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#!/usr/bin/env python
'''
example program that dumps a Mavlink log file. The log file is
assumed to be in the format that qgroundcontrol uses, which consists
of a series of MAVLink packets, each with a 64 bit timestamp
header. The timestamp is in microseconds since 1970 (unix epoch)
'''
import sys, time, os, struct
# allow import from the parent directory, where mavlink.py is
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
from optparse import OptionParser
parser = OptionParser("mavlogdump.py [options]")
parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
parser.add_option("-f", "--follow",dest="follow", action='store_true', help="keep waiting for more data at end of file")
parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
parser.add_option("-q", "--quiet", dest="quiet", action='store_true', help="don't display packets")
parser.add_option("-o", "--output", default=None, help="output matching packets to give file")
parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
parser.add_option("--types", default=None, help="types of messages (comma separated)")
(opts, args) = parser.parse_args()
if opts.mav10:
os.environ['MAVLINK10'] = '1'
import mavutil
if len(args) < 1:
print("Usage: mavlogdump.py [options] <LOGFILE>")
sys.exit(1)
filename = args[0]
mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
notimestamps=opts.notimestamps,
robust_parsing=opts.robust)
output = None
if opts.output:
output = mavutil.mavlogfile(opts.output, write=True)
types = opts.types
if types is not None:
types = types.split(',')
while True:
m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
if m is None:
break
if types is not None and m.get_type() not in types:
continue
if output:
timestamp = getattr(m, '_timestamp', None)
if timestamp:
output.write(struct.pack('>Q', timestamp*1.0e6))
output.write(m.get_msgbuf().tostring())
if opts.quiet:
continue
print("%s.%02u: %s" % (
time.strftime("%Y-%m-%d %H:%M:%S",
time.localtime(m._timestamp)),
int(m._timestamp*100.0)%100, m))
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