mirror of https://github.com/ArduPilot/ardupilot
695 lines
29 KiB
Python
695 lines
29 KiB
Python
#
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# Code to abstract the parsing of APM Dataflash log files, currently only used by the LogAnalyzer
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#
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# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
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#
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from __future__ import print_function
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import collections
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import os
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import numpy
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import bisect
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import sys
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import ctypes
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from VehicleType import VehicleType, VehicleTypeString
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class Format(object):
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'''Data channel format as specified by the FMT lines in the log file'''
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def __init__(self,msgType,msgLen,name,types,labels):
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self.NAME = 'FMT'
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self.msgType = msgType
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self.msgLen = msgLen
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self.name = name
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self.types = types
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self.labels = labels.split(',')
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def __str__(self):
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return "%8s %s" % (self.name, `self.labels`)
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@staticmethod
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def trycastToFormatType(value,valueType):
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'''using format characters from libraries/DataFlash/DataFlash.h to cast strings to basic python int/float/string types
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tries a cast, if it does not work, well, acceptable as the text logs do not match the format, e.g. MODE is expected to be int'''
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try:
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if valueType in "fcCeELd":
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return float(value)
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elif valueType in "bBhHiIMQq":
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return int(value)
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elif valueType in "nNZ":
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return str(value)
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except:
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pass
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return value
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def to_class(self):
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members = dict(
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NAME = self.name,
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labels = self.labels[:],
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)
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fieldtypes = [i for i in self.types]
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fieldlabels = self.labels[:]
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# field access
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for (label, _type) in zip(fieldlabels, fieldtypes):
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def createproperty(name, format):
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# extra scope for variable sanity
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# scaling via _NAME and def NAME(self): return self._NAME / SCALE
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propertyname = name
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attributename = '_' + name
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p = property(lambda x:getattr(x, attributename),
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lambda x, v:setattr(x,attributename, Format.trycastToFormatType(v,format)))
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members[propertyname] = p
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members[attributename] = None
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createproperty(label, _type)
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# repr shows all values but the header
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members['__repr__'] = lambda x: "<{cls} {data}>".format(cls=x.__class__.__name__, data = ' '.join(["{}:{}".format(k,getattr(x,'_'+k)) for k in x.labels]))
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def init(a, *x):
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if len(x) != len(a.labels):
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raise ValueError("Invalid Length")
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#print(list(zip(a.labels, x)))
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for (l,v) in zip(a.labels, x):
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try:
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setattr(a, l, v)
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except Exception as e:
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print("{} {} {} failed".format(a,l,v))
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print(e)
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members['__init__'] = init
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# finally, create the class
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cls = type(\
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'Log__{:s}'.format(self.name),
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(object,),
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members
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)
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#print(members)
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return cls
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class logheader(ctypes.LittleEndianStructure):
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_fields_ = [ \
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('head1', ctypes.c_uint8),
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('head2', ctypes.c_uint8),
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('msgid', ctypes.c_uint8),
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]
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def __repr__(self):
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return "<logheader head1=0x{self.head1:x} head2=0x{self.head2:x} msgid=0x{self.msgid:x} ({self.msgid})>".format(self=self)
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class BinaryFormat(ctypes.LittleEndianStructure):
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NAME = 'FMT'
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MSG = 128
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SIZE = 0
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FIELD_FORMAT = {
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'b': ctypes.c_int8,
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'B': ctypes.c_uint8,
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'h': ctypes.c_int16,
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'H': ctypes.c_uint16,
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'i': ctypes.c_int32,
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'I': ctypes.c_uint32,
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'f': ctypes.c_float,
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'd': ctypes.c_double,
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'n': ctypes.c_char * 4,
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'N': ctypes.c_char * 16,
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'Z': ctypes.c_char * 64,
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'c': ctypes.c_int16,# * 100,
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'C': ctypes.c_uint16,# * 100,
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'e': ctypes.c_int32,# * 100,
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'E': ctypes.c_uint32,# * 100,
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'L': ctypes.c_int32,
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'M': ctypes.c_uint8,
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'q': ctypes.c_int64,
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'Q': ctypes.c_uint64,
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}
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FIELD_SCALE = {
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'c': 100,
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'C': 100,
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'e': 100,
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'E': 100,
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}
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_packed_ = True
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_fields_ = [ \
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('head', logheader),
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('type', ctypes.c_uint8),
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('length', ctypes.c_uint8),
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('name', ctypes.c_char * 4),
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('types', ctypes.c_char * 16),
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('labels', ctypes.c_char * 64),
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]
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def __repr__(self):
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return "<{cls} {data}>".format(cls=self.__class__.__name__, data = ' '.join(["{}:{}".format(k,getattr(self,k)) for (k,_) in self._fields_[1:]]))
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def to_class(self):
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members = dict(
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NAME = self.name,
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MSG = self.type,
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SIZE = self.length,
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labels = self.labels.split(",") if self.labels else [],
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_pack_ = True)
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fieldtypes = [i for i in self.types]
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fieldlabels = self.labels.split(",")
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if self.labels and (len(fieldtypes) != len(fieldlabels)):
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print("Broken FMT message for {} .. ignoring".format(self.name), file=sys.stderr)
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return None
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fields = [('head',logheader)]
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# field access
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for (label, _type) in zip(fieldlabels, fieldtypes):
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def createproperty(name, format):
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# extra scope for variable sanity
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# scaling via _NAME and def NAME(self): return self._NAME / SCALE
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propertyname = name
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attributename = '_' + name
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scale = BinaryFormat.FIELD_SCALE.get(format, None)
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p = property(lambda x:getattr(x, attributename))
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if scale is not None:
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p = property(lambda x:getattr(x, attributename) / scale)
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members[propertyname] = p
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try:
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fields.append((attributename, BinaryFormat.FIELD_FORMAT[format]))
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except KeyError:
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print('ERROR: Failed to add FMT type: {}, with format: {}'.format(attributename, format))
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raise
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createproperty(label, _type)
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members['_fields_'] = fields
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# repr shows all values but the header
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members['__repr__'] = lambda x: "<{cls} {data}>".format(cls=x.__class__.__name__, data = ' '.join(["{}:{}".format(k,getattr(x,k)) for k in x.labels]))
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# finally, create the class
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cls = type(\
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'Log__{:s}'.format(self.name),
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(ctypes.LittleEndianStructure,),
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members
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)
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if ctypes.sizeof(cls) != cls.SIZE:
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print("size mismatch for {} expected {} got {}".format(cls, ctypes.sizeof(cls), cls.SIZE), file=sys.stderr)
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# for i in cls.labels:
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# print("{} = {}".format(i,getattr(cls,'_'+i)))
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return None
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return cls
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BinaryFormat.SIZE = ctypes.sizeof(BinaryFormat)
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class Channel(object):
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'''storage for a single stream of data, i.e. all GPS.RelAlt values'''
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# TODO: rethink data storage, but do more thorough regression testing before refactoring it
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# TODO: store data as a scipy spline curve so we can more easily interpolate and sample the slope?
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def __init__(self):
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self.dictData = {} # dict of linenum->value # store dupe data in dict and list for now, until we decide which is the better way to go
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self.listData = [] # list of (linenum,value) # store dupe data in dict and list for now, until we decide which is the better way to go
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def getSegment(self, startLine, endLine):
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'''returns a segment of this data (from startLine to endLine, inclusive) as a new Channel instance'''
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segment = Channel()
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segment.dictData = {k:v for k,v in self.dictData.iteritems() if k >= startLine and k <= endLine}
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return segment
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def min(self):
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return min(self.dictData.values())
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def max(self):
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return max(self.dictData.values())
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def avg(self):
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return numpy.mean(self.dictData.values())
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def getNearestValueFwd(self, lineNumber):
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'''Returns (value,lineNumber)'''
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index = bisect.bisect_left(self.listData, (lineNumber,-99999))
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while index<len(self.listData):
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line = self.listData[index][0]
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#print "Looking forwards for nearest value to line number %d, starting at line %d" % (lineNumber,line) # TEMP
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if line >= lineNumber:
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return (self.listData[index][1],line)
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index += 1
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raise Exception("Error finding nearest value for line %d" % lineNumber)
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def getNearestValueBack(self, lineNumber):
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'''Returns (value,lineNumber)'''
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index = bisect.bisect_left(self.listData, (lineNumber,-99999)) - 1
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while index>=0:
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line = self.listData[index][0]
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#print "Looking backwards for nearest value to line number %d, starting at line %d" % (lineNumber,line) # TEMP
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if line <= lineNumber:
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return (self.listData[index][1],line)
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index -= 1
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raise Exception("Error finding nearest value for line %d" % lineNumber)
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def getNearestValue(self, lineNumber, lookForwards=True):
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'''find the nearest data value to the given lineNumber, defaults to first looking forwards. Returns (value,lineNumber)'''
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if lookForwards:
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try:
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return self.getNearestValueFwd(lineNumber)
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except:
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return self.getNearestValueBack(lineNumber)
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else:
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try:
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return self.getNearestValueBack(lineNumber)
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except:
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return self.getNearestValueFwd(lineNumber)
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raise Exception("Error finding nearest value for line %d" % lineNumber)
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def getInterpolatedValue(self, lineNumber):
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(prevValue,prevValueLine) = self.getNearestValue(lineNumber, lookForwards=False)
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(nextValue,nextValueLine) = self.getNearestValue(lineNumber, lookForwards=True)
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if prevValueLine == nextValueLine:
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return prevValue
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weight = (lineNumber-prevValueLine) / float(nextValueLine-prevValueLine)
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return ((weight*prevValue) + ((1-weight)*nextValue))
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def getIndexOf(self, lineNumber):
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'''returns the index within this channel's listData of the given lineNumber, or raises an Exception if not found'''
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index = bisect.bisect_left(self.listData, (lineNumber,-99999))
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#print "INDEX of line %d: %d" % (lineNumber,index)
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#print "self.listData[index][0]: %d" % self.listData[index][0]
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if (self.listData[index][0] == lineNumber):
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return index
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else:
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raise Exception("Error finding index for line %d" % lineNumber)
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class LogIterator:
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'''Smart iterator that can move through a log by line number and maintain an index into the nearest values of all data channels'''
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# TODO: LogIterator currently indexes the next available value rather than the nearest value, we should make it configurable between next/nearest
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class LogIteratorSubValue:
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'''syntactic sugar to allow access by LogIterator[lineLabel][dataLabel]'''
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logdata = None
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iterators = None
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lineLabel = None
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def __init__(self, logdata, iterators, lineLabel):
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self.logdata = logdata
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self.lineLabel = lineLabel
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self.iterators = iterators
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def __getitem__(self, dataLabel):
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index = self.iterators[self.lineLabel][0]
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return self.logdata.channels[self.lineLabel][dataLabel].listData[index][1]
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iterators = {} # lineLabel -> (listIndex,lineNumber)
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logdata = None
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currentLine = None
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def __init__(self, logdata, lineNumber=0):
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self.logdata = logdata
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self.currentLine = lineNumber
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for lineLabel in self.logdata.formats:
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if lineLabel in self.logdata.channels:
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self.iterators[lineLabel] = ()
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self.jump(lineNumber)
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def __iter__(self):
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return self
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def __getitem__(self, lineLabel):
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return LogIterator.LogIteratorSubValue(self.logdata, self.iterators, lineLabel)
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def next(self):
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'''increment iterator to next log line'''
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self.currentLine += 1
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if self.currentLine > self.logdata.lineCount:
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return self
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for lineLabel in self.iterators.keys():
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# check if the currentLine has gone past our the line we're pointing to for this type of data
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dataLabel = self.logdata.formats[lineLabel].labels[0]
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(index, lineNumber) = self.iterators[lineLabel]
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# if so, and it is not the last entry in the log, then increment the indices for all dataLabels under that lineLabel
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if (self.currentLine > lineNumber) and (index < len(self.logdata.channels[lineLabel][dataLabel].listData)-1):
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index += 1
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lineNumber = self.logdata.channels[lineLabel][dataLabel].listData[index][0]
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self.iterators[lineLabel] = (index,lineNumber)
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return self
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def jump(self, lineNumber):
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'''jump iterator to specified log line'''
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self.currentLine = lineNumber
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for lineLabel in self.iterators.keys():
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dataLabel = self.logdata.formats[lineLabel].labels[0]
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(value,lineNumber) = self.logdata.channels[lineLabel][dataLabel].getNearestValue(self.currentLine)
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self.iterators[lineLabel] = (self.logdata.channels[lineLabel][dataLabel].getIndexOf(lineNumber), lineNumber)
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class DataflashLogHelper:
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'''helper functions for dealing with log data, put here to keep DataflashLog class as a simple parser and data store'''
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@staticmethod
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def getTimeAtLine(logdata, lineNumber):
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'''returns the nearest GPS timestamp in milliseconds after the given line number'''
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if not "GPS" in logdata.channels:
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raise Exception("no GPS log data found")
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# older logs use 'TIme', newer logs use 'TimeMS'
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timeLabel = "TimeMS"
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if "Time" in logdata.channels["GPS"]:
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timeLabel = "Time"
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while lineNumber <= logdata.lineCount:
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if lineNumber in logdata.channels["GPS"][timeLabel].dictData:
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return logdata.channels["GPS"][timeLabel].dictData[lineNumber]
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lineNumber = lineNumber + 1
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sys.stderr.write("didn't find GPS data for " + str(lineNumber) + " - using maxtime\n")
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return logdata.channels["GPS"][timeLabel].max()
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@staticmethod
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def findLoiterChunks(logdata, minLengthSeconds=0, noRCInputs=True):
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'''returns a list of (to,from) pairs defining sections of the log which are in loiter mode. Ordered from longest to shortest in time. If noRCInputs == True it only returns chunks with no control inputs'''
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# TODO: implement noRCInputs handling when identifying stable loiter chunks, for now we're ignoring it
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def chunkSizeCompare(chunk1, chunk2):
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chunk1Len = chunk1[1]-chunk1[0]
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chunk2Len = chunk2[1]-chunk2[0]
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if chunk1Len == chunk2Len:
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return 0
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elif chunk1Len > chunk2Len:
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return -1
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else:
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return 1
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od = collections.OrderedDict(sorted(logdata.modeChanges.items(), key=lambda t: t[0]))
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chunks = []
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for i in range(len(od.keys())):
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if od.values()[i][0] == "LOITER":
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startLine = od.keys()[i]
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endLine = None
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if i == len(od.keys())-1:
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endLine = logdata.lineCount
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else:
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endLine = od.keys()[i+1]-1
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chunkTimeSeconds = (DataflashLogHelper.getTimeAtLine(logdata,endLine)-DataflashLogHelper.getTimeAtLine(logdata,startLine)+1) / 1000.0
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if chunkTimeSeconds > minLengthSeconds:
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chunks.append((startLine,endLine))
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#print "LOITER chunk: %d to %d, %d lines" % (startLine,endLine,endLine-startLine+1)
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#print " (time %d to %d, %d seconds)" % (DataflashLogHelper.getTimeAtLine(logdata,startLine), DataflashLogHelper.getTimeAtLine(logdata,endLine), chunkTimeSeconds)
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chunks.sort(chunkSizeCompare)
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return chunks
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@staticmethod
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def isLogEmpty(logdata):
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'''returns an human readable error string if the log is essentially empty, otherwise returns None'''
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# naive check for now, see if the throttle output was ever above 20%
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throttleThreshold = 20
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if logdata.vehicleType == VehicleType.Copter:
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throttleThreshold = 200 # copter uses 0-1000, plane+rover use 0-100
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if "CTUN" in logdata.channels:
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try:
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maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
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except KeyError as e:
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# ThrOut was shorted to ThO at some stage...
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maxThrottle = logdata.channels["CTUN"]["ThO"].max()
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# at roughly the same time ThO became a range from 0 to 1
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throttleThreshold = 0.2
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if maxThrottle < throttleThreshold:
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return "Throttle never above 20%"
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return None
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class DataflashLog(object):
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'''APM Dataflash log file reader and container class. Keep this simple, add more advanced or specific functions to DataflashLogHelper class'''
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knownHardwareTypes = ["APM", "PX4", "MPNG"]
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intTypes = "bBhHiIM"
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floatTypes = "fcCeEL"
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charTypes = "nNZ"
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def __init__(self, logfile=None, format="auto", ignoreBadlines=False):
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self.filename = None
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self.vehicleType = None # from VehicleType enumeration; value derived from header
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self.vehicleTypeString = None # set at same time has the enum value
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self.firmwareVersion = ""
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self.firmwareHash = ""
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self.freeRAM = 0
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self.hardwareType = "" # APM 1, APM 2, PX4, MPNG, etc What is VRBrain? BeagleBone, etc? Needs more testing
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self.formats = {} # name -> Format
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self.parameters = {} # token -> value
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self.messages = {} # lineNum -> message
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self.modeChanges = {} # lineNum -> (mode,value)
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self.channels = {} # lineLabel -> {dataLabel:Channel}
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self.filesizeKB = 0
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self.durationSecs = 0
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self.lineCount = 0
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self.skippedLines = 0
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self.backpatch_these_modechanges = []
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if logfile:
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self.read(logfile, format, ignoreBadlines)
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def getCopterType(self):
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'''returns quad/hex/octo/tradheli if this is a copter log'''
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if self.vehicleType != VehicleType.Copter:
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return None
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motLabels = []
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if "MOT" in self.formats: # not listed in PX4 log header for some reason?
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motLabels = self.formats["MOT"].labels
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if "GGain" in motLabels:
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return "tradheli"
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elif len(motLabels) == 4:
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return "quad"
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elif len(motLabels) == 6:
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return "hex"
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elif len(motLabels) == 8:
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return "octo"
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else:
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return ""
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def read(self, logfile, format="auto", ignoreBadlines=False):
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'''returns on successful log read (including bad lines if ignoreBadlines==True), will throw an Exception otherwise'''
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# TODO: dataflash log parsing code is pretty hacky, should re-write more methodically
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self.filename = logfile
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if self.filename == '<stdin>':
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f = sys.stdin
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else:
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f = open(self.filename, 'r')
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if format == 'bin':
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head = '\xa3\x95\x80\x80'
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elif format == 'log':
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head = ""
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elif format == 'auto':
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if self.filename == '<stdin>':
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# assuming TXT format
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# raise ValueError("Invalid log format for stdin: {}".format(format))
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head = ""
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else:
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head = f.read(4)
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f.seek(0)
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else:
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raise ValueError("Unknown log format for {}: {}".format(self.filename, format))
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if head == '\xa3\x95\x80\x80':
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numBytes, lineNumber = self.read_binary(f, ignoreBadlines)
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pass
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else:
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numBytes, lineNumber = self.read_text(f, ignoreBadlines)
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# gather some general stats about the log
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self.lineCount = lineNumber
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self.filesizeKB = numBytes / 1024.0
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# TODO: switch duration calculation to use TimeMS values rather than GPS timestemp
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if "GPS" in self.channels:
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# the GPS time label changed at some point, need to handle both
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timeLabel = None
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for i in 'TimeMS','TimeUS','Time':
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if i in self.channels["GPS"]:
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timeLabel = i
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break
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firstTimeGPS = int(self.channels["GPS"][timeLabel].listData[0][1])
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lastTimeGPS = int(self.channels["GPS"][timeLabel].listData[-1][1])
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if timeLabel == 'TimeUS':
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firstTimeGPS /= 1000
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lastTimeGPS /= 1000
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self.durationSecs = (lastTimeGPS-firstTimeGPS) / 1000
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# TODO: calculate logging rate based on timestamps
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# ...
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msg_vehicle_to_vehicle_map = {
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"ArduCopter": VehicleType.Copter,
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"APM:Copter": VehicleType.Copter,
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"ArduPlane": VehicleType.Plane,
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"ArduRover": VehicleType.Rover
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}
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# takes the vehicle type supplied via "MSG" and sets vehicleType from
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# the VehicleType enumeration
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def set_vehicleType_from_MSG_vehicle(self, MSG_vehicle):
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ret = self.msg_vehicle_to_vehicle_map.get(MSG_vehicle, None)
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if ret is None:
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raise ValueError("Unknown vehicle type (%s)" % (MSG_vehicle))
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self.vehicleType = ret
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self.vehicleTypeString = VehicleTypeString[ret]
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def handleModeChange(self, lineNumber, e):
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if self.vehicleType == VehicleType.Copter:
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try:
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modes = {0:'STABILIZE',
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1:'ACRO',
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2:'ALT_HOLD',
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3:'AUTO',
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4:'GUIDED',
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5:'LOITER',
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6:'RTL',
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7:'CIRCLE',
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9:'LAND',
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10:'OF_LOITER',
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11:'DRIFT',
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13:'SPORT',
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14:'FLIP',
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15:'AUTOTUNE',
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16:'HYBRID',}
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if hasattr(e, 'ThrCrs'):
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self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
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else:
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# assume it has ModeNum:
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self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
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except:
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if hasattr(e, 'ThrCrs'):
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self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
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else:
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# assume it has ModeNum:
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self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
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elif self.vehicleType in [VehicleType.Plane, VehicleType.Copter, VehicleType.Rover]:
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self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
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else:
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# if you've gotten to here the chances are we don't
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# know what vehicle you're flying...
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raise Exception("Unknown log type for MODE line vehicletype=({}) line=({})".format(self.vehicleTypeString, repr(e)))
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def backPatchModeChanges(self):
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for (lineNumber, e) in self.backpatch_these_modechanges:
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self.handleModeChange(lineNumber, e)
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def process(self, lineNumber, e):
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if e.NAME == 'FMT':
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cls = e.to_class()
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if cls is not None: # FMT messages can be broken ...
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if hasattr(e, 'type') and e.type not in self._formats: # binary log specific
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self._formats[e.type] = cls
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if cls.NAME not in self.formats:
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self.formats[cls.NAME] = cls
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elif e.NAME == "PARM":
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self.parameters[e.Name] = e.Value
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elif e.NAME == "MSG":
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if not self.vehicleType:
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tokens = e.Message.split(' ')
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self.set_vehicleType_from_MSG_vehicle(tokens[0]);
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self.backPatchModeChanges()
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self.firmwareVersion = tokens[1]
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if len(tokens) == 3:
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self.firmwareHash = tokens[2][1:-1]
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else:
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self.messages[lineNumber] = e.Message
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elif e.NAME == "MODE":
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if self.vehicleType is None:
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self.backpatch_these_modechanges.append( (lineNumber, e) )
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else:
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self.handleModeChange(lineNumber, e)
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# anything else must be the log data
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else:
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groupName = e.NAME
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# first time seeing this type of log line, create the channel storage
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if not groupName in self.channels:
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self.channels[groupName] = {}
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for label in e.labels:
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self.channels[groupName][label] = Channel()
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# store each token in its relevant channel
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for label in e.labels:
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value = getattr(e, label)
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channel = self.channels[groupName][label]
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channel.dictData[lineNumber] = value
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channel.listData.append((lineNumber, value))
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def read_text(self, f, ignoreBadlines):
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self.formats = {'FMT':Format}
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lineNumber = 0
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numBytes = 0
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knownHardwareTypes = ["APM", "PX4", "MPNG"]
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for line in f:
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lineNumber = lineNumber + 1
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numBytes += len(line) + 1
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try:
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#print "Reading line: %d" % lineNumber
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line = line.strip('\n\r')
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tokens = line.split(', ')
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# first handle the log header lines
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if line == " Ready to drive." or line == " Ready to FLY.":
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continue
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if line == "----------------------------------------": # present in pre-3.0 logs
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raise Exception("Log file seems to be in the older format (prior to self-describing logs), which isn't supported")
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if len(tokens) == 1:
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tokens2 = line.split(' ')
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if line == "":
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pass
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elif len(tokens2) == 1 and tokens2[0].isdigit(): # log index
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pass
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elif len(tokens2) == 3 and tokens2[0] == "Free" and tokens2[1] == "RAM:":
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self.freeRAM = int(tokens2[2])
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elif tokens2[0] in knownHardwareTypes:
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self.hardwareType = line # not sure if we can parse this more usefully, for now only need to report it back verbatim
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elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0].lower() == "v": # e.g. ArduCopter V3.1 (5c6503e2)
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self.set_vehicleType_from_MSG_vehicle(tokens2[0])
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self.firmwareVersion = tokens2[1]
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if len(tokens2) == 3:
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self.firmwareHash = tokens2[2][1:-1]
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else:
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errorMsg = "Error parsing line %d of log file: %s" % (lineNumber, self.filename)
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if ignoreBadlines:
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print(errorMsg + " (skipping line)", file=sys.stderr)
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self.skippedLines += 1
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else:
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raise Exception("")
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else:
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if not tokens[0] in self.formats:
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raise ValueError("Unknown Format {}".format(tokens[0]))
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e = self.formats[tokens[0]](*tokens[1:])
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self.process(lineNumber, e)
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except Exception as e:
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print("BAD LINE: " + line, file=sys.stderr)
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if not ignoreBadlines:
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raise Exception("Error parsing line %d of log file %s - %s" % (lineNumber,self.filename,e.args[0]))
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return (numBytes,lineNumber)
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def read_binary(self, f, ignoreBadlines):
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lineNumber = 0
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numBytes = 0
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for e in self._read_binary(f, ignoreBadlines):
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lineNumber += 1
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if e is None:
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continue
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numBytes += e.SIZE
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# print(e)
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self.process(lineNumber, e)
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return (numBytes,lineNumber)
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def _read_binary(self, f, ignoreBadlines):
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self._formats = {128:BinaryFormat}
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data = bytearray(f.read())
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offset = 0
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while len(data) > offset + ctypes.sizeof(logheader):
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h = logheader.from_buffer(data, offset)
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if not (h.head1 == 0xa3 and h.head2 == 0x95):
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if ignoreBadlines == False:
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raise ValueError(h)
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else:
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if h.head1 == 0xff and h.head2 == 0xff and h.msgid == 0xff:
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print("Assuming EOF due to dataflash block tail filled with \\xff... (offset={off})".format(off=offset), file=sys.stderr)
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break
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offset += 1
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continue
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if h.msgid in self._formats:
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typ = self._formats[h.msgid]
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if len(data) <= offset + typ.SIZE:
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break
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try:
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e = typ.from_buffer(data, offset)
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except:
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print("data:{} offset:{} size:{} sizeof:{} sum:{}".format(len(data),offset,typ.SIZE,ctypes.sizeof(typ),offset+typ.SIZE))
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raise
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offset += typ.SIZE
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else:
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raise ValueError(str(h) + "unknown type")
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yield e
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