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Hotfix: Fixed sdlog2 MATLAB export
This commit is contained in:
Lorenz Meier
534
Tools/logconv.m
Normal file
534
Tools/logconv.m
Normal file
@@ -0,0 +1,534 @@
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% This Matlab Script can be used to import the binary logged values of the
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% PX4FMU into data that can be plotted and analyzed.
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%% ************************************************************************
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% PX4LOG_PLOTSCRIPT: Main function
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% ************************************************************************
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function PX4Log_Plotscript
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% Clear everything
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clc
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clear all
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close all
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% ************************************************************************
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% SETTINGS
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% ************************************************************************
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% Set the path to your sysvector.bin file here
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filePath = 'log_second_flight.bin';
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% Set the minimum and maximum times to plot here [in seconds]
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mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
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maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
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%Determine which data to plot. Not completely implemented yet.
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bDisplayGPS=true;
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%conversion factors
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fconv_gpsalt=1; %[mm] to [m]
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fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
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fconv_timestamp=1E-6; % [microseconds] to [seconds]
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% ************************************************************************
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% Import the PX4 logs
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% ************************************************************************
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ImportPX4LogData();
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%Translate min and max plot times to indices
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time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
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mintime_log=time(1); %The minimum time/timestamp found in the log
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maxtime_log=time(end); %The maximum time/timestamp found in the log
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CurTime=mintime_log; %The current time at which to draw the aircraft position
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[imintime,imaxtime]=FindMinMaxTimeIndices();
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% ************************************************************************
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% PLOT & GUI SETUP
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% ************************************************************************
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NrFigures=5;
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NrAxes=10;
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h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
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h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
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h.pathpoints=[]; % Temporary initiliazation of path points
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% Setup the GUI to control the plots
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InitControlGUI();
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% Setup the plotting-GUI (figures, axes) itself.
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InitPlotGUI();
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% ************************************************************************
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% DRAW EVERYTHING
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% ************************************************************************
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DrawRawData();
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DrawCurrentAircraftState();
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%% ************************************************************************
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% *** END OF MAIN SCRIPT ***
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% NESTED FUNCTION DEFINTIONS FROM HERE ON
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% ************************************************************************
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%% ************************************************************************
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% IMPORTPX4LOGDATA (nested function)
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% ************************************************************************
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% Attention: This is the import routine for firmware from ca. 03/2013.
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% Other firmware versions might require different import
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% routines.
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%% ************************************************************************
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% IMPORTPX4LOGDATA (nested function)
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% ************************************************************************
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% Attention: This is the import routine for firmware from ca. 03/2013.
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% Other firmware versions might require different import
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% routines.
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function ImportPX4LogData()
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% ************************************************************************
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% RETRIEVE SYSTEM VECTOR
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% *************************************************************************
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% //All measurements in NED frame
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% Convert to CSV
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%arg1 = 'log-fx61-20130721-2.bin';
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arg1 = filePath;
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delim = ',';
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time_field = 'TIME';
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data_file = 'data.csv';
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csv_null = '';
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if not(exist(data_file, 'file'))
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s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
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end
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if exist(data_file, 'file')
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%data = csvread(data_file);
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sysvector = tdfread(data_file, ',');
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% shot the flight time
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time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
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time_s = uint64(time_us*1e-6);
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time_m = uint64(time_s/60);
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disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s)]);
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disp(['logfile conversion finished.' char(10)]);
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else
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disp(['file: ' data_file ' does not exist' char(10)]);
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end
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end
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%% ************************************************************************
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% INITCONTROLGUI (nested function)
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% ************************************************************************
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%Setup central control GUI components to control current time where data is shown
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function InitControlGUI()
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%**********************************************************************
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% GUI size definitions
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%**********************************************************************
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dxy=5; %margins
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%Panel: Plotctrl
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dlabels=120;
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dsliders=200;
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dedits=80;
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hslider=20;
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hpanel1=40; %panel1
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hpanel2=220;%panel2
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hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
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width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
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height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
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%**********************************************************************
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% Create GUI
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%**********************************************************************
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h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
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h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
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h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
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h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
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%%Control GUI-elements
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%Slider: Current time
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h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
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h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
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'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
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temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
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set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
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h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
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'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
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%Slider: MaxTime
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h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
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h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
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'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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%Slider: MinTime
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h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
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h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
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'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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%%Current data/state GUI-elements (Multiline-edit-box)
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h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
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'HorizontalAlignment','left','parent',h.aircraftstatepanel);
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h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
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'HorizontalAlignment','left','parent',h.guistatepanel);
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end
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%% ************************************************************************
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% INITPLOTGUI (nested function)
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% ************************************************************************
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function InitPlotGUI()
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% Setup handles to lines and text
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h.markertext=[];
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templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
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h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
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h.markerline(1:NrAxes)=0.0;
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% Setup all other figures and axes for plotting
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% PLOT WINDOW 1: GPS POSITION
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h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
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h.axes(1)=axes();
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set(h.axes(1),'Parent',h.figures(2));
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% PLOT WINDOW 2: IMU, baro altitude
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h.figures(3)=figure('Name', 'IMU / Baro Altitude');
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h.axes(2)=subplot(4,1,1);
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h.axes(3)=subplot(4,1,2);
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h.axes(4)=subplot(4,1,3);
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h.axes(5)=subplot(4,1,4);
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set(h.axes(2:5),'Parent',h.figures(3));
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
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h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
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h.axes(6)=subplot(4,1,1);
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h.axes(7)=subplot(4,1,2);
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h.axes(8)=subplot(4,1,3);
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h.axes(9)=subplot(4,1,4);
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set(h.axes(6:9),'Parent',h.figures(4));
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% PLOT WINDOW 4: LOG STATS
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h.figures(5) = figure('Name', 'Log Statistics');
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h.axes(10)=subplot(1,1,1);
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set(h.axes(10:10),'Parent',h.figures(5));
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end
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%% ************************************************************************
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% DRAWRAWDATA (nested function)
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% ************************************************************************
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%Draws the raw data from the sysvector, but does not add any
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%marker-lines or so
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function DrawRawData()
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% ************************************************************************
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% PLOT WINDOW 1: GPS POSITION & GUI
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% ************************************************************************
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figure(h.figures(2));
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% Only plot GPS data if available
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if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
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%Draw data
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plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
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double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
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double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
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title(h.axes(1),'GPS Position Data(if available)');
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xlabel(h.axes(1),'Latitude [deg]');
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ylabel(h.axes(1),'Longitude [deg]');
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zlabel(h.axes(1),'Altitude above MSL [m]');
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grid on
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%Reset path
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h.pathpoints=0;
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end
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% ************************************************************************
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% PLOT WINDOW 2: IMU, baro altitude
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% ************************************************************************
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figure(h.figures(3));
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plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
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title(h.axes(2),'Magnetometers [Gauss]');
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legend(h.axes(2),'x','y','z');
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plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
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title(h.axes(3),'Accelerometers [m/s²]');
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legend(h.axes(3),'x','y','z');
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plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
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title(h.axes(4),'Gyroscopes [rad/s]');
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legend(h.axes(4),'x','y','z');
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plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
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if(bDisplayGPS)
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hold on;
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plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
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hold off
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legend('Barometric Altitude [m]','GPS Altitude [m]');
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else
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legend('Barometric Altitude [m]');
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end
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title(h.axes(5),'Altitude above MSL [m]');
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% ************************************************************************
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
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% ************************************************************************
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figure(h.figures(4));
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%Attitude Estimate
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plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
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title(h.axes(6),'Estimated attitude [deg]');
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legend(h.axes(6),'roll','pitch','yaw');
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%Actuator Controls
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plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
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title(h.axes(7),'Actuator control [-]');
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legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
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%Actuator Controls
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plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
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title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
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legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
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set(h.axes(8), 'YLim',[800 2200]);
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%Airspeeds
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plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
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hold on
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plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
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hold off
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%add GPS total airspeed here
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title(h.axes(9),'Airspeed [m/s]');
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legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
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%calculate time differences and plot them
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intervals = zeros(0,imaxtime - imintime);
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for k = imintime+1:imaxtime
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intervals(k) = time(k) - time(k-1);
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end
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plot(h.axes(10), time(imintime:imaxtime), intervals);
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%Set same timescale for all plots
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for i=2:NrAxes
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set(h.axes(i),'XLim',[mintime maxtime]);
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end
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set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
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end
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%% ************************************************************************
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% DRAWCURRENTAIRCRAFTSTATE(nested function)
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% ************************************************************************
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function DrawCurrentAircraftState()
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%find current data index
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i=find(time>=CurTime,1,'first');
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%**********************************************************************
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% Current aircraft state label update
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%**********************************************************************
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acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...
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'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
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'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
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acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
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', y=',num2str(sysvector.IMU_MagY(i)),...
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', z=',num2str(sysvector.IMU_MagZ(i)),']'];
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acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
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', y=',num2str(sysvector.IMU_AccY(i)),...
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', z=',num2str(sysvector.IMU_AccZ(i)),']'];
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acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
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', y=',num2str(sysvector.IMU_GyroY(i)),...
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', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
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acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
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acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
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', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
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', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
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acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
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%for j=1:4
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acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
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||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
|
||||
%end
|
||||
acstate{7,:}=[acstate{7,:},']'];
|
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
|
||||
%for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
|
||||
%end
|
||||
acstate{8,:}=[acstate{8,:},']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
|
||||
|
||||
set(h.edits.AircraftState,'String',acstate);
|
||||
|
||||
%**********************************************************************
|
||||
% GPS Plot Update
|
||||
%**********************************************************************
|
||||
%Plot traveled path, and and time.
|
||||
figure(h.figures(2));
|
||||
hold on;
|
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
|
||||
double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
|
||||
double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
|
||||
end;
|
||||
hold off
|
||||
%Plot current position
|
||||
newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
|
||||
if(numel(h.pathpoints)<=3) %empty path
|
||||
h.pathpoints(1,1:3)=newpoint;
|
||||
else %Not empty, append new point
|
||||
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
|
||||
end
|
||||
axes(h.axes(1));
|
||||
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
|
||||
|
||||
|
||||
% Plot current time (small label next to current gps position)
|
||||
textdesc=strcat(' t=',num2str(time(i)),'s');
|
||||
if(isvalidhandle(h.markertext))
|
||||
delete(h.markertext); %delete old text
|
||||
end
|
||||
h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
|
||||
double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
|
||||
set(h.edits.CurTime,'String',CurTime);
|
||||
|
||||
%**********************************************************************
|
||||
% Plot the lines showing the current time in the 2-d plots
|
||||
%**********************************************************************
|
||||
for i=2:NrAxes
|
||||
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
|
||||
ylims=get(h.axes(i),'YLim');
|
||||
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
|
||||
set(h.markerline(i),'parent',h.axes(i));
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% MINMAXTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function minmaxtime_callback(hObj,event) %#ok<INUSL>
|
||||
new_mintime=get(h.sliders.MinTime,'Value');
|
||||
new_maxtime=get(h.sliders.MaxTime,'Value');
|
||||
|
||||
%Safety checks:
|
||||
bErr=false;
|
||||
%1: mintime must be < maxtime
|
||||
if((new_mintime>maxtime) || (new_maxtime<mintime))
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
|
||||
bErr=true;
|
||||
else
|
||||
%2: MinTime must be <=CurTime
|
||||
if(new_mintime>CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
|
||||
mintime=new_mintime;
|
||||
CurTime=mintime;
|
||||
bErr=true;
|
||||
end
|
||||
%3: MaxTime must be >CurTime
|
||||
if(new_maxtime<CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
|
||||
maxtime=new_maxtime;
|
||||
CurTime=maxtime;
|
||||
bErr=true;
|
||||
end
|
||||
end
|
||||
|
||||
if(bErr==false)
|
||||
maxtime=new_maxtime;
|
||||
mintime=new_mintime;
|
||||
end
|
||||
|
||||
%Needs to be done in case values were reset above
|
||||
set(h.sliders.MinTime,'Value',mintime);
|
||||
set(h.sliders.MaxTime,'Value',maxtime);
|
||||
|
||||
%Update curtime-slider
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.sliders.CurTime,'Max',maxtime);
|
||||
set(h.sliders.CurTime,'Min',mintime);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
|
||||
|
||||
%update edit fields
|
||||
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
|
||||
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
|
||||
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
|
||||
|
||||
%Finally, we have to redraw. Update time indices first.
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
DrawRawData(); %Rawdata only
|
||||
DrawCurrentAircraftState(); %path info & markers
|
||||
end
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% CURTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function curtime_callback(hObj,event) %#ok<INUSL>
|
||||
%find current time
|
||||
if(hObj==h.sliders.CurTime)
|
||||
CurTime=get(h.sliders.CurTime,'Value');
|
||||
elseif (hObj==h.edits.CurTime)
|
||||
temp=str2num(get(h.edits.CurTime,'String'));
|
||||
if(temp<maxtime && temp>mintime)
|
||||
CurTime=temp;
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
|
||||
end
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
|
||||
end
|
||||
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.edits.CurTime,'String',num2str(CurTime));
|
||||
|
||||
%Redraw time markers, but don't have to redraw the whole raw data
|
||||
DrawCurrentAircraftState();
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% FINDMINMAXINDICES (nested function)
|
||||
% ************************************************************************
|
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices()
|
||||
for i=1:size(sysvector.TIME_StartTime,1)
|
||||
if time(i)>=mintime; idxmin=i; break; end
|
||||
end
|
||||
for i=1:size(sysvector.TIME_StartTime,1)
|
||||
if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
|
||||
if time(i)>=maxtime; idxmax=i; break; end
|
||||
end
|
||||
mintime=time(idxmin);
|
||||
maxtime=time(idxmax);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% ISVALIDHANDLE (nested function)
|
||||
% ************************************************************************
|
||||
function isvalid = isvalidhandle(handle)
|
||||
if(exist(varname(handle))>0 && length(ishandle(handle))>0)
|
||||
if(ishandle(handle)>0)
|
||||
if(handle>0.0)
|
||||
isvalid=true;
|
||||
return;
|
||||
end
|
||||
end
|
||||
end
|
||||
isvalid=false;
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% JUST SOME SMALL HELPER FUNCTIONS (nested function)
|
||||
% ************************************************************************
|
||||
function out = varname(var)
|
||||
out = inputname(1);
|
||||
end
|
||||
|
||||
%This is the end of the matlab file / the main function
|
||||
end
|
||||
@@ -55,6 +55,8 @@ class SDLog2Parser:
|
||||
__time_msg = None
|
||||
__debug_out = False
|
||||
__correct_errors = False
|
||||
__file_name = None
|
||||
__file = None
|
||||
|
||||
def __init__(self):
|
||||
return
|
||||
@@ -87,6 +89,14 @@ class SDLog2Parser:
|
||||
|
||||
def setCorrectErrors(self, correct_errors):
|
||||
self.__correct_errors = correct_errors
|
||||
|
||||
def setFileName(self, file_name):
|
||||
self.__file_name = file_name
|
||||
if file_name != None:
|
||||
self.__file = open(file_name, 'w+')
|
||||
else:
|
||||
self.__file = None
|
||||
|
||||
|
||||
def process(self, fn):
|
||||
self.reset()
|
||||
@@ -154,10 +164,13 @@ class SDLog2Parser:
|
||||
show_fields = self.__msg_labels.get(msg_name, [])
|
||||
self.__msg_filter_map[msg_name] = show_fields
|
||||
for field in show_fields:
|
||||
full_label = msg_name + "." + field
|
||||
full_label = msg_name + "_" + field
|
||||
self.__csv_columns.append(full_label)
|
||||
self.__csv_data[full_label] = None
|
||||
print self.__csv_delim.join(self.__csv_columns)
|
||||
if self.__file != None:
|
||||
print >> self.__file, self.__csv_delim.join(self.__csv_columns)
|
||||
else:
|
||||
print self.__csv_delim.join(self.__csv_columns)
|
||||
|
||||
def __printCSVRow(self):
|
||||
s = []
|
||||
@@ -168,7 +181,11 @@ class SDLog2Parser:
|
||||
else:
|
||||
v = str(v)
|
||||
s.append(v)
|
||||
print self.__csv_delim.join(s)
|
||||
|
||||
if self.__file != None:
|
||||
print >> self.__file, self.__csv_delim.join(s)
|
||||
else:
|
||||
print self.__csv_delim.join(s)
|
||||
|
||||
def __parseMsgDescr(self):
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
|
||||
@@ -224,7 +241,7 @@ class SDLog2Parser:
|
||||
for i in xrange(len(data)):
|
||||
label = msg_labels[i]
|
||||
if label in show_fields:
|
||||
self.__csv_data[msg_name + "." + label] = data[i]
|
||||
self.__csv_data[msg_name + "_" + label] = data[i]
|
||||
if self.__time_msg != None and msg_name != self.__time_msg:
|
||||
self.__csv_updated = True
|
||||
if self.__time_msg == None:
|
||||
@@ -240,6 +257,7 @@ def _main():
|
||||
print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
|
||||
print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
|
||||
print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
|
||||
print "\t-fPrint to file instead of stdout"
|
||||
return
|
||||
fn = sys.argv[1]
|
||||
debug_out = False
|
||||
@@ -247,7 +265,8 @@ def _main():
|
||||
msg_filter = []
|
||||
csv_null = ""
|
||||
csv_delim = ","
|
||||
time_msg = None
|
||||
time_msg = "TIME"
|
||||
file_name = None
|
||||
opt = None
|
||||
for arg in sys.argv[2:]:
|
||||
if opt != None:
|
||||
@@ -257,9 +276,11 @@ def _main():
|
||||
csv_null = arg
|
||||
elif opt == "t":
|
||||
time_msg = arg
|
||||
elif opt == "f":
|
||||
file_name = arg
|
||||
elif opt == "m":
|
||||
show_fields = "*"
|
||||
a = arg.split(".")
|
||||
a = arg.split("_")
|
||||
if len(a) > 1:
|
||||
show_fields = a[1].split(",")
|
||||
msg_filter.append((a[0], show_fields))
|
||||
@@ -277,6 +298,8 @@ def _main():
|
||||
opt = "m"
|
||||
elif arg == "-t":
|
||||
opt = "t"
|
||||
elif arg == "-f":
|
||||
opt = "f"
|
||||
|
||||
if csv_delim == "\\t":
|
||||
csv_delim = "\t"
|
||||
@@ -285,6 +308,7 @@ def _main():
|
||||
parser.setCSVNull(csv_null)
|
||||
parser.setMsgFilter(msg_filter)
|
||||
parser.setTimeMsg(time_msg)
|
||||
parser.setFileName(file_name)
|
||||
parser.setDebugOut(debug_out)
|
||||
parser.setCorrectErrors(correct_errors)
|
||||
parser.process(fn)
|
||||
|
||||
Reference in New Issue
Block a user