def process(filename):
'''process one logfile'''
print("Processing %s" % filename)
mlog = mavutil.mavlink_connection(filename,
notimestamps=opts.notimestamps,
robust_parsing=opts.robust)
output = None
count = 1
dirname = os.path.dirname(filename)
while True:
m = mlog.recv_match(condition=opts.condition)
if m is None:
break
if mlog.flightmode.upper() == opts.mode.upper():
if output is None:
path = os.path.join(dirname, "%s%u.tlog" % (opts.mode, count))
count += 1
print("Creating %s" % path)
output = mavutil.mavlogfile(path, write=True)
else:
if output is not None:
output.close()
output = None
if output and m.get_type() != 'BAD_DATA':
timestamp = getattr(m, '_timestamp', None)
output.write(struct.pack('>Q', timestamp * 1.0e6))
output.write(m.get_msgbuf())
def process(filename):
'''process one logfile'''
print("Processing %s" % filename)
mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps,
robust_parsing=opts.robust)
output = None
count = 1
dirname = os.path.dirname(filename)
while True:
m = mlog.recv_match(condition=opts.condition)
if m is None:
break
if mlog.flightmode.upper() == opts.mode.upper():
if output is None:
path = os.path.join(dirname, "%s%u.tlog" % (opts.mode, count))
count += 1
print("Creating %s" % path)
output = mavutil.mavlogfile(path, write=True)
else:
if output is not None:
output.close()
output = None
if output and m.get_type() != 'BAD_DATA':
timestamp = getattr(m, '_timestamp', None)
output.write(struct.pack('>Q', timestamp*1.0e6))
output.write(m.get_msgbuf())
def run(self):
_log.info("Запускаюсь. Использую url:")
# mav1 = mavutil.mavlink_connection("udpin:0.0.0.0:22466")
mav2 = mavutil.mavlink_connection("udpin:0.0.0.0:22467")
mav_read_file = mavutil.mavlogfile(read_file, robust_parsing= False, notimestamps= True)
while True:
# msg1 = mav1.recv_match(blocking=False)
# msg2 = mav2.recv_match(blocking=False)
msg_read_file = mav_read_file.recv_match(blocking=False)
# if msg1:
# self.process_message(msg1)
# if self.uplink_msgs:
# print(self.uplink_msgs)
# mav1.write(self.uplink_msgs)
# self.uplink_msgs = []
# if msg2:
# self.process_message(msg2)
# if self.uplink_msgs:
# mav2.write(self.uplink_msgs)
# self.uplink_msgs = []
if msg_read_file:
self.process_message(msg_read_file)
def read_log_file(path_to_log_file, timestamps):
mav_read_file = mavutil.mavlogfile(path_to_log_file,
robust_parsing=True,
notimestamps=(not timestamps))
while True:
msg_read = mav_read_file.recv_match(blocking=False)
if msg_read == None:
break
print(msg_read)
def main(argv):
parser = argparse.ArgumentParser("tm parser to csvs", add_help=True)
parser.add_argument("-i,--input", nargs="?", dest="input", required=True)
parser.add_argument("-o,--output_dir", nargs="?", dest="output_dir", help="If output is None, input filename is name for output directory", default=None)
parser.add_argument("--notimestamps", dest="notimestamps", default=False, action='store_true')
args = parser.parse_args(argv)
base_path = args.output_dir
f = args.input
notimestamps = args.notimestamps
if not base_path:
fname = os.path.split(f)[1]
base_path = os.path.splitext(fname)[0]
if not os.path.isdir(base_path):
os.makedirs(base_path, exist_ok=True)
con = mavutil.mavlogfile(f, notimestamps=notimestamps)
processors = {}
bad_data_bytes = 0
while True:
msg = con.recv_msg()
if not msg:
break
msg_id = msg.get_msgId()
if msg_id < 0:
bad_data_bytes += 1
continue
msg_hdr = msg.get_header()
msg_key = "%s-%s-%s" % (msg_id, msg_hdr.srcSystem, msg_hdr.srcComponent)
if msg_key not in processors:
processor = MsgProcessor(base_path, notimestamps=notimestamps)
processors.update({msg_key: processor})
processor = processors[msg_key]
processor.accept(msg)
print("=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-")
print("Stats in total:")
for msg_key, processor in processors.items():
print("%s-%s: %d messages" % (processor.msg_class.name, msg_key, processor.message_count))
print("bad data %s bytes in total" % bad_data_bytes)
def play_file(url, filepath, **mavlogfile_kwargs):
source_mav = mavutil.mavlogfile(filepath, **mavlogfile_kwargs)
target_con = mavutil.mavlink_connection(url)
target_mav = target_con.mav
_log.info("Играю файл %s", filepath)
_log.info("Отпарвляю пакеты на url %s", url)
zero_time = time.time()
while True:
msg = source_mav.recv_msg()
if not msg:
break
play_time = get_msg_time(msg, zero_time)
sleep_amount = play_time - time.time()
_log.debug(msg)
_log.debug("sleep amount: %s", sleep_amount)
if sleep_amount > 0:
time.sleep(sleep_amount)
target_mav.send(msg)
def set_logfile(self, filename): '''provide a mavlink logfile for data''' self.mlog = mavutil.mavlogfile(filename)
from pymavlink import mavutil
if len(args) < 1:
print("Usage: mavlogdump.py [options] <LOGFILE>")
sys.exit(1)
filename = args[0]
mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
notimestamps=opts.notimestamps,
robust_parsing=opts.robust,
dialect=opts.dialect)
output = None
if opts.output:
output = mavutil.mavlogfile(opts.output, write=True)
types = opts.types
if types is not None:
types = types.split(',')
while True:
m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
if m is None:
break
if types is not None and m.get_type() not in types:
continue
last_timestamp = 0
if output and m.get_type() != 'BAD_DATA':
timestamp = getattr(m, '_timestamp', None)
def set_logfile(self, filename):
'''provide a mavlink logfile for data'''
self.mlog = mavutil.mavlogfile(filename)
import multiprocessing
import writerpool
import pymavlink.dialects.v10.lapwing as mavlink
import pymavlink.mavutil as mavutil
parser = argparse.ArgumentParser()
parser.add_argument('-f',
'--infile',
type=str,
required=True,
help='Input file')
args = parser.parse_args()
f = mavutil.mavlogfile(args.infile, robust_parsing=True, notimestamps=True)
writerpool = writerpool.WriterPool()
total_bytes = 0
msgcnt = 0
bytescnt = 0
maverrorcnt = 0
indexerrorcnt = 0
while (True):
try:
m2 = f.recv_msg()
if (None != m2):
msgcnt += 1
bytescnt += len(m2._msgbuf)
def start(self):
self.connection = mavutil.mavlogfile(self.log_path, notimestamps=True)
self.time_shift = None
self.time_start = None
from pymavlink import mavutil
if len(args) < 1:
print("Usage: mavlogdump.py [options] <LOGFILE>")
sys.exit(1)
filename = args[0]
mlog = mavutil.mavlink_connection(filename,
planner_format=opts.planner,
notimestamps=opts.notimestamps,
robust_parsing=opts.robust,
dialect=opts.dialect)
output = None
if opts.output:
output = mavutil.mavlogfile(opts.output, write=True)
types = opts.types
if types is not None:
types = types.split(',')
while True:
m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
if m is None:
break
if types is not None and m.get_type() not in types:
continue
last_timestamp = 0
if output and m.get_type() != 'BAD_DATA':
timestamp = getattr(m, '_timestamp', None)
import argparse
import struct
import binascii
import multiprocessing
import writerpool
import pymavlink.dialects.v10.lapwing as mavlink
import pymavlink.mavutil as mavutil
parser = argparse.ArgumentParser()
parser.add_argument('-f', '--infile', type=str, required=True,
help='Input file')
args = parser.parse_args()
f = mavutil.mavlogfile(args.infile, robust_parsing=True, notimestamps=True)
writerpool = writerpool.WriterPool()
total_bytes = 0
msgcnt = 0
bytescnt = 0
maverrorcnt = 0
indexerrorcnt = 0
while (True):
try:
m2 = f.recv_msg()
if (None != m2):
msgcnt += 1
bytescnt += len(m2._msgbuf)
def set_logfile(self, filename):
"""provide a mavlink logfile for data"""
self.mlog = mavutil.mavlogfile(filename)
