Add fusion trajectory replay view

src/MainWindow.cpp

@@ -14,6 +14,8 @@
 #include <QDir>
 #include <QDoubleSpinBox>
 #include <QFormLayout>
+#include <QFile>
+#include <QFileDialog>
 #include <QGridLayout>
 #include <QGroupBox>
 #include <QHeaderView>
@@ -155,6 +157,17 @@ LocationAnalysis analyzeLocations(const QVector<TelemetryPoint> &points)
     return analysis;
 }
 
+QVector<TelemetryPoint> preferredAnalysisPoints(const QVector<TelemetryPoint> &points)
+{
+    QVector<TelemetryPoint> corrected;
+    for (const TelemetryPoint &point : points) {
+        if (point.source == LocationSource::ImuCorrected) {
+            corrected.push_back(point);
+        }
+    }
+    return corrected.isEmpty() ? points : corrected;
+}
+
 QString metersText(double meters)
 {
     if (!std::isfinite(meters)) {
@@ -255,7 +268,7 @@ public:
 
     int columnCount(const QModelIndex &parent = QModelIndex()) const override
     {
-        return parent.isValid() ? 0 : 6;
+        return parent.isValid() ? 0 : 7;
     }
 
     QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override
@@ -275,14 +288,16 @@ public:
         case 0:
             return point.receivedAt.toLocalTime().toString(QStringLiteral("HH:mm:ss.zzz"));
         case 1:
-            return coordinateText(point.latitude, point.latitudeText);
+            return locationSourceText(point.source);
         case 2:
-            return coordinateText(point.longitude, point.longitudeText);
+            return coordinateText(point.latitude, point.latitudeText);
         case 3:
-            return optionalDoubleText(point.hheight, 2);
+            return coordinateText(point.longitude, point.longitudeText);
         case 4:
-            return optionalIntText(point.satellites);
+            return optionalDoubleText(point.hheight, 2);
         case 5:
+            return optionalIntText(point.satellites);
+        case 6:
             return optionalDopText(point.dop.pdop);
         default:
             return {};
@@ -296,7 +311,7 @@ public:
             return {};
         }
         static const QStringList headers = {
-            QStringLiteral("Saat"), QStringLiteral("Lat"), QStringLiteral("Long"),
+            QStringLiteral("Saat"), QStringLiteral("Kaynak"), QStringLiteral("Lat"), QStringLiteral("Long"),
             QStringLiteral("HHeight"), QStringLiteral("Uydu"), QStringLiteral("PDOP")};
         return section >= 0 && section < headers.size() ? headers[section] : QVariant();
     }
@@ -366,6 +381,50 @@ void MainWindow::clearPoints()
     resetTelemetryState();
 }
 
+bool MainWindow::loadTelemetryLog(const QString &filePath)
+{
+    QFile file(filePath);
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        const QString message = QStringLiteral("Log acilamadi: %1").arg(file.errorString());
+        m_statusLabel->setText(message);
+        statusBar()->showMessage(message, 8000);
+        return false;
+    }
+    const QList<QByteArray> lines = file.readAll().split('\n');
+    resetTelemetryState();
+    const int replayCapacity = static_cast<int>(std::min<qsizetype>(10000, lines.size()));
+    m_maxPointsSpin->setValue(std::max(10, replayCapacity));
+    int parsedLocations = 0;
+    for (const QByteArray &rawLine : lines) {
+        const QString line = QString::fromUtf8(rawLine).trimmed();
+        if (line.isEmpty() || line.startsWith(QLatin1Char('#'))) {
+            continue;
+        }
+        const auto telemetry = LocationParser::parseLine(line);
+        if (telemetry.has_value() && telemetry->hasLocation()) {
+            ++parsedLocations;
+        }
+        handleSerialLine(line);
+    }
+    flushUiUpdates();
+    m_map->fitToPoints();
+    const QString message = QStringLiteral("Replay yuklendi: %1 konum - %2")
+        .arg(parsedLocations).arg(filePath);
+    m_statusLabel->setText(message);
+    statusBar()->showMessage(message, 8000);
+    return parsedLocations > 0;
+}
+
+void MainWindow::openTelemetryLog()
+{
+    const QString filePath = QFileDialog::getOpenFileName(
+        this, QStringLiteral("Sentetik telemetri logunu ac"), QString(),
+        QStringLiteral("Telemetry logs (*.log *.txt);;All files (*)"));
+    if (!filePath.isEmpty()) {
+        loadTelemetryLog(filePath);
+    }
+}
+
 void MainWindow::handleSerialLine(const QString &line)
 {
     static const QRegularExpression solveStartRegex(
@@ -698,6 +757,9 @@ void MainWindow::buildUi()
     m_connectButton->setIcon(style()->standardIcon(QStyle::SP_MediaPlay));
     m_clearButton = new QPushButton(QStringLiteral("Temizle"), this);
     m_clearButton->setIcon(style()->standardIcon(QStyle::SP_TrashIcon));
+    m_openLogButton = new QPushButton(QStringLiteral("Senaryo Logu Ac"), this);
+    m_openLogButton->setObjectName(QStringLiteral("openLogButton"));
+    m_openLogButton->setIcon(style()->standardIcon(QStyle::SP_DialogOpenButton));
 
     m_autoFollowCheck = new QCheckBox(QStringLiteral("Kamerayi takip et"), this);
     m_autoFollowCheck->setChecked(true);
@@ -716,6 +778,7 @@ void MainWindow::buildUi()
     toolbarLayout->addWidget(new QLabel(QStringLiteral("Max"), this));
     toolbarLayout->addWidget(m_maxPointsSpin);
     toolbarLayout->addWidget(m_connectButton);
+    toolbarLayout->addWidget(m_openLogButton);
     toolbarLayout->addWidget(m_clearButton);
     toolbarLayout->addWidget(m_autoFollowCheck);
     toolbarLayout->addWidget(zoomOutButton);
@@ -932,6 +995,7 @@ 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_maxPointsSpin, qOverload<int>(&QSpinBox::valueChanged), this,
             &MainWindow::trimToMaxPoints);
     connect(m_autoFollowCheck, &QCheckBox::toggled, m_map, &MapWidget::setAutoFollow);
@@ -974,6 +1038,7 @@ void MainWindow::updateConnectionControls()
 void MainWindow::addTelemetryPoint(const ParsedTelemetry &telemetry)
 {
     TelemetryPoint point;
+    point.source = telemetry.source;
     point.latitude = *telemetry.latitude;
     point.longitude = *telemetry.longitude;
     point.latitudeText = telemetry.latitudeText;
@@ -1028,7 +1093,8 @@ void MainWindow::updateDopLabels()
 
 void MainWindow::updateAnalysis()
 {
-    const LocationAnalysis analysis = analyzeLocations(m_points);
+    const QVector<TelemetryPoint> analysisPoints = preferredAnalysisPoints(m_points);
+    const LocationAnalysis analysis = analyzeLocations(analysisPoints);
     if (!analysis.valid) {
         m_cepLabel->setText(QStringLiteral("-"));
         m_meanLocationLabel->setText(QStringLiteral("-"));
@@ -1051,11 +1117,11 @@ void MainWindow::updateAnalysis()
     m_map->setAverageMarker(analysis.averageLat, analysis.averageLon,
                             analysis.rmsScatterMeters);
 
-    const double cep50 = calculateCep50(m_points, analysis.averageLat,
+    const double cep50 = calculateCep50(analysisPoints, analysis.averageLat,
                                         analysis.averageLon);
     m_cepLabel->setText(QStringLiteral("%1  (P50, N=%2)")
                             .arg(metersText(cep50))
-                            .arg(m_points.size()));
+                            .arg(analysisPoints.size()));
     m_map->setCepMarker(analysis.averageLat, analysis.averageLon, cep50);
 }
 
@@ -1078,6 +1144,7 @@ void MainWindow::mergePendingTelemetry(const ParsedTelemetry &telemetry)
     }
 
     if (telemetry.latitude.has_value()) {
+        m_pendingTelemetry.source = telemetry.source;
         m_pendingTelemetry.latitude = telemetry.latitude;
         m_pendingTelemetry.latitudeText = telemetry.latitudeText;
     }