def get(self):
log_id = self.get_argument('log')
if not validate_log_id(log_id):
raise tornado.web.HTTPError(400, 'Invalid Parameter')
log_file_name = get_log_filename(log_id)
download_type = self.get_argument('type', default='0')
if not os.path.exists(log_file_name):
raise tornado.web.HTTPError(404, 'Log not found')
if download_type == '1': # download the parameters
ulog = load_ulog_file(log_file_name)
param_keys = sorted(ulog.initial_parameters.keys())
self.set_header("Content-Type", "text/plain")
self.set_header('Content-Disposition',
'inline; filename=params.txt')
delimiter = ', '
for param_key in param_keys:
self.write(param_key)
self.write(delimiter)
self.write(str(ulog.initial_parameters[param_key]))
self.write('\n')
elif download_type == '2': # download the kml file
kml_path = get_kml_filepath()
kml_file_name = os.path.join(kml_path,
log_id.replace('/', '.') + '.kml')
# check if chached file exists
if not os.path.exists(kml_file_name):
print('need to create kml file', kml_file_name)
def kml_colors(flight_mode):
""" flight mode colors for KML file """
if not flight_mode in flight_modes_table: flight_mode = 0
color_str = flight_modes_table[flight_mode][1][
1:] # color in form 'ff00aa'
# increase brightness to match colors with template
rgb = [
int(color_str[2 * x:2 * x + 2], 16) for x in range(3)
]
for i in range(3):
rgb[i] += 40
if rgb[i] > 255: rgb[i] = 255
color_str = "".join(map(lambda x: format(x, '02x'), rgb))
return 'ff' + color_str[4:6] + color_str[2:4] + color_str[
0:2] # KML uses aabbggrr
style = {'line_width': 2}
# create in random temporary file, then move it (to avoid races)
try:
temp_file_name = kml_file_name + '.' + str(uuid.uuid4())
convert_ulog2kml(log_file_name,
temp_file_name,
'vehicle_global_position',
kml_colors,
style=style)
shutil.move(temp_file_name, kml_file_name)
except:
print('Error creating KML file',
sys.exc_info()[0],
sys.exc_info()[1])
raise CustomHTTPError(400, 'No Position Data in log')
# send the whole KML file
self.set_header("Content-Type",
"application/vnd.google-earth.kml+xml")
self.set_header('Content-Disposition',
'attachment; filename=track.kml')
with open(kml_file_name, 'rb') as kml_file:
while True:
data = kml_file.read(4096)
if not data:
break
self.write(data)
self.finish()
elif download_type == '3': # download the non-default parameters
ulog = load_ulog_file(log_file_name)
param_keys = sorted(ulog.initial_parameters.keys())
self.set_header("Content-Type", "text/plain")
self.set_header('Content-Disposition',
'inline; filename=params.txt')
default_params = get_default_parameters()
delimiter = ', '
for param_key in param_keys:
try:
param_value = str(ulog.initial_parameters[param_key])
is_default = False
if param_key in default_params:
default_param = default_params[param_key]
if default_param['type'] == 'FLOAT':
is_default = abs(
float(default_param['default']) -
float(param_value)) < 0.00001
else:
is_default = int(
default_param['default']) == int(param_value)
if not is_default:
self.write(param_key)
self.write(delimiter)
self.write(param_value)
self.write('\n')
except:
pass
else: # download the log file
self.set_header('Content-Type', 'application/octet-stream')
self.set_header("Content-Description", "File Transfer")
self.set_header(
'Content-Disposition', 'attachment; filename={}'.format(
os.path.basename(log_file_name)))
with open(log_file_name, 'rb') as log_file:
while True:
data = log_file.read(4096)
if not data:
break
self.write(data)
self.finish()
def get(self, *args, **kwargs):
""" GET request callback """
log_id = self.get_argument('log')
if not validate_log_id(log_id):
raise tornado.web.HTTPError(400, 'Invalid Parameter')
log_file_name = get_log_filename(log_id)
download_type = self.get_argument('type', default='0')
if not os.path.exists(log_file_name):
raise tornado.web.HTTPError(404, 'Log not found')
def get_original_filename(default_value, new_file_suffix):
"""
get the uploaded file name & exchange the file extension
"""
try:
con = sqlite3.connect(get_db_filename(), detect_types=sqlite3.PARSE_DECLTYPES)
cur = con.cursor()
cur.execute('select OriginalFilename '
'from Logs where Id = ?', [log_id])
db_tuple = cur.fetchone()
if db_tuple is not None:
original_file_name = escape(db_tuple[0])
if original_file_name[-4:].lower() == '.ulg':
original_file_name = original_file_name[:-4]
return original_file_name + new_file_suffix
cur.close()
con.close()
except:
print("DB access failed:", sys.exc_info()[0], sys.exc_info()[1])
return default_value
if download_type == '1': # download the parameters
ulog = load_ulog_file(log_file_name)
param_keys = sorted(ulog.initial_parameters.keys())
self.set_header("Content-Type", "text/plain")
self.set_header('Content-Disposition', 'inline; filename=params.txt')
delimiter = ', '
for param_key in param_keys:
self.write(param_key)
self.write(delimiter)
self.write(str(ulog.initial_parameters[param_key]))
self.write('\n')
elif download_type == '2': # download the kml file
kml_path = get_kml_filepath()
kml_file_name = os.path.join(kml_path, log_id.replace('/', '.')+'.kml')
# check if chached file exists
if not os.path.exists(kml_file_name):
print('need to create kml file', kml_file_name)
def kml_colors(flight_mode):
""" flight mode colors for KML file """
if not flight_mode in flight_modes_table: flight_mode = 0
color_str = flight_modes_table[flight_mode][1][1:] # color in form 'ff00aa'
# increase brightness to match colors with template
rgb = [int(color_str[2*x:2*x+2], 16) for x in range(3)]
for i in range(3):
rgb[i] += 40
if rgb[i] > 255: rgb[i] = 255
color_str = "".join(map(lambda x: format(x, '02x'), rgb))
return 'ff'+color_str[4:6]+color_str[2:4]+color_str[0:2] # KML uses aabbggrr
style = {'line_width': 2}
# create in random temporary file, then move it (to avoid races)
try:
temp_file_name = kml_file_name+'.'+str(uuid.uuid4())
convert_ulog2kml(log_file_name, temp_file_name,
'vehicle_global_position', kml_colors,
style=style,
camera_trigger_topic_name='camera_capture')
shutil.move(temp_file_name, kml_file_name)
except Exception as e:
print('Error creating KML file', sys.exc_info()[0], sys.exc_info()[1])
raise CustomHTTPError(400, 'No Position Data in log') from e
kml_dl_file_name = get_original_filename('track.kml', '.kml')
# send the whole KML file
self.set_header("Content-Type", "application/vnd.google-earth.kml+xml")
self.set_header('Content-Disposition', 'attachment; filename='+kml_dl_file_name)
with open(kml_file_name, 'rb') as kml_file:
while True:
data = kml_file.read(4096)
if not data:
break
self.write(data)
self.finish()
elif download_type == '3': # download the non-default parameters
ulog = load_ulog_file(log_file_name)
param_keys = sorted(ulog.initial_parameters.keys())
self.set_header("Content-Type", "text/plain")
self.set_header('Content-Disposition', 'inline; filename=params.txt')
default_params = get_default_parameters()
delimiter = ', '
for param_key in param_keys:
try:
param_value = str(ulog.initial_parameters[param_key])
is_default = False
if param_key in default_params:
default_param = default_params[param_key]
if default_param['type'] == 'FLOAT':
is_default = abs(float(default_param['default']) -
float(param_value)) < 0.00001
else:
is_default = int(default_param['default']) == int(param_value)
if not is_default:
self.write(param_key)
self.write(delimiter)
self.write(param_value)
self.write('\n')
except:
pass
else: # download the log file
self.set_header('Content-Type', 'application/octet-stream')
self.set_header("Content-Description", "File Transfer")
self.set_header('Content-Disposition', 'attachment; filename={}'.format(
os.path.basename(log_file_name)))
with open(log_file_name, 'rb') as log_file:
while True:
data = log_file.read(4096)
if not data:
break
self.write(data)
self.finish()
def get_changed_parameters(ulog, plot_width):
"""
get a bokeh column object with a table of the changed parameters
:param initial_parameters: ulog.initial_parameters
"""
param_names = []
param_values = []
param_defaults = []
param_mins = []
param_maxs = []
param_descriptions = []
param_colors = []
default_params = get_default_parameters()
initial_parameters = ulog.initial_parameters
system_defaults = None
airframe_defaults = None
if ulog.has_default_parameters:
system_defaults = ulog.get_default_parameters(0)
airframe_defaults = ulog.get_default_parameters(1)
for param_name in sorted(initial_parameters):
param_value = initial_parameters[param_name]
if param_name.startswith('RC') or param_name.startswith('CAL_'):
continue
system_default = None
airframe_default = None
is_airframe_default = True
if system_defaults is not None:
system_default = system_defaults.get(param_name, param_value)
if airframe_defaults is not None:
airframe_default = airframe_defaults.get(param_name, param_value)
is_airframe_default = abs(
float(airframe_default) - float(param_value)) < 0.00001
try:
if param_name in default_params:
default_param = default_params[param_name]
if system_default is None:
system_default = default_param['default']
airframe_default = default_param['default']
if default_param['type'] == 'FLOAT':
is_default = abs(
float(system_default) - float(param_value)) < 0.00001
if 'decimal' in default_param:
param_value = round(param_value,
int(default_param['decimal']))
airframe_default = round(float(airframe_default), int(default_param['decimal'])) #pylint: disable=line-too-long
else:
is_default = int(system_default) == int(param_value)
if not is_default:
param_names.append(param_name)
param_values.append(param_value)
param_defaults.append(airframe_default)
param_mins.append(default_param.get('min', ''))
param_maxs.append(default_param.get('max', ''))
param_descriptions.append(
default_param.get('short_desc', ''))
param_colors.append(
'black' if is_airframe_default else plot_color_red)
else:
# not found: add it as if it were changed
param_names.append(param_name)
param_values.append(param_value)
param_defaults.append(
airframe_default if airframe_default else '')
param_mins.append('')
param_maxs.append('')
param_descriptions.append('(unknown)')
param_colors.append(
'black' if is_airframe_default else plot_color_red)
except Exception as error:
print(type(error), error)
param_data = dict(names=param_names,
values=param_values,
defaults=param_defaults,
mins=param_mins,
maxs=param_maxs,
descriptions=param_descriptions,
colors=param_colors)
source = ColumnDataSource(param_data)
formatter = HTMLTemplateFormatter(
template='<font color="<%= colors %>"><%= value %></font>')
columns = [
TableColumn(field="names",
title="Name",
width=int(plot_width * 0.2),
sortable=False),
TableColumn(field="values",
title="Value",
width=int(plot_width * 0.15),
sortable=False,
formatter=formatter),
TableColumn(field="defaults",
title="Frame Default" if airframe_defaults else "Default",
width=int(plot_width * 0.1),
sortable=False),
TableColumn(field="mins",
title="Min",
width=int(plot_width * 0.075),
sortable=False),
TableColumn(field="maxs",
title="Max",
width=int(plot_width * 0.075),
sortable=False),
TableColumn(field="descriptions",
title="Description",
width=int(plot_width * 0.40),
sortable=False),
]
data_table = DataTable(source=source,
columns=columns,
width=plot_width,
height=300,
sortable=False,
selectable=False,
autosize_mode='none')
div = Div(
text=
"""<b>Non-default Parameters</b> (except RC and sensor calibration)""",
width=int(plot_width / 2))
return column(div, data_table, width=plot_width)
def get_changed_parameters(initial_parameters, plot_width):
"""
get a bokeh widgetbox object with a table of the changed parameters
:param initial_parameters: ulog.initial_parameters
"""
param_names = []
param_values = []
param_defaults = []
param_mins = []
param_maxs = []
param_descriptions = []
default_params = get_default_parameters()
for param_name in sorted(initial_parameters):
param_value = initial_parameters[param_name]
if param_name.startswith('RC') or param_name.startswith('CAL_'):
continue
try:
if param_name in default_params:
default_param = default_params[param_name]
if default_param['type'] == 'FLOAT':
is_default = abs(
float(default_param['default']) -
float(param_value)) < 0.00001
if 'decimal' in default_param:
param_value = round(param_value,
int(default_param['decimal']))
else:
is_default = int(
default_param['default']) == int(param_value)
if not is_default:
param_names.append(param_name)
param_values.append(param_value)
param_defaults.append(default_param['default'])
param_mins.append(default_param.get('min', ''))
param_maxs.append(default_param.get('max', ''))
param_descriptions.append(
default_param.get('short_desc', ''))
else:
# not found: add it as if it were changed
param_names.append(param_name)
param_values.append(param_value)
param_defaults.append('')
param_mins.append('')
param_maxs.append('')
param_descriptions.append('(unknown)')
except Exception as error:
print(type(error), error)
param_data = dict(names=param_names,
values=param_values,
defaults=param_defaults,
mins=param_mins,
maxs=param_maxs,
descriptions=param_descriptions)
source = ColumnDataSource(param_data)
columns = [
TableColumn(field="names",
title="Name",
width=int(plot_width * 0.2),
sortable=False),
TableColumn(field="values",
title="Value",
width=int(plot_width * 0.15),
sortable=False),
TableColumn(field="defaults",
title="Default",
width=int(plot_width * 0.1),
sortable=False),
TableColumn(field="mins",
title="Min",
width=int(plot_width * 0.075),
sortable=False),
TableColumn(field="maxs",
title="Max",
width=int(plot_width * 0.075),
sortable=False),
TableColumn(field="descriptions",
title="Description",
width=int(plot_width * 0.40),
sortable=False),
]
data_table = DataTable(source=source,
columns=columns,
width=plot_width,
height=300,
sortable=False,
selectable=False)
div = Div(
text=
"""<b>Non-default Parameters</b> (except RC and sensor calibration)""",
width=int(plot_width / 2))
return widgetbox(div, data_table, width=plot_width)
