Add source-aware UART log replay

Fix incomplete map tile updates
Normalize zero-based firmware satellite indices
2026-08-12 13:54:06 +03:00 · 2026-08-10 00:51:00 +03:00 · 2026-07-24 12:06:12 +03:00 · 2026-07-24 11:58:18 +03:00 · 2026-07-24 11:51:12 +03:00
15 changed files with 1014 additions and 33 deletions
@@ -8,3 +8,4 @@ build-*/
 *.autosave
 *.swp
 *~
+uart_logs/
@@ -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
@@ -67,6 +72,20 @@ target_compile_options(location_parser_tests PRIVATE
 )
 add_test(NAME location_parser_tests COMMAND location_parser_tests)

+add_executable(location_map_widget_tests
+    tests/map_widget_tests.cpp
+    src/MapWidget.cpp
+    src/MapWidget.h
+    src/TelemetryPoint.h
+)
+target_link_libraries(location_map_widget_tests PRIVATE Qt6::Core Qt6::Widgets Qt6::Network)
+target_compile_options(location_map_widget_tests PRIVATE
+    $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-UNDEBUG>
+)
+add_test(NAME location_map_widget_tests COMMAND location_map_widget_tests)
+set_tests_properties(location_map_widget_tests PROPERTIES
+    ENVIRONMENT "QT_QPA_PLATFORM=offscreen;XDG_CACHE_HOME=/tmp/location-plotter-map-test-cache")
+
 add_executable(location_main_window_tests
    tests/main_window_tests.cpp
    src/LocationParser.cpp
@@ -79,12 +98,17 @@ 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 +123,20 @@ 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
@@ -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:
@@ -225,9 +238,10 @@ without logging out.
  previous two UTC days if today's stream file is unavailable. Current and next-minute satellite
  positions are propagated from the cached ephemeris, then smoothly interpolated at 10 FPS.
 - The 3D Earth tab includes a `RINEX Guncelle` button for an immediate manual refresh. Its status
-  line shows the UTC time of the last successful download or cache load.
- Complete UART channel snapshots such as `tracked satellites=5 prns=[...]` replace the previous
-  connected-PRN set, so satellites that were lost no longer remain green.
+  line shows the system-local time of the last successful download or cache load.
+- Complete UART channel snapshots such as `tracked satellites=5 prn_indices=[...]` replace the
+  previous connected-PRN set, so satellites that were lost no longer remain green. Firmware
+  channel indices are zero-based and are normalized for display (`0` is GPS PRN `G01`).
 - RINEX text is parsed once per download and retained as compact ephemeris records. The static
  globe is cached between camera changes, reducing CPU and allocation load during orbit animation.
 - The globe uses an embedded Natural Earth coastline mask with terrain-like land colouring,
@@ -262,5 +276,8 @@ 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.
@@ -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);
@@ -234,10 +237,11 @@ QSet<QString> LocationParser::parseGpsPrns(const QString &line)
    QSet<QString> result;
    const auto addPrn = [&result](QString value, bool zeroBased = false) {
        value = value.trimmed().toUpper();
-        if (value.startsWith(QLatin1Char('G'))) value.remove(0, 1);
+        const bool explicitGpsPrn = value.startsWith(QLatin1Char('G'));
+        if (explicitGpsPrn) value.remove(0, 1);
        bool ok = false;
        int number = value.toInt(&ok);
-        if (ok && zeroBased) ++number;
+        if (ok && zeroBased && !explicitGpsPrn) ++number;
        if (ok && number >= 1 && number <= 63) {
            result.insert(QStringLiteral("G%1").arg(number, 2, 10, QLatin1Char('0')));
        }
@@ -249,18 +253,31 @@ QSet<QString> LocationParser::parseGpsPrns(const QString &line)
    auto gpsMatches = gpsToken.globalMatch(line);
    while (gpsMatches.hasNext()) addPrn(gpsMatches.next().captured(QStringLiteral("prn")));

-    static const QRegularExpression labeledList(
-        QStringLiteral(R"((?<label>\bPRNS?\b|\bSVS?\b|\bSVNS?\b|\bSVIDS?\b)\s*(?:=|:|->)?\s*[\[(]?\s*(?<list>(?:G?\d{1,2})(?:\s*[,;/| ]\s*G?\d{1,2})*)\s*[\])]?)"),
+    // Current firmware versions called their zero-based hardware channel values
+    // "prns" in complete tracking snapshots. Keep accepting those messages while
+    // newer firmware uses the unambiguous "prn_indices" label.
+    static const QRegularExpression legacyTrackingIndices(
+        QStringLiteral(R"(\btracked\s+satellites\s*=\s*\d+\s+prns?\s*=)"),
        QRegularExpression::CaseInsensitiveOption);
-    static const QRegularExpression number(QStringLiteral(R"(G?(\d{1,2}))"),
+    const bool legacyZeroBasedPrns = legacyTrackingIndices.match(line).hasMatch();
+
+    static const QRegularExpression labeledList(
+        QStringLiteral(R"((?<label>\bPRN[_ -]?INDICES\b|\bPRNS?\b|\bSVS?\b|\bSVNS?\b|\bSVIDS?\b)\s*(?:=|:|->)?\s*[\[(]?\s*(?<list>(?:G?\d{1,2})(?:\s*[,;/| ]\s*G?\d{1,2})*)\s*[\])]?)"),
+        QRegularExpression::CaseInsensitiveOption);
+    static const QRegularExpression number(QStringLiteral(R"(G?\d{1,2})"),
                                            QRegularExpression::CaseInsensitiveOption);
    auto listMatches = labeledList.globalMatch(line);
    while (listMatches.hasNext()) {
        const QRegularExpressionMatch listMatch = listMatches.next();
-        const bool zeroBased = listMatch.captured(QStringLiteral("label")).startsWith(
-            QStringLiteral("SVN"), Qt::CaseInsensitive);
+        QString label = listMatch.captured(QStringLiteral("label")).toUpper();
+        label.remove(QLatin1Char('_'));
+        label.remove(QLatin1Char('-'));
+        label.remove(QLatin1Char(' '));
+        const bool zeroBased = label.startsWith(QStringLiteral("SVN"))
+            || label == QStringLiteral("PRNINDICES")
+            || (legacyZeroBasedPrns && label.startsWith(QStringLiteral("PRN")));
        auto values = number.globalMatch(listMatch.captured(QStringLiteral("list")));
-        while (values.hasNext()) addPrn(values.next().captured(1), zeroBased);
+        while (values.hasNext()) addPrn(values.next().captured(0), zeroBased);
    }
    return result;
 }
@@ -5,6 +5,7 @@
 #include "MapWidget.h"
 #include "RinexNavigation.h"
 #include "SerialReader.h"
+#include "UartReplay.h"

 #include <QAbstractItemView>
 #include <QAbstractTableModel>
@@ -13,10 +14,13 @@
 #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>
@@ -380,6 +384,7 @@ private:
 MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , m_serial(new SerialReader(this))
+    , m_replay(new UartReplay(this))
    , m_rinex(new RinexNavigation(this))
 {
    buildUi();
@@ -399,6 +404,40 @@ 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_portRefreshTimer, &QTimer::timeout, this, [this] {
@@ -439,14 +478,20 @@ MainWindow::MainWindow(QWidget *parent)

 void MainWindow::closeEvent(QCloseEvent *event)
 {
+    m_replay->stop();
+    stopUartLogging();
    saveSettings();
    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();
        }
@@ -454,11 +499,130 @@ 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) {
@@ -469,6 +633,8 @@ 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());
@@ -510,6 +676,95 @@ 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();
@@ -557,6 +812,10 @@ void MainWindow::buildMenus()
    openAction->setObjectName(QStringLiteral("openLogAction"));
    openAction->setShortcut(QKeySequence::Open);
    connect(openAction, &QAction::triggered, this, &MainWindow::openTelemetryLog);
+    QAction *replayAction = fileMenu->addAction(QStringLiteral("UART Log Replay..."));
+    replayAction->setObjectName(QStringLiteral("uartReplayAction"));
+    replayAction->setShortcut(QKeySequence(QStringLiteral("Ctrl+Shift+O")));
+    connect(replayAction, &QAction::triggered, this, &MainWindow::openUartReplay);
    fileMenu->addSeparator();
    QAction *quitAction = fileMenu->addAction(QStringLiteral("Cikis"));
    quitAction->setShortcut(QKeySequence::Quit);
@@ -648,12 +907,13 @@ void MainWindow::saveSettings() const

 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);
    static const QRegularExpression trackingSnapshotRegex(
        QStringLiteral(
-            R"(\btracked\s+satellites\s*=\s*\d+\s+(?:prns?|svns?)\s*=\s*\[[^\]]*\])"),
+            R"(\btracked\s+satellites\s*=\s*\d+\s+(?:prn[_ -]?indices|prns?|svns?)\s*=\s*\[[^\]]*\])"),
        QRegularExpression::CaseInsensitiveOption);
    const bool solveStarted = solveStartRegex.match(line.trimmed()).hasMatch();
    const bool trackingSnapshot = trackingSnapshotRegex.match(line).hasMatch();
@@ -732,6 +992,7 @@ void MainWindow::handleSerialStatus(const QString &status)

 void MainWindow::handleSerialError(const QString &message)
 {
+    stopUartLogging();
    flushPendingLogLines();
    m_statusLabel->setText(message);
    m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
@@ -998,6 +1259,11 @@ 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_rinexUpdateButton = new QPushButton(QStringLiteral("RINEX Guncelle"), this);
    m_rinexUpdateButton->setObjectName(QStringLiteral("rinexUpdateButton"));
    m_rinexUpdateButton->setIcon(style()->standardIcon(QStyle::SP_BrowserReload));
@@ -1023,6 +1289,7 @@ void MainWindow::buildUi()
    toolbarLayout->addWidget(m_maxPointsSpin);
    toolbarLayout->addWidget(m_connectButton);
    toolbarLayout->addWidget(m_openLogButton);
+    toolbarLayout->addWidget(m_replayButton);
    toolbarLayout->addWidget(m_rinexUpdateButton);
    toolbarLayout->addWidget(m_clearButton);
    toolbarLayout->addWidget(m_autoFollowCheck);
@@ -1259,6 +1526,7 @@ 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(m_rinexUpdateButton, &QPushButton::clicked, m_rinex, &RinexNavigation::refresh);
    connect(refreshPortsButton, &QToolButton::clicked, this, [this] {
        m_portsInitialized = false;
@@ -1297,10 +1565,17 @@ 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)
@@ -19,12 +19,14 @@ 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
@@ -32,6 +34,8 @@ 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;
@@ -47,7 +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();
@@ -67,9 +75,11 @@ 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;
@@ -81,6 +91,7 @@ private:
    QPushButton *m_connectButton = nullptr;
    QPushButton *m_clearButton = nullptr;
    QPushButton *m_openLogButton = nullptr;
+    QPushButton *m_replayButton = nullptr;
    QPushButton *m_rinexUpdateButton = nullptr;
    QPushButton *m_refreshRinexButton = nullptr;
    QCheckBox *m_autoFollowCheck = nullptr;
@@ -107,6 +118,8 @@ private:
    QTimer *m_locationTimeoutTimer = nullptr;
    QTimer *m_uiRefreshTimer = nullptr;
    QTimer *m_portRefreshTimer = nullptr;
+    QFile *m_uartLogFile = nullptr;
+    QString m_uartLogPath;

    QVector<TelemetryPoint> m_points;
    QStringList m_pendingLogLines;
@@ -1,5 +1,6 @@
 #include "MapWidget.h"

+#include <QDateTime>
 #include <QDir>
 #include <QLabel>
 #include <QLineF>
@@ -14,6 +15,7 @@
 #include <QResizeEvent>
 #include <QStandardPaths>
 #include <QStringList>
+#include <QTimer>
 #include <QUrl>
 #include <QWheelEvent>

@@ -26,6 +28,8 @@ constexpr int TileSize = 256;
 constexpr int MinZoom = 2;
 constexpr int MaxZoom = 19;
 constexpr int MaxMemoryTileCount = 512;
+constexpr int InitialTileRetryDelayMs = 250;
+constexpr int MaximumTileRetryDelayMs = 8000;
 constexpr double Pi = 3.14159265358979323846;
 constexpr double WebMercatorRadiusMeters = 6378137.0;
 constexpr double MaxMercatorLatitude = 85.05112878;
@@ -35,6 +39,14 @@ QString tileKey(int zoom, int tileX, int tileY)
    return QStringLiteral("%1/%2/%3").arg(zoom).arg(tileX).arg(tileY);
 }

+QUrl tileUrl(QString urlTemplate, int zoom, int tileX, int tileY)
+{
+    urlTemplate.replace(QStringLiteral("{z}"), QString::number(zoom));
+    urlTemplate.replace(QStringLiteral("{x}"), QString::number(tileX));
+    urlTemplate.replace(QStringLiteral("{y}"), QString::number(tileY));
+    return QUrl(urlTemplate);
+}
+
 double clampLatitude(double latitude)
 {
    return std::clamp(latitude, -MaxMercatorLatitude, MaxMercatorLatitude);
@@ -58,6 +70,9 @@ double metersPerPixel(double latitude, int zoom)
 MapWidget::MapWidget(QWidget *parent)
    : QWidget(parent)
    , m_network(new QNetworkAccessManager(this))
+    , m_tileUrlTemplate(qEnvironmentVariable(
+          "LOCATION_PLOTTER_TILE_URL_TEMPLATE",
+          QStringLiteral("https://tile.openstreetmap.org/{z}/{x}/{y}.png")))
 {
    setMinimumSize(480, 320);
    setMouseTracking(true);
@@ -460,6 +475,15 @@ void MapWidget::drawTiles(QPainter &painter)

    painter.setRenderHint(QPainter::SmoothPixmapTransform, false);

+    struct MissingTile {
+        int x;
+        int y;
+        double distanceFromCenter;
+    };
+    QVector<MissingTile> missingTiles;
+    QSet<QString> visibleTileKeys;
+    const QPointF viewportCenter = topLeft + QPointF(width() / 2.0, height() / 2.0);
+
    for (int tileY = firstTileY; tileY <= lastTileY; ++tileY) {
        if (tileY < 0 || tileY >= tileCount) {
            continue;
@@ -468,6 +492,7 @@ void MapWidget::drawTiles(QPainter &painter)
        for (int tileX = firstTileX; tileX <= lastTileX; ++tileX) {
            const int wrappedTileX = positiveModulo(tileX, tileCount);
            const QString key = tileKey(m_zoom, wrappedTileX, tileY);
+            visibleTileKeys.insert(key);
            const QRectF target(
                tileX * TileSize - topLeft.x(),
                tileY * TileSize - topLeft.y(),
@@ -476,15 +501,57 @@ void MapWidget::drawTiles(QPainter &painter)

            const auto tileIt = m_tileCache.constFind(key);
            if (tileIt != m_tileCache.constEnd()) {
-                painter.drawPixmap(target.toRect(), *tileIt);
+                painter.drawPixmap(target, *tileIt, QRectF(tileIt->rect()));
            } else {
-                painter.fillRect(target, QColor(230, 234, 230));
-                painter.setPen(QColor(198, 205, 200));
-                painter.drawRect(target);
-                requestTile(wrappedTileX, tileY, m_zoom);
+                if (!drawCachedTileOrParent(painter, target, wrappedTileX, tileY, m_zoom)) {
+                    painter.fillRect(target, QColor(230, 234, 230));
+                    painter.setPen(QColor(198, 205, 200));
+                    painter.drawRect(target);
+                }
+                const QPointF tileCenter((tileX + 0.5) * TileSize,
+                                         (tileY + 0.5) * TileSize);
+                const QPointF offset = tileCenter - viewportCenter;
+                missingTiles.push_back({wrappedTileX, tileY,
+                                        offset.x() * offset.x() + offset.y() * offset.y()});
            }
        }
    }
+
+    // A fast pan or auto-follow jump can otherwise leave old requests ahead of
+    // the tiles that are visible now. Cancel those requests and enqueue the
+    // centre tiles first so the viewport fills in promptly.
+    cancelInvisibleTileRequests(visibleTileKeys);
+    std::sort(missingTiles.begin(), missingTiles.end(),
+              [](const MissingTile &left, const MissingTile &right) {
+                  return left.distanceFromCenter < right.distanceFromCenter;
+              });
+    for (const MissingTile &tile : missingTiles) {
+        requestTile(tile.x, tile.y, m_zoom);
+    }
+}
+
+bool MapWidget::drawCachedTileOrParent(QPainter &painter, const QRectF &target,
+                                       int tileX, int tileY, int zoom) const
+{
+    for (int parentZoom = zoom - 1; parentZoom >= MinZoom; --parentZoom) {
+        const int scale = 1 << (zoom - parentZoom);
+        const int parentX = tileX / scale;
+        const int parentY = tileY / scale;
+        const auto parentIt = m_tileCache.constFind(tileKey(parentZoom, parentX, parentY));
+        if (parentIt == m_tileCache.constEnd()) {
+            continue;
+        }
+
+        const QPixmap &parent = *parentIt;
+        const double sourceWidth = static_cast<double>(parent.width()) / scale;
+        const double sourceHeight = static_cast<double>(parent.height()) / scale;
+        const QRectF source((tileX % scale) * sourceWidth,
+                            (tileY % scale) * sourceHeight,
+                            sourceWidth, sourceHeight);
+        painter.drawPixmap(target, parent, source);
+        return true;
+    }
+    return false;
 }

 void MapWidget::drawTelemetry(QPainter &painter)
@@ -726,20 +793,27 @@ void MapWidget::requestTile(int tileX, int tileY, int zoom)
        return;
    }

+    const qint64 now = QDateTime::currentMSecsSinceEpoch();
+    if (m_tileRetryAfterMs.value(key, 0) > now) {
+        return;
+    }
+
    m_pendingTiles.insert(key);
-    const QUrl url(QStringLiteral("https://tile.openstreetmap.org/%1/%2/%3.png")
-                       .arg(zoom)
-                       .arg(tileX)
-                       .arg(tileY));
-    QNetworkRequest request(url);
-    request.setRawHeader("User-Agent", "RocketLocationPlotter/0.2 (Qt desktop application)");
+    QNetworkRequest request(tileUrl(m_tileUrlTemplate, zoom, tileX, tileY));
+    request.setRawHeader("User-Agent", "RocketLocationPlotter/0.3 (Qt desktop application)");
+    request.setTransferTimeout(15000);
    QNetworkReply *reply = m_network->get(request);
    reply->setProperty("tileKey", key);
+    m_tileReplies.insert(key, reply);

    connect(reply, &QNetworkReply::finished, this, [this, reply]() {
        const QString key = reply->property("tileKey").toString();
        m_pendingTiles.remove(key);
+        if (m_tileReplies.value(key) == reply) {
+            m_tileReplies.remove(key);
+        }

+        bool loaded = false;
        if (reply->error() == QNetworkReply::NoError) {
            QPixmap pixmap;
            if (pixmap.loadFromData(reply->readAll())) {
@@ -747,14 +821,77 @@ void MapWidget::requestTile(int tileX, int tileY, int zoom)
                    m_tileCache.erase(m_tileCache.begin());
                }
                m_tileCache.insert(key, pixmap);
-                update();
+                m_tileFailureCounts.remove(key);
+                m_tileRetryAfterMs.remove(key);
+                loaded = true;
            }
        }

+        const bool cancelled = reply->property("tileCancelled").toBool();
+        if (!loaded && !cancelled) {
+            const int failures = m_tileFailureCounts.value(key, 0) + 1;
+            m_tileFailureCounts.insert(key, failures);
+            const int shift = std::min(failures - 1, 5);
+            const int retryDelay = std::min(MaximumTileRetryDelayMs,
+                                            InitialTileRetryDelayMs * (1 << shift));
+            m_tileRetryAfterMs.insert(key,
+                QDateTime::currentMSecsSinceEpoch() + retryDelay);
+            QTimer::singleShot(retryDelay, this, [this, key]() {
+                repaintWhenTileRetryIsReady(key);
+            });
+        }
+
+        if (loaded) {
+            update();
+        }
+
        reply->deleteLater();
    });
 }

+void MapWidget::cancelInvisibleTileRequests(const QSet<QString> &visibleTileKeys)
+{
+    QVector<QNetworkReply *> obsoleteReplies;
+    for (auto it = m_tileReplies.cbegin(); it != m_tileReplies.cend(); ++it) {
+        if (!visibleTileKeys.contains(it.key())) {
+            obsoleteReplies.push_back(it.value());
+        }
+    }
+
+    for (QNetworkReply *reply : obsoleteReplies) {
+        if (reply == nullptr || reply->isFinished()) {
+            continue;
+        }
+        reply->setProperty("tileCancelled", true);
+        reply->abort();
+    }
+
+    for (auto it = m_tileRetryAfterMs.begin(); it != m_tileRetryAfterMs.end();) {
+        if (visibleTileKeys.contains(it.key())) {
+            ++it;
+            continue;
+        }
+        m_tileFailureCounts.remove(it.key());
+        it = m_tileRetryAfterMs.erase(it);
+    }
+}
+
+void MapWidget::repaintWhenTileRetryIsReady(const QString &key)
+{
+    if (!m_tileRetryAfterMs.contains(key)) {
+        return;
+    }
+    const qint64 remaining = m_tileRetryAfterMs.value(key, 0)
+        - QDateTime::currentMSecsSinceEpoch();
+    if (remaining > 0) {
+        QTimer::singleShot(static_cast<int>(remaining), this, [this, key]() {
+            repaintWhenTileRetryIsReady(key);
+        });
+        return;
+    }
+    update();
+}
+
 void MapWidget::setZoomKeepingPoint(int newZoom, const QPointF &screenAnchor)
 {
    newZoom = std::clamp(newZoom, MinZoom, MaxZoom);
@@ -11,6 +11,7 @@
 #include <optional>

 class QNetworkAccessManager;
+class QNetworkReply;
 class QLabel;

 class MapWidget : public QWidget {
@@ -64,7 +65,11 @@ private:
    void drawCepOverlay(QPainter &painter);
    void drawCepMarker(QPainter &painter);
    void drawEmptyState(QPainter &painter);
+    bool drawCachedTileOrParent(QPainter &painter, const QRectF &target,
+                                int tileX, int tileY, int zoom) const;
    void requestTile(int tileX, int tileY, int zoom);
+    void cancelInvisibleTileRequests(const QSet<QString> &visibleTileKeys);
+    void repaintWhenTileRetryIsReady(const QString &key);
    void setZoomKeepingPoint(int newZoom, const QPointF &screenAnchor);
    void disableAutoFollowFromUserAction();
    int preferredFocusIndex() const;
@@ -74,6 +79,10 @@ private:
    QLabel *m_attributionLabel = nullptr;
    QHash<QString, QPixmap> m_tileCache;
    QSet<QString> m_pendingTiles;
+    QHash<QString, QNetworkReply *> m_tileReplies;
+    QHash<QString, int> m_tileFailureCounts;
+    QHash<QString, qint64> m_tileRetryAfterMs;
+    QString m_tileUrlTemplate;

    double m_centerLat = 39.0;
    double m_centerLon = 35.0;
@@ -161,10 +161,11 @@ void RinexNavigation::handleDownload(const QByteArray &compressed, const QDate &
    m_ephemerides = std::move(ephemerides);
    setLoading(false);
    publishCurrentMotion();
-    emit statusChanged(QStringLiteral("%1 GPS uydusu · RINEX %2 · %3 UTC")
+    emit statusChanged(QStringLiteral("%1 GPS uydusu · RINEX %2 · %3")
                           .arg(positions.size())
                           .arg(date.toString(QStringLiteral("dd.MM.yyyy")))
-                           .arg(now.time().toString(QStringLiteral("HH:mm:ss"))), false);
+                           .arg(now.toLocalTime().toString(
+                               QStringLiteral("HH:mm:ss t"))), false);
 }

 bool RinexNavigation::loadCache()
@@ -179,9 +180,10 @@ bool RinexNavigation::loadCache()
    if (positions.isEmpty()) return false;
    m_ephemerides = std::move(ephemerides);
    publishCurrentMotion();
-    emit statusChanged(QStringLiteral("%1 GPS uydusu · onbellekteki RINEX · %2 UTC")
+    emit statusChanged(QStringLiteral("%1 GPS uydusu · onbellekteki RINEX · %2")
                           .arg(positions.size())
-                           .arg(now.time().toString(QStringLiteral("HH:mm:ss"))), false);
+                           .arg(now.toLocalTime().toString(
+                               QStringLiteral("HH:mm:ss t"))), false);
    return true;
 }

@@ -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();
+}
@@ -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;
+};
@@ -7,15 +7,19 @@
 #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>
 #include <cmath>
@@ -45,6 +49,32 @@ 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"));
@@ -121,13 +151,13 @@ int main(int argc, char **argv)
    assert(std::abs(map->centerCoordinate().y() - 29.5) < 0.000001);
    map->clearPoints();

-    sendLine(window, QStringLiteral("[TRK] tracked satellites=2 prns=[3,8]"));
+    sendLine(window, QStringLiteral("[TRK] tracked satellites=2 prn_indices=[2,7]"));
    assert(map != nullptr);
    auto *globe = window.findChild<GlobeWidget *>();
    assert(globe != nullptr);
    assert(globe->observedPrns()
           == QSet<QString>({QStringLiteral("G03"), QStringLiteral("G08")}));
-    sendLine(window, QStringLiteral("[TRK] tracked satellites=1 prns=[14]"));
+    sendLine(window, QStringLiteral("[TRK] tracked satellites=1 prn_indices=[13]"));
    assert(globe->observedPrns() == QSet<QString>({QStringLiteral("G14")}));

    assert(QMetaObject::invokeMethod(map, "referenceLocationSelected", Qt::DirectConnection,
@@ -0,0 +1,73 @@
+#include "../src/MapWidget.h"
+
+#include <QApplication>
+#include <QElapsedTimer>
+#include <QHostAddress>
+#include <QSet>
+#include <QTcpServer>
+#include <QTcpSocket>
+#include <QThread>
+
+#include <cassert>
+
+int main(int argc, char **argv)
+{
+    QApplication app(argc, argv);
+
+    QTcpServer tileServer;
+    assert(tileServer.listen(QHostAddress::LocalHost, 0));
+
+    int requestCount = 0;
+    QSet<QByteArray> requestedPaths;
+    QObject::connect(&tileServer, &QTcpServer::newConnection, [&]() {
+        while (tileServer.hasPendingConnections()) {
+            QTcpSocket *socket = tileServer.nextPendingConnection();
+            const auto respond = [&, socket]() {
+                if (!socket->canReadLine()) {
+                    return;
+                }
+                const QByteArray requestLine = socket->readLine().trimmed();
+                const QList<QByteArray> fields = requestLine.split(' ');
+                if (fields.size() >= 2) {
+                    ++requestCount;
+                    requestedPaths.insert(fields[1]);
+                }
+                socket->readAll();
+                socket->write("HTTP/1.1 503 Service Unavailable\r\n"
+                              "Content-Length: 0\r\n"
+                              "Connection: close\r\n\r\n");
+                socket->disconnectFromHost();
+            };
+            QObject::connect(socket, &QTcpSocket::readyRead, socket, respond);
+            QObject::connect(socket, &QTcpSocket::disconnected,
+                             socket, &QObject::deleteLater);
+            respond();
+        }
+    });
+
+    const QByteArray tileUrl = QByteArray("http://127.0.0.1:")
+        + QByteArray::number(tileServer.serverPort()) + "/{z}/{x}/{y}.png";
+    qputenv("LOCATION_PLOTTER_TILE_URL_TEMPLATE", tileUrl);
+
+    {
+        MapWidget map;
+        map.resize(640, 480);
+        map.show();
+
+        QElapsedTimer timer;
+        timer.start();
+        while (timer.elapsed() < 1200) {
+            app.processEvents(QEventLoop::AllEvents, 50);
+            QThread::msleep(5);
+        }
+
+        // Every URL fails. Seeing any URL more than once proves that a failed
+        // tile schedules a new paint/request instead of remaining a blank
+        // placeholder forever.
+        assert(!requestedPaths.isEmpty());
+        assert(requestCount > requestedPaths.size());
+    }
+
+    qunsetenv("LOCATION_PLOTTER_TILE_URL_TEMPLATE");
+    return 0;
+}
@@ -186,6 +186,25 @@ int main(int argc, char **argv)
        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G32")}));
    }

+    {
+        const QSet<QString> prns = LocationParser::parseGpsPrns(
+            QStringLiteral("[TRK] tracked satellites=3 prn_indices=[0,7,31]"));
+        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G08"),
+                                     QStringLiteral("G32")}));
+    }
+
+    {
+        const QSet<QString> prns = LocationParser::parseGpsPrns(
+            QStringLiteral("[TRK] tracked satellites=2 prns=[0,7]"));
+        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G08")}));
+    }
+
+    {
+        const QSet<QString> prns = LocationParser::parseGpsPrns(
+            QStringLiteral("[TRK] tracked satellites=2 prn_indices=[0,G08]"));
+        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G08")}));
+    }
+
    {
        const auto parsed = LocationParser::parseLine(QStringLiteral(
            "[OK] [NAV] DOP GDOP=7.0907891622 PDOP=5.6333862175 "
@@ -231,6 +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"));
@@ -257,6 +284,17 @@ int main(int argc, char **argv)
        assert(closeTo(satellites[0].x, semiMajorAxis * std::cos(node), 0.1));
        assert(closeTo(satellites[0].y, semiMajorAxis * std::sin(node), 0.1));
        assert(closeTo(satellites[0].z, 0.0, 0.1));
+
+        // A local wall-clock representation must not move the satellites.
+        // 11:48 at UTC+03 and 08:48 UTC represent the same physical instant.
+        const auto localTimeSatellites = RinexNavigation::parseGpsNavigation(
+            syntheticGpsNavigation(gpsLabel, gpsWeek, toe),
+            matchingUtc.toOffsetFromUtc(3 * 60 * 60), &error);
+        assert(error.isEmpty());
+        assert(localTimeSatellites.size() == satellites.size());
+        assert(closeTo(localTimeSatellites[0].x, satellites[0].x, 0.001));
+        assert(closeTo(localTimeSatellites[0].y, satellites[0].y, 0.001));
+        assert(closeTo(localTimeSatellites[0].z, satellites[0].z, 0.001));
    }

    const QString rinexPath = qEnvironmentVariable("LOCATION_PLOTTER_TEST_RINEX");
@@ -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;
+}
Author	SHA1	Message	Date
Onur Cayan	c8d6314e48	Add source-aware UART log replay Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled Details Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled Details	2026-08-12 13:54:06 +03:00
Onur Cayan	f7fa2b3e4d	Fix incomplete map tile updates Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled Details Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled Details	2026-08-10 00:51:00 +03:00
onur	745c7d91af	Normalize zero-based firmware satellite indices Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled Details Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled Details	2026-07-24 12:06:12 +03:00
onur	db96fd4da2	Verify satellite propagation is timezone invariant	2026-07-24 11:58:18 +03:00
onur	140b0e35b5	Show RINEX status time in local timezone	2026-07-24 11:51:12 +03:00