ardupilot/Tools/scripts/du32_change.py

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#!/usr/bin/env python
"""
Parses a log file and shows how Copter's du32 changes over time
AP_FLAKE8_CLEAN
"""
from __future__ import print_function
import optparse
import sys
import time
from pymavlink import mavutil
class DU32Change(object):
def __init__(self, master):
self.master = master
def progress(self, text):
'''emit text with possible timestamps etc'''
print("%u: %s" % (time.time(), text))
def run(self):
self.progress("Creating connection")
self.conn = mavutil.mavlink_connection(master)
# this eas was generated from Copter.h's structure for ap_t:
bit_descriptions_list = [
"unused1",
"unused_was_simple_mode bit1",
"unused_was_simple_mode bit2",
"pre_arm_rc_check",
"pre_arm_check",
"auto_armed",
"logging_started",
"land_complete",
"new_radio_frame",
"usb_connected_unused",
"rc_receiver_present",
"compass_mot",
"motor_test",
"initialised",
"land_complete_maybe",
"throttle_zero",
"system_time_set_unused",
"gps_glitching",
"using_interlock",
"land_repo_active",
"motor_interlock_switch",
"in_arming_delay",
"initialised_params",
"unused3",
"unused2",
"armed_with_airmode_switch",
"prec_land_active",
]
bit_descriptions = {}
count = 0
for bit in bit_descriptions_list:
bit_descriptions[bit] = count
count += 1
old_m = None
desired_type = "DU32"
while True:
m = self.conn.recv_match(type=desired_type)
if m is None:
break
if m.Id != 7:
# 7 is LOG_DATA_ID from AP_Logger.h
continue
if old_m is not None and m.Value == old_m.Value:
continue
line = ""
if old_m is None:
for bit in sorted(bit_descriptions.keys()):
bit_set = m.Value & (1 << bit_descriptions[bit])
if bit_set:
print("Original %s: 1" % bit)
else:
print("Original %s: 0" % bit)
else:
for bit in bit_descriptions.keys():
old_bit_set = old_m.Value & (1 << bit_descriptions[bit])
new_bit_set = m.Value & (1 << bit_descriptions[bit])
if new_bit_set and not old_bit_set:
line += " +%s" % bit
elif not new_bit_set and old_bit_set:
line += " -%s" % bit
timestamp = getattr(m, '_timestamp', 0.0)
formatted_timestamp = "%s.%02u" % (
time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(timestamp)),
int(timestamp * 100.0) % 100)
print("%s: %s" % (formatted_timestamp, line))
old_m = m
if __name__ == '__main__':
parser = optparse.OptionParser("du32_change.py [options]")
(opts, args) = parser.parse_args()
if len(args) < 1:
parser.print_help()
sys.exit(1)
master = args[0]
tester = DU32Change(master)
tester.run()