mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.4 KiB
Python
88 lines
2.4 KiB
Python
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#!/usr/bin/env python
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"""
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Parses a log file and shows how the SENSOR_STATUS flags changed over time
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AP_FLAKE8_CLEAN
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"""
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from __future__ import print_function
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import optparse
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import sys
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import time
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from pymavlink import mavutil
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class SYS_STATUS_Change(object):
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def __init__(self, master):
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self.master = master
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def progress(self, text):
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'''emit text with possible timestamps etc'''
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print("%u: %s" % (time.time(), text))
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def bit_description(self, bit_number):
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if 1 << bit_number not in mavutil.mavlink.enums["MAV_SYS_STATUS_SENSOR"]:
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return "UNKNOWN_BIT[%u]" % bit_number
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name = mavutil.mavlink.enums["MAV_SYS_STATUS_SENSOR"][1 << bit_number].name
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# return name with common prefix removed:
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return name[len("MAV_SYS_STATUS_"):]
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def run(self):
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self.progress("Creating connection")
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self.conn = mavutil.mavlink_connection(master)
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fields = ['present', 'enabled', 'health']
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current = dict()
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for f in fields:
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current[f] = 0
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while True:
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m = self.conn.recv_match(type="SYS_STATUS")
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if m is None:
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break
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line = ""
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for f in fields:
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current_values = current[f]
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new_values = getattr(m, "onboard_control_sensors_" + f)
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for bit in range(0, 32):
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mask = 1 << bit
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old_bit_set = current_values & mask
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new_bit_set = new_values & mask
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if new_bit_set and not old_bit_set:
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line += " %s+%s" % (f, self.bit_description(bit))
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elif not new_bit_set and old_bit_set:
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line += " %s-%s" % (f, self.bit_description(bit))
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current[f] = new_values
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if len(line) == 0:
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continue
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timestamp = getattr(m, '_timestamp', 0.0)
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formatted_timestamp = "%s.%02u" % (
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time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(timestamp)),
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int(timestamp * 100.0) % 100)
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print("%s: %s" % (formatted_timestamp, line))
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if __name__ == '__main__':
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parser = optparse.OptionParser("sys_status_change.py [options]")
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(opts, args) = parser.parse_args()
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if len(args) < 1:
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parser.print_help()
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sys.exit(1)
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master = args[0]
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tester = SYS_STATUS_Change(master)
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tester.run()
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