def __init__(self, files, processed_np_save_path = '/tmp/mav/',raw_np_save_path ='/tmp/mav/raw/', debug = False):
self.command_map = {
'graph' : (self.cmd_graph, 'display a graph'),
'set' : (self.cmd_set, 'control settings'),
'reload' : (self.cmd_reload, 'reload graphs'),
'condition' : (self.cmd_condition, 'set graph conditions'),
'param' : (self.cmd_param, 'show parameters'),
'save' : (self.cmd_save, 'save log'),
'json' : (self.cmd_json, 'write json files'),
'load' : (self.cmd_load, 'laod log'),
'nparr' : (self.cmd_write_all_np_arrays, 'save np array'),
}
self.mestate = MEState()
self.mestate.debug = debug
self.debug = debug
self.mestate.raw_np_save_path = raw_np_save_path
self.mestate.processed_np_save_path = processed_np_save_path
self.mestate.rl = rline.rline("MAV> ", self.mestate)
# make a regular expression to extract the words containing capital letters (msg types)
self.re_caps = re.compile('[A-Z_][A-Z0-9_]+')
if isinstance(files, list):
print("Loading %s...\n" % files[0])
self.mestate.file = files[0]
elif isinstance(files, basestring):
print("Loading %s...\n" % files)
self.mestate.file = files
else:
sys.exit(1)
# support for loading pre-processed folders
if os.path.isdir(self.mestate.file):
# the file is a folder...
self.is_folder = True
else:
self.is_folder = False
if args.version:
#pkg_resources doesn't work in the windows exe build, so read the version file
try:
version = pkg_resources.require("mavproxy")[0].version
except Exception as e:
start_script = mp_util.dot_mavproxy("version.txt")
f = open(start_script, 'r')
version = f.readline()
print("MAVExplorer Version: " + version)
sys.exit(1)
mestate = MEState()
setup_file_menu()
mestate.rl = rline.rline("MAV> ", mestate)
#If specified, open the log file
if args.files is not None and len(args.files) != 0:
loadfile(args.files)
# run main loop as a thread
mestate.thread = threading.Thread(target=main_loop, name='main_loop')
mestate.thread.daemon = True
mestate.thread.start()
# input loop
while mestate.rl is not None and not mestate.exit:
try:
try:
line = mestate.rl.input()
"*USB_to_UART*",
'*Ardu*',
'*PX4*',
'*FMU*'])
if not opts.master:
print('Auto-detected serial ports are:')
for port in serial_list:
print("%s" % port)
# container for status information
mpstate.settings.target_system = opts.TARGET_SYSTEM
mpstate.settings.target_component = opts.TARGET_COMPONENT
mpstate.mav_master = []
mpstate.rl = rline.rline("MAV> ", mpstate)
def quit_handler(signum = None, frame = None):
#print('Signal handler called with signal', signum)
if mpstate.status.exit:
print('Clean shutdown impossible, forcing an exit')
sys.exit(0)
else:
mpstate.status.exit = True
# Listen for kill signals to cleanly shutdown modules
fatalsignals = [signal.SIGTERM]
try:
fatalsignals.append(signal.SIGHUP)
fatalsignals.append(signal.SIGQUIT)
except Exception:
for p in opts.output:
mpstate.mav_outputs.append(mavutil.mavlink_connection(p, baud=opts.baudrate, input=False))
if opts.sitl:
mpstate.sitl_output = mavutil.mavudp(opts.sitl, input=False)
mpstate.settings.numcells = opts.num_cells
mpstate.settings.streamrate = opts.streamrate
mpstate.settings.streamrate2 = opts.streamrate
msg_period = mavutil.periodic_event(1.0/15)
heartbeat_period = mavutil.periodic_event(1)
battery_period = mavutil.periodic_event(0.1)
heartbeat_check_period = mavutil.periodic_event(0.33)
mpstate.rl = rline.rline("MAV> ", mpstate)
if opts.setup:
mpstate.rl.set_prompt("")
if 'HOME' in os.environ and not opts.setup:
start_script = os.path.join(os.environ['HOME'], ".mavinit.scr")
if os.path.exists(start_script):
run_script(start_script)
if opts.aircraft is not None:
start_script = os.path.join(opts.aircraft, "mavinit.scr")
if os.path.exists(start_script):
run_script(start_script)
else:
print("no script %s" % start_script)
'graph' : (cmd_graph, 'display a graph'),
'set' : (cmd_set, 'control settings'),
'reload' : (cmd_reload, 'reload graphs'),
'save' : (cmd_save, 'save a graph'),
'condition' : (cmd_condition, 'set graph conditions'),
'param' : (cmd_param, 'show parameters'),
'map' : (cmd_map, 'show map view'),
}
def progress_bar(pct):
if pct % 2 == 0:
mestate.console.write('#')
if __name__ == "__main__":
mestate = MEState()
mestate.rl = rline.rline("MAV> ", mestate)
from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)
parser.add_argument("files", metavar="<FILE>", nargs="+")
args = parser.parse_args()
if len(args.files) == 0:
print("Usage: MAVExplorer FILE")
sys.exit(1)
mestate.console.write("Loading %s...\n" % args.files[0])
t0 = time.time()
mlog = mavutil.mavlink_connection(args.files[0], notimestamps=False,
zero_time_base=False)
mestate.mlog = mavmemlog.mavmemlog(mlog, progress_bar)
