python/examples/example_readlog.py

   1 ##
   2 ##############################################################################
   3 #
   4 # @file       example_readlog.py
   5 # @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   6 #             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
   7 # @brief      Base classes for python UAVObject
   8 #
   9 # @see        The GNU Public License (GPL) Version 3
  10 #
  11 #############################################################################/
  12 #
  13 # This program is free software; you can redistribute it and/or modify
  14 # it under the terms of the GNU General Public License as published by
  15 # the Free Software Foundation; either version 3 of the License, or
  16 # (at your option) any later version.
  17 #
  18 # This program is distributed in the hope that it will be useful, but
  19 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21 # for more details.
  22 #
  23 # You should have received a copy of the GNU General Public License along
  24 # with this program; if not, write to the Free Software Foundation, Inc.,
  25 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26 #
  27
  28
  29
  30 import logging
  31 import serial
  32 import traceback
  33 import sys
  34
  35 from librepilot.uavtalk.uavobject import *
  36 from librepilot.uavtalk.uavtalk import *
  37 from librepilot.uavtalk.objectManager import *
  38 from librepilot.uavtalk.connectionManager import *
  39 from example import UavtalkDemo
  40
  41
  42 def _hex02(value):
  43     return "%02X" % value
  44
  45 class UavtalkLogDemo(UavtalkDemo):
  46
  47     def __init__(self):
  48         self.nbUpdates = 0
  49         self.lastRateCalc = time.time()
  50         self.updateRate = 0
  51         self.objMan = None
  52         self.connMan = None
  53
  54     def setup(self, filename):
  55         print "Opening File \"%s\"" % filename
  56         file = open(filename,"rb")
  57         if file == None:
  58             raise IOError("Failed to open file")
  59
  60         print "Creating UavTalk"
  61         self.uavTalk = UavTalk(None, filename)
  62
  63         print "Starting ObjectManager"
  64         self.objMan = ObjManager(self.uavTalk)
  65         self.objMan.importDefinitions()
  66
  67         print "Starting UavTalk"
  68         self.uavTalk.start()
  69
  70 def printUsage():
  71     appName = os.path.basename(sys.argv[0])
  72     print
  73     print "usage:"
  74     print "  %s filename " % appName
  75     print
  76     print "  for example: %s /tmp/OP-2015-04-28_23-16-33.opl" % appName
  77     print
  78
  79 if __name__ == '__main__':
  80
  81     if len(sys.argv) !=2:
  82         print "ERROR: Incorrect number of arguments"
  83         print len(sys.argv)
  84         printUsage()
  85         sys.exit(2)
  86
  87     script, filename = sys.argv
  88     if not os.path.exists(sys.argv[1]):
  89         sys.exit('ERROR: Database %s was not found!' % sys.argv[1])
  90
  91     # Log everything, and send it to stderr.
  92     logging.basicConfig(level=logging.INFO)
  93
  94     try:
  95         demo = UavtalkLogDemo()
  96         demo.setup(filename)
  97
  98         while True:
  99             demo.objMan.AttitudeState.waitUpdate()
 100             demo._onAttitudeUpdate(demo.objMan.AttitudeState)
 101
 102     except KeyboardInterrupt:
 103         pass
 104     except Exception,e:
 105         print
 106         print "An error occured: ", e
 107         print
 108         traceback.print_exc()
 109
 110     print
 111
 112
 113