mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.4 KiB
Python
Executable File
119 lines
3.4 KiB
Python
Executable File
#!/usr/bin/env python
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"""
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Parses a log file and shows how Copter's du32 changes over time
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AP_FLAKE8_CLEAN
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"""
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from __future__ import print_function
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import optparse
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import sys
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import time
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from pymavlink import mavutil
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class DU32Change(object):
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def __init__(self, master):
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self.master = master
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def progress(self, text):
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'''emit text with possible timestamps etc'''
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print("%u: %s" % (time.time(), text))
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def run(self):
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self.progress("Creating connection")
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self.conn = mavutil.mavlink_connection(master)
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# this eas was generated from Copter.h's structure for ap_t:
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bit_descriptions_list = [
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"unused1",
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"unused_was_simple_mode bit1",
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"unused_was_simple_mode bit2",
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"pre_arm_rc_check",
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"pre_arm_check",
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"auto_armed",
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"logging_started",
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"land_complete",
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"new_radio_frame",
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"usb_connected_unused",
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"rc_receiver_present_unused",
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"compass_mot",
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"motor_test",
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"initialised",
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"land_complete_maybe",
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"throttle_zero",
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"system_time_set_unused",
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"gps_glitching",
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"using_interlock",
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"land_repo_active",
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"motor_interlock_switch",
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"in_arming_delay",
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"initialised_params",
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"unused3",
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"unused2",
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"armed_with_airmode_switch",
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"prec_land_active",
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]
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bit_descriptions = {}
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count = 0
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for bit in bit_descriptions_list:
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bit_descriptions[bit] = count
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count += 1
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old_m = None
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desired_type = "DU32"
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while True:
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m = self.conn.recv_match(type=desired_type)
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if m is None:
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break
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if m.Id != 7:
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# 7 is LOG_DATA_ID from AP_Logger.h
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continue
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if old_m is not None and m.Value == old_m.Value:
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continue
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line = ""
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if old_m is None:
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for bit in sorted(bit_descriptions.keys()):
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bit_set = m.Value & (1 << bit_descriptions[bit])
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if bit_set:
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print("Original %s: 1" % bit)
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else:
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print("Original %s: 0" % bit)
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else:
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for bit in bit_descriptions.keys():
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old_bit_set = old_m.Value & (1 << bit_descriptions[bit])
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new_bit_set = m.Value & (1 << bit_descriptions[bit])
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if new_bit_set and not old_bit_set:
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line += " +%s" % bit
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elif not new_bit_set and old_bit_set:
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line += " -%s" % bit
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timestamp = getattr(m, '_timestamp', 0.0)
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formatted_timestamp = "%s.%02u" % (
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time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(timestamp)),
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int(timestamp * 100.0) % 100)
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print("%s: %s" % (formatted_timestamp, line))
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old_m = m
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if __name__ == '__main__':
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parser = optparse.OptionParser("du32_change.py [options]")
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(opts, args) = parser.parse_args()
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if len(args) < 1:
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parser.print_help()
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sys.exit(1)
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master = args[0]
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tester = DU32Change(master)
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tester.run()
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