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#!/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)
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