forked from Archive/PX4-Autopilot
68 lines
2.6 KiB
Python
68 lines
2.6 KiB
Python
#!/usr/bin/env python
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'''
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example program that dumps a Mavlink log file. The log file is
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assumed to be in the format that qgroundcontrol uses, which consists
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of a series of MAVLink packets, each with a 64 bit timestamp
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header. The timestamp is in microseconds since 1970 (unix epoch)
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'''
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import sys, time, os, struct
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# allow import from the parent directory, where mavlink.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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from optparse import OptionParser
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parser = OptionParser("mavlogdump.py [options]")
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parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
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parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
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parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
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parser.add_option("-f", "--follow",dest="follow", action='store_true', help="keep waiting for more data at end of file")
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parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
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parser.add_option("-q", "--quiet", dest="quiet", action='store_true', help="don't display packets")
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parser.add_option("-o", "--output", default=None, help="output matching packets to give file")
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parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
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parser.add_option("--types", default=None, help="types of messages (comma separated)")
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(opts, args) = parser.parse_args()
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if opts.mav10:
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os.environ['MAVLINK10'] = '1'
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import mavutil
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if len(args) < 1:
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print("Usage: mavlogdump.py [options] <LOGFILE>")
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sys.exit(1)
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filename = args[0]
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mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
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notimestamps=opts.notimestamps,
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robust_parsing=opts.robust)
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output = None
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if opts.output:
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output = mavutil.mavlogfile(opts.output, write=True)
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types = opts.types
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if types is not None:
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types = types.split(',')
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while True:
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m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
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if m is None:
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break
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if types is not None and m.get_type() not in types:
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continue
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if output:
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timestamp = getattr(m, '_timestamp', None)
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if timestamp:
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output.write(struct.pack('>Q', timestamp*1.0e6))
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output.write(m.get_msgbuf().tostring())
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if opts.quiet:
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continue
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print("%s.%02u: %s" % (
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time.strftime("%Y-%m-%d %H:%M:%S",
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time.localtime(m._timestamp)),
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int(m._timestamp*100.0)%100, m))
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