def get_versions(fn):
re_apmver = re.compile(r"^APM:Copter.+\(([0-9a-fA-F]{8})\)$")
re_px4nuttxver = re.compile(r"^PX4: ([0-9a-fA-F]{8}) NuttX: ([0-9a-fA-F]{8})$")
apmver = None
px4ver = None
nuttxver = None
ftsver = None
f = open(fn,'rb')
parser = DFParser(f.read())
f.close()
while True:
m = parser.parse_next()
if m is None:
break
if m.get_type() == 'MSG':
mobj = re_apmver.match(m['Message'])
if mobj is not None:
apmver = mobj.group(1)
mobj = re_px4nuttxver.match(m['Message'])
if mobj is not None:
px4ver = mobj.group(1)
nuttxver = mobj.group(2)
if m.get_type() == 'FTSV':
ftsver = m['Hash']
if apmver is not None and px4ver is not None and nuttxver is not None and ftsver is not None:
break
return (('ardupilot',apmver), ('PX4',px4ver), ('NuttX',nuttxver), ('FTS',ftsver))
def get_time_series(fn, field_identifiers):
f = open(fn,'rb')
parser = DFParser(f.read())
f.close()
split_field_names = [split_field_identifier(x) for x in field_identifiers]
msg_names = set([x[0] for x in split_field_names])
field_names = {}
for msg_name in msg_names:
field_names[msg_name] = []
for field_identifier in filter(lambda x: split_field_identifier(x)[0] == msg_name, field_identifiers):
field_names[msg_name].append(split_field_identifier(field_identifier)[1])
t = dict([(msg_name,[]) for msg_name in msg_names])
ret = {}
for field_identifier in field_identifiers:
msg_name, field_name = split_field_identifier(field_identifier)
ret[field_identifier] = (t[msg_name],[])
while True:
m = parser.parse_next()
if m is None:
break
msg_name = m.get_type()
if msg_name in msg_names:
t[msg_name].append(m['TimeUS']*1e-6)
for field_name in field_names[msg_name]:
field_identifier = combine_field_identifier(msg_name,field_name)
ret[field_identifier][1].append(m[field_name])
return ret
def retrieve_timeseries(fname, field):
f = open(fname, 'rb')
data = f.read()
f.close()
parser = DFParser(data)
msgname, fieldname = tuple(field.split('.', 1))
ret = []
while True:
m = parser.parse_next()
if m is None:
break
if m.get_type() == msgname:
ret.append(m[fieldname])
return ret
def get_time_series(fn, field_identifiers):
f = open(fn,'rb')
parser = DFParser(f)
split_field_names = [split_field_identifier(x) for x in field_identifiers]
msg_names = set([x[0] for x in split_field_names])
field_names = {}
for msg_name in msg_names:
field_names[msg_name] = []
for field_identifier in filter(lambda x: split_field_identifier(x)[0] == msg_name, field_identifiers):
field_names[msg_name].append(split_field_identifier(field_identifier)[1])
t = dict([(msg_name,[]) for msg_name in msg_names])
ret = {}
for field_identifier in field_identifiers:
msg_name, field_name = split_field_identifier(field_identifier)
ret[field_identifier] = (t[msg_name],[])
while True:
m = parser.parse_next()
if m is None:
break
msg_name = m.get_type()
if msg_name in msg_names:
t[msg_name].append(m['TimeUS']*1e-6)
for field_name in field_names[msg_name]:
field_identifier = combine_field_identifier(msg_name,field_name)
ret[field_identifier][1].append(m[field_name])
f.close()
return ret
def get_versions(fn):
re_apmver = re.compile(r"^APM:Copter.+\(([0-9a-fA-F]{8})\)$")
re_px4nuttxver = re.compile(r"^PX4: ([0-9a-fA-F]{8}) NuttX: ([0-9a-fA-F]{8})$")
apmver = None
px4ver = None
nuttxver = None
ftsver = None
f = open(fn,'rb')
parser = DFParser(f)
while True:
m = parser.parse_next()
if m is None:
break
if m.get_type() == 'MSG':
mobj = re_apmver.match(m['Message'])
if mobj is not None:
apmver = mobj.group(1)
mobj = re_px4nuttxver.match(m['Message'])
if mobj is not None:
px4ver = mobj.group(1)
nuttxver = mobj.group(2)
if m.get_type() == 'FTSV':
ftsver = m['Hash']
if apmver is not None and px4ver is not None and nuttxver is not None and ftsver is not None:
break
f.close()
return (('ardupilot',apmver), ('PX4',px4ver), ('NuttX',nuttxver), ('FTS',ftsver))
#!/usr/bin/env python
from DFParser import DFParser
from sys import argv
f = open(argv[1], 'rb')
data = f.read()
f.close()
parser = DFParser(data)
first_time = None
last_time = None
while True:
m = parser.parse_next()
if m is None:
break
time_field = 'T' if m.get_type() == 'GPS' else 'TimeMS'
try:
if first_time is None:
first_time = m[time_field]
print "log begins at time %f sec" % (first_time * 1.0e-3)
if last_time is not None and m[time_field] - last_time > 50:
print "%f sec of log data missing at time %f sec" % (
(m[time_field] - last_time) * 1.0e-3, last_time * 1.0e-3)
last_time = m[time_field]
except:
pass
#!/usr/bin/env python
from DFParser import DFParser
import matplotlib.pyplot as plt
from scipy import signal
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('in_log', nargs=1)
parser.add_argument('out_log', nargs=1)
parser.add_argument('begin_time', nargs=1)
parser.add_argument('end_time', nargs=1)
args = parser.parse_args()
in_f = open(args.in_log[0], 'rb')
parser = DFParser(in_f)
begin = float(args.begin_time[0])
end = float(args.end_time[0])
buf = ''
in_interval = False
while True:
m = parser.parse_next()
if m is None:
break
if 'TimeUS' in m._fieldnames:
in_interval = m['TimeUS'] >= begin and m['TimeUS'] <= end
#!/usr/bin/env python
from DFParser import DFParser
from sys import argv
f = open(argv[1], 'rb')
data = f.read()
f.close()
parser = DFParser(data)
while True:
if parser.parse_next() is None:
break
tot = 0
gmbtot = 0
imutot = 0
ekftot = 0
magtot = 0
msg_usage = []
for key, qty in parser.msg_count.iteritems():
if qty > 0:
name = parser.formats[key].name
msg_len = parser.formats[key].len
msg_usage.append((name, msg_len * qty))
tot += msg_len * qty
if name.startswith('GMB'):
gmbtot += msg_len * qty
elif name.startswith('IMU'):
#!/usr/bin/env python
from DFParser import DFParser
from sys import argv
f = open(argv[1],'rb')
data = f.read()
f.close()
parser = DFParser(data)
while True:
if parser.parse_next() is None:
break
tot = 0
gmbtot = 0
imutot = 0
ekftot = 0
magtot = 0
msg_usage = []
for key,qty in parser.msg_count.iteritems():
if qty > 0:
name = parser.formats[key].name
msg_len = parser.formats[key].len
msg_usage.append((name,msg_len*qty))
tot += msg_len*qty
if name.startswith('GMB'):
gmbtot += msg_len*qty
elif name.startswith('IMU'):
