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102 lines
2.9 KiB
102 lines
2.9 KiB
#!/usr/bin/env python |
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""" |
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Parses a log file and shows how the power flags changed 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 POWRChange(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 bit_description(self, bit_number): |
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if 1 << bit_number not in mavutil.mavlink.enums["MAV_POWER_STATUS"]: |
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return "UNKNOWN_BIT[%u]" % bit_number |
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name = mavutil.mavlink.enums["MAV_POWER_STATUS"][1 << bit_number].name |
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# return name with common prefix removed: |
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return name[len("MAV_POWER_STATUS_"):] |
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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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desired_type = "POWR" |
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current = None |
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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 current is None: |
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current_flags = 0 |
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current_accflags = 0 |
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have_accflags = hasattr(m, "AccFlags") |
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else: |
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current_flags = current.Flags |
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if have_accflags: |
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current_accflags = current.AccFlags |
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flags = m.Flags |
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line = "" |
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for bit in range(0, 32): # range? |
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mask = 1 << bit |
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old_bit_set = current_flags & mask |
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new_bit_set = flags & mask |
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if new_bit_set and not old_bit_set: |
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line += " +%s" % self.bit_description(bit) |
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elif not new_bit_set and old_bit_set: |
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line += " -%s" % self.bit_description(bit) |
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if have_accflags: |
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accflags = m.AccFlags |
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old_acc_bit_set = current_accflags & mask |
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new_acc_bit_set = accflags & mask |
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if new_acc_bit_set and not old_acc_bit_set: |
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line += " ACCFLAGS+%s" % self.bit_description(bit) |
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elif not new_bit_set and old_bit_set: |
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line += " ACCFLAGS-%s" % self.bit_description(bit) |
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if len(line) == 0: |
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continue |
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current = m |
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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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current = m |
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if __name__ == '__main__': |
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parser = optparse.OptionParser("powr_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 = POWRChange(master) |
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tester.run()
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