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67 lines
2.6 KiB
67 lines
2.6 KiB
#!/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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