile(bool zeroLength);
+    void _connectLogWorker(bool arm);
 
     static const char* _tempLogFileTemplate;    ///< Template for temporary log file
     static const char* _logFileExtension;       ///< Extension for log files