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-rw-r--r--mavlink/share/pyshared/pymavlink/tools/mavplayback.py246
1 files changed, 0 insertions, 246 deletions
diff --git a/mavlink/share/pyshared/pymavlink/tools/mavplayback.py b/mavlink/share/pyshared/pymavlink/tools/mavplayback.py
deleted file mode 100644
index 033746697..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/mavplayback.py
+++ /dev/null
@@ -1,246 +0,0 @@
-#!/usr/bin/env python
-
-'''
-play back a mavlink log as a FlightGear FG NET stream, and as a
-realtime mavlink stream
-
-Useful for visualising flights
-'''
-
-import sys, time, os, struct
-import Tkinter
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-import fgFDM
-
-from optparse import OptionParser
-parser = OptionParser("mavplayback.py [options]")
-
-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 condition")
-parser.add_option("--gpsalt", action='store_true', default=False, help="Use GPS altitude")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--out", help="MAVLink output port (IP:port)",
- action='append', default=['127.0.0.1:14550'])
-parser.add_option("--fgout", action='append', default=['127.0.0.1:5503'],
- help="flightgear FDM NET output (IP:port)")
-parser.add_option("--baudrate", type='int', default=57600, help='baud rate')
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
- os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
- parser.print_help()
- sys.exit(1)
-
-filename = args[0]
-
-
-def LoadImage(filename):
- '''return an image from the images/ directory'''
- app_dir = os.path.dirname(os.path.realpath(__file__))
- path = os.path.join(app_dir, 'files/images', filename)
- return Tkinter.PhotoImage(file=path)
-
-
-class App():
- def __init__(self, filename):
- self.root = Tkinter.Tk()
-
- self.filesize = os.path.getsize(filename)
- self.filepos = 0.0
-
- self.mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
- robust_parsing=True)
- self.mout = []
- for m in opts.out:
- self.mout.append(mavutil.mavlink_connection(m, input=False, baud=opts.baudrate))
-
- self.fgout = []
- for f in opts.fgout:
- self.fgout.append(mavutil.mavudp(f, input=False))
-
- self.fdm = fgFDM.fgFDM()
-
- self.msg = self.mlog.recv_match(condition=opts.condition)
- if self.msg is None:
- sys.exit(1)
- self.last_timestamp = getattr(self.msg, '_timestamp')
-
- self.paused = False
-
- self.topframe = Tkinter.Frame(self.root)
- self.topframe.pack(side=Tkinter.TOP)
-
- self.frame = Tkinter.Frame(self.root)
- self.frame.pack(side=Tkinter.LEFT)
-
- self.slider = Tkinter.Scale(self.topframe, from_=0, to=1.0, resolution=0.01,
- orient=Tkinter.HORIZONTAL, command=self.slew)
- self.slider.pack(side=Tkinter.LEFT)
-
- self.clock = Tkinter.Label(self.topframe,text="")
- self.clock.pack(side=Tkinter.RIGHT)
-
- self.playback = Tkinter.Spinbox(self.topframe, from_=0, to=20, increment=0.1, width=3)
- self.playback.pack(side=Tkinter.BOTTOM)
- self.playback.delete(0, "end")
- self.playback.insert(0, 1)
-
- self.buttons = {}
- self.button('quit', 'gtk-quit.gif', self.frame.quit)
- self.button('pause', 'media-playback-pause.gif', self.pause)
- self.button('rewind', 'media-seek-backward.gif', self.rewind)
- self.button('forward', 'media-seek-forward.gif', self.forward)
- self.button('status', 'Status', self.status)
- self.flightmode = Tkinter.Label(self.frame,text="")
- self.flightmode.pack(side=Tkinter.RIGHT)
-
- self.next_message()
- self.root.mainloop()
-
- def button(self, name, filename, command):
- '''add a button'''
- try:
- img = LoadImage(filename)
- b = Tkinter.Button(self.frame, image=img, command=command)
- b.image = img
- except Exception:
- b = Tkinter.Button(self.frame, text=filename, command=command)
- b.pack(side=Tkinter.LEFT)
- self.buttons[name] = b
-
-
- def pause(self):
- '''pause playback'''
- self.paused = not self.paused
-
- def rewind(self):
- '''rewind 10%'''
- pos = int(self.mlog.f.tell() - 0.1*self.filesize)
- if pos < 0:
- pos = 0
- self.mlog.f.seek(pos)
- self.find_message()
-
- def forward(self):
- '''forward 10%'''
- pos = int(self.mlog.f.tell() + 0.1*self.filesize)
- if pos > self.filesize:
- pos = self.filesize - 2048
- self.mlog.f.seek(pos)
- self.find_message()
-
- def status(self):
- '''show status'''
- for m in sorted(self.mlog.messages.keys()):
- print(str(self.mlog.messages[m]))
-
-
-
- def find_message(self):
- '''find the next valid message'''
- while True:
- self.msg = self.mlog.recv_match(condition=opts.condition)
- if self.msg is not None and self.msg.get_type() != 'BAD_DATA':
- break
- if self.mlog.f.tell() > self.filesize - 10:
- self.paused = True
- break
- self.last_timestamp = getattr(self.msg, '_timestamp')
-
- def slew(self, value):
- '''move to a given position in the file'''
- if float(value) != self.filepos:
- pos = float(value) * self.filesize
- self.mlog.f.seek(int(pos))
- self.find_message()
-
-
- def next_message(self):
- '''called as each msg is ready'''
-
- msg = self.msg
- if msg is None:
- self.paused = True
-
- if self.paused:
- self.root.after(100, self.next_message)
- return
-
- speed = float(self.playback.get())
- timestamp = getattr(msg, '_timestamp')
-
- now = time.strftime("%H:%M:%S", time.localtime(timestamp))
- self.clock.configure(text=now)
-
- if speed == 0.0:
- self.root.after(200, self.next_message)
- else:
- self.root.after(int(1000*(timestamp - self.last_timestamp) / speed), self.next_message)
- self.last_timestamp = timestamp
-
- while True:
- self.msg = self.mlog.recv_match(condition=opts.condition)
- if self.msg is None and self.mlog.f.tell() > self.filesize - 10:
- self.paused = True
- return
- if self.msg is not None and self.msg.get_type() != "BAD_DATA":
- break
-
- pos = float(self.mlog.f.tell()) / self.filesize
- self.slider.set(pos)
- self.filepos = self.slider.get()
-
- if msg.get_type() != "BAD_DATA":
- for m in self.mout:
- m.write(msg.get_msgbuf().tostring())
-
- if msg.get_type() == "GPS_RAW":
- self.fdm.set('latitude', msg.lat, units='degrees')
- self.fdm.set('longitude', msg.lon, units='degrees')
- if opts.gpsalt:
- self.fdm.set('altitude', msg.alt, units='meters')
-
- if msg.get_type() == "VFR_HUD":
- if not opts.gpsalt:
- self.fdm.set('altitude', msg.alt, units='meters')
- self.fdm.set('num_engines', 1)
- self.fdm.set('vcas', msg.airspeed, units='mps')
-
- if msg.get_type() == "ATTITUDE":
- self.fdm.set('phi', msg.roll, units='radians')
- self.fdm.set('theta', msg.pitch, units='radians')
- self.fdm.set('psi', msg.yaw, units='radians')
- self.fdm.set('phidot', msg.rollspeed, units='rps')
- self.fdm.set('thetadot', msg.pitchspeed, units='rps')
- self.fdm.set('psidot', msg.yawspeed, units='rps')
-
- if msg.get_type() == "RC_CHANNELS_SCALED":
- self.fdm.set("right_aileron", msg.chan1_scaled*0.0001)
- self.fdm.set("left_aileron", -msg.chan1_scaled*0.0001)
- self.fdm.set("rudder", msg.chan4_scaled*0.0001)
- self.fdm.set("elevator", msg.chan2_scaled*0.0001)
- self.fdm.set('rpm', msg.chan3_scaled*0.01)
-
- if msg.get_type() == 'STATUSTEXT':
- print("APM: %s" % msg.text)
-
- if msg.get_type() == 'SYS_STATUS':
- self.flightmode.configure(text=self.mlog.flightmode)
-
- if msg.get_type() == "BAD_DATA":
- if mavutil.all_printable(msg.data):
- sys.stdout.write(msg.data)
- sys.stdout.flush()
-
- if self.fdm.get('latitude') != 0:
- for f in self.fgout:
- f.write(self.fdm.pack())
-
-
-app=App(filename)
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-22 23:25:20 +0000