def get_param(mavfile):
while not command.end_entered():
option = raw_input('Choose an option (1. parameter by ID, 2. parameter by name, 3. all GPS parameters): ')
if option == 'end':
sys.exit()
else:
try:
option = int(option)
except:
print('Input has to be an integer from the option list')
pass
if option == 1:
param_id = int(raw_input('Type in ID: '))
name, value, data = receive_msg(mavfile, 'PARAM_VALUE', True, param_id = param_id)
print('----------\n' + value[0] + ': ' + str(value[1]) + '\n' + '----------')
elif option == 2 or option == '':
param_name = raw_input('Type in parameter name: ')
inv_dic = {v: k for k, v in dic.items()}
if '_' not in param_name:
param_name_splitted = param_name.split()
param_name = ''
for word in param_name_splitted:
param_name += word.upper()+'_'
param_name = param_name[:-1] #removing the last _ from the string
print('Changed input to: ' + param_name)
else:
pass
param_id = int(inv_dic[param_name])
name, value, data = receive_msg(mavfile, 'PARAM_VALUE', True, param_id = param_id)
print('----------\n' + value[0] + ': ' + str(value[1]) + '\n' + '----------')
elif option == 3:
get_pos_param(mavfile, 'print')
else:
print('Option not defined')
def print_out_received_data(mavfile, args = False):
loop = True;
while not command.end_entered() and loop:
try:
msg_type = sys.argv[1]
loop = False
except:
pass
if loop == True:
print('----------------------------')
list_mav_msg.print_list()
msg_type = raw_input('------------------------------------ \nEnter the MAV_MSG type (help/end/return): ')
else:
pass
if '_' not in msg_type and not msg_type.isdigit():
splitted = msg_type.split()
name = ''
for word in splitted:
name += word.upper()+'_'
msg_type = name[:-1] #removing the last _ from the string
print('Changed input to: ' + msg_type)
else:
pass
id_not_found = False
try:
msg_type = int(msg_type)
ID = msg_type
msg_type = list_mav_msg.list_mav_msg_working[str(msg_type)]
print('--------------------------------\n ID '+ str(ID) + ' found: ' + msg_type + '\n-------------------------------')
except:
pass
#print(msg_type)
#print(type(msg_type))
if msg_type == 'end':
sys.exit()
elif msg_type == 'help' or msg_type == 'ls':
list_mav_msg.print_list()
elif msg_type == 'PARAM_VALUE':
print('-----------------------\nGenerating list of all Parameters')
print('Bad implementation... First go to mavproxy. See how many parameters and hardcode the param_count value')
param_count = 403
par_name = [0,]*param_count
par_value = [0,]*param_count
ls_name = [0,]*param_count
ls_id = [0,]*param_count
print('Reading out all param_ids')
for i in range(0,param_count):
#if i == 4:
name, value, data = receive_msg(mavfile, 'PARAM_VALUE', True, param_id = i)
par_name[i] = value[0]
ls_name[i] = value[0]
par_value[i] = value[1]
ls_id[i] = str( value[4])
print(i)
par_data = zip (par_name, par_value)
#Used to generate the Dictionary 'param_id_list'
print('saving in params_id_list.py')
ls = dict(zip(ls_id, ls_name))
#print(ls)
txt = open('param_id_list.py', 'w')
txt.write('param_dic = {\n')
for i in ls_id:
txt.write('\''+ str(i)+ '\'' + ' : ' + '\''+ ls[str(i)]+ '\'' +', \n')
txt.write('}')
txt.close()
print('saving in params.py')
#for i in par_data:
#print(i)
txt=open('params.py', 'w')
par_data_dic = dict(par_data)
for i in par_name:
s = '\'' + i + '\'' + ':' + '\'' + str(par_data_dic[i]) +'\'' + ','+ '\n'
txt.write(s)
txt.close()
else:
if id_not_found:
print('ID not found')
break
else:
pass
#plot_str = raw_input ('------------------------------------\n Plot data? (y/n)')
plot_str = 'n'
if plot_str == 'y':
plot = True
else:
plot = False
if loop == True:
log_str = raw_input('-------------------------------------\n Log data? (y/n) ')
else:
log_str = 'n'
log = False
path = 'log_received_data.txt'
if log_str == 'y':
log = True
cmt_log = raw_input('Add comment: ')
cmt = 'Comment: ' +cmt_log + '\n---------------------------------------\n'
path_input = raw_input('Add name for log file (Hit Enter for logging into log_received_data.txt: ')
if path_input != '':
path = '../log/' + path_input + '.csv'
else:
pass
else:
log = False
#print("Not Receiving messages till terminated")
#run_str = "n"
if loop == True:
run_str = raw_input('--------------------------------------\n Receiving messages till terminated? (y/n): ')
else:
run_str = 'n'
if run_str == 'y':
run = True
tol_value = 5
tol = True
print("no noise tolerance")
tol_confirm = "n"
#tol_confirm = raw_input('---------------------------------\n Tolerance (noise) in update? (y/n): ')
if tol_confirm == 'y':
tol = True
tol_value = int(raw_input('----------------------------------\n Value of the tolerance: '))
elif tol_confirm == 'n':
tol = False
else:
pass
elif run_str == 'n':
run = False
else:
print('Answer not accepted. Only receiving one message')
run = False
break
if loop == True:
slicing = "n"
#slicing = raw_input('-----------------------------------\n Slicing the list? (y/n) ')
else:
slicing = "n"
if slicing == 'y':
start = int(raw_input('Start: ')) -1
end = int(raw_input('End: '))
name, value, data = receive_msg(mavfile, msg_type, True, True, start, end)
if 'time' in name[0]:
#time_check = raw_input('Print time (for log purposes)? (y/n)')
time_check = 'y'
if time_check == 'y':
time = True
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time, True, start, end)
else:
time = False
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time, True, start, end)
else:
time = False
pass
if log == True:
#write_log_number_line(cmt)
log_data(name, path)
log_data(value, path)
else:
pass
for line in data:
print(line)
while not command.end_entered() and run:
new_name, new_value, new_data = receive_msg(mavfile, msg_type,time, True, start, end)
#Only print further data if it differs from the first one
if not matching(new_value,value, tol, tol_value):
if log == True:
log_data(new_value, path)
else:
pass
print('Values changed:')
for line in new_data:
print(line)
value = new_value
else:
#print(msg_type)
#print(type(msg_type))
print('Getting ' + msg_type)
sleep(1)
time_start = time_now()
name, value, data = receive_msg(mavfile, msg_type, True)
if 'time' in name[0]:
if loop == True:
print("Printing time for log purposes")
time_check = "y"
#time_check = raw_input('--------------------------------\n Print time (for log purposes)? (y/n)')
else:
time_check = 'n'
if time_check == 'y':
time = True
print('Printing time')
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time)
else:
time = False
print('Not printing time')
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time)
else:
pass
if log == True:
#write_log_number_line(cmt)
log_data(name, path)
log_data(value, path)
else:
pass
for line in data:
print(line)
while not command.end_entered() and run:
new_name, new_value, new_data = receive_msg(mavfile, msg_type, time)
#Only print further data if it differs from the first one
if not matching(new_value,value, tol, tol_value):
if log == True:
log_data(new_value, path)
else:
pass
print('Values changed:')
for line in new_data:
print(line)
value= new_value
if time_now()-time_start > 120:
break
def print_out_received_data(mavfile, args = False):
# Calibrate accelerometer if input is -ca
try:
if sys.argv[1] == '-ca':
calibrate_acc(mavfile)
sys.exit()
else:
pass
except:
pass
# Calibrate compass if input is -cc
try:
if sys.argv[1] == '-cc':
calibrate_mag(mavfile)
sys.exit()
else:
pass
except:
pass
# Looping in a while loop
loop = True;
# Duration while the received data is printed out
time_run_duration = 60;
while not command.end_entered() and loop:
extern = False
try:
# Extern means that '27' as input from extern was typed in
if sys.argv[1] != '-ca' and sys.argv[1] != '-cc':
msg_type = sys.argv[1]
extern = True
else:
extern = False
pass
except:
pass
# Get a Prompt if no input from extern
if loop == True and extern == False:
print('----------------------------')
list_mav_msg.print_list()
msg_type = raw_input('------------------------------------ \nEnter the MAV_MSG type (help/end/return): ')
else:
pass
if '_' not in msg_type and not msg_type.isdigit():
splitted = msg_type.split()
name = ''
for word in splitted:
name += word.upper()+'_'
msg_type = name[:-1] #removing the last _ from the string
print('Changed input to: ' + msg_type)
else:
pass
id_not_found = False
try:
msg_type = int(msg_type)
ID = msg_type
msg_type = list_mav_msg.list_mav_msg_working[str(msg_type)]
print('--------------------------------\n ID '+ str(ID) + ' found: ' + msg_type + '\n-------------------------------')
except:
pass
if msg_type == 'end':
sys.exit()
elif msg_type == 'help' or msg_type == 'ls':
list_mav_msg.print_list()
elif msg_type == 'PARAM_VALUE':
print('-----------------------\nGenerating list of all Parameters')
print('Bad implementation... First go to mavproxy. See how many parameters and hardcode the param_count value')
# Hard coded amount of parameters. Each ID from 0 to param_count will be saved
param_count = 403
par_name = [0,]*param_count
par_value = [0,]*param_count
ls_name = [0,]*param_count
ls_id = [0,]*param_count
print('Reading out all param_ids')
for i in range(0,param_count):
name, value, data = receive_msg(mavfile, 'PARAM_VALUE', True, param_id = i)
par_name[i] = value[0]
ls_name[i] = value[0]
par_value[i] = value[1]
ls_id[i] = str( value[4])
print(i)
par_data = zip (par_name, par_value)
#Used to generate the Dictionary 'param_id_list'
print('saving in params_id_list.py')
ls = dict(zip(ls_id, ls_name))
txt = open('param_id_list.py', 'w')
txt.write('param_dic = {\n')
for i in ls_id:
txt.write('\''+ str(i)+ '\'' + ' : ' + '\''+ ls[str(i)]+ '\'' +', \n')
txt.write('}')
txt.close()
print('saving in params.py')
txt=open('params.py', 'w')
par_data_dic = dict(par_data)
for i in par_name:
s = '\'' + i + '\'' + ':' + '\'' + str(par_data_dic[i]) +'\'' + ','+ '\n'
txt.write(s)
txt.close()
else:
if id_not_found:
print('ID not found')
break
else:
pass
plot_str = 'n'
if plot_str == 'y':
plot = True
else:
plot = False
if loop == True:
log_str = raw_input('-------------------------------------\n Log data? (y/n) ')
else:
log_str = 'n'
log = False
path = 'log_received_data.txt'
if log_str == 'y':
log = True
time_run_duration = int(raw_input('Enter the duration of the logging: '))
#cmt_log = raw_input('Add comment: ')
cmt_log = ''
cmt = 'Comment: ' +cmt_log + '\n---------------------------------------\n'
path_input = raw_input('Add name for log file (Hit Enter for logging into log_received_data.txt: ')
if path_input == 'gri' or path_input == 'gpi' or path_input == 'all':
path_input += get_pos_param(mavfile,'get')
else:
pass
if path_input != '':
path = '../log/' + path_input + '.csv'
else:
pass
name_counter = 1
while os.path.isfile(path):
path = '../log/' + path_input +'_'+ str(name_counter) +'.csv'
else:
log = False
#print("Not Receiving messages till terminated")
#run_str = "n"
if loop == True:
#run_str = raw_input('--------------------------------------\n Receiving messages till terminated? (y/n): ')
run_str= 'y'
else:
run_str = 'n'
if run_str == 'y':
run = True
tol_value = 5
tol = True
print("no noise tolerance")
tol_confirm = "n"
#tol_confirm = raw_input('---------------------------------\n Tolerance (noise) in update? (y/n): ')
if tol_confirm == 'y':
tol = True
tol_value = int(raw_input('----------------------------------\n Value of the tolerance: '))
elif tol_confirm == 'n':
tol = False
else:
pass
elif run_str == 'n':
run = False
else:
print('Answer not accepted. Only receiving one message')
run = False
break
if loop == True:
slicing = "n"
#slicing = raw_input('-----------------------------------\n Slicing the list? (y/n) ')
else:
slicing = "n"
if slicing == 'y':
start = int(raw_input('Start: ')) -1
end = int(raw_input('End: '))
name, value, data = receive_msg(mavfile, msg_type, True, True, start, end)
if 'time' in name[0]:
#time_check = raw_input('Print time (for log purposes)? (y/n)')
time_check = 'y'
if time_check == 'y':
time = True
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time, True, start, end)
else:
time = False
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time, True, start, end)
else:
time = False
pass
if log == True:
#write_log_number_line(cmt)
log_data(name, path)
log_data(value, path)
else:
pass
for line in data:
print(line)
while not command.end_entered() and run:
new_name, new_value, new_data = receive_msg(mavfile, msg_type,time, True, start, end)
#Only print further data if it differs from the first one
if not matching(new_value,value, tol, tol_value):
if log == True:
log_data(new_value, path)
else:
pass
print('Values changed:')
for line in new_data:
print(line)
value = new_value
else:
if msg_type == 'ALL':
path_gpi = path.replace('.csv','_gpi.csv')
path_gri = path.replace('.csv','_gri.csv')
path_ri = path.replace('.csv','_ri.csv')
time_start = time_now()
gri_name, gri_value, gri_data = read_gri(mavfile)
gpi_name, gpi_value, gpi_data = read_gpi(mavfile)
ri_name, ri_value, ri_data = read_ri(mavfile)
if log == True:
#write_log_number_line(cmt)
log_data(gpi_name, path_gpi)
log_data(gpi_value, path_gpi)
log_data(gri_name, path_gri)
log_data(gri_value, path_gri)
log_data(ri_name, path_ri)
log_data(ri_value, path_ri)
else:
pass
for line in gpi_data:
print(line)
print('---------------')
for line in gri_data:
print(line)
print('---------------')
#for line in ri_data:
#print(line)
#print('---------------')
while not command.end_entered() and run:
ngri_name, ngri_value, ngri_data = read_gri(mavfile)
ngpi_name, ngpi_value, ngpi_data = read_gpi(mavfile)
nri_name, nri_value, nri_data = read_ri(mavfile)
#if not matching(new_value,value, tol, tol_value):
if log == True:
#write_log_number_line(cmt)
log_data(ngpi_value, path_gpi)
log_data(ngri_value, path_gri)
log_data(nri_value, path_ri)
else:
pass
for line in gpi_data:
print(line)
print('---------------')
for line in gri_data:
print(line)
print('---------------')
#for line in ri_data:
#print(line)
#print('---------------')
gri_value = ngri_value
gpi_value = ngpi_value
ri_value = nri_value
if time_now()-time_start > time_run_duration:
break
else:
#print(msg_type)
#print(type(msg_type))
print('Getting ' + msg_type)
time_start = time_now()
name, value, data = receive_msg(mavfile, msg_type, True)
if 'lat' and 'lon' in name:
lat_idx = name.index('lat')
lat_offset = value[lat_idx]
lon_idx = name.index('lon')
lon_offset = value[lon_idx]
offset = True
else:
offset = False
if 'time' in name[0]:
if loop == True:
#print("Printing time for log purposes")
time_check = "y"
#time_check = raw_input('--------------------------------\n Print time (for log purposes)? (y/n)')
else:
time_check = 'n'
if time_check == 'y':
time = True
print('Printing time')
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time)
else:
time = False
print('Not printing time')
#Getting the data for the first time
name, value, data = receive_msg(mavfile, msg_type, time)
else:
pass
if log == True:
#write_log_number_line(cmt)
log_data(name, path)
log_data(value, path)
else:
pass
for line in data:
print(line)
print(type(data))
time_compare = time_now()
while not command.end_entered() and run:
new_name, new_value, new_data = receive_msg(mavfile, msg_type, time)
#Only print further data if it differs from the first one
if not matching(new_value,value, tol, tol_value) and time_now()-time_compare > 0.5:
#if not matching(new_value,value, tol, tol_value):
if log == True:
log_data(new_value, path)
else:
pass
if offset == True:
new_value[lat_idx] = new_value[lat_idx]-lat_offset
new_value[lon_idx] = new_value[lon_idx]-lon_offset
new_data = zip(new_name, new_value)
else:
pass
print('Values changed:')
for line in new_data:
print(line)
time_compare = time_now()
value= new_value
if time_now()-time_start > time_run_duration:
break