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Tools: LogAnalyzer: handle MODE lines appearing before vehicle MSGs

This commit is contained in:
Peter Barker 2016-09-08 08:38:19 +10:00
parent 214bca8b30
commit f42df1bc54
1 changed files with 46 additions and 32 deletions
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78
Tools/LogAnalyzer/DataflashLog.py
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@ -428,7 +428,8 @@ class DataflashLog(object):
self.durationSecs = 0
self.lineCount = 0
self.skippedLines = 0
self.backpatch_these_modechanges = []
if logfile:
self.read(logfile, format, ignoreBadlines)
@ -517,6 +518,46 @@ class DataflashLog(object):
self.vehicleType = ret
self.vehicleTypeString = VehicleTypeString[ret]
def handleModeChange(self, lineNumber, e):
if self.vehicleType == VehicleType.Copter:
try:
modes = {0:'STABILIZE',
1:'ACRO',
2:'ALT_HOLD',
3:'AUTO',
4:'GUIDED',
5:'LOITER',
6:'RTL',
7:'CIRCLE',
9:'LAND',
10:'OF_LOITER',
11:'DRIFT',
13:'SPORT',
14:'FLIP',
15:'AUTOTUNE',
16:'HYBRID',}
if hasattr(e, 'ThrCrs'):
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
else:
# assume it has ModeNum:
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
except:
if hasattr(e, 'ThrCrs'):
self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
else:
# assume it has ModeNum:
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
elif self.vehicleType in [VehicleType.Plane, VehicleType.Copter, VehicleType.Rover]:
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
else:
# if you've gotten to here the chances are we don't
# know what vehicle you're flying...
raise Exception("Unknown log type for MODE line vehicletype=({}) line=({})".format(self.vehicleTypeString, repr(e)))
def backPatchModeChanges(self):
for (lineNumber, e) in self.backpatch_these_modechanges:
self.handleModeChange(lineNumber, e)
def process(self, lineNumber, e):
if e.NAME == 'FMT':
cls = e.to_class()
@ -531,44 +572,17 @@ class DataflashLog(object):
if not self.vehicleType:
tokens = e.Message.split(' ')
self.set_vehicleType_from_MSG_vehicle(tokens[0]);
self.backPatchModeChanges()
self.firmwareVersion = tokens[1]
if len(tokens) == 3:
self.firmwareHash = tokens[2][1:-1]
else:
self.messages[lineNumber] = e.Message
elif e.NAME == "MODE":
if self.vehicleType == VehicleType.Copter:
try:
modes = {0:'STABILIZE',
1:'ACRO',
2:'ALT_HOLD',
3:'AUTO',
4:'GUIDED',
5:'LOITER',
6:'RTL',
7:'CIRCLE',
9:'LAND',
10:'OF_LOITER',
11:'DRIFT',
13:'SPORT',
14:'FLIP',
15:'AUTOTUNE',
16:'HYBRID',}
if hasattr(e, 'ThrCrs'):
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
else:
# assume it has ModeNum:
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
except:
if hasattr(e, 'ThrCrs'):
self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
else:
# assume it has ModeNum:
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
elif self.vehicleType in [VehicleType.Plane, VehicleType.Copter, VehicleType.Rover]:
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
if self.vehicleType is None:
self.backpatch_these_modechanges.append( (lineNumber, e) )
else:
raise Exception("Unknown log type for MODE line vehicletype=({}) linw=({})".format(self.vehicleTypeString, repr(e)))
self.handleModeChange(lineNumber, e)
# anything else must be the log data
else:
groupName = e.NAME