[mc_control] Correctly resume logging on reset

Closes #403

The issue is two-fold:
- logging was started and not resumed, this caused key events to be
  missing from the second log
- key events might have been emitted before the resume call and this
  could cause too many key events to be in the log

src/mc_control/MCController.cpp

@@ -737,9 +737,11 @@ void MCController::reset(const ControllerResetData & reset_data)
   updateContacts();
   if(gui_)
   {
+    gui_->removeElement({"Contacts"}, "Contacts");
     gui_->addElement({"Contacts"}, mc_rtc::gui::Table("Contacts", {"R1", "S1", "R2", "S2", "DoF", "Friction"},
                                                       [this]() -> const std::vector<ContactTableDataT> &
                                                       { return contacts_table_; }));
+    gui_->removeElement({"Contacts", "Add"}, "Add contact");
     gui_->addElement({"Contacts", "Add"},
                      mc_rtc::gui::Form(
                          "Add contact",
@@ -760,7 +762,8 @@ void MCController::reset(const ControllerResetData & reset_data)
                          mc_rtc::gui::FormNumberInput("Friction", false, mc_rbdyn::Contact::defaultFriction),
                          mc_rtc::gui::FormArrayInput<Eigen::Vector6d>("dof", false, Eigen::Vector6d::Ones())));
   }
-  logger().addLogEntry("perf_UpdateContacts", [this]() { return updateContacts_dt_.count(); });
+  logger().addLogEntry(
+      "perf_UpdateContacts", [this]() { return updateContacts_dt_.count(); }, true);
 }
 
 void MCController::updateContacts()

src/mc_control/mc_global_controller.cpp

@@ -1029,7 +1029,8 @@ bool MCGlobalController::GoToHalfSitPose()
 
 void MCGlobalController::start_log()
 {
-  controller_->logger().start(current_ctrl, controller_->timeStep);
+  controller_->logger().start(current_ctrl, controller_->timeStep,
+                              setup_logger_.find(current_ctrl) != setup_logger_.end());
   setup_log();
   if(server_) { server_->set_logger(controller_->logger_); }
 }

src/mc_rtc/Logger.cpp

@@ -213,7 +213,8 @@ void Logger::start(const std::string & ctl_name, double timestep, bool resume, d
   {
     if(resume)
     {
-      // Repeat the added key events
+      // Re-create key events based on the current set of entries
+      log_events_.clear();
       for(const auto & e : log_entries_) { log_events_.push_back(KeyAddedEvent{e.type, e.key}); }
     }
     else { impl_->log_iter_ = start_t; }