moteus-gui 0.3.92__py3-none-any.whl → 0.3.94__py3-none-any.whl

moteus_gui/tview.py

@@ -18,10 +18,17 @@
 '''
 
 import argparse
+import ast
 import asyncio
+import codeop
+import csv
+from dataclasses import dataclass
 import io
+import json
+import math
 import moteus
 import moteus.moteus_tool
+from moteus.moteus import namedtuple_to_dict
 import numpy
 import os
 import re
@@ -73,6 +80,50 @@ if os.environ['QT_API'] == 'pyside6':
 import asyncqt
 
 import moteus.reader as reader
+import moteus.multiplex
+from moteus import Register, Mode
+
+
+# Fault monitoring configuration
+FAULT_POLLING_INTERVAL_MS = 500
+
+# Fault code descriptions from docs/reference.md
+FAULT_CODE_DESCRIPTIONS = {
+    32: "calibration fault",
+    33: "motor driver fault",
+    34: "over voltage",
+    35: "encoder fault",
+    36: "motor not configured",
+    37: "pwm cycle overrun",
+    38: "over temperature",
+    39: "outside limit",
+    40: "under voltage",
+    41: "config changed",
+    42: "theta invalid",
+    43: "position invalid",
+    44: "driver enable fault",
+    45: "stop position deprecated",
+    46: "timing violation",
+    47: "bemf feedforward without accel",
+    48: "invalid limits",
+    96: "limit: servo.max_velocity",
+    97: "limit: servo.max_power_W",
+    98: "limit: max system voltage",
+    99: "limit: servo.max_current_A",
+    100: "limit: servo.fault_temperature",
+    101: "limit: servo.motor_fault_temperature",
+    102: "limit: commanded max torque",
+    103: "limit: servopos limit",
+}
+
+
+@dataclass
+class FaultState:
+    """Tracks fault status and user observation for a device."""
+    is_faulted: bool = False
+    observed: bool = True  # Default to observed (no flashing for non-faulty devices)
+    current_mode: int = None  # Current mode register value
+    current_fault_code: int = None  # Current fault register value
 
 
 try:
@@ -161,6 +212,43 @@ def _add_schema_item(parent, element, terminal_flags=None):
         if terminal_flags:
             parent.setFlags(terminal_flags)
 
+def _is_servo_stats_fault_field(item):
+    """Check if the tree widget item represents a servo_stats.fault field."""
+    # Check if this is a leaf node (has no children and is displaying a value)
+    if item.childCount() > 0:
+        return False
+
+    # Get the field name
+    field_name = item.text(0).lower()
+    if field_name != "fault":
+        return False
+
+    # Check if parent is servo_stats
+    parent = item.parent()
+    if parent is None:
+        return False
+
+    parent_name = parent.text(0).lower()
+    return parent_name == "servo_stats"
+
+def _format_fault_code(fault_code):
+    """Format a fault code with human-readable description.
+
+    Args:
+        fault_code: Integer fault code (can be None)
+
+    Returns:
+        str: Formatted fault code string, "0" for no fault, empty string for None
+    """
+    if fault_code is None:
+        return ""
+
+    if fault_code == 0:
+        return "0"
+
+    description = FAULT_CODE_DESCRIPTIONS.get(fault_code, "unknown fault code")
+    return f"{fault_code} ({description})"
+
 def _set_tree_widget_data(item, struct, element, terminal_flags=None):
     if (isinstance(element, reader.ObjectType) or
         isinstance(element, reader.ArrayType) or
@@ -187,6 +275,9 @@ def _set_tree_widget_data(item, struct, element, terminal_flags=None):
         text = None
         if maybe_format == FMT_HEX and type(struct) == int:
             text = f"{struct:x}"
+        elif _is_servo_stats_fault_field(item) and isinstance(struct, int):
+            # Special formatting for servo_stats.fault field
+            text = _format_fault_code(struct)
         else:
             text = repr(struct)
         item.setText(1, text)
@@ -423,6 +514,392 @@ class TviewConsoleWidget(HistoryConsoleWidget):
         return True
 
 
+class TviewPythonConsole(HistoryConsoleWidget):
+    def __init__(self, parent=None, get_controller=None):
+        super().__init__(parent)
+
+        self.execute_on_complete_input = False
+
+        # Store our own copies of prompts since qtconsole modifies self._prompt
+        self._main_prompt = '>>> '
+        self._continuation_prompt_str = '... '
+
+        # Initialize the widget's prompt to main prompt
+        self._prompt = self._main_prompt
+        self._continuation_prompt = self._continuation_prompt_str
+
+        self.clear()
+
+        self._append_before_prompt_cursor.setPosition(0)
+
+        # Track currently running async task for cancellation
+        self._current_future = None
+
+        # Buffer for multi-line input
+        self._input_buffer = []
+
+        # Create custom print function for this console
+        def custom_print(*args, sep=' ', end='\n', file=None, flush=False):
+            """Custom print function that outputs to the Python console widget."""
+            output = io.StringIO()
+            print(*args, sep=sep, end=end, file=output)
+            self._append_plain_text(output.getvalue())
+
+        self.namespace = {
+            'transport': None,
+            'controller': None,
+            'get_controller': get_controller,
+            'asyncio': asyncio,
+            'moteus': moteus,
+            'math': math,
+            'time': time,
+            'numpy': numpy,
+            'print': custom_print,  # Custom print for console output
+        }
+
+        # Use a QShortcut for Ctrl+C
+        try:
+            try:
+                from PySide6.QtGui import QShortcut, QKeySequence
+            except ImportError:
+                from PySide6.QtWidgets import QShortcut
+                from PySide6.QtGui import QKeySequence
+            # PySide6 style
+            self._interrupt_shortcut = QShortcut(QKeySequence("Ctrl+C"), self._control)
+            self._interrupt_shortcut.activated.connect(self._handle_interrupt)
+        except ImportError:
+            try:
+                from PySide2.QtWidgets import QShortcut
+                from PySide2.QtGui import QKeySequence
+                # PySide2 requires a lambda wrapper for the callable
+                self._interrupt_shortcut = QShortcut(QKeySequence("Ctrl+C"), self._control, lambda: self._handle_interrupt())
+            except Exception as e:
+                print(f"Warning: Could not set up Ctrl+C shortcut: {e}")
+                self._interrupt_shortcut = None
+
+        for line in """
+# Python REPL for moteus control
+# Available: controller, controllers, get_controller(id), transport, moteus
+#            asyncio, math, numpy, time
+# Use 'await' for async operations
+# Press Ctrl+C to interrupt long-running operations
+""".split('\n'):
+            self._append_plain_text(line + '\n')
+
+        self._show_prompt(self._main_prompt)
+
+    def sizeHint(self):
+        return QtCore.QSize(600, 200)
+
+    def _handle_interrupt(self):
+        """Handle interrupt signal from QShortcut."""
+        # Append KeyboardInterrupt message on a new line
+        self._append_plain_text('\nKeyboardInterrupt\n')
+
+        # Cancel any running future
+        if self._current_future and not self._current_future.done():
+            self._current_future.cancel()
+            self._current_future = None
+
+        # Always clear all state and reset to main prompt
+        self._input_buffer = []
+
+        # Clear any temporary buffers in the widget itself
+        try:
+            self._clear_temporary_buffer()
+        except:
+            pass
+
+        # Finish any existing prompt
+        try:
+            self._prompt_finished()
+        except:
+            pass
+
+        # Force show the main prompt (not continuation)
+        self._show_prompt(self._main_prompt)
+
+    def _is_complete(self, source, interactive):
+        """Check if the source code is complete and ready to execute.
+
+        Returns:
+            (is_complete, indent_needed): Tuple indicating if code is complete
+                                         and if indentation should be added.
+        """
+        try:
+            # Use codeop to determine if the code is complete
+            code = codeop.compile_command(source, '<console>', 'exec')
+
+            if code is None:
+                # More input is needed
+                return False, False
+            else:
+                # Code is complete
+                return True, False
+
+        except (SyntaxError, OverflowError, ValueError):
+            # Code has a syntax error but is complete (will error on execute)
+            return True, False
+
+    def _has_top_level_await(self, source):
+        """Check if source code contains top-level await expressions.
+
+        This detects await expressions that are NOT inside async function definitions.
+        For example:
+        - `await foo()` -> True (needs wrapping)
+        - `async def bar(): await foo()` -> False (already in async context)
+        """
+        try:
+            tree = ast.parse(source)
+
+            # Track which nodes are inside async function definitions
+            async_func_nodes = set()
+
+            # First pass: find all async function definition nodes and their children
+            for node in ast.walk(tree):
+                if isinstance(node, ast.AsyncFunctionDef):
+                    # Mark all descendants of this async function
+                    for child in ast.walk(node):
+                        async_func_nodes.add(id(child))
+
+            # Second pass: find await expressions not inside async functions
+            for node in ast.walk(tree):
+                if isinstance(node, ast.Await):
+                    # Check if this await is NOT inside an async function
+                    if id(node) not in async_func_nodes:
+                        return True
+
+            return False
+        except SyntaxError:
+            # If it doesn't parse, we'll handle the error later
+            return False
+
+    def _has_loops(self, source):
+        """Check if source code contains loops (for/while)."""
+        try:
+            tree = ast.parse(source)
+            for node in ast.walk(tree):
+                if isinstance(node, (ast.While, ast.For)):
+                    return True
+            return False
+        except SyntaxError:
+            return False
+
+    def _inject_yields_in_loops(self, source):
+        """Transform source code to inject 'await asyncio.sleep(0)' in loop bodies.
+
+        This allows tight loops to be cancelled via CTRL-C by giving the event
+        loop a chance to process cancellation.
+        """
+        try:
+            tree = ast.parse(source)
+
+            class LoopTransformer(ast.NodeTransformer):
+                def visit_While(self, node):
+                    # Visit children first
+                    self.generic_visit(node)
+                    # Inject await asyncio.sleep(0) at the start of the loop body
+                    yield_stmt = ast.Expr(
+                        value=ast.Await(
+                            value=ast.Call(
+                                func=ast.Attribute(
+                                    value=ast.Name(id='asyncio', ctx=ast.Load()),
+                                    attr='sleep',
+                                    ctx=ast.Load()
+                                ),
+                                args=[ast.Constant(value=0)],
+                                keywords=[]
+                            )
+                        )
+                    )
+                    # Insert at the beginning of the body
+                    node.body = [yield_stmt] + node.body
+                    return node
+
+                def visit_For(self, node):
+                    # Visit children first
+                    self.generic_visit(node)
+                    # Inject await asyncio.sleep(0) at the start of the loop body
+                    yield_stmt = ast.Expr(
+                        value=ast.Await(
+                            value=ast.Call(
+                                func=ast.Attribute(
+                                    value=ast.Name(id='asyncio', ctx=ast.Load()),
+                                    attr='sleep',
+                                    ctx=ast.Load()
+                                ),
+                                args=[ast.Constant(value=0)],
+                                keywords=[]
+                            )
+                        )
+                    )
+                    # Insert at the beginning of the body
+                    node.body = [yield_stmt] + node.body
+                    return node
+
+            transformer = LoopTransformer()
+            new_tree = transformer.visit(tree)
+            ast.fix_missing_locations(new_tree)
+
+            # Convert back to source code
+            return ast.unparse(new_tree)
+        except Exception:
+            # If transformation fails, return original source
+            return source
+
+    def _execute(self, source, hidden):
+        # Safety check: if we have a running future, we shouldn't be executing new code
+        # This shouldn't normally happen but is defensive
+        if self._current_future and not self._current_future.done():
+            return True
+
+        # If buffer is empty and source is empty, do nothing
+        if not self._input_buffer and not source.strip():
+            self._show_prompt(self._main_prompt)
+            return True
+
+        # Two modes:
+        # 1. Single-line mode (buffer empty): execute complete statements immediately
+        # 2. Multi-line mode (buffer has content): only execute on blank line
+
+        if not self._input_buffer:
+            # Single-line mode: check if this line starts a multi-line block
+            is_complete, indent_needed = self._is_complete(source, True)
+
+            if not is_complete:
+                # This starts a multi-line block - enter multi-line mode
+                self._input_buffer.append(source)
+                self._show_prompt(self._continuation_prompt_str)
+                return True
+            else:
+                # Complete single line - execute immediately
+                full_source = source
+                # Don't add to buffer, execute directly
+        else:
+            # Multi-line mode: we have buffered input
+            if source:
+                # Non-blank line in multi-line mode - add to buffer and continue
+                self._input_buffer.append(source)
+                self._show_prompt(self._continuation_prompt_str)
+                return True
+            else:
+                # Blank line in multi-line mode - check if ready to execute
+                self._input_buffer.append(source)
+                full_source = '\n'.join(self._input_buffer)
+
+                is_complete, indent_needed = self._is_complete(full_source, True)
+
+                if not is_complete:
+                    # Still not complete - continue
+                    self._show_prompt(self._continuation_prompt_str)
+                    return True
+
+                # Complete - execute
+                self._input_buffer = []
+
+        # If the source was just blank lines, don't execute
+        if not full_source.strip():
+            self._show_prompt(self._main_prompt)
+            return True
+
+        loop = asyncio.get_event_loop()
+
+        # Determine if this should run in async context
+        # Use async only if: code has top-level await OR code has loops (for cancellation)
+        has_await = self._has_top_level_await(full_source)
+        has_loops = self._has_loops(full_source)
+        use_async = has_await or has_loops
+
+        try:
+            if use_async:
+                # Inject yield points in loops to allow cancellation of tight loops
+                transformed_source = self._inject_yields_in_loops(full_source)
+
+                # Determine if this is an expression or statement using AST
+                # We can't use compile() because await expressions fail in eval mode
+                is_expression = False
+                try:
+                    tree = ast.parse(transformed_source)
+                    # Check if it's a single expression statement
+                    if (len(tree.body) == 1 and
+                        isinstance(tree.body[0], ast.Expr)):
+                        is_expression = True
+                except SyntaxError:
+                    pass
+
+                # Wrap in an async function appropriately
+                if is_expression:
+                    # For expressions, we can return the value
+                    indented = '\n'.join('    ' + line for line in transformed_source.split('\n'))
+                    wrapped = f"async def _async_exec():\n    return (\n{indented}\n    )"
+                else:
+                    # For statements, just execute them
+                    indented = '\n'.join('    ' + line for line in transformed_source.split('\n'))
+                    wrapped = f"async def _async_exec():\n{indented}\n    return None"
+
+                exec(wrapped, self.namespace)
+                # Now, run the function we just evaluated.
+                # Use create_task for better cancellation support
+                self._current_future = asyncio.create_task(self.namespace['_async_exec']())
+
+                def done_callback(future):
+                    try:
+                        result = future.result()
+                        if result is not None:
+                            self._append_plain_text(repr(result) + '\n')
+                    except asyncio.CancelledError:
+                        # Don't show anything extra - already handled in interrupt handler
+                        # But ensure buffer is cleared (defensive)
+                        self._input_buffer = []
+                        pass
+                    except Exception as e:
+                        self._append_plain_text(f'Error: {type(e).__name__}: {e}\n')
+                    finally:
+                        # Clear the current future reference
+                        if self._current_future is future:
+                            self._current_future = None
+
+                    # Only show prompt if not cancelled (already shown in interrupt handler)
+                    if not future.cancelled():
+                        self._show_prompt(self._main_prompt)
+
+                self._current_future.add_done_callback(done_callback)
+            else:
+                # Try as expression first, then as a statement.
+                try:
+                    result = eval(full_source, self.namespace)
+                    if result is not None:
+                        self._append_plain_text(repr(result) + '\n')
+                except SyntaxError:
+                    # Try as a statement.
+                    exec(full_source, self.namespace)
+
+                self._show_prompt(self._main_prompt)
+        except Exception as e:
+            self._append_plain_text(f'Error: {type(e).__name__}: {e}\n')
+            self._show_prompt(self._main_prompt)
+            # Clear buffer on error to avoid getting stuck
+            self._input_buffer = []
+
+        return True
+
+
+class TviewTabbedConsole(QtWidgets.QTabWidget):
+    def __init__(self, parent=None, get_controller=None):
+        super().__init__(parent)
+
+        self.diagnostic_console = TviewConsoleWidget()
+        self.diagnostic_console.ansi_codes = False
+
+        self.addTab(self.diagnostic_console, "Diagnostic")
+
+        self.python_console = TviewPythonConsole(
+            get_controller=get_controller)
+        self.addTab(self.python_console, "Python")
+
+    def sizeHint(self):
+        return QtCore.QSize(600, 200)
+
 class Record:
     def __init__(self, archive):
         self.archive = archive
@@ -458,6 +935,298 @@ class Record:
         return count != 0
 
 
+def flatten_dict(d, parent_key='', sep='.'):
+    """Flatten a nested dictionary into a single-level dict with dotted keys.
+
+    Args:
+        d: Dictionary to flatten
+        parent_key: Prefix for keys (used in recursion)
+        sep: Separator between nested keys
+
+    Returns:
+        Flattened dictionary with dotted keys
+    """
+    items = []
+    for k, v in d.items():
+        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+        if isinstance(v, dict):
+            items.extend(flatten_dict(v, new_key, sep=sep).items())
+        elif isinstance(v, list):
+            items.extend(_flatten_list(v, new_key, sep).items())
+        else:
+            items.append((new_key, v))
+    return dict(items)
+
+
+def _flatten_list(lst, parent_key, sep='.'):
+    """Helper to recursively flatten lists (including nested lists).
+
+    Args:
+        lst: List to flatten
+        parent_key: Prefix for keys
+        sep: Separator between nested keys
+
+    Returns:
+        Flattened dictionary with indexed keys
+    """
+    items = []
+    for i, item in enumerate(lst):
+        new_key = f"{parent_key}[{i}]"
+        if isinstance(item, dict):
+            items.extend(flatten_dict(item, new_key, sep=sep).items())
+        elif isinstance(item, list):
+            items.extend(_flatten_list(item, new_key, sep).items())
+        else:
+            items.append((new_key, item))
+    return dict(items)
+
+
+class LoggingManager:
+    """Manages data logging to disk"""
+
+    def __init__(self):
+        self.log_file = None
+        self.log_filename = None
+        self.logging_devices = None
+        self.logging_channels = None
+        self.log_format = None
+
+        self.csv_writers = {}
+        self.csv_files = {}
+        self.csv_fieldnames = {}
+        self.csv_base_path = None
+
+    def is_logging(self):
+        """Check if any logging is currently active."""
+        return (self.log_file is not None or
+                len(self.csv_files) > 0 or
+                self.csv_base_path is not None)
+
+    def start_logging(self, filename, devices=None, channels=None, format='jsonl'):
+        """Start logging to the specified file.
+
+        Args:
+            filename: Path to the output file (for CSV, used as base name)
+            devices: None for all devices, or set of device addresses to log
+            channels: None for all channels, or set of channel names to log
+            format: 'jsonl' or 'csv'
+        """
+        if self.is_logging():
+            self.stop_logging()
+
+        self.log_format = format
+        self.logging_devices = devices
+        self.logging_channels = channels
+
+        if format == 'jsonl':
+            try:
+                self.log_file = open(filename, 'w')
+                self.log_filename = filename
+            except Exception as e:
+                print(f"Error opening log file {filename}: {e}")
+                self.log_file = None
+                self.log_filename = None
+                raise
+        elif format == 'csv':
+            self.csv_base_path = filename
+            self.log_filename = filename
+        else:
+            raise ValueError(f"Unknown log format: {format}")
+
+    def stop_logging(self):
+        """Stop logging and close all files."""
+        if self.log_file:
+            try:
+                self.log_file.close()
+            except Exception as e:
+                print(f"Error closing log file: {e}")
+            finally:
+                self.log_file = None
+
+        for key, f in self.csv_files.items():
+            try:
+                f.close()
+            except Exception as e:
+                print(f"Error closing CSV file {key}: {e}")
+
+        self.csv_files.clear()
+        self.csv_writers.clear()
+        self.csv_fieldnames.clear()
+        self.csv_base_path = None
+        self.log_filename = None
+        self.logging_devices = None
+        self.logging_channels = None
+        self.log_format = None
+
+    def should_log(self, device_address, channel_name):
+        """Check if this device/channel combination should be logged."""
+        if not self.is_logging():
+            return False
+
+        if self.logging_devices is not None:
+            if device_address not in self.logging_devices:
+                return False
+
+        if self.logging_channels is not None:
+            if channel_name not in self.logging_channels:
+                return False
+
+        return True
+
+    def _make_csv_filename(self, controller_address, channel_name):
+        """Generate a CSV filename for a specific controller/channel combo.
+
+        Args:
+            controller_address: Address of the controller
+            channel_name: Name of the channel
+
+        Returns:
+            Full path for the CSV file
+        """
+        import os.path
+
+        base_dir = os.path.dirname(self.csv_base_path)
+        base_name = os.path.basename(self.csv_base_path)
+
+        name_parts = os.path.splitext(base_name)
+        if len(name_parts) == 2 and name_parts[1]:
+            base, ext = name_parts
+        else:
+            base = base_name
+            ext = '.csv'
+
+        # Extract a clean controller identifier
+        if isinstance(controller_address, int):
+            controller_id = str(controller_address)
+        elif hasattr(controller_address, 'can_id') and controller_address.can_id is not None:
+            controller_id = str(controller_address.can_id)
+        elif hasattr(controller_address, 'uuid') and controller_address.uuid is not None:
+            controller_id = controller_address.uuid.hex()[:8]
+        else:
+            controller_id = str(controller_address).replace('/', '_').replace('\\', '_')
+
+        sanitized_channel = channel_name.replace('/', '_').replace('\\', '_')
+
+        filename = f"{base}_{controller_id}_{sanitized_channel}{ext}"
+        return os.path.join(base_dir, filename) if base_dir else filename
+
+    def _get_csv_key(self, controller_address, channel_name):
+        """Get or create CSV file infrastructure for a controller/channel combo.
+
+        Creates file and initializes tracking dictionaries if needed.
+
+        Args:
+            controller_address: Address of the controller
+            channel_name: Name of the channel
+
+        Returns:
+            Key tuple (controller_str, channel_name) for indexing csv_* dicts
+        """
+        key = (str(controller_address), channel_name)
+
+        if key not in self.csv_writers:
+            filename = self._make_csv_filename(controller_address, channel_name)
+
+            try:
+                f = open(filename, 'w', newline='')
+                self.csv_files[key] = f
+                self.csv_fieldnames[key] = set(['timestamp'])
+                self.csv_writers[key] = None
+            except Exception as e:
+                print(f"Error creating CSV file {filename}: {e}")
+                raise
+
+        return key
+
+    def log_data(self, controller_address, timestamp, channel_name, data_struct, archive):
+        """Write a data record to the log file.
+
+        Args:
+            controller_address: Address of the controller (int or DeviceAddress)
+            timestamp: Unix timestamp as float
+            channel_name: Name of the telemetry channel
+            data_struct: The data structure to log
+            archive: The schema/archive for this data (unused currently)
+        """
+        if not self.should_log(controller_address, channel_name):
+            return
+
+        if self.log_format == 'jsonl':
+            self._log_jsonl(controller_address, timestamp, channel_name, data_struct)
+        elif self.log_format == 'csv':
+            self._log_csv(controller_address, timestamp, channel_name, data_struct)
+
+    def _log_jsonl(self, controller_address, timestamp, channel_name, data_struct):
+        """Write a data record to a JSONL file."""
+        data_dict = namedtuple_to_dict(data_struct)
+
+        log_record = {
+            'controller': str(controller_address),
+            'timestamp': timestamp,
+            'channel': channel_name,
+            'data': data_dict
+        }
+
+        try:
+            json.dump(log_record, self.log_file)
+            self.log_file.write('\n')
+            self.log_file.flush()
+        except Exception as e:
+            print(f"Error writing to log file: {e}")
+
+    def _log_csv(self, controller_address, timestamp, channel_name, data_struct):
+        """Write a data record to a CSV file."""
+        try:
+            key = self._get_csv_key(controller_address, channel_name)
+
+            data_dict = namedtuple_to_dict(data_struct)
+            flat_data = flatten_dict(data_dict)
+            flat_data['timestamp'] = timestamp
+
+            fieldnames_set = self.csv_fieldnames[key]
+            current_fields = set(flat_data.keys())
+
+            needs_rewrite = False
+            if not current_fields.issubset(fieldnames_set):
+                fieldnames_set.update(current_fields)
+                needs_rewrite = True
+
+            fieldnames = sorted(fieldnames_set)
+            if 'timestamp' in fieldnames:
+                fieldnames.remove('timestamp')
+                fieldnames.insert(0, 'timestamp')
+
+            if needs_rewrite or self.csv_writers[key] is None:
+                f = self.csv_files[key]
+
+                # Read existing rows if we're rewriting due to new columns
+                existing_rows = []
+                if needs_rewrite and self.csv_writers[key] is not None:
+                    f.seek(0)
+                    reader = csv.DictReader(f)
+                    existing_rows = list(reader)
+
+                # Truncate and write new header
+                f.seek(0)
+                f.truncate()
+
+                writer = csv.DictWriter(f, fieldnames=fieldnames, extrasaction='ignore')
+                writer.writeheader()
+
+                # Write back existing rows with new column structure
+                for row in existing_rows:
+                    writer.writerow(row)
+
+                self.csv_writers[key] = writer
+
+            writer = self.csv_writers[key]
+            writer.writerow(flat_data)
+            self.csv_files[key].flush()
+
+        except Exception as e:
+            print(f"Error writing CSV data: {e}")
+
+
 class NoEditDelegate(QtWidgets.QStyledItemDelegate):
     def __init__(self, parent=None):
         QtWidgets.QStyledItemDelegate.__init__(self, parent=parent)
@@ -627,7 +1396,10 @@ class Device:
     STATE_SCHEMA = 3
     STATE_DATA = 4
 
-    def __init__(self, address, source_can_id, transport, console, prefix,
+    def __init__(self, address,
+                 source_can_id,
+                 python_source_can_id,
+                 transport, console, prefix,
                  config_tree_item, data_tree_item,
                  can_prefix, main_window, can_id):
         self.error_count = 0
@@ -636,6 +1408,7 @@ class Device:
 
         self.address = address
         self.source_can_id = source_can_id
+        self.python_source_can_id = python_source_can_id
         self._can_prefix = can_prefix
 
         # We keep around an estimate of the current CAN ID to enable
@@ -666,6 +1439,9 @@ class Device:
 
         self._updating_config = False
 
+        # Fault monitoring state
+        self.fault_state = FaultState()
+
     async def start(self):
         # Stop the spew.
         self.write('\r\ntel stop\r\n'.encode('latin1'))
@@ -952,6 +1728,10 @@ class Device:
             self._events[name].set()
             self._data_update_time[name] = time.time()
 
+            if self._main_window.logging_manager.is_logging():
+                self._main_window.logging_manager.log_data(
+                    self.address, now, name, struct, record.archive)
+
     async def wait_for_data(self, name):
         if name not in self._events:
             self._events[name] = asyncio.Event()
@@ -1122,6 +1902,63 @@ class Device:
         _add_schema_item(item, schema_data)
         return item
 
+    async def check_fault_status(self):
+        """Check current fault status and return is_faulted, mode, fault_code)."""
+        result = await self.controller.custom_query({
+            Register.MODE: moteus.multiplex.INT8,
+            Register.FAULT: moteus.multiplex.INT8,
+        })
+
+        mode = result.values.get(Register.MODE, None)
+        fault_code = result.values.get(Register.FAULT, None)
+        is_faulted = (mode == Mode.FAULT) if mode is not None else False
+
+        return is_faulted, mode, fault_code
+
+    def update_fault_state(self, is_faulted):
+        """Update the fault state based on current status."""
+        previous_faulted = self.fault_state.is_faulted
+        fault_detected = False
+
+        if is_faulted and not previous_faulted:
+            # New fault detected - needs observation
+            self.fault_state.is_faulted = True
+            self.fault_state.observed = False
+            fault_detected = True
+        elif not is_faulted and previous_faulted:
+            # Fault cleared - mark as observed since it's no longer present
+            self.fault_state.is_faulted = False
+            self.fault_state.observed = True
+
+        return fault_detected
+
+    def mark_fault_observed(self):
+        """Mark the current fault as observed by the user."""
+        if self.fault_state.is_faulted:
+            self.fault_state.observed = True
+
+    def has_unobserved_fault(self):
+        """Check if device has a fault that hasn't been observed."""
+        return self.fault_state.is_faulted and not self.fault_state.observed
+
+    async def check_and_update_fault_state(self):
+        """Check fault status and update state. Returns (fault_detected, fault_cleared)."""
+        # Check current fault status
+        is_faulted, mode, fault_code = await self.check_fault_status()
+
+        # Store previous state to detect fault clearing
+        prev_faulted = self.fault_state.is_faulted
+
+        # Store current fault information for status bar
+        self.fault_state.current_mode = mode
+        self.fault_state.current_fault_code = fault_code
+
+        # Update fault state and check if new fault detected
+        fault_detected = self.update_fault_state(is_faulted)
+        fault_cleared = prev_faulted and not self.fault_state.is_faulted
+
+        return fault_detected, fault_cleared
+
 
 class TviewMainWindow():
     def __init__(self, options, parent=None):
@@ -1139,6 +1976,12 @@ class TviewMainWindow():
         self.device_uuid_support = {}
         self.uuid_query_lock = asyncio.Lock()
 
+        # Fault monitoring infrastructure
+        self.fault_monitoring_task = None
+        self.fault_flash_timer = None
+        self.original_tab_color = None  # Store original tab color
+        self.fault_flash_state = False
+
         current_script_dir = os.path.dirname(os.path.abspath(__file__))
         uifilename = os.path.join(current_script_dir, "tview_main_window.ui")
 
@@ -1163,6 +2006,10 @@ class TviewMainWindow():
         self.ui.telemetryTreeWidget.customContextMenuRequested.connect(
             self._handle_telemetry_context_menu)
 
+        # Track clicks for fault observation
+        self.ui.telemetryTreeWidget.itemClicked.connect(
+            self._handle_telemetry_item_clicked)
+
         self.ui.configTreeWidget.setItemDelegateForColumn(
             0, NoEditDelegate(self.ui))
         self.ui.configTreeWidget.setItemDelegateForColumn(
@@ -1176,10 +2023,13 @@ class TviewMainWindow():
         self.ui.plotItemRemoveButton.clicked.connect(
             self._handle_plot_item_remove)
 
-        self.console = TviewConsoleWidget()
-        self.console.ansi_codes = False
+        self.tabbed_console = TviewTabbedConsole(get_controller=self._python_get_controller)
+        self.ui.consoleDock.setWidget(self.tabbed_console)
+
+        self.console = self.tabbed_console.diagnostic_console
         self.console.line_input.connect(self._handle_user_input)
-        self.ui.consoleDock.setWidget(self.console)
+
+        self.python_console = self.tabbed_console.python_console
 
         self.ui.tabifyDockWidget(self.ui.configDock, self.ui.telemetryDock)
 
@@ -1194,6 +2044,14 @@ class TviewMainWindow():
             self.ui.plotWidget.history_s = value
         self.ui.historySpin.valueChanged.connect(update_plotwidget)
 
+        # Initialize logging manager
+        self.logging_manager = LoggingManager()
+
+        # Add logging button to status bar
+        self.logging_button = QtWidgets.QPushButton('Start Logging All')
+        self.logging_button.clicked.connect(self._handle_logging_button_clicked)
+        self.ui.statusbar.addPermanentWidget(self.logging_button)
+
         QtCore.QTimer.singleShot(0, self._handle_startup)
 
     def show(self):
@@ -1289,6 +2147,8 @@ class TviewMainWindow():
         return len(matching_devices) == 1
 
     async def _populate_devices(self):
+        self.python_console.namespace['transport'] = self.transport
+
         self.devices = []
 
         targets = moteus.moteus_tool.expand_targets(self.options.devices)
@@ -1338,7 +2198,11 @@ class TviewMainWindow():
             data_item.setText(0, tree_key)
             self.ui.telemetryTreeWidget.addTopLevelItem(data_item)
 
-            device = Device(device_address, source_can_id,
+            python_source_can_id = source_can_id - 1
+
+            device = Device(device_address,
+                            source_can_id,
+                            python_source_can_id,
                             self.transport,
                             self.console, '{}>'.format(tree_key),
                             config_item,
@@ -1347,13 +2211,64 @@ class TviewMainWindow():
                             self,
                             current_can_id)
 
-            source_can_id -= 1
+            source_can_id -= 2
 
             config_item.setData(0, QtCore.Qt.UserRole, device)
+            data_item.setData(0, QtCore.Qt.UserRole, device)
             asyncio.create_task(device.start())
 
             self.devices.append(device)
 
+        # Start fault monitoring after all devices are created
+        if self.devices and not self.fault_monitoring_task:
+            self.fault_monitoring_task = asyncio.create_task(self._monitor_device_faults())
+
+        if self.devices:
+            self.python_console.namespace['controller'] = self._python_get_controller(self.devices[0].address)
+            self.python_console.namespace['controllers'] = [
+                self._python_get_controller(device.address)
+                for device in self.devices]
+
+    def _python_get_controller(self, name_or_address):
+        def get_device():
+            # Is this an address that matches one of our devices
+            # exactly?
+            maybe_device_by_address = [
+                device for device in self.devices
+                if (device.address == name_or_address
+                    or (isinstance(device.address, int) and
+                        isinstance(name_or_address, int) and
+                        device.address == name_or_address)
+                    or (not isinstance(device.address, int) and
+                        device.address.can_id is not None and
+                        isinstance(name_or_address, int) and
+                        device.address.can_id == name_or_address))
+            ]
+            if maybe_device_by_address:
+                return maybe_device_by_address[0]
+
+            # Can we look it up by name?
+            if isinstance(name_or_address, str):
+                maybe_devices = [x for x in self.devices
+                                 if self._match(x, name_or_address)]
+                if maybe_devices:
+                    return maybe_devices[0]
+
+            return None
+
+        device = get_device()
+        if device:
+            return moteus.Controller(
+                device.address,
+                source_can_id=device.python_source_can_id,
+                can_prefix=self.options.can_prefix)
+
+        # It doesn't appear to match one of our existing devices.
+        # Just try to make a new instance assuming it is address-like.
+        return moteus.Controller(
+            name_or_address,
+            can_prefix=self.options.can_prefix)
+
     def _handle_startup(self):
         self.console._control.setFocus()
         self._open()
@@ -1533,47 +2448,81 @@ class TviewMainWindow():
     def _handle_tree_expanded(self, item):
         self.ui.telemetryTreeWidget.resizeColumnToContents(0)
         user_data = item.data(0, QtCore.Qt.UserRole)
-        if user_data:
+        if (user_data and
+            hasattr(user_data, 'expand') and
+            callable(user_data.expand)):
             user_data.expand()
 
+        # Mark fault as observed if expanding servo_stats while
+        # telemetry is visible
+
+        if (self.ui.telemetryDock.isVisible() and
+            item.text(0).lower() == "servo_stats"):
+            device = self._find_device_from_tree_item(item)
+            if device and device.has_unobserved_fault():
+                self._mark_fault_observed(device)
+
     def _handle_tree_collapsed(self, item):
         user_data = item.data(0, QtCore.Qt.UserRole)
-        if user_data:
+        if user_data and hasattr(user_data, 'collapse') and callable(user_data.collapse):
             user_data.collapse()
 
     def _handle_telemetry_context_menu(self, pos):
         item = self.ui.telemetryTreeWidget.itemAt(pos)
-        if item.childCount() > 0:
-            return
+
+        # Determine if this is a leaf item (field) or a channel item
+        is_leaf = item.childCount() == 0
+
+        is_controller = item.parent() is None
 
         menu = QtWidgets.QMenu(self.ui)
-        left_action = menu.addAction('Plot Left')
-        right_action = menu.addAction('Plot Right')
-        left_std_action = menu.addAction('Plot StdDev Left')
-        right_std_action = menu.addAction('Plot StdDev Right')
-        left_mean_action = menu.addAction('Plot Mean Left')
-        right_mean_action = menu.addAction('Plot Mean Right')
-
-        plot_actions = [
-            left_action,
-            right_action,
-            left_std_action,
-            right_std_action,
-            left_mean_action,
-            right_mean_action,
-        ]
-
-        right_actions = [right_action, right_std_action, right_mean_action]
-        std_actions = [left_std_action, right_std_action]
-        mean_actions = [left_mean_action, right_mean_action]
-
-        menu.addSeparator()
-        copy_name = menu.addAction('Copy Name')
-        copy_value = menu.addAction('Copy Value')
 
-        menu.addSeparator()
-        fmt_standard_action = menu.addAction('Standard Format')
-        fmt_hex_action = menu.addAction('Hex Format')
+        # Plot actions only make sense for leaf items
+        plot_actions = []
+        if is_leaf:
+            left_action = menu.addAction('Plot Left')
+            right_action = menu.addAction('Plot Right')
+            left_std_action = menu.addAction('Plot StdDev Left')
+            right_std_action = menu.addAction('Plot StdDev Right')
+            left_mean_action = menu.addAction('Plot Mean Left')
+            right_mean_action = menu.addAction('Plot Mean Right')
+
+            plot_actions = [
+                left_action,
+                right_action,
+                left_std_action,
+                right_std_action,
+                left_mean_action,
+                right_mean_action,
+            ]
+
+            right_actions = [right_action, right_std_action, right_mean_action]
+            std_actions = [left_std_action, right_std_action]
+            mean_actions = [left_mean_action, right_mean_action]
+
+            menu.addSeparator()
+
+        copy_name = menu.addAction('Copy Name')
+        if is_leaf:
+            copy_value = menu.addAction('Copy Value')
+
+        if is_leaf:
+            menu.addSeparator()
+            fmt_standard_action = menu.addAction('Standard Format')
+            fmt_hex_action = menu.addAction('Hex Format')
+
+            menu.addSeparator()
+            log_channel_action = menu.addAction('Log this channel')
+
+        # Sample rate menu items - available for both channels and
+        # fields, but not controllers.
+        if not is_controller:
+            menu.addSeparator()
+            rate_10hz_action = menu.addAction('Set Rate: 10Hz')
+            rate_100hz_action = menu.addAction('Set Rate: 100Hz')
+        else:
+            rate_10hz_action = None
+            rate_100hz_action = None
 
         requested = menu.exec_(self.ui.telemetryTreeWidget.mapToGlobal(pos))
 
@@ -1606,12 +2555,35 @@ class TviewMainWindow():
             self.ui.plotItemCombo.addItem(name, plot_item)
         elif requested == copy_name:
             QtWidgets.QApplication.clipboard().setText(item.text(0))
-        elif requested == copy_value:
+        elif is_leaf and requested == copy_value:
             QtWidgets.QApplication.clipboard().setText(item.text(1))
-        elif requested == fmt_standard_action:
+        elif is_leaf and requested == fmt_standard_action:
             item.setData(1, FORMAT_ROLE, FMT_STANDARD)
-        elif requested == fmt_hex_action:
+        elif is_leaf and requested == fmt_hex_action:
             item.setData(1, FORMAT_ROLE, FMT_HEX)
+        elif is_leaf and requested == log_channel_action:
+            self._start_channel_logging(item)
+        elif (rate_10hz_action and requested == rate_10hz_action or
+              rate_100hz_action and requested == rate_100hz_action):
+            # Determine the channel schema and name
+            if is_leaf:
+                # For leaf items, find the parent channel item
+                channel_item = item
+                while channel_item.parent().parent():
+                    channel_item = channel_item.parent()
+                schema = channel_item.data(0, QtCore.Qt.UserRole)
+            else:
+                # For channel items, use the item directly
+                schema = item.data(0, QtCore.Qt.UserRole)
+
+            if schema and hasattr(schema, '_name') and hasattr(schema, '_parent'):
+                channel_name = schema._name
+                device = schema._parent
+
+                # 10Hz = 100ms, 100Hz = 10ms
+                poll_rate_ms = 100 if requested == rate_10hz_action else 10
+
+                device.write_line(f'tel rate {channel_name} {poll_rate_ms}\r\n')
         else:
             # The user cancelled.
             pass
@@ -1641,6 +2613,376 @@ class TviewMainWindow():
         self.ui.plotWidget.remove_plot(item)
         self.ui.plotItemCombo.removeItem(index)
 
+    # Fault Monitoring System
+    async def _monitor_device_faults(self):
+        """Continuously monitor devices for fault conditions."""
+        # Wait for devices to initialize
+
+        # Start monitoring immediately - devices can handle queries during initialization
+
+        while True:
+            try:
+                await asyncio.sleep(FAULT_POLLING_INTERVAL_MS / 1000.0)
+
+                fault_detected = False
+                for device in self.devices:
+                    # Check and update fault state for this device
+                    device_fault_detected, device_fault_cleared = await device.check_and_update_fault_state()
+                    if device_fault_detected:
+                        fault_detected = True
+                    if device_fault_cleared:
+                        # Clear highlighting for this device when fault is cleared
+                        self._clear_device_highlighting(device)
+
+                # Start/stop flashing based on unobserved faults
+                if fault_detected:
+                    self._start_fault_flashing()
+                elif self._all_faults_observed():
+                    self._stop_fault_flashing()
+
+                # Update status bar with current fault information
+                self._update_fault_status_bar()
+
+            except Exception as e:
+                print(f"Error in fault monitoring: {e}")
+                await asyncio.sleep(1.0)
+
+    def _all_faults_observed(self):
+        """Check if all current faults have been visually observed."""
+        return all(not device.has_unobserved_fault() for device in self.devices)
+
+    def _start_fault_flashing(self):
+        """Start visual fault indicators."""
+        if self.fault_flash_timer is None:
+            self.fault_flash_timer = QtCore.QTimer()
+            self.fault_flash_timer.timeout.connect(self._toggle_fault_flash)
+            self.fault_flash_timer.start(500)
+            self._toggle_fault_flash()
+
+    def _stop_fault_flashing(self):
+        """Stop visual fault indicators."""
+        if self.fault_flash_timer is not None:
+            self.fault_flash_timer.stop()
+            self.fault_flash_timer = None
+            self._clear_fault_highlighting()
+
+    def _toggle_fault_flash(self):
+        """Toggle fault visual indicators."""
+        self.fault_flash_state = not self.fault_flash_state
+        color = "#FF4444" if self.fault_flash_state else "#FFA500"
+
+        for device in self.devices:
+            if device.has_unobserved_fault():
+                self._highlight_device_fault(device, color)
+
+    def _highlight_device_fault(self, device, color):
+        """Apply fault highlighting to UI elements."""
+        self._highlight_telemetry_tab(color)
+        self._highlight_device_tree_items(device, color)
+        self._highlight_servo_stats(device, color)
+
+    def _highlight_telemetry_tab(self, color):
+        """Flash telemetry tab text to indicate fault."""
+        tab_bars = self.ui.findChildren(QtWidgets.QTabBar)
+        for tab_bar in tab_bars:
+            for i in range(tab_bar.count()):
+                if "telemetry" in tab_bar.tabText(i).lower():
+                    # Store original color on first modification
+                    if self.original_tab_color is None:
+                        # Get the actual default color from the palette since tabTextColor
+                        # returns invalid QColor() for tabs that haven't been modified
+                        self.original_tab_color = tab_bar.palette().color(QtGui.QPalette.WindowText)
+
+                    # This is the best visual indicator I've managed
+                    # to find for tab text.
+                    if self.fault_flash_state:
+                        tab_bar.setTabTextColor(i, QtGui.QColor("#FF0000"))
+                    else:
+                        tab_bar.setTabTextColor(i, QtGui.QColor("#FF8800"))
+                    return
+
+    def _highlight_device_tree_items(self, device, color):
+        """Highlight device tree items in telemetry view."""
+        # Only highlight if device has unobserved fault
+        if hasattr(device, '_data_tree_item') and device.has_unobserved_fault():
+            brush = QtGui.QBrush(QtGui.QColor(color))
+            device._data_tree_item.setBackground(0, brush)
+            device._data_tree_item.setBackground(1, brush)
+
+    def _highlight_servo_stats(self, device, color):
+        """Highlight servo_stats entry for device."""
+        # Only highlight if device has unobserved fault
+        if hasattr(device, '_data_tree_item') and device.has_unobserved_fault():
+            for i in range(device._data_tree_item.childCount()):
+                child = device._data_tree_item.child(i)
+                if child.text(0) == 'servo_stats':
+                    brush = QtGui.QBrush(QtGui.QColor(color))
+                    child.setBackground(0, brush)
+                    child.setBackground(1, brush)
+                    break
+
+    def _clear_fault_highlighting(self):
+        """Clear all fault highlighting."""
+        # Clear telemetry tab color
+        tab_bars = self.ui.findChildren(QtWidgets.QTabBar)
+        for tab_bar in tab_bars:
+            for i in range(tab_bar.count()):
+                if "telemetry" in tab_bar.tabText(i).lower():
+                    # Reset the color using the stored original
+                    if self.original_tab_color and self.original_tab_color.isValid():
+                        tab_bar.setTabTextColor(i, self.original_tab_color)
+                    break  # Found and processed the telemetry tab
+
+        # Clear tree highlighting for all devices
+        for device in self.devices:
+            self._clear_device_highlighting(device)
+
+    def _clear_device_highlighting(self, device):
+        """Clear fault highlighting for a specific device."""
+        if hasattr(device, '_data_tree_item'):
+            device._data_tree_item.setBackground(0, QtGui.QBrush())
+            device._data_tree_item.setBackground(1, QtGui.QBrush())
+            # Clear servo_stats
+            for i in range(device._data_tree_item.childCount()):
+                child = device._data_tree_item.child(i)
+                if child.text(0) == 'servo_stats':
+                    child.setBackground(0, QtGui.QBrush())
+                    child.setBackground(1, QtGui.QBrush())
+
+    # Observation Tracking
+    def _handle_telemetry_item_clicked(self, item, column):
+        """Handle clicks on telemetry items for fault observation."""
+        if not self.ui.telemetryDock.isVisible():
+            return
+
+        # We only consider a fault observed if the user expanded or
+        # clicked on the 'servo_stats' entry, or the 'fault' or 'mode'
+        # elements of 'servo_stats.
+        item_text = item.text(0).lower()
+        if item_text == "servo_stats":
+            # Only count servo_stats click as observation if it's already expanded
+            if item.isExpanded():
+                device = self._find_device_from_tree_item(item)
+            else:
+                return  # Don't count clicks on collapsed servo_stats
+        elif item_text in ["mode", "fault"] and item.parent() and item.parent().text(0).lower() == "servo_stats":
+            device = self._find_device_from_tree_item(item.parent().parent())
+        else:
+            return
+
+        if device and device.has_unobserved_fault():
+            self._mark_fault_observed(device)
+
+    def _find_device_from_tree_item(self, item):
+        """Find device associated with tree item."""
+        if not item:
+            return None
+
+        # Traverse up to top-level item
+        current = item
+        while current.parent():
+            current = current.parent()
+
+        # Check if top-level item has device data
+        device_data = current.data(0, QtCore.Qt.UserRole)
+        if isinstance(device_data, Device):
+            return device_data
+
+        # Fallback: search by tree item reference
+        for device in self.devices:
+            if hasattr(device, '_data_tree_item') and device._data_tree_item == current:
+                return device
+
+        return None
+
+    def _mark_fault_observed(self, device):
+        """Mark device fault as visually observed."""
+        device.mark_fault_observed()
+
+        # Clear highlighting for this specific device immediately
+        self._clear_device_highlighting(device)
+
+        # Check if all faults are now observed and stop global flashing if so
+        if self._all_faults_observed():
+            self._stop_fault_flashing()
+
+        # Update status bar to reflect observed fault
+        self._update_fault_status_bar()
+
+    def _update_fault_status_bar(self):
+        """Update the status bar with current fault information."""
+        # Collect all faulted devices
+        faulted_devices = []
+        for device in self.devices:
+            if device.fault_state.is_faulted:
+                faulted_devices.append(device)
+
+        if not faulted_devices:
+            # No faults - clear status bar
+            self.ui.statusbar.clearMessage()
+            return
+
+        FULL_LIST_COUNT = 2
+
+        if len(faulted_devices) == 1:
+            # Single fault - show device and fault code with description
+            device = faulted_devices[0]
+            fault_code = device.fault_state.current_fault_code
+            fault_text = _format_fault_code(fault_code)
+            if fault_text:
+                message = f"Fault: {device.address} {fault_text}"
+            else:
+                message = f"Fault: {device.address}"
+        elif len(faulted_devices) <= FULL_LIST_COUNT:
+            # Multiple faults - show compact list with descriptions
+            fault_strs = []
+            for device in faulted_devices:
+                fault_code = device.fault_state.current_fault_code
+                fault_text = _format_fault_code(fault_code)
+                if fault_text:
+                    fault_strs.append(f"{device.address} {fault_text}")
+                else:
+                    fault_strs.append(f"{device.address}")
+            message = f"Faults: {', '.join(fault_strs)}"
+        else:
+            # Many faults - show count with tooltip
+            message = f"Faults: {len(faulted_devices)} devices - hover for details"
+
+            # Create tooltip with detailed fault information including descriptions
+            tooltip_lines = []
+            for device in faulted_devices:
+                fault_code = device.fault_state.current_fault_code
+                fault_text = _format_fault_code(fault_code)
+                if fault_text:
+                    tooltip_lines.append(f"{device.address} {fault_text}")
+                else:
+                    tooltip_lines.append(f"{device.address}")
+            tooltip = "\n".join(tooltip_lines)
+            self.ui.statusbar.setToolTip(tooltip)
+
+        # Display the message
+        self.ui.statusbar.showMessage(message)
+
+        # Clear tooltip if not many faults
+        if len(faulted_devices) <= FULL_LIST_COUNT:
+            self.ui.statusbar.setToolTip("")
+
+    def _detect_log_format(self, filename, selected_filter):
+        """Detect log format from filename extension or file filter.
+
+        Args:
+            filename: User-provided filename
+            selected_filter: Selected file filter from dialog
+
+        Returns:
+            Tuple of (final_filename, format) where format is 'csv' or 'jsonl'
+        """
+        # Detect format from filename extension if present, otherwise from filter
+        if filename.endswith('.csv'):
+            log_format = 'csv'
+        elif filename.endswith('.jsonl'):
+            log_format = 'jsonl'
+        else:
+            # No recognized extension, use filter selection
+            log_format = 'csv' if 'CSV' in selected_filter else 'jsonl'
+            # Add appropriate extension
+            if log_format == 'jsonl':
+                filename += '.jsonl'
+            elif log_format == 'csv':
+                filename += '.csv'
+
+        return filename, log_format
+
+    def _handle_logging_button_clicked(self):
+        """Handle clicks on the status bar logging button."""
+        if self.logging_manager.is_logging():
+            self._stop_logging()
+        else:
+            self._start_global_logging()
+
+    def _start_global_logging(self):
+        """Start logging all data from all devices."""
+        filename, selected_filter = QtWidgets.QFileDialog.getSaveFileName(
+            self.ui,
+            "Save Log File",
+            "",
+            "JSON Lines (*.jsonl);;CSV Files (*.csv);;All Files (*)"
+        )
+
+        if not filename:
+            return
+
+        filename, log_format = self._detect_log_format(filename, selected_filter)
+
+        try:
+            self.logging_manager.start_logging(
+                filename, devices=None, channels=None, format=log_format)
+            self.logging_button.setText('Stop Logging')
+            self.logging_button.setStyleSheet('background-color: #90EE90')
+            print(f"Started logging all data to {filename} (format: {log_format})")
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(
+                self.ui,
+                "Logging Error",
+                f"Failed to start logging: {e}"
+            )
+
+    def _stop_logging(self):
+        """Stop logging and update UI."""
+        self.logging_manager.stop_logging()
+        self.logging_button.setText('Start Logging All')
+        self.logging_button.setStyleSheet('')
+        print("Stopped logging")
+
+    def _start_channel_logging(self, item):
+        """Start logging a specific channel from the tree view."""
+        channel_item = item
+        while channel_item.parent() and channel_item.parent().parent():
+            channel_item = channel_item.parent()
+
+        if not channel_item.parent():
+            return
+
+        schema = channel_item.data(0, QtCore.Qt.UserRole)
+        if not hasattr(schema, 'record'):
+            return
+
+        channel_name = channel_item.text(0)
+
+        device_item = channel_item.parent()
+        device = device_item.data(0, QtCore.Qt.UserRole)
+        if not isinstance(device, Device):
+            return
+
+        filename, selected_filter = QtWidgets.QFileDialog.getSaveFileName(
+            self.ui,
+            f"Save Log File for {channel_name}",
+            "",
+            "JSON Lines (*.jsonl);;CSV Files (*.csv);;All Files (*)"
+        )
+
+        if not filename:
+            return
+
+        filename, log_format = self._detect_log_format(filename, selected_filter)
+
+        try:
+            self.logging_manager.start_logging(
+                filename,
+                devices={device.address},
+                channels={channel_name},
+                format=log_format
+            )
+            self.logging_button.setText('Stop Logging')
+            self.logging_button.setStyleSheet('background-color: #90EE90')
+            print(f"Started logging {channel_name} from device {device.address} to {filename} (format: {log_format})")
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(
+                self.ui,
+                "Logging Error",
+                f"Failed to start logging: {e}"
+            )
+
 
 def main():
     signal.signal(signal.SIGINT, signal.SIG_DFL)
@@ -1665,11 +3007,17 @@ def main():
     loop = asyncqt.QEventLoop(app)
     asyncio.set_event_loop(loop)
 
+    tv = TviewMainWindow(args)
+
+    # Cleanup logging on exit
+    def cleanup():
+        tv.logging_manager.stop_logging()
+        os._exit(0)
+
     # Currently there are many things that can barf on exit, let's
     # just ignore all of them because, hey, we're about to exit!
-    app.aboutToQuit.connect(lambda: os._exit(0))
+    app.aboutToQuit.connect(cleanup)
 
-    tv = TviewMainWindow(args)
     tv.show()
 
     app.exec_()