mirror of https://github.com/ArduPilot/ardupilot
1226 lines
44 KiB
C#
1226 lines
44 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Collections;
|
|
using System.ComponentModel;
|
|
using System.Data;
|
|
using System.Drawing;
|
|
using System.Text;
|
|
using System.Windows.Forms;
|
|
using System.IO.Ports;
|
|
using System.IO;
|
|
using System.Text.RegularExpressions;
|
|
//using KMLib;
|
|
//using KMLib.Feature;
|
|
//using KMLib.Geometry;
|
|
//using Core.Geometry;
|
|
using ICSharpCode.SharpZipLib.Zip;
|
|
using ICSharpCode.SharpZipLib.Checksums;
|
|
using ICSharpCode.SharpZipLib.Core;
|
|
|
|
using SharpKml.Base;
|
|
using SharpKml.Dom;
|
|
using SharpKml.Dom.GX;
|
|
|
|
using System.Reflection;
|
|
using System.Xml;
|
|
using log4net;
|
|
using ZedGraph; // Graphs
|
|
|
|
using ArdupilotMega.Utilities;
|
|
|
|
using System.CodeDom.Compiler;
|
|
|
|
namespace ArdupilotMega
|
|
{
|
|
public partial class MavlinkLog : Form
|
|
{
|
|
private static readonly ILog log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
|
|
|
|
List<CurrentState> flightdata = new List<CurrentState>();
|
|
|
|
List<string> selection = new List<string>();
|
|
List<string> options = new List<string>();
|
|
|
|
Hashtable datappl = new Hashtable();
|
|
Hashtable packetdata = new Hashtable();
|
|
|
|
PointLatLngAlt homepos = new PointLatLngAlt();
|
|
|
|
public MavlinkLog()
|
|
{
|
|
InitializeComponent();
|
|
|
|
zg1.GraphPane.YAxis.Title.IsVisible = false;
|
|
zg1.GraphPane.Title.IsVisible = true;
|
|
zg1.GraphPane.Title.Text = "Mavlink Log Graph";
|
|
}
|
|
|
|
private void writeKML(string filename)
|
|
{
|
|
SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
|
|
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
|
|
{
|
|
altmode = SharpKml.Dom.AltitudeMode.Absolute;
|
|
}
|
|
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
|
|
{
|
|
altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
|
|
}
|
|
|
|
Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
|
|
|
|
Document kml = new Document();
|
|
|
|
Tour tour = new Tour() { Name = "First Person View" };
|
|
Playlist tourplaylist = new Playlist();
|
|
|
|
AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
|
|
|
|
Style style = new Style();
|
|
style.Id = "yellowLineGreenPoly";
|
|
style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
|
|
|
|
|
|
|
|
PolygonStyle pstyle = new PolygonStyle();
|
|
pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
|
|
style.Polygon = pstyle;
|
|
|
|
kml.AddStyle(style);
|
|
|
|
Style stylet = new Style();
|
|
stylet.Id = "track";
|
|
SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
|
|
LabelStyle lst = new LabelStyle();
|
|
lst.Scale = 0;
|
|
stylet.Icon = ico;
|
|
ico.Icon = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
|
|
stylet.Icon.Scale = 0.5;
|
|
stylet.Label = lst;
|
|
|
|
kml.AddStyle(stylet);
|
|
|
|
// create sub folders
|
|
Folder planes = new Folder();
|
|
planes.Name = "Planes";
|
|
kml.AddFeature(planes);
|
|
|
|
Folder points = new Folder();
|
|
points.Name = "Points";
|
|
kml.AddFeature(points);
|
|
|
|
|
|
// coords for line string
|
|
CoordinateCollection coords = new CoordinateCollection();
|
|
|
|
int a = 1;
|
|
int c = -1;
|
|
DateTime lasttime = DateTime.MaxValue;
|
|
DateTime starttime = DateTime.MinValue;
|
|
Color stylecolor = Color.AliceBlue;
|
|
string mode = "";
|
|
if (flightdata.Count > 0)
|
|
{
|
|
mode = flightdata[0].mode;
|
|
}
|
|
foreach (CurrentState cs in flightdata)
|
|
{
|
|
progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
|
|
progressBar1.Refresh();
|
|
|
|
if (starttime == DateTime.MinValue)
|
|
{
|
|
starttime = cs.datetime;
|
|
lasttime = cs.datetime;
|
|
}
|
|
|
|
if (mode != cs.mode || flightdata.Count == a)
|
|
{
|
|
c++;
|
|
|
|
LineString ls = new LineString();
|
|
ls.AltitudeMode = altmode;
|
|
ls.Extrude = true;
|
|
|
|
ls.Coordinates = coords;
|
|
|
|
Placemark pm = new Placemark();
|
|
|
|
pm.Name = c + " Flight Path " + mode;
|
|
pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
|
|
pm.Geometry = ls;
|
|
|
|
SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
|
|
ts.Begin = starttime;
|
|
ts.End = cs.datetime;
|
|
|
|
pm.Time = ts;
|
|
|
|
// setup for next line
|
|
mode = cs.mode;
|
|
starttime = cs.datetime;
|
|
|
|
stylecolor = colours[c % (colours.Length - 1)];
|
|
|
|
Style style2 = new Style();
|
|
style2.Line = new LineStyle(new Color32(stylecolor), 4);
|
|
|
|
pm.StyleSelector = style2;
|
|
|
|
kml.AddFeature(pm);
|
|
|
|
coords = new CoordinateCollection();
|
|
}
|
|
|
|
coords.Add(new Vector(cs.lat, cs.lng, cs.alt));
|
|
|
|
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
|
|
tstamp.When = cs.datetime;
|
|
|
|
FlyTo flyto = new FlyTo();
|
|
|
|
flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;
|
|
|
|
flyto.Mode = FlyToMode.Smooth;
|
|
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
|
|
cam.AltitudeMode = altmode;
|
|
cam.Latitude = cs.lat;
|
|
cam.Longitude = cs.lng;
|
|
cam.Altitude = cs.alt;
|
|
cam.Heading = cs.yaw;
|
|
cam.Roll = -cs.roll;
|
|
cam.Tilt = (90 - (cs.pitch * -1));
|
|
|
|
cam.GXTimePrimitive = tstamp;
|
|
|
|
flyto.View = cam;
|
|
//if (Math.Abs(flyto.Duration.Value) > 0.1)
|
|
{
|
|
tourplaylist.AddTourPrimitive(flyto);
|
|
lasttime = cs.datetime;
|
|
}
|
|
|
|
|
|
Placemark pmplane = new Placemark();
|
|
pmplane.Name = "Point " + a;
|
|
|
|
|
|
|
|
pmplane.Time = tstamp;
|
|
|
|
pmplane.Visibility = false;
|
|
|
|
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
|
|
loc.Latitude = cs.lat;
|
|
loc.Longitude = cs.lng;
|
|
loc.Altitude = cs.alt;
|
|
|
|
if (loc.Altitude < 0)
|
|
loc.Altitude = 0.01;
|
|
|
|
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
|
|
ori.Heading = cs.yaw;
|
|
ori.Roll = -cs.roll;
|
|
ori.Tilt = -cs.pitch;
|
|
|
|
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
|
|
|
|
sca.X = 2;
|
|
sca.Y = 2;
|
|
sca.Z = 2;
|
|
|
|
Model model = new Model();
|
|
model.Location = loc;
|
|
model.Orientation = ori;
|
|
model.AltitudeMode = altmode;
|
|
model.Scale = sca;
|
|
|
|
try
|
|
{
|
|
Description desc = new Description();
|
|
desc.Text = @"<![CDATA[
|
|
<table>
|
|
<tr><td>Roll: " + model.Orientation.Roll.Value.ToString("0.00") + @" </td></tr>
|
|
<tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
|
|
<tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
|
|
<tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </td></tr>
|
|
</table> ";
|
|
// ]]>";
|
|
|
|
pmplane.Description = desc;
|
|
}
|
|
catch { }
|
|
|
|
SharpKml.Dom.Link link = new SharpKml.Dom.Link();
|
|
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
|
|
|
|
model.Link = link;
|
|
|
|
pmplane.Geometry = model;
|
|
|
|
planes.AddFeature(pmplane);
|
|
|
|
///
|
|
|
|
Placemark pmt = new Placemark();
|
|
|
|
SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
|
|
pnt.AltitudeMode = altmode;
|
|
pnt.Coordinate = new Vector(cs.lat,cs.lng,cs.alt);
|
|
|
|
pmt.Name = "" + a;
|
|
|
|
pmt.Description = pmplane.Description;
|
|
|
|
pmt.Time = tstamp;
|
|
|
|
pmt.Geometry = pnt;
|
|
pmt.StyleUrl = new Uri("#track", UriKind.Relative);
|
|
|
|
points.AddFeature(pmt);
|
|
|
|
a++;
|
|
}
|
|
|
|
tour.Playlist = tourplaylist;
|
|
|
|
kml.AddFeature(tour);
|
|
|
|
Serializer serializer = new Serializer();
|
|
serializer.Serialize(kml);
|
|
|
|
|
|
//Console.WriteLine(serializer.Xml);
|
|
|
|
StreamWriter sw = new StreamWriter(filename);
|
|
sw.Write(serializer.Xml);
|
|
sw.Close();
|
|
|
|
// create kmz - aka zip file
|
|
|
|
FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
|
|
ZipOutputStream zipStream = new ZipOutputStream(fs);
|
|
zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
|
|
zipStream.UseZip64 = UseZip64.Off; // older zipfile
|
|
|
|
// entry 1
|
|
string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
|
|
ZipEntry newEntry = new ZipEntry(entryName);
|
|
newEntry.DateTime = DateTime.Now;
|
|
|
|
zipStream.PutNextEntry(newEntry);
|
|
|
|
// Zip the file in buffered chunks
|
|
// the "using" will close the stream even if an exception occurs
|
|
byte[] buffer = new byte[4096];
|
|
using (FileStream streamReader = File.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
|
|
{
|
|
StreamUtils.Copy(streamReader, zipStream, buffer);
|
|
}
|
|
zipStream.CloseEntry();
|
|
|
|
filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";
|
|
|
|
// entry 2
|
|
entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
|
|
newEntry = new ZipEntry(entryName);
|
|
newEntry.DateTime = DateTime.Now;
|
|
|
|
zipStream.PutNextEntry(newEntry);
|
|
|
|
// Zip the file in buffered chunks
|
|
// the "using" will close the stream even if an exception occurs
|
|
buffer = new byte[4096];
|
|
using (FileStream streamReader = File.OpenRead(filename))
|
|
{
|
|
StreamUtils.Copy(streamReader, zipStream, buffer);
|
|
}
|
|
zipStream.CloseEntry();
|
|
|
|
|
|
zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
|
|
zipStream.Close();
|
|
|
|
}
|
|
|
|
static void AddNamespace(Element element, string prefix, string uri)
|
|
{
|
|
// The Namespaces property is marked as internal.
|
|
PropertyInfo property = typeof(Element).GetProperty(
|
|
"Namespaces",
|
|
BindingFlags.Instance | BindingFlags.NonPublic);
|
|
|
|
var namespaces = (XmlNamespaceManager)property.GetValue(element, null);
|
|
namespaces.AddNamespace(prefix, uri);
|
|
}
|
|
|
|
private void Log_FormClosing(object sender, FormClosingEventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void BUT_redokml_Click(object sender, EventArgs e)
|
|
{
|
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|
openFileDialog1.FilterIndex = 2;
|
|
openFileDialog1.RestoreDirectory = true;
|
|
openFileDialog1.Multiselect = true;
|
|
try
|
|
{
|
|
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|
}
|
|
catch { } // incase dir doesnt exist
|
|
|
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|
{
|
|
foreach (string logfile in openFileDialog1.FileNames)
|
|
{
|
|
|
|
MAVLink mine = new MAVLink();
|
|
try
|
|
{
|
|
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|
}
|
|
catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
|
|
mine.logreadmode = true;
|
|
|
|
mine.packets.Initialize(); // clear
|
|
|
|
CurrentState cs = new CurrentState();
|
|
|
|
float oldlatlngsum = 0;
|
|
|
|
int appui = 0;
|
|
|
|
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
|
|
{
|
|
// bar moves to 50 % in this step
|
|
progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 2.0f);
|
|
progressBar1.Invalidate();
|
|
progressBar1.Refresh();
|
|
|
|
byte[] packet = mine.readPacket();
|
|
|
|
cs.datetime = mine.lastlogread;
|
|
|
|
cs.UpdateCurrentSettings(null, true, mine);
|
|
|
|
if (appui != DateTime.Now.Second)
|
|
{
|
|
// cant do entire app as mixes with flightdata timer
|
|
this.Refresh();
|
|
appui = DateTime.Now.Second;
|
|
}
|
|
|
|
try
|
|
{
|
|
if (MainV2.speechEngine != null)
|
|
MainV2.speechEngine.SpeakAsyncCancelAll();
|
|
}
|
|
catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
|
|
|
|
if ((float)(cs.lat + cs.lng) != oldlatlngsum
|
|
&& cs.lat != 0 && cs.lng != 0)
|
|
{
|
|
Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + " lah " + (float)(cs.lat + cs.lng) + "!=" + oldlatlngsum);
|
|
CurrentState cs2 = (CurrentState)cs.Clone();
|
|
|
|
flightdata.Add(cs2);
|
|
|
|
oldlatlngsum = (cs.lat + cs.lng);
|
|
}
|
|
}
|
|
|
|
mine.logreadmode = false;
|
|
mine.logplaybackfile.Close();
|
|
mine.logplaybackfile = null;
|
|
|
|
Application.DoEvents();
|
|
|
|
switch (mine.aptype)
|
|
{
|
|
case MAVLink.MAV_TYPE.MAV_FIXED_WING:
|
|
MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
|
|
break;
|
|
case MAVLink.MAV_TYPE.MAV_QUADROTOR:
|
|
MainV2.cs.firmware = MainV2.Firmwares.ArduCopter2;
|
|
break;
|
|
case MAVLink.MAV_TYPE.MAV_GROUND:
|
|
MainV2.cs.firmware = MainV2.Firmwares.ArduRover;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
writeGPX(logfile);
|
|
writeKML(logfile + ".kml");
|
|
|
|
flightdata.Clear();
|
|
|
|
progressBar1.Value = 100;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
private void writeGPX(string filename)
|
|
{
|
|
System.Xml.XmlTextWriter xw = new System.Xml.XmlTextWriter(Path.GetDirectoryName(filename) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".gpx", Encoding.ASCII);
|
|
|
|
xw.WriteStartElement("gpx");
|
|
|
|
xw.WriteStartElement("trk");
|
|
|
|
xw.WriteStartElement("trkseg");
|
|
|
|
foreach (CurrentState cs in flightdata)
|
|
{
|
|
xw.WriteStartElement("trkpt");
|
|
xw.WriteAttributeString("lat", cs.lat.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
xw.WriteAttributeString("lon", cs.lng.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
|
|
xw.WriteElementString("ele", cs.alt.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
xw.WriteElementString("time", cs.datetime.ToString("yyyy-MM-ddTHH:mm:sszzzzzz"));
|
|
xw.WriteElementString("course", (cs.yaw).ToString(new System.Globalization.CultureInfo("en-US")));
|
|
|
|
xw.WriteElementString("roll", cs.roll.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
xw.WriteElementString("pitch", cs.pitch.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
//xw.WriteElementString("speed", mod.model.Orientation.);
|
|
//xw.WriteElementString("fix", cs.altitude);
|
|
|
|
xw.WriteEndElement();
|
|
}
|
|
|
|
xw.WriteEndElement();
|
|
xw.WriteEndElement();
|
|
xw.WriteEndElement();
|
|
|
|
xw.Close();
|
|
}
|
|
|
|
public static Color HexStringToColor(string hexColor)
|
|
{
|
|
string hc = (hexColor);
|
|
if (hc.Length != 8)
|
|
{
|
|
// you can choose whether to throw an exception
|
|
//throw new ArgumentException("hexColor is not exactly 6 digits.");
|
|
return Color.Empty;
|
|
}
|
|
string a = hc.Substring(0, 2);
|
|
string r = hc.Substring(6, 2);
|
|
string g = hc.Substring(4, 2);
|
|
string b = hc.Substring(2, 2);
|
|
Color color = Color.Empty;
|
|
try
|
|
{
|
|
int ai
|
|
= Int32.Parse(a, System.Globalization.NumberStyles.HexNumber);
|
|
int ri
|
|
= Int32.Parse(r, System.Globalization.NumberStyles.HexNumber);
|
|
int gi
|
|
= Int32.Parse(g, System.Globalization.NumberStyles.HexNumber);
|
|
int bi
|
|
= Int32.Parse(b, System.Globalization.NumberStyles.HexNumber);
|
|
color = Color.FromArgb(ai, ri, gi, bi);
|
|
}
|
|
catch
|
|
{
|
|
// you can choose whether to throw an exception
|
|
//throw new ArgumentException("Conversion failed.");
|
|
return Color.Empty;
|
|
}
|
|
return color;
|
|
}
|
|
|
|
private void BUT_humanreadable_Click(object sender, EventArgs e)
|
|
{
|
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|
openFileDialog1.FilterIndex = 2;
|
|
openFileDialog1.RestoreDirectory = true;
|
|
openFileDialog1.Multiselect = true;
|
|
try
|
|
{
|
|
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|
}
|
|
catch { } // incase dir doesnt exist
|
|
|
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|
{
|
|
foreach (string logfile in openFileDialog1.FileNames)
|
|
{
|
|
|
|
MAVLink mine = new MAVLink();
|
|
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|
mine.logreadmode = true;
|
|
|
|
mine.packets.Initialize(); // clear
|
|
|
|
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile)+ Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".txt");
|
|
|
|
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
|
|
{
|
|
// bar moves to 100 % in this step
|
|
progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
|
|
|
|
progressBar1.Refresh();
|
|
//Application.DoEvents();
|
|
|
|
byte[] packet = mine.readPacket();
|
|
string text = "";
|
|
mine.DebugPacket(packet, ref text);
|
|
|
|
sw.Write(mine.lastlogread +" "+text);
|
|
}
|
|
|
|
sw.Close();
|
|
|
|
progressBar1.Value = 100;
|
|
|
|
mine.logreadmode = false;
|
|
mine.logplaybackfile.Close();
|
|
mine.logplaybackfile = null;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
private void BUT_graphmavlog_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
//http://devreminder.wordpress.com/net/net-framework-fundamentals/c-dynamic-math-expression-evaluation/
|
|
//http://www.c-sharpcorner.com/UploadFile/mgold/CodeDomCalculator08082005003253AM/CodeDomCalculator.aspx
|
|
|
|
//string mathExpression = "(1+1)*3";
|
|
//Console.WriteLine(String.Format("{0}={1}",mathExpression, Evaluate(mathExpression)));
|
|
|
|
|
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|
try
|
|
{
|
|
// openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|
}
|
|
catch { } // incase dir doesnt exist
|
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|
openFileDialog1.FilterIndex = 2;
|
|
openFileDialog1.RestoreDirectory = true;
|
|
openFileDialog1.Multiselect = false;
|
|
|
|
|
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|
{
|
|
List<string> fields = GetLogFileValidFields(openFileDialog1.FileName);
|
|
|
|
zg1.GraphPane.CurveList.Clear();
|
|
|
|
//GetLogFileData(zg1, openFileDialog1.FileName, fields);
|
|
|
|
try
|
|
{
|
|
// fix new line types
|
|
ThemeManager.ApplyThemeTo(this);
|
|
|
|
zg1.Invalidate();
|
|
zg1.AxisChange();
|
|
}
|
|
catch { }
|
|
}
|
|
}
|
|
|
|
static int[] ColourValues = new int[] {
|
|
0xFF0000,0x00FF00,0x0000FF,0xFFFF00,0xFF00FF,0x00FFFF,0x000000,
|
|
0x800000,0x008000,0x000080,0x808000,0x800080,0x008080,0x808080,
|
|
0xC00000,0x00C000,0x0000C0,0xC0C000,0xC000C0,0x00C0C0,0xC0C0C0,
|
|
0x400000,0x004000,0x000040,0x404000,0x400040,0x004040,0x404040,
|
|
0x200000,0x002000,0x000020,0x202000,0x200020,0x002020,0x202020,
|
|
0x600000,0x006000,0x000060,0x606000,0x600060,0x006060,0x606060,
|
|
0xA00000,0x00A000,0x0000A0,0xA0A000,0xA000A0,0x00A0A0,0xA0A0A0,
|
|
0xE00000,0x00E000,0x0000E0,0xE0E000,0xE000E0,0x00E0E0,0xE0E0E0,
|
|
};
|
|
|
|
private List<string> GetLogFileValidFields(string logfile)
|
|
{
|
|
Form selectform = SelectDataToGraphForm();
|
|
|
|
Hashtable seenIt = new Hashtable();
|
|
|
|
selection = new List<string>();
|
|
|
|
options = new List<string>();
|
|
|
|
this.datappl.Clear();
|
|
this.packetdata.Clear();
|
|
|
|
colorStep = 0;
|
|
|
|
{
|
|
|
|
MAVLink MavlinkInterface = new MAVLink();
|
|
MavlinkInterface.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|
MavlinkInterface.logreadmode = true;
|
|
|
|
MavlinkInterface.packets.Initialize(); // clear
|
|
|
|
CurrentState cs = new CurrentState();
|
|
|
|
// to get first packet time
|
|
MavlinkInterface.readPacket();
|
|
|
|
DateTime startlogtime = MavlinkInterface.lastlogread;
|
|
|
|
while (MavlinkInterface.logplaybackfile.BaseStream.Position < MavlinkInterface.logplaybackfile.BaseStream.Length)
|
|
{
|
|
progressBar1.Value = (int)((float)MavlinkInterface.logplaybackfile.BaseStream.Position / (float)MavlinkInterface.logplaybackfile.BaseStream.Length * 100.0f);
|
|
progressBar1.Refresh();
|
|
|
|
byte[] packet = MavlinkInterface.readPacket();
|
|
|
|
cs.datetime = MavlinkInterface.lastlogread;
|
|
|
|
cs.UpdateCurrentSettings(null, true, MavlinkInterface);
|
|
|
|
object data = MavlinkInterface.DebugPacket(packet, false);
|
|
|
|
if (data == null)
|
|
{
|
|
log.Info("No info on packet");
|
|
continue;
|
|
}
|
|
|
|
Type test = data.GetType();
|
|
|
|
|
|
if (true) {
|
|
string packetname = test.Name.Replace("mavlink_", "").Replace("_t", "").ToUpper();
|
|
|
|
if (!packetdata.ContainsKey(packetname))
|
|
{
|
|
packetdata[packetname] = new Dictionary<double,object>();
|
|
}
|
|
|
|
Dictionary<double, object> temp = (Dictionary<double, object>)packetdata[packetname];
|
|
|
|
double time = (MavlinkInterface.lastlogread - startlogtime).TotalMilliseconds / 1000.0;
|
|
|
|
temp[time] = data;
|
|
}
|
|
|
|
foreach (var field in test.GetFields())
|
|
{
|
|
// field.Name has the field's name.
|
|
|
|
object fieldValue = field.GetValue(data); // Get value
|
|
|
|
if (field.FieldType.IsArray)
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
if (!seenIt.ContainsKey(field.DeclaringType.Name + "." + field.Name))
|
|
{
|
|
seenIt[field.DeclaringType.Name + "." + field.Name] = 1;
|
|
//AddDataOption(selectform, field.Name + " " + field.DeclaringType.Name);
|
|
options.Add(field.DeclaringType.Name + "." + field.Name);
|
|
}
|
|
|
|
if (!this.datappl.ContainsKey(field.Name + " " + field.DeclaringType.Name))
|
|
this.datappl[field.Name + " " + field.DeclaringType.Name] = new PointPairList();
|
|
|
|
PointPairList list = ((PointPairList)this.datappl[field.Name + " " + field.DeclaringType.Name]);
|
|
|
|
object value = fieldValue;
|
|
// seconds scale
|
|
double time = (MavlinkInterface.lastlogread - startlogtime).TotalMilliseconds / 1000.0;
|
|
|
|
if (value.GetType() == typeof(Single))
|
|
{
|
|
list.Add(time, (Single)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(short))
|
|
{
|
|
list.Add(time, (short)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(ushort))
|
|
{
|
|
list.Add(time, (ushort)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(byte))
|
|
{
|
|
list.Add(time, (byte)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(Int32))
|
|
{
|
|
list.Add(time, (Int32)field.GetValue(data));
|
|
}
|
|
else if (value.GetType() == typeof(ulong))
|
|
{
|
|
list.Add(time, (ulong)field.GetValue(data));
|
|
}
|
|
else
|
|
{
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
MavlinkInterface.logreadmode = false;
|
|
MavlinkInterface.logplaybackfile.Close();
|
|
MavlinkInterface.logplaybackfile = null;
|
|
|
|
try
|
|
{
|
|
|
|
dospecial("GPS_RAW");
|
|
|
|
|
|
addMagField();
|
|
|
|
addDistHome();
|
|
|
|
}
|
|
catch (Exception ex) { log.Info(ex.ToString()); }
|
|
|
|
// custom sort based on packet name
|
|
//options.Sort(delegate(string c1, string c2) { return String.Compare(c1.Substring(0,c1.IndexOf('.')),c2.Substring(0,c2.IndexOf('.')));});
|
|
|
|
// this needs sorting
|
|
string lastitem = "";
|
|
foreach (string item in options)
|
|
{
|
|
var items = item.Split('.');
|
|
if (items[0] != lastitem)
|
|
AddHeader(selectform, items[0].Replace("mavlink_","").Replace("_t","").ToUpper());
|
|
AddDataOption(selectform, items[1] + " " + items[0]);
|
|
lastitem = items[0];
|
|
}
|
|
|
|
selectform.Show();
|
|
|
|
progressBar1.Value = 100;
|
|
|
|
}
|
|
|
|
return selection;
|
|
}
|
|
|
|
public static T Cast<T>(object o)
|
|
{
|
|
return (T)o;
|
|
}
|
|
|
|
void dospecial(string PacketName)
|
|
{
|
|
Dictionary<double, object> temp = null;
|
|
|
|
try
|
|
{
|
|
temp = (Dictionary<double, object>)packetdata[PacketName];
|
|
}
|
|
catch
|
|
{
|
|
CustomMessageBox.Show("Bad PacketName");
|
|
return;
|
|
}
|
|
|
|
string code = @"
|
|
|
|
public double stage(object inp) {
|
|
return getAltAboveHome((MAVLink.mavlink_gps_raw_t) inp);
|
|
}
|
|
|
|
public double getAltAboveHome(MAVLink.mavlink_gps_raw_t gps)
|
|
{
|
|
if (customforusenumber == -1 && gps.fix_type != 2)
|
|
customforusenumber = gps.alt;
|
|
|
|
return gps.alt - customforusenumber;
|
|
}
|
|
";
|
|
|
|
// build the class using codedom
|
|
CodeGen.BuildClass(code);
|
|
|
|
// compile the class into an in-memory assembly.
|
|
// if it doesn't compile, show errors in the window
|
|
CompilerResults results = CodeGen.CompileAssembly();
|
|
|
|
if (results != null && results.CompiledAssembly != null)
|
|
{
|
|
string field = "Custom Custom"; // reverse bellow
|
|
|
|
options.Add("Custom.Custom");
|
|
|
|
this.datappl[field] = new PointPairList();
|
|
|
|
|
|
|
|
MethodInfo mi = RunCode(results);
|
|
|
|
|
|
// from here
|
|
PointPairList result = (PointPairList)this.datappl[field];
|
|
|
|
object assemblyInstance = results.CompiledAssembly.CreateInstance("ExpressionEvaluator.Calculator");
|
|
|
|
foreach (double time in temp.Keys)
|
|
{
|
|
result.Add(time, (double)mi.Invoke(assemblyInstance, new object[] { temp[time] }));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
CustomMessageBox.Show("Compile Failed");
|
|
return;
|
|
}
|
|
|
|
object answer = CodeGen.runCode(code);
|
|
|
|
Console.WriteLine(answer);
|
|
}
|
|
|
|
public MethodInfo RunCode(CompilerResults results)
|
|
{
|
|
Assembly executingAssembly = results.CompiledAssembly;
|
|
try
|
|
{
|
|
//cant call the entry method if the assembly is null
|
|
if (executingAssembly != null)
|
|
{
|
|
object assemblyInstance = executingAssembly.CreateInstance("ExpressionEvaluator.Calculator");
|
|
//Use reflection to call the static Main function
|
|
|
|
Module[] modules = executingAssembly.GetModules(false);
|
|
Type[] types = modules[0].GetTypes();
|
|
|
|
//loop through each class that was defined and look for the first occurrance of the entry point method
|
|
foreach (Type type in types)
|
|
{
|
|
MethodInfo[] mis = type.GetMethods();
|
|
foreach (MethodInfo mi in mis)
|
|
{
|
|
if (mi.Name == "stage")
|
|
{
|
|
return mi;
|
|
//object result = mi.Invoke(assemblyInstance, null);
|
|
//return result.ToString();
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Console.WriteLine("Error: An exception occurred while executing the script", ex);
|
|
}
|
|
return null;
|
|
}
|
|
|
|
PointPairList GetValuesForField(string name)
|
|
{
|
|
// eg RAW_IMU.xmag to "xmag mavlink_raw_imu_t"
|
|
|
|
string[] items = name.ToLower().Split(new char[] {'.',' '});
|
|
|
|
PointPairList list = ((PointPairList)this.datappl[items[1] + " mavlink_" + items[0] + "_t"]);
|
|
|
|
return list;
|
|
}
|
|
|
|
void addMagField()
|
|
{
|
|
string field = "mag_field Custom";
|
|
|
|
options.Add("Custom.mag_field");
|
|
|
|
this.datappl[field] = new PointPairList();
|
|
|
|
PointPairList list = ((PointPairList)this.datappl[field]);
|
|
|
|
PointPairList listx = ((PointPairList)this.datappl["xmag mavlink_raw_imu_t"]);
|
|
PointPairList listy = ((PointPairList)this.datappl["ymag mavlink_raw_imu_t"]);
|
|
PointPairList listz = ((PointPairList)this.datappl["zmag mavlink_raw_imu_t"]);
|
|
|
|
//(float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2));
|
|
|
|
for (int a = 0; a < listx.Count; a++)
|
|
{
|
|
|
|
double ans = Math.Sqrt(Math.Pow(listx[a].Y, 2) + Math.Pow(listy[a].Y, 2) + Math.Pow(listz[a].Y, 2));
|
|
|
|
//Console.WriteLine("{0} {1} {2} {3}", ans, listx[a].Y, listy[a].Y, listz[a].Y);
|
|
|
|
list.Add(listx[a].X, ans);
|
|
}
|
|
}
|
|
|
|
void addDistHome()
|
|
{
|
|
string field = "dist_home Custom";
|
|
|
|
options.Add("Custom.dist_home");
|
|
|
|
this.datappl[field] = new PointPairList();
|
|
|
|
PointLatLngAlt home = new PointLatLngAlt();
|
|
|
|
PointPairList list = ((PointPairList)this.datappl[field]);
|
|
|
|
PointPairList listfix = ((PointPairList)this.datappl["fix_type mavlink_gps_raw_t"]);
|
|
PointPairList listx = ((PointPairList)this.datappl["lat mavlink_gps_raw_t"]);
|
|
PointPairList listy = ((PointPairList)this.datappl["lon mavlink_gps_raw_t"]);
|
|
PointPairList listz = ((PointPairList)this.datappl["alt mavlink_gps_raw_t"]);
|
|
|
|
for (int a = 0; a < listfix.Count; a++)
|
|
{
|
|
if (listfix[a].Y == 2)
|
|
{
|
|
home = new PointLatLngAlt(listx[a].Y, listy[a].Y, listz[a].Y,"Home");
|
|
break;
|
|
}
|
|
}
|
|
|
|
//(float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2));
|
|
|
|
for (int a = 0; a < listx.Count; a++)
|
|
{
|
|
|
|
double ans = home.GetDistance(new PointLatLngAlt(listx[a].Y, listy[a].Y, listz[a].Y, "Point"));
|
|
|
|
//Console.WriteLine("{0} {1} {2} {3}", ans, listx[a].Y, listy[a].Y, listz[a].Y);
|
|
|
|
list.Add(listx[a].X, ans);
|
|
}
|
|
}
|
|
|
|
private void AddHeader(Form selectform, string Name)
|
|
{
|
|
System.Windows.Forms.Label lbl_head = new System.Windows.Forms.Label();
|
|
|
|
log.Info("Add Header " + Name);
|
|
|
|
lbl_head.Text = Name;
|
|
lbl_head.Name = Name;
|
|
lbl_head.Location = new System.Drawing.Point(x, y);
|
|
lbl_head.Size = new System.Drawing.Size(100, 20);
|
|
|
|
selectform.Controls.Add(lbl_head);
|
|
|
|
Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 20;
|
|
|
|
if (y > selectform.Height - 60)
|
|
{
|
|
x += 100;
|
|
y = 10;
|
|
|
|
selectform.Width = x + 100;
|
|
}
|
|
}
|
|
|
|
private void AddDataOption(Form selectform, string Name)
|
|
{
|
|
|
|
CheckBox chk_box = new CheckBox();
|
|
|
|
log.Info("Add Option " + Name);
|
|
|
|
chk_box.Text = Name;
|
|
chk_box.Name = Name;
|
|
chk_box.Location = new System.Drawing.Point(x, y);
|
|
chk_box.Size = new System.Drawing.Size(100, 20);
|
|
chk_box.CheckedChanged += new EventHandler(chk_box_CheckedChanged);
|
|
chk_box.MouseUp += new MouseEventHandler(chk_box_MouseUp);
|
|
|
|
selectform.Controls.Add(chk_box);
|
|
|
|
Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 20;
|
|
|
|
if (y > selectform.Height - 60)
|
|
{
|
|
x += 100;
|
|
y = 10;
|
|
|
|
selectform.Width = x + 100;
|
|
}
|
|
}
|
|
|
|
void chk_box_MouseUp(object sender, MouseEventArgs e)
|
|
{
|
|
if (e.Button == System.Windows.Forms.MouseButtons.Right)
|
|
{
|
|
// dont action a already draw item
|
|
if (!((CheckBox)sender).Checked)
|
|
{
|
|
rightclick = true;
|
|
((CheckBox)sender).Checked = true;
|
|
}
|
|
else
|
|
{
|
|
((CheckBox)sender).Checked = false;
|
|
}
|
|
rightclick = false;
|
|
}
|
|
}
|
|
|
|
int colorStep = 0;
|
|
bool rightclick = false;
|
|
|
|
void chk_box_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
selection.Add(((CheckBox)sender).Name);
|
|
|
|
LineItem myCurve;
|
|
|
|
int colorvalue = ColourValues[colorStep % ColourValues.Length];
|
|
colorStep++;
|
|
|
|
myCurve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name.Replace("mavlink_", ""), (PointPairList)datappl[((CheckBox)sender).Name], Color.FromArgb(unchecked(colorvalue + (int)0xff000000)), SymbolType.None);
|
|
|
|
myCurve.Tag = ((CheckBox)sender).Name;
|
|
|
|
if (myCurve.Tag.ToString() == "roll mavlink_attitude_t" ||
|
|
myCurve.Tag.ToString() == "pitch mavlink_attitude_t" ||
|
|
myCurve.Tag.ToString() == "yaw mavlink_attitude_t")
|
|
{
|
|
PointPairList ppl = new PointPairList((PointPairList)datappl[((CheckBox)sender).Name]);
|
|
for (int a = 0; a < ppl.Count; a++)
|
|
{
|
|
ppl[a].Y = ppl[a].Y * (180.0 / Math.PI);
|
|
}
|
|
|
|
myCurve.Points = ppl;
|
|
}
|
|
|
|
double xMin, xMax, yMin, yMax;
|
|
|
|
myCurve.GetRange(out xMin, out xMax, out yMin, out yMax, true, false, zg1.GraphPane);
|
|
|
|
if (rightclick || (yMin > 850 && yMax < 2100 && yMin < 2100))
|
|
{
|
|
myCurve.IsY2Axis = true;
|
|
myCurve.YAxisIndex = 0;
|
|
zg1.GraphPane.Y2Axis.IsVisible = true;
|
|
|
|
myCurve.Label.Text = myCurve.Label.Text + "-R";
|
|
}
|
|
}
|
|
else
|
|
{
|
|
selection.Remove(((CheckBox)sender).Name);
|
|
foreach (var item in zg1.GraphPane.CurveList)
|
|
{
|
|
if (item.Tag.ToString() == ((CheckBox)sender).Name)
|
|
{
|
|
zg1.GraphPane.CurveList.Remove(item);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
try
|
|
{
|
|
// fix new line types
|
|
ThemeManager.ApplyThemeTo(this);
|
|
|
|
zg1.GraphPane.XAxis.AxisGap = 0;
|
|
|
|
zg1.Invalidate();
|
|
zg1.AxisChange();
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
private Form SelectDataToGraphForm()
|
|
{
|
|
Form selectform = new Form()
|
|
{
|
|
Name = "select",
|
|
Width = 50,
|
|
Height = 500,
|
|
Text = "Graph This",
|
|
TopLevel = true
|
|
};
|
|
|
|
x = 10;
|
|
y = 10;
|
|
|
|
AddHeader(selectform, "Left Click");
|
|
AddHeader(selectform, "Left Axis");
|
|
AddHeader(selectform, "Right Click");
|
|
AddHeader(selectform, "Right Axis");
|
|
|
|
ThemeManager.ApplyThemeTo(selectform);
|
|
|
|
return selectform;
|
|
}
|
|
|
|
private void BUT_convertcsv_Click(object sender, EventArgs e)
|
|
{
|
|
OpenFileDialog openFileDialog1 = new OpenFileDialog();
|
|
openFileDialog1.Filter = "*.tlog|*.tlog";
|
|
openFileDialog1.FilterIndex = 2;
|
|
openFileDialog1.RestoreDirectory = true;
|
|
openFileDialog1.Multiselect = true;
|
|
try
|
|
{
|
|
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
|
|
}
|
|
catch { } // incase dir doesnt exist
|
|
|
|
if (openFileDialog1.ShowDialog() == DialogResult.OK)
|
|
{
|
|
foreach (string logfile in openFileDialog1.FileNames)
|
|
{
|
|
|
|
MAVLink mine = new MAVLink();
|
|
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
|
|
mine.logreadmode = true;
|
|
|
|
mine.packets.Initialize(); // clear
|
|
|
|
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".csv");
|
|
|
|
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
|
|
{
|
|
// bar moves to 100 % in this step
|
|
progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
|
|
|
|
progressBar1.Refresh();
|
|
//Application.DoEvents();
|
|
|
|
byte[] packet = mine.readPacket();
|
|
string text = "";
|
|
mine.DebugPacket(packet, ref text,true,",");
|
|
|
|
sw.Write(mine.lastlogread + "," + text);
|
|
}
|
|
|
|
sw.Close();
|
|
|
|
progressBar1.Value = 100;
|
|
|
|
mine.logreadmode = false;
|
|
mine.logplaybackfile.Close();
|
|
mine.logplaybackfile = null;
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} |