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Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/mavgraph.py')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/mavgraph.py | 196 |
1 files changed, 0 insertions, 196 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavgraph.py b/mavlink/share/pyshared/pymavlink/examples/mavgraph.py deleted file mode 100644 index e19856487..000000000 --- a/mavlink/share/pyshared/pymavlink/examples/mavgraph.py +++ /dev/null @@ -1,196 +0,0 @@ -#!/usr/bin/env python -''' -graph a MAVLink log file -Andrew Tridgell August 2011 -''' - -import sys, struct, time, os, datetime -import math, re -import pylab, pytz, matplotlib -from math import * - -# 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 mavextra import * - -locator = None -formatter = None - -def plotit(x, y, fields, colors=[]): - '''plot a set of graphs using date for x axis''' - global locator, formatter - pylab.ion() - fig = pylab.figure(num=1, figsize=(12,6)) - ax1 = fig.gca() - ax2 = None - xrange = 0.0 - for i in range(0, len(fields)): - if len(x[i]) == 0: continue - if x[i][-1] - x[i][0] > xrange: - xrange = x[i][-1] - x[i][0] - xrange *= 24 * 60 * 60 - if formatter is None: - if xrange < 1000: - formatter = matplotlib.dates.DateFormatter('%H:%M:%S') - else: - formatter = matplotlib.dates.DateFormatter('%H:%M') - interval = 1 - intervals = [ 1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600, - 900, 1800, 3600, 7200, 5*3600, 10*3600, 24*3600 ] - for interval in intervals: - if xrange / interval < 15: - break - locator = matplotlib.dates.SecondLocator(interval=interval) - ax1.xaxis.set_major_locator(locator) - ax1.xaxis.set_major_formatter(formatter) - empty = True - ax1_labels = [] - ax2_labels = [] - for i in range(0, len(fields)): - if len(x[i]) == 0: - print("Failed to find any values for field %s" % fields[i]) - continue - if i < len(colors): - color = colors[i] - else: - color = 'red' - (tz, tzdst) = time.tzname - if axes[i] == 2: - if ax2 == None: - ax2 = ax1.twinx() - ax = ax2 - ax2.xaxis.set_major_locator(locator) - ax2.xaxis.set_major_formatter(formatter) - label = fields[i] - if label.endswith(":2"): - label = label[:-2] - ax2_labels.append(label) - else: - ax1_labels.append(fields[i]) - ax = ax1 - ax.plot_date(x[i], y[i], color=color, label=fields[i], - linestyle='-', marker='None', tz=None) - pylab.draw() - empty = False - if ax1_labels != []: - ax1.legend(ax1_labels,loc=opts.legend) - if ax2_labels != []: - ax2.legend(ax2_labels,loc=opts.legend2) - if empty: - print("No data to graph") - return - - -from optparse import OptionParser -parser = OptionParser("mavgraph.py [options] <filename> <fields>") - -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("--condition",dest="condition", default=None, help="select packets by a condition") -parser.add_option("--labels",dest="labels", default=None, help="comma separated field labels") -parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0") -parser.add_option("--legend", default='upper left', help="default legend position") -parser.add_option("--legend2", default='upper right', help="default legend2 position") -(opts, args) = parser.parse_args() - -if opts.mav10: - os.environ['MAVLINK10'] = '1' -import mavutil - -if len(args) < 2: - print("Usage: mavlogdump.py [options] <LOGFILES...> <fields...>") - sys.exit(1) - -filenames = [] -fields = [] -for f in args: - if os.path.exists(f): - filenames.append(f) - else: - fields.append(f) -msg_types = set() -multiplier = [] -field_types = [] - -colors = [ 'red', 'green', 'blue', 'orange', 'olive', 'black', 'grey' ] - -# work out msg types we are interested in -x = [] -y = [] -axes = [] -first_only = [] -re_caps = re.compile('[A-Z_]+') -for f in fields: - caps = set(re.findall(re_caps, f)) - msg_types = msg_types.union(caps) - field_types.append(caps) - y.append([]) - x.append([]) - axes.append(1) - first_only.append(False) - -def add_data(t, msg, vars): - '''add some data''' - mtype = msg.get_type() - if mtype not in msg_types: - return - for i in range(0, len(fields)): - if mtype not in field_types[i]: - continue - f = fields[i] - if f.endswith(":2"): - axes[i] = 2 - f = f[:-2] - if f.endswith(":1"): - first_only[i] = True - f = f[:-2] - v = mavutil.evaluate_expression(f, vars) - if v is None: - continue - y[i].append(v) - x[i].append(t) - -def process_file(filename): - '''process one file''' - print("Processing %s" % filename) - mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps) - vars = {} - - while True: - msg = mlog.recv_match(opts.condition) - if msg is None: break - tdays = (msg._timestamp - time.timezone) / (24 * 60 * 60) - tdays += 719163 # pylab wants it since 0001-01-01 - add_data(tdays, msg, mlog.messages) - -if len(filenames) == 0: - print("No files to process") - sys.exit(1) - -if opts.labels is not None: - labels = opts.labels.split(',') - if len(labels) != len(fields)*len(filenames): - print("Number of labels (%u) must match number of fields (%u)" % ( - len(labels), len(fields)*len(filenames))) - sys.exit(1) -else: - labels = None - -for fi in range(0, len(filenames)): - f = filenames[fi] - process_file(f) - for i in range(0, len(x)): - if first_only[i] and fi != 0: - x[i] = [] - y[i] = [] - if labels: - lab = labels[fi*len(fields):(fi+1)*len(fields)] - else: - lab = fields[:] - plotit(x, y, lab, colors=colors[fi*len(fields):]) - for i in range(0, len(x)): - x[i] = [] - y[i] = [] -pylab.show() -raw_input('press enter to exit....') |