Add a button to write all recent messages, sensor values and control targets...

Add a button to write all recent messages, sensor values and control targets to the disk to the RobotUnitGui

source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp

@@ -151,6 +151,7 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
     else
     {
         customToolbar = new QToolBar(parent);
+        customToolbar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
         customToolbar->setIconSize(QSize(16, 16));
         customToolbar->addAction(QIcon(":/icons/view-refresh-7.png"), "", this, SLOT(refreshControlDevicesClicked()));
         showCDevs = new QAction {"Control Devices", customToolbar};
@@ -178,6 +179,10 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
         showNJointClasses->setCheckable(true);
         connect(showNJointClasses, SIGNAL(toggled(bool)), widget.groupBoxNJointCtrlClasses, SLOT(setShown(bool)));
         customToolbar->addAction(showNJointClasses);
+        customToolbar->addSeparator();
+
+        customToolbar->addAction(QIcon(":/icons/document-save.svg"), "Write log", this, SLOT(writeLogClicked()))
+        ->setToolTip("Writes the log to /tmp/");
     }
     updateToolBarActionCheckedState();
     return customToolbar.data();
@@ -233,6 +238,11 @@ void RobotUnitPluginWidgetController::refreshSensorDevicesClicked()
     sensorDevices->reset(robotUnitPrx);
 }
 
+void RobotUnitPluginWidgetController::writeLogClicked()
+{
+    robotUnitPrx->writeRecentIterationsToFile("/tmp/RobotUnitLog-{DateTime}");
+}
+
 void RobotUnitPluginWidgetController::updateToolBarActionCheckedState()
 {
     if (customToolbar)

source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h

@@ -134,6 +134,8 @@ namespace armarx
         void refreshControlDevicesClicked();
         void refreshSensorDevicesClicked();
 
+        void writeLogClicked();
+
     private:
         void updateToolBarActionCheckedState();