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