mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.5 KiB
Python
52 lines
1.5 KiB
Python
|
#!/usr/bin/env python
|
||
|
|
|
||
|
|
'''
|
||
|
|
decode RCDA messages from a log and optionally play back to a serial port. The RCDA message is
|
||
|
|
captures RC input bytes when RC_OPTIONS=16 is set
|
||
|
|
'''
|
||
|
|
|
||
|
|
import struct
|
||
|
|
|
||
|
|
from argparse import ArgumentParser
|
||
|
|
parser = ArgumentParser(description=__doc__)
|
||
|
|
parser.add_argument("--condition", default=None, help="select packets by condition")
|
||
|
|
parser.add_argument("--baudrate", type=int, default=115200, help="baudrate")
|
||
|
|
parser.add_argument("--port", type=str, default=None, help="port")
|
||
|
|
parser.add_argument("--delay-mul", type=float, default=1.0, help="delay multiplier")
|
||
|
|
parser.add_argument("log", metavar="LOG")
|
||
|
|
import time
|
||
|
|
import serial
|
||
|
|
|
||
|
|
args = parser.parse_args()
|
||
|
|
|
||
|
|
from pymavlink import mavutil
|
||
|
|
|
||
|
|
print("Processing log %s" % args.log)
|
||
|
|
mlog = mavutil.mavlink_connection(args.log)
|
||
|
|
|
||
|
|
if args.port:
|
||
|
|
port = serial.Serial(args.port, args.baudrate, timeout=1.0)
|
||
|
|
|
||
|
|
tlast = -1
|
||
|
|
counter = 0
|
||
|
|
|
||
|
|
while True:
|
||
|
|
msg = mlog.recv_match(type=['RCDA'], condition=args.condition)
|
||
|
|
if msg is None:
|
||
|
|
mlog.rewind()
|
||
|
|
tlast = -1
|
||
|
|
continue
|
||
|
|
tnow = msg.TimeUS
|
||
|
|
if tlast == -1:
|
||
|
|
tlast = tnow
|
||
|
|
buf = struct.pack("<IIIIIIIIII",
|
||
|
|
msg.U0, msg.U1, msg.U2, msg.U3, msg.U4,
|
||
|
|
msg.U5, msg.U6, msg.U7, msg.U8, msg.U9)[0:msg.Len]
|
||
|
|
ibuf = [ ord(b) for b in buf ]
|
||
|
|
dt = tnow - tlast
|
||
|
|
tlast = tnow
|
||
|
|
print(len(ibuf), ibuf, dt)
|
||
|
|
if args.port:
|
||
|
|
time.sleep(dt*1.0e-6*args.delay_mul)
|
||
|
|
port.write(buf)
|