Go to the documentation of this file.00001
00002
00003 '''
00004 extract one mode type from a log
00005 '''
00006
00007 import sys, time, os, struct
00008
00009 from argparse import ArgumentParser
00010 parser = ArgumentParser(description=__doc__)
00011
00012 parser.add_argument("--no-timestamps", dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
00013 parser.add_argument("--robust", action='store_true', help="Enable robust parsing (skip over bad data)")
00014 parser.add_argument("--condition", default=None, help="select packets by condition")
00015 parser.add_argument("--mode", default='auto', help="mode to extract")
00016 parser.add_argument("logs", metavar="LOG", nargs="+")
00017 args = parser.parse_args()
00018
00019 from pymavlink import mavutil
00020
00021
00022 def process(filename):
00023 '''process one logfile'''
00024 print("Processing %s" % filename)
00025 mlog = mavutil.mavlink_connection(filename, notimestamps=args.notimestamps,
00026 robust_parsing=args.robust)
00027
00028
00029 ext = os.path.splitext(filename)[1]
00030 isbin = ext in ['.bin', '.BIN']
00031 islog = ext in ['.log', '.LOG']
00032 output = None
00033 count = 1
00034 dirname = os.path.dirname(filename)
00035
00036 if isbin or islog:
00037 extension = "bin"
00038 else:
00039 extension = "tlog"
00040
00041 file_header = ''
00042
00043 while True:
00044 m = mlog.recv_match()
00045 if m is None:
00046 break
00047 if (isbin or islog) and m.get_type() in ["FMT", "PARM", "CMD"]:
00048 file_header += m.get_msgbuf()
00049 if (isbin or islog) and m.get_type() == 'MSG' and m.Message.startswith("Ardu"):
00050 file_header += m.get_msgbuf()
00051 if m.get_type() in ['PARAM_VALUE','MISSION_ITEM']:
00052 timestamp = getattr(m, '_timestamp', None)
00053 file_header += struct.pack('>Q', timestamp*1.0e6) + m.get_msgbuf()
00054
00055 if not mavutil.evaluate_condition(args.condition, mlog.messages):
00056 continue
00057
00058 if mlog.flightmode.upper() == args.mode.upper():
00059 if output is None:
00060 path = os.path.join(dirname, "%s%u.%s" % (args.mode, count, extension))
00061 count += 1
00062 print("Creating %s" % path)
00063 output = open(path, mode='wb')
00064 output.write(file_header)
00065 else:
00066 if output is not None:
00067 output.close()
00068 output = None
00069
00070 if output and m.get_type() != 'BAD_DATA':
00071 timestamp = getattr(m, '_timestamp', None)
00072 if not isbin:
00073 output.write(struct.pack('>Q', timestamp*1.0e6))
00074 output.write(m.get_msgbuf())
00075
00076 for filename in args.logs:
00077 process(filename)
00078