Add source-aware UART log replay

.gitignore

@@ -8,3 +8,4 @@ build-*/
 *.autosave
 *.swp
 *~
+uart_logs/

CMakeLists.txt

@@ -22,6 +22,8 @@ add_executable(location_plotter
     src/MapWidget.h
     src/SerialReader.cpp
     src/SerialReader.h
+    src/UartReplay.cpp
+    src/UartReplay.h
     src/RinexNavigation.cpp
     src/RinexNavigation.h
     src/SatelliteData.h
@@ -30,6 +32,9 @@ add_executable(location_plotter
 )
 
 target_link_libraries(location_plotter PRIVATE Qt6::Core Qt6::Widgets Qt6::Network ZLIB::ZLIB)
+target_compile_definitions(location_plotter PRIVATE
+    LOCATION_PLOTTER_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}"
+)
 
 if(APPLE)
     set_target_properties(location_plotter PROPERTIES
@@ -79,12 +84,17 @@ add_executable(location_main_window_tests
     src/GlobeWidget.h
     src/SerialReader.cpp
     src/SerialReader.h
+    src/UartReplay.cpp
+    src/UartReplay.h
     src/RinexNavigation.cpp
     src/RinexNavigation.h
     src/SatelliteData.h
     src/TelemetryPoint.h
 )
 target_link_libraries(location_main_window_tests PRIVATE Qt6::Core Qt6::Widgets Qt6::Network ZLIB::ZLIB)
+target_compile_definitions(location_main_window_tests PRIVATE
+    LOCATION_PLOTTER_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}"
+)
 target_compile_options(location_main_window_tests PRIVATE
     $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-UNDEBUG>
 )
@@ -99,6 +109,20 @@ add_test(NAME location_main_window_tests COMMAND location_main_window_tests)
 set_tests_properties(location_main_window_tests PROPERTIES
     ENVIRONMENT "QT_QPA_PLATFORM=offscreen;XDG_CACHE_HOME=/tmp/location-plotter-test-cache")
 
+add_executable(location_uart_replay_tests
+    tests/uart_replay_tests.cpp
+    src/UartReplay.cpp
+    src/UartReplay.h
+    src/LocationParser.cpp
+    src/LocationParser.h
+    src/TelemetryPoint.h
+)
+target_link_libraries(location_uart_replay_tests PRIVATE Qt6::Core)
+target_compile_options(location_uart_replay_tests PRIVATE
+    $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-UNDEBUG>
+)
+add_test(NAME location_uart_replay_tests COMMAND location_uart_replay_tests)
+
 install(TARGETS location_plotter
     BUNDLE DESTINATION .
     RUNTIME DESTINATION bin

README.md

@@ -66,6 +66,19 @@ corrected series; legacy input without a source keeps the previous behavior.
 Synthetic `source=trajectory` points form a third independent green ground-truth
 path. The map legend identifies all three series.
 
+## UART log replay
+
+Use the `UART Replay` button (or `Dosya > UART Log Replay...`) to feed a recorded
+UART `.log`/`.txt` file back through the same parser used by the live serial port.
+Choose the raw GPS update interval (default `200 ms`) and sensor/fused update
+interval (default `50 ms`) in the replay dialog. Press `Replay Durdur` to stop.
+
+Recorder timestamps are optional and do not control replay speed. The replayer
+removes a leading timestamp when present, identifies `source=gps` as raw GPS and
+`source=imu_corrected` or `[FUSION]` as fused/sensor output, then synthesizes the
+two update timelines while retaining the original UART line order. Other UART
+diagnostic lines are forwarded with the surrounding location update.
+
 ## Sentetik ESKF senaryolarini açma
 
 GPS deposundan 48 kombinasyonun replay loglarini üretin:
@@ -261,5 +274,8 @@ without logging out.
 - UART log and telemetry views are refreshed in batches so a high-rate serial stream does not
   rebuild the complete interface for every received line. The locations table uses a virtual
   model and remains usable with a high `Max` value.
+- Her basarili UART baglantisi, dosya adinda ve her satirda yerel zaman damgasi bulunan ayri bir
+  log olusturur. Dosyalar kaynak kodun ana klasorundeki `uart_logs` dizinine yazilir;
+  `LOCATION_PLOTTER_UART_LOG_DIR` ile farkli bir klasor secilebilir.
 - If no new plotted location arrives for 10 seconds while listening, current location
   points and analysis values are cleared.

src/LocationParser.cpp

@@ -88,6 +88,9 @@ std::optional<ParsedTelemetry> LocationParser::parseLine(const QString &line)
 
     ParsedTelemetry telemetry;
     telemetry.rawLine = trimmed;
+    if (trimmed.startsWith(QStringLiteral("[FUSION]"), Qt::CaseInsensitive)) {
+        telemetry.source = LocationSource::ImuCorrected;
+    }
     static const QRegularExpression sourceRegex(
         QStringLiteral(R"((?:^|\s)source\s*=\s*(?<source>gps|imu[_-]?corrected|trajectory|ground[_-]?truth)(?=$|\s))"),
         QRegularExpression::CaseInsensitiveOption);

src/MainWindow.cpp

@@ -5,28 +5,35 @@
 #include "MapWidget.h"
 #include "RinexNavigation.h"
 #include "SerialReader.h"
+#include "UartReplay.h"
 
 #include <QAbstractItemView>
 #include <QAbstractTableModel>
 #include <QCheckBox>
+#include <QCloseEvent>
 #include <QComboBox>
 #include <QDateTime>
 #include <QDir>
+#include <QDialog>
+#include <QDialogButtonBox>
 #include <QDoubleSpinBox>
 #include <QFormLayout>
 #include <QFile>
 #include <QFileDialog>
+#include <QFileInfo>
 #include <QGridLayout>
 #include <QGroupBox>
 #include <QHeaderView>
 #include <QLabel>
 #include <QLineEdit>
+#include <QMessageBox>
 #include <QPlainTextEdit>
 #include <QScrollArea>
 #include <QPushButton>
 #include <QRegularExpression>
 #include <QSpinBox>
 #include <QSplitter>
+#include <QSettings>
 #include <QStatusBar>
 #include <QStyle>
 #include <QTabWidget>
@@ -375,6 +382,7 @@ private:
 MainWindow::MainWindow(QWidget *parent)
     : QMainWindow(parent)
     , m_serial(new SerialReader(this))
+    , m_replay(new UartReplay(this))
     , m_rinex(new RinexNavigation(this))
 {
     buildUi();
@@ -390,6 +398,40 @@ MainWindow::MainWindow(QWidget *parent)
     connect(m_serial, &SerialReader::lineReceived, this, &MainWindow::handleSerialLine);
     connect(m_serial, &SerialReader::statusChanged, this, &MainWindow::handleSerialStatus);
     connect(m_serial, &SerialReader::errorOccurred, this, &MainWindow::handleSerialError);
+    connect(m_replay, &UartReplay::lineReady, this, &MainWindow::handleSerialLine);
+    connect(m_replay, &UartReplay::replayStarted, this,
+            [this](int lineCount, int locationCount) {
+        const QString message = QStringLiteral(
+            "UART replay basladi: %1 konum, %2 satir")
+                                    .arg(locationCount).arg(lineCount);
+        m_statusLabel->setText(message);
+        m_log->appendPlainText(QStringLiteral("[STATUS] ") + message);
+        updateConnectionControls();
+    });
+    connect(m_replay, &UartReplay::progressChanged, this,
+            [this](int processed, int total) {
+        if (processed == total || processed % 100 == 0) {
+            m_statusLabel->setText(QStringLiteral("UART replay: %1 / %2 satir")
+                                       .arg(processed).arg(total));
+        }
+    });
+    connect(m_replay, &UartReplay::replayFinished, this, [this] {
+        commitPendingTelemetry();
+        flushUiUpdates();
+        m_map->fitToPoints();
+        const QString message = QStringLiteral("UART replay tamamlandi: %1 konum")
+                                    .arg(m_points.size());
+        m_statusLabel->setText(message);
+        m_log->appendPlainText(QStringLiteral("[STATUS] ") + message);
+        statusBar()->showMessage(message, 8000);
+        updateConnectionControls();
+    });
+    connect(m_replay, &UartReplay::errorOccurred, this, [this](const QString &message) {
+        m_statusLabel->setText(message);
+        m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
+        statusBar()->showMessage(message, 8000);
+        updateConnectionControls();
+    });
     connect(m_locationTimeoutTimer, &QTimer::timeout, this, &MainWindow::handleLocationTimeout);
     connect(m_uiRefreshTimer, &QTimer::timeout, this, &MainWindow::flushUiUpdates);
     connect(m_rinex, &RinexNavigation::satelliteMotionUpdated,
@@ -417,10 +459,21 @@ MainWindow::MainWindow(QWidget *parent)
     setWindowTitle(QStringLiteral("Canli Konum Haritasi"));
 }
 
+void MainWindow::closeEvent(QCloseEvent *event)
+{
+    m_replay->stop();
+    stopUartLogging();
+    QMainWindow::closeEvent(event);
+}
+
 void MainWindow::toggleSerial()
 {
+    if (m_replay->isRunning()) {
+        stopUartReplay();
+    }
     if (m_serial->isOpen()) {
         m_serial->closePort();
+        stopUartLogging();
         if (m_locationTimeoutTimer != nullptr) {
             m_locationTimeoutTimer->stop();
         }
@@ -428,11 +481,130 @@ void MainWindow::toggleSerial()
         return;
     }
 
-    if (m_serial->openPort(m_portCombo->currentText().trimmed(), selectedBaudRate())) {
+    const QString port = m_portCombo->currentText().trimmed();
+    const int baudRate = selectedBaudRate();
+    if (m_serial->openPort(port, baudRate)) {
+        startUartLogging(port, baudRate);
         updateConnectionControls();
     }
 }
 
+bool MainWindow::startUartReplay(const QString &filePath, int gpsIntervalMs,
+                                 int sensorIntervalMs)
+{
+    if (m_serial->isOpen()) {
+        m_serial->closePort();
+        stopUartLogging();
+    }
+    m_replay->stop();
+    resetTelemetryState();
+
+    if (!m_replay->start(filePath, gpsIntervalMs, sensorIntervalMs)) {
+        updateConnectionControls();
+        return false;
+    }
+
+    m_maxPointsSpin->setValue(std::clamp(m_replay->locationCount(), 1, 10000));
+    statusBar()->showMessage(
+        QStringLiteral("UART replay: GPS %1 ms, sensor/fused %2 ms")
+            .arg(gpsIntervalMs).arg(sensorIntervalMs), 8000);
+    updateConnectionControls();
+    return true;
+}
+
+void MainWindow::stopUartReplay()
+{
+    if (!m_replay->isRunning()) {
+        return;
+    }
+    m_replay->stop();
+    commitPendingTelemetry();
+    flushUiUpdates();
+    const QString message = QStringLiteral("UART replay durduruldu: %1 konum")
+                                .arg(m_points.size());
+    m_statusLabel->setText(message);
+    m_log->appendPlainText(QStringLiteral("[STATUS] ") + message);
+    statusBar()->showMessage(message, 5000);
+    updateConnectionControls();
+}
+
+bool MainWindow::startUartLogging(const QString &port, int baudRate)
+{
+    stopUartLogging();
+
+    QString logDirectory = QString::fromLocal8Bit(qgetenv("LOCATION_PLOTTER_UART_LOG_DIR"));
+    if (logDirectory.isEmpty()) {
+        logDirectory = QDir(QStringLiteral(LOCATION_PLOTTER_SOURCE_DIR))
+                           .filePath(QStringLiteral("uart_logs"));
+    } else if (QDir::isRelativePath(logDirectory)) {
+        logDirectory = QDir::current().absoluteFilePath(logDirectory);
+    }
+
+    if (!QDir().mkpath(logDirectory)) {
+        const QString message = QStringLiteral("UART log klasoru olusturulamadi: %1")
+                                    .arg(logDirectory);
+        m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
+        statusBar()->showMessage(message, 8000);
+        return false;
+    }
+
+    const QString fileName = QStringLiteral("uart_%1.log").arg(
+        QDateTime::currentDateTime().toString(QStringLiteral("yyyyMMdd_HHmmss_zzz")));
+    m_uartLogPath = QDir(logDirectory).filePath(fileName);
+    m_uartLogFile = new QFile(m_uartLogPath, this);
+    if (!m_uartLogFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
+        const QString message = QStringLiteral("UART log dosyasi acilamadi: %1")
+                                    .arg(m_uartLogFile->errorString());
+        m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
+        statusBar()->showMessage(message, 8000);
+        delete m_uartLogFile;
+        m_uartLogFile = nullptr;
+        m_uartLogPath.clear();
+        return false;
+    }
+
+    const QString header = QStringLiteral("[%1] [SESSION START] port=%2 baud=%3\n")
+        .arg(QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm:ss.zzz")),
+             port)
+        .arg(baudRate);
+    m_uartLogFile->write(header.toUtf8());
+    m_uartLogFile->flush();
+    statusBar()->showMessage(QStringLiteral("UART log kaydi: %1").arg(m_uartLogPath), 8000);
+    return true;
+}
+
+void MainWindow::stopUartLogging()
+{
+    if (m_uartLogFile == nullptr) {
+        return;
+    }
+    if (m_uartLogFile->isOpen()) {
+        const QString footer = QStringLiteral("[%1] [SESSION END]\n").arg(
+            QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm:ss.zzz")));
+        m_uartLogFile->write(footer.toUtf8());
+        m_uartLogFile->flush();
+        m_uartLogFile->close();
+    }
+    delete m_uartLogFile;
+    m_uartLogFile = nullptr;
+    m_uartLogPath.clear();
+}
+
+void MainWindow::appendUartLogLine(const QString &line)
+{
+    if (m_uartLogFile == nullptr || !m_uartLogFile->isOpen()) {
+        return;
+    }
+    QString cleanLine = line;
+    cleanLine.replace(QLatin1Char('\r'), QStringLiteral("\\r"));
+    cleanLine.replace(QLatin1Char('\n'), QStringLiteral("\\n"));
+    const QString entry = QStringLiteral("[%1] %2\n")
+        .arg(QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm:ss.zzz")),
+             cleanLine);
+    m_uartLogFile->write(entry.toUtf8());
+    m_uartLogFile->flush();
+}
+
 void MainWindow::clearPoints()
 {
     if (m_locationTimeoutTimer != nullptr) {
@@ -443,6 +615,8 @@ void MainWindow::clearPoints()
 
 bool MainWindow::loadTelemetryLog(const QString &filePath)
 {
+    m_replay->stop();
+    updateConnectionControls();
     QFile file(filePath);
     if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
         const QString message = QStringLiteral("Log acilamadi: %1").arg(file.errorString());
@@ -485,6 +659,95 @@ void MainWindow::openTelemetryLog()
     }
 }
 
+void MainWindow::openUartReplay()
+{
+    if (m_replay->isRunning()) {
+        stopUartReplay();
+        return;
+    }
+
+    QSettings settings;
+    QDialog dialog(this);
+    dialog.setWindowTitle(QStringLiteral("UART Log Replay"));
+    dialog.setMinimumWidth(620);
+
+    auto *layout = new QVBoxLayout(&dialog);
+    auto *form = new QFormLayout();
+    auto *fileRow = new QWidget(&dialog);
+    auto *fileLayout = new QHBoxLayout(fileRow);
+    fileLayout->setContentsMargins(0, 0, 0, 0);
+    auto *pathEdit = new QLineEdit(fileRow);
+    pathEdit->setObjectName(QStringLiteral("uartReplayPathInput"));
+    pathEdit->setText(settings.value(QStringLiteral("replay/file")).toString());
+    pathEdit->setPlaceholderText(QStringLiteral("UART .log veya .txt dosyasi"));
+    auto *browseButton = new QPushButton(QStringLiteral("Sec..."), fileRow);
+    fileLayout->addWidget(pathEdit, 1);
+    fileLayout->addWidget(browseButton);
+    form->addRow(QStringLiteral("Kayitli UART verisi"), fileRow);
+
+    auto *gpsInterval = new QSpinBox(&dialog);
+    gpsInterval->setObjectName(QStringLiteral("uartReplayGpsIntervalInput"));
+    gpsInterval->setRange(1, 60000);
+    gpsInterval->setSuffix(QStringLiteral(" ms"));
+    gpsInterval->setValue(settings.value(QStringLiteral("replay/gpsIntervalMs"), 200).toInt());
+    form->addRow(QStringLiteral("Raw GPS guncelleme"), gpsInterval);
+
+    auto *sensorInterval = new QSpinBox(&dialog);
+    sensorInterval->setObjectName(QStringLiteral("uartReplaySensorIntervalInput"));
+    sensorInterval->setRange(1, 60000);
+    sensorInterval->setSuffix(QStringLiteral(" ms"));
+    sensorInterval->setValue(settings.value(
+        QStringLiteral("replay/sensorIntervalMs"), 50).toInt());
+    form->addRow(QStringLiteral("Sensor / fused guncelleme"), sensorInterval);
+    layout->addLayout(form);
+
+    auto *hint = new QLabel(QStringLiteral(
+        "Log zaman damgasi gerektirmez. source=gps kayitlari GPS hizinda; "
+        "source=imu_corrected ve [FUSION] kayitlari sensor hizinda yeniden uretilir."),
+        &dialog);
+    hint->setWordWrap(true);
+    layout->addWidget(hint);
+
+    auto *buttons = new QDialogButtonBox(
+        QDialogButtonBox::Cancel | QDialogButtonBox::Ok, &dialog);
+    buttons->button(QDialogButtonBox::Ok)->setText(QStringLiteral("Replay Baslat"));
+    layout->addWidget(buttons);
+
+    connect(browseButton, &QPushButton::clicked, &dialog, [this, pathEdit] {
+        QString initialPath = pathEdit->text().trimmed();
+        if (initialPath.isEmpty()) {
+            initialPath = QDir(QStringLiteral(LOCATION_PLOTTER_SOURCE_DIR))
+                              .filePath(QStringLiteral("uart_logs"));
+        }
+        const QString filePath = QFileDialog::getOpenFileName(
+            this, QStringLiteral("UART replay logunu sec"), initialPath,
+            QStringLiteral("UART logs (*.log *.txt);;All files (*)"));
+        if (!filePath.isEmpty()) {
+            pathEdit->setText(filePath);
+        }
+    });
+    connect(buttons, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);
+    connect(buttons, &QDialogButtonBox::accepted, &dialog, [&dialog, pathEdit] {
+        const QFileInfo selectedFile(pathEdit->text().trimmed());
+        if (!selectedFile.exists() || !selectedFile.isFile()) {
+            QMessageBox::warning(&dialog, QStringLiteral("UART Replay"),
+                                 QStringLiteral("Gecerli bir UART log dosyasi secin."));
+            return;
+        }
+        dialog.accept();
+    });
+
+    if (dialog.exec() != QDialog::Accepted) {
+        return;
+    }
+
+    const QString filePath = QFileInfo(pathEdit->text().trimmed()).absoluteFilePath();
+    settings.setValue(QStringLiteral("replay/file"), filePath);
+    settings.setValue(QStringLiteral("replay/gpsIntervalMs"), gpsInterval->value());
+    settings.setValue(QStringLiteral("replay/sensorIntervalMs"), sensorInterval->value());
+    startUartReplay(filePath, gpsInterval->value(), sensorInterval->value());
+}
+
 void MainWindow::refreshSerialPorts()
 {
     const QString previousPort = m_portCombo->currentText().trimmed();
@@ -515,6 +778,7 @@ void MainWindow::refreshSerialPorts()
 
 void MainWindow::handleSerialLine(const QString &line)
 {
+    appendUartLogLine(line);
     static const QRegularExpression solveStartRegex(
         QStringLiteral(R"((?:^|\[NAV\]\s*)nav\s+solve\s+(?:start|period)\b)"),
         QRegularExpression::CaseInsensitiveOption);
@@ -591,6 +855,7 @@ void MainWindow::handleSerialStatus(const QString &status)
 
 void MainWindow::handleSerialError(const QString &message)
 {
+    stopUartLogging();
     flushPendingLogLines();
     m_statusLabel->setText(message);
     m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
@@ -854,6 +1119,11 @@ void MainWindow::buildUi()
     m_openLogButton = new QPushButton(QStringLiteral("Senaryo Logu Ac"), this);
     m_openLogButton->setObjectName(QStringLiteral("openLogButton"));
     m_openLogButton->setIcon(style()->standardIcon(QStyle::SP_DialogOpenButton));
+    m_replayButton = new QPushButton(QStringLiteral("UART Replay"), this);
+    m_replayButton->setObjectName(QStringLiteral("uartReplayButton"));
+    m_replayButton->setIcon(style()->standardIcon(QStyle::SP_MediaPlay));
+    m_replayButton->setToolTip(QStringLiteral(
+        "Kayitli UART verisini GPS ve sensor guncelleme hizlariyla yeniden oynat"));
 
     m_autoFollowCheck = new QCheckBox(QStringLiteral("Kamerayi takip et"), this);
     m_autoFollowCheck->setChecked(true);
@@ -874,6 +1144,7 @@ void MainWindow::buildUi()
     toolbarLayout->addWidget(m_maxPointsSpin);
     toolbarLayout->addWidget(m_connectButton);
     toolbarLayout->addWidget(m_openLogButton);
+    toolbarLayout->addWidget(m_replayButton);
     toolbarLayout->addWidget(m_clearButton);
     toolbarLayout->addWidget(m_autoFollowCheck);
     toolbarLayout->addWidget(zoomOutButton);
@@ -1109,6 +1380,7 @@ void MainWindow::buildUi()
     connect(m_connectButton, &QPushButton::clicked, this, &MainWindow::toggleSerial);
     connect(m_clearButton, &QPushButton::clicked, this, &MainWindow::clearPoints);
     connect(m_openLogButton, &QPushButton::clicked, this, &MainWindow::openTelemetryLog);
+    connect(m_replayButton, &QPushButton::clicked, this, &MainWindow::openUartReplay);
     connect(refreshPortsButton, &QToolButton::clicked, this, &MainWindow::refreshSerialPorts);
     connect(m_maxPointsSpin, qOverload<int>(&QSpinBox::valueChanged), this,
             &MainWindow::trimToMaxPoints);
@@ -1143,10 +1415,17 @@ void MainWindow::buildUi()
 void MainWindow::updateConnectionControls()
 {
     const bool open = m_serial->isOpen();
+    const bool replaying = m_replay->isRunning();
     m_connectButton->setText(open ? QStringLiteral("Durdur") : QStringLiteral("Dinle"));
     m_connectButton->setIcon(style()->standardIcon(open ? QStyle::SP_MediaStop : QStyle::SP_MediaPlay));
-    m_portCombo->setEnabled(!open);
-    m_baudCombo->setEnabled(!open);
+    m_connectButton->setEnabled(!replaying);
+    m_portCombo->setEnabled(!open && !replaying);
+    m_baudCombo->setEnabled(!open && !replaying);
+    m_openLogButton->setEnabled(!replaying);
+    m_replayButton->setText(replaying ? QStringLiteral("Replay Durdur")
+                                     : QStringLiteral("UART Replay"));
+    m_replayButton->setIcon(style()->standardIcon(
+        replaying ? QStyle::SP_MediaStop : QStyle::SP_MediaPlay));
 }
 
 void MainWindow::addTelemetryPoint(const ParsedTelemetry &telemetry)

src/MainWindow.h

@@ -18,12 +18,15 @@ class QPushButton;
 class QSpinBox;
 class QTableView;
 class QTimer;
+class QCloseEvent;
+class QFile;
 
 class MapWidget;
 class GlobeWidget;
 class RinexNavigation;
 class SerialReader;
 class TelemetryTableModel;
+class UartReplay;
 
 class MainWindow : public QMainWindow {
     Q_OBJECT
@@ -31,6 +34,11 @@ class MainWindow : public QMainWindow {
 public:
     explicit MainWindow(QWidget *parent = nullptr);
     bool loadTelemetryLog(const QString &filePath);
+    bool startUartReplay(const QString &filePath, int gpsIntervalMs = 200,
+                         int sensorIntervalMs = 50);
+
+protected:
+    void closeEvent(QCloseEvent *event) override;
 
 private slots:
     void toggleSerial();
@@ -43,7 +51,11 @@ private slots:
     void updateReferenceLocation();
     void flushUiUpdates();
     void openTelemetryLog();
+    void openUartReplay();
+    void stopUartReplay();
     void refreshSerialPorts();
+    bool startUartLogging(const QString &port, int baudRate);
+    void stopUartLogging();
 
 private:
     void buildUi();
@@ -60,9 +72,11 @@ private:
     void scheduleTelemetryRefresh();
     void refreshTelemetryViews();
     void flushPendingLogLines();
+    void appendUartLogLine(const QString &line);
     int selectedBaudRate() const;
 
     SerialReader *m_serial = nullptr;
+    UartReplay *m_replay = nullptr;
     MapWidget *m_map = nullptr;
     GlobeWidget *m_globe = nullptr;
     RinexNavigation *m_rinex = nullptr;
@@ -74,6 +88,7 @@ private:
     QPushButton *m_connectButton = nullptr;
     QPushButton *m_clearButton = nullptr;
     QPushButton *m_openLogButton = nullptr;
+    QPushButton *m_replayButton = nullptr;
     QPushButton *m_refreshRinexButton = nullptr;
     QCheckBox *m_autoFollowCheck = nullptr;
     QCheckBox *m_showTelemetryCheck = nullptr;
@@ -98,6 +113,8 @@ private:
     QPlainTextEdit *m_log = nullptr;
     QTimer *m_locationTimeoutTimer = nullptr;
     QTimer *m_uiRefreshTimer = nullptr;
+    QFile *m_uartLogFile = nullptr;
+    QString m_uartLogPath;
 
     QVector<TelemetryPoint> m_points;
     QStringList m_pendingLogLines;

src/UartReplay.cpp

@@ -0,0 +1,207 @@
+#include "UartReplay.h"
+
+#include "LocationParser.h"
+
+#include <QFile>
+#include <QRegularExpression>
+#include <QTimer>
+
+#include <algorithm>
+#include <limits>
+
+UartReplay::UartReplay(QObject *parent)
+    : QObject(parent)
+    , m_timer(new QTimer(this))
+{
+    m_timer->setSingleShot(true);
+    connect(m_timer, &QTimer::timeout, this, &UartReplay::emitNext);
+}
+
+bool UartReplay::isRunning() const
+{
+    return m_running;
+}
+
+int UartReplay::locationCount() const
+{
+    return m_locationCount;
+}
+
+bool UartReplay::start(const QString &filePath, int gpsIntervalMs, int sensorIntervalMs)
+{
+    stop();
+
+    if (gpsIntervalMs < 1 || sensorIntervalMs < 1) {
+        emit errorOccurred(QStringLiteral("Replay araliklari en az 1 ms olmalidir"));
+        return false;
+    }
+
+    QFile file(filePath);
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        emit errorOccurred(QStringLiteral("UART replay logu acilamadi: %1")
+                               .arg(file.errorString()));
+        return false;
+    }
+
+    qint64 nextGpsMs = 0;
+    qint64 nextSensorMs = 0;
+    qint64 lastDueMs = 0;
+    bool pendingLatitude = false;
+    bool pendingLongitude = false;
+    LocationSource pendingSource = LocationSource::Generic;
+    const QList<QByteArray> rawLines = file.readAll().split('\n');
+    m_lines.reserve(rawLines.size());
+
+    for (const QByteArray &rawLine : rawLines) {
+        const QString line = removeRecorderTimestamp(QString::fromUtf8(rawLine));
+        if (line.isEmpty() || line.startsWith(QLatin1Char('#'))
+            || line.startsWith(QStringLiteral("[SESSION START]"))
+            || line.startsWith(QStringLiteral("[SESSION END]"))) {
+            continue;
+        }
+
+        Stream stream = classifyLine(line);
+        const std::optional<ParsedTelemetry> telemetry = LocationParser::parseLine(line);
+        if (telemetry.has_value() && telemetry->hasLocation()) {
+            pendingLatitude = false;
+            pendingLongitude = false;
+            pendingSource = LocationSource::Generic;
+        } else if (telemetry.has_value()) {
+            if (telemetry->latitude.has_value()) {
+                if (pendingLatitude) {
+                    pendingLongitude = false;
+                }
+                pendingLatitude = true;
+                pendingSource = telemetry->source;
+            }
+            if (telemetry->longitude.has_value()) {
+                pendingLongitude = true;
+                if (telemetry->source != LocationSource::Generic) {
+                    pendingSource = telemetry->source;
+                }
+            }
+            if (pendingLatitude && pendingLongitude) {
+                stream = pendingSource == LocationSource::ImuCorrected
+                        || pendingSource == LocationSource::Trajectory
+                    ? Stream::Sensor : Stream::Gps;
+                pendingLatitude = false;
+                pendingLongitude = false;
+                pendingSource = LocationSource::Generic;
+            }
+        }
+        qint64 dueMs = lastDueMs;
+        if (stream == Stream::Gps) {
+            dueMs = std::max(lastDueMs, nextGpsMs);
+            nextGpsMs = dueMs + gpsIntervalMs;
+            ++m_locationCount;
+        } else if (stream == Stream::Sensor) {
+            dueMs = std::max(lastDueMs, nextSensorMs);
+            nextSensorMs = dueMs + sensorIntervalMs;
+            ++m_locationCount;
+        }
+
+        ReplayLine replayLine;
+        replayLine.text = line;
+        replayLine.delayBeforeMs = static_cast<int>(std::min<qint64>(
+            dueMs - lastDueMs, std::numeric_limits<int>::max()));
+        m_lines.push_back(std::move(replayLine));
+        lastDueMs = dueMs;
+    }
+
+    if (m_locationCount == 0) {
+        m_lines.clear();
+        emit errorOccurred(QStringLiteral(
+            "UART replay logunda GPS veya fused konum kaydi bulunamadi"));
+        return false;
+    }
+
+    m_running = true;
+    emit replayStarted(m_lines.size(), m_locationCount);
+    m_timer->start(0);
+    return true;
+}
+
+void UartReplay::stop()
+{
+    if (!m_running && m_lines.isEmpty()) {
+        return;
+    }
+    m_timer->stop();
+    m_running = false;
+    m_lines.clear();
+    m_index = 0;
+    m_locationCount = 0;
+}
+
+void UartReplay::emitNext()
+{
+    if (!m_running) {
+        return;
+    }
+
+    constexpr int MaxImmediateLines = 250;
+    int emitted = 0;
+    while (m_index < m_lines.size() && emitted < MaxImmediateLines) {
+        const ReplayLine &line = m_lines.at(m_index);
+        if (line.delayBeforeMs > 0) {
+            if (emitted > 0) {
+                emit progressChanged(m_index, m_lines.size());
+            }
+            const int delay = line.delayBeforeMs;
+            m_lines[m_index].delayBeforeMs = 0;
+            m_timer->start(delay);
+            return;
+        }
+
+        emit lineReady(line.text);
+        ++m_index;
+        ++emitted;
+    }
+
+    emit progressChanged(m_index, m_lines.size());
+    if (m_index >= m_lines.size()) {
+        finish();
+    } else {
+        m_timer->start(0);
+    }
+}
+
+QString UartReplay::removeRecorderTimestamp(const QString &line)
+{
+    QString result = line.trimmed();
+    static const QRegularExpression timestampPrefix(
+        QStringLiteral(R"(^\[\d{4}-\d{2}-\d{2}[ T]\d{2}:\d{2}:\d{2}(?:[\.,]\d+)?\]\s*)"));
+    result.remove(timestampPrefix);
+    return result.trimmed();
+}
+
+UartReplay::Stream UartReplay::classifyLine(const QString &line)
+{
+    const std::optional<ParsedTelemetry> telemetry = LocationParser::parseLine(line);
+    if (!telemetry.has_value() || !telemetry->hasLocation()) {
+        return Stream::Diagnostic;
+    }
+
+    switch (telemetry->source) {
+    case LocationSource::Gps:
+        return Stream::Gps;
+    case LocationSource::ImuCorrected:
+    case LocationSource::Trajectory:
+        return Stream::Sensor;
+    case LocationSource::Generic:
+    default:
+        // Older firmware used a [FUSION] record without an explicit source.
+        return line.startsWith(QStringLiteral("[FUSION]"), Qt::CaseInsensitive)
+            ? Stream::Sensor : Stream::Gps;
+    }
+}
+
+void UartReplay::finish()
+{
+    m_timer->stop();
+    m_running = false;
+    m_lines.clear();
+    m_index = 0;
+    m_locationCount = 0;
+    emit replayFinished();
+}

src/UartReplay.h

@@ -0,0 +1,54 @@
+#pragma once
+
+#include <QObject>
+#include <QString>
+#include <QVector>
+
+class QTimer;
+
+class UartReplay final : public QObject {
+    Q_OBJECT
+
+public:
+    explicit UartReplay(QObject *parent = nullptr);
+
+    [[nodiscard]] bool isRunning() const;
+    [[nodiscard]] int locationCount() const;
+
+public slots:
+    bool start(const QString &filePath, int gpsIntervalMs = 200,
+               int sensorIntervalMs = 50);
+    void stop();
+
+signals:
+    void lineReady(const QString &line);
+    void replayStarted(int lineCount, int locationCount);
+    void progressChanged(int linesProcessed, int lineCount);
+    void replayFinished();
+    void errorOccurred(const QString &message);
+
+private slots:
+    void emitNext();
+
+private:
+    enum class Stream {
+        Diagnostic,
+        Gps,
+        Sensor
+    };
+
+    struct ReplayLine {
+        QString text;
+        int delayBeforeMs = 0;
+    };
+
+    static QString removeRecorderTimestamp(const QString &line);
+    static Stream classifyLine(const QString &line);
+    void finish();
+
+    QTimer *m_timer = nullptr;
+    QVector<ReplayLine> m_lines;
+    int m_index = 0;
+    int m_locationCount = 0;
+    bool m_running = false;
+};

tests/main_window_tests.cpp

@@ -6,15 +6,19 @@
 #include <QCheckBox>
 #include <QComboBox>
 #include <QDoubleSpinBox>
+#include <QDir>
+#include <QFile>
 #include <QLabel>
 #include <QLineEdit>
 #include <QMetaObject>
 #include <QSpinBox>
 #include <QPushButton>
+#include <QRegularExpression>
 #include <QTableView>
 #include <QTabWidget>
 #include <QSplitter>
 #include <QTemporaryFile>
+#include <QTemporaryDir>
 
 #include <cassert>
 
@@ -43,6 +47,32 @@ int main(int argc, char **argv)
     MainWindow window;
     qunsetenv("LOCATION_PLOTTER_PORT");
 
+    {
+        QTemporaryDir uartLogDirectory;
+        assert(uartLogDirectory.isValid());
+        qputenv("LOCATION_PLOTTER_UART_LOG_DIR", uartLogDirectory.path().toUtf8());
+        bool loggingStarted = false;
+        assert(QMetaObject::invokeMethod(
+            &window, "startUartLogging", Qt::DirectConnection,
+            Q_RETURN_ARG(bool, loggingStarted),
+            Q_ARG(QString, QStringLiteral("/dev/test-uart")), Q_ARG(int, 460800)));
+        assert(loggingStarted);
+        sendLine(window, QStringLiteral("raw uart test line"));
+        assert(QMetaObject::invokeMethod(&window, "stopUartLogging", Qt::DirectConnection));
+        qunsetenv("LOCATION_PLOTTER_UART_LOG_DIR");
+
+        const QStringList logFiles = QDir(uartLogDirectory.path()).entryList(
+            {QStringLiteral("uart_*.log")}, QDir::Files);
+        assert(logFiles.size() == 1);
+        QFile logFile(QDir(uartLogDirectory.path()).filePath(logFiles.constFirst()));
+        assert(logFile.open(QIODevice::ReadOnly | QIODevice::Text));
+        const QString contents = QString::fromUtf8(logFile.readAll());
+        assert(contents.contains(QStringLiteral("[SESSION START] port=/dev/test-uart baud=460800")));
+        assert(contents.contains(QRegularExpression(
+            QStringLiteral(R"(\[\d{4}-\d{2}-\d{2} \d{2}:\d{2}:\d{2}\.\d{3}\] raw uart test line)"))));
+        assert(contents.contains(QStringLiteral("[SESSION END]")));
+    }
+
     auto *table = window.findChild<QTableView *>();
     auto *referenceLatInput = window.findChild<QLineEdit *>(QStringLiteral("referenceLatInput"));
     auto *referenceLonInput = window.findChild<QLineEdit *>(QStringLiteral("referenceLonInput"));

tests/parser_tests.cpp

@@ -250,6 +250,14 @@ int main(int argc, char **argv)
         assert(parsed->satellites == 5);
     }
 
+    {
+        const auto parsed = LocationParser::parseLine(QStringLiteral(
+            "[FUSION] state=moving lat=40.7357 lon=31.5986 height=811"));
+        assert(parsed.has_value());
+        assert(parsed->hasLocation());
+        assert(parsed->source == LocationSource::ImuCorrected);
+    }
+
     {
         const auto parsed = LocationParser::parseLine(QStringLiteral(
             "[LOCATION] source=trajectory lat=40.7358 lon=31.5987 height=810 tracked=4 used=4"));

tests/uart_replay_tests.cpp

@@ -0,0 +1,70 @@
+#include "../src/UartReplay.h"
+
+#include <QCoreApplication>
+#include <QElapsedTimer>
+#include <QEventLoop>
+#include <QTemporaryFile>
+#include <QTimer>
+
+#include <cassert>
+
+int main(int argc, char **argv)
+{
+    QCoreApplication app(argc, argv);
+
+    QTemporaryFile log;
+    assert(log.open());
+    log.write(
+        "[2026-08-12 10:00:00.000] [SESSION START] port=/dev/test baud=460800\n"
+        "[2026-08-12 10:00:00.001] [LOCATION] source=gps lat=40.0 lon=29.0\n"
+        "diagnostic line without timestamp\n"
+        "[LOCATION] source=imu_corrected lat=40.1 lon=29.1\n"
+        "[FUSION] lat=40.2 lon=29.2 height=10\n"
+        "[LOCATION] source=gps lat=40.3 lon=29.3\n"
+        "[2026-08-12 10:00:00.999] [SESSION END]\n");
+    log.flush();
+
+    UartReplay replay;
+    QStringList received;
+    QVector<qint64> receivedAt;
+    QElapsedTimer elapsed;
+    QEventLoop loop;
+    QObject::connect(&replay, &UartReplay::lineReady, &loop, [&](const QString &line) {
+        received.push_back(line);
+        receivedAt.push_back(elapsed.elapsed());
+    });
+    QObject::connect(&replay, &UartReplay::replayFinished, &loop, &QEventLoop::quit);
+    QTimer::singleShot(2000, &loop, &QEventLoop::quit);
+
+    elapsed.start();
+    assert(replay.start(log.fileName(), 20, 10));
+    assert(replay.locationCount() == 4);
+    loop.exec();
+
+    assert(!replay.isRunning());
+    assert(received.size() == 5);
+    assert(received.first().startsWith(QStringLiteral("[LOCATION] source=gps")));
+    assert(received.at(1) == QStringLiteral("diagnostic line without timestamp"));
+    assert(received.at(3).startsWith(QStringLiteral("[FUSION]")));
+    assert(receivedAt.last() >= 15);
+
+    QTemporaryFile splitLog;
+    assert(splitLog.open());
+    splitLog.write("latitude: 40.25\nlongitude: 29.50\n");
+    splitLog.flush();
+    received.clear();
+    receivedAt.clear();
+    elapsed.restart();
+    assert(replay.start(splitLog.fileName(), 1, 1));
+    assert(replay.locationCount() == 1);
+    loop.exec();
+    assert(received.size() == 2);
+
+    QTemporaryFile invalidLog;
+    assert(invalidLog.open());
+    invalidLog.write("only diagnostics\n");
+    invalidLog.flush();
+    assert(!replay.start(invalidLog.fileName(), 200, 50));
+
+    return 0;
+}