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Merge branch 'master' of github.com:paparazzi/paparazzi into hooperfly_updates

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Richard A Burton
2015-12-07 09:23:38 -08:00
parent fbfcb1e726 99fd02bd6d
commit ddd27d2a7d
2 changed files with 55 additions and 48 deletions
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conf/airframes/examples/setup_elle0.xml
+1 -1
View File
@@ -35,7 +35,7 @@
</target> </target>
<target name="test_adc" board="elle0_1.2"/> <target name="test_adc" board="elle0_1.2"/>
<target name="test_uart" board="elle0_1.2"> <target name="test_uart" board="elle0_1.2">
<define name="USE_UART1"/> <define name="USE_UART2"/>
<define name="UART2_BAUD" value="B57600"/> <define name="UART2_BAUD" value="B57600"/>
<define name="USE_UART3"/> <define name="USE_UART3"/>
<define name="UART3_BAUD" value="B57600"/> <define name="UART3_BAUD" value="B57600"/>
sw/logalizer/sd2log.ml
+54 -47
View File
@@ -2,6 +2,7 @@
* Extraction of .log and .data file from a .TLM airborne SD file * Extraction of .log and .data file from a .TLM airborne SD file
* *
* Copyright (C) 2009 ENAC, Pascal Brisset * Copyright (C) 2009 ENAC, Pascal Brisset
* Copyright (C) 2015 Gautier Hattenberger <gautier.hattenberger@enac.fr>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
* *
@@ -26,7 +27,7 @@ open Printf
module U = Unix module U = Unix
let (//) = Filename.concat let (//) = Filename.concat
let var_path = Env.paparazzi_home // "var" let var_path = Env.paparazzi_home // "var"
let logs_path = var_path // "logs" let default_logs_path = var_path // "logs"
let conf_xml = Xml.parse_file (Env.paparazzi_home // "conf" // "conf.xml") let conf_xml = Xml.parse_file (Env.paparazzi_home // "conf" // "conf.xml")
@@ -51,7 +52,7 @@ let log_xml = fun ac_id ->
ExtXml.child ~select conf_xml "aircraft" ExtXml.child ~select conf_xml "aircraft"
with with
Not_found -> Not_found ->
failwith (sprintf "Error: A/C %d not found in conf.xml" ac_id) failwith (sprintf "Error: A/C %d not found in conf.xml" ac_id)
in in
let expanded_conf_ac = Env.expand_ac_xml ~raise_exception:false conf_ac in let expanded_conf_ac = Env.expand_ac_xml ~raise_exception:false conf_ac in
let expanded_conf = let expanded_conf =
@@ -82,15 +83,15 @@ let string_of_message = fun log_msg ->
| x -> failwith (sprintf "Unexpected source:%d in log msg" x) | x -> failwith (sprintf "Unexpected source:%d in log msg" x)
let hex_of_array = function let hex_of_array = function
Pprz.Array array -> | Pprz.Array array ->
let n = Array.length array in let n = Array.length array in
(* One integer -> 2 chars *) (* One integer -> 2 chars *)
let s = String.create (2*n) in let s = String.create (2*n) in
Array.iteri Array.iteri
(fun i dec -> (fun i dec ->
let hex = sprintf "%02x" (Pprz.int_of_value array.(i)) in let hex = sprintf "%02x" (Pprz.int_of_value array.(i)) in
String.blit hex 0 s (2*i) 2) String.blit hex 0 s (2*i) 2)
array; array;
s s
| value -> | value ->
failwith (sprintf "Error: expecting array, found %s" (Pprz.string_of_value value)) failwith (sprintf "Error: expecting array, found %s" (Pprz.string_of_value value))
@@ -110,16 +111,16 @@ let search_conf = fun md5 ->
let rec loop = fun i -> let rec loop = fun i ->
if i < Array.length files then begin if i < Array.length files then begin
if String.length files.(i) > (md5_ofs + md5_len) if String.length files.(i) > (md5_ofs + md5_len)
&& String.sub files.(i) md5_ofs md5_len = md5 then && String.sub files.(i) md5_ofs md5_len = md5 then
dir // files.(i) dir // files.(i)
else else
loop (i+1) loop (i+1)
end else end else
raise Not_found in raise Not_found in
loop 0 loop 0
let convert_file = fun file -> let convert_file = fun ?(output_dir=None) file ->
let tmp_file = Filename.temp_file "tlm_from_sd" "data" in let tmp_file = Filename.temp_file "tlm_from_sd" "data" in
let f_in = open_in file let f_in = open_in file
@@ -129,6 +130,11 @@ let convert_file = fun file ->
and md5 = ref "" and md5 = ref ""
and single_ac_id = ref (-1) in and single_ac_id = ref (-1) in
let logs_path = match output_dir with
| None -> default_logs_path
| Some x -> x
in
let use_payload = fun payload -> let use_payload = fun payload ->
try try
let log_msg = Logpprz.parse payload in let log_msg = Logpprz.parse payload in
@@ -149,17 +155,17 @@ let convert_file = fun file ->
(** Looking for a date from a GPS message and a md5 from an ALIVE *) (** Looking for a date from a GPS message and a md5 from an ALIVE *)
if log_msg.Logpprz.source = 0 then if log_msg.Logpprz.source = 0 then
match msg_descr.Pprz.name with match msg_descr.Pprz.name with
"GPS" when !start_unix_time = None "GPS" when !start_unix_time = None
&& ( Pprz.int_assoc "mode" vs = 3 && ( Pprz.int_assoc "mode" vs = 3
|| Pprz.int_assoc "week" vs > 0) -> || Pprz.int_assoc "week" vs > 0) ->
let itow = Pprz.int_assoc "itow" vs / 1000 let itow = Pprz.int_assoc "itow" vs / 1000
and week = Pprz.int_assoc "week" vs in and week = Pprz.int_assoc "week" vs in
let unix_time = Latlong.unix_time_of_tow ~week itow in let unix_time = Latlong.unix_time_of_tow ~week itow in
start_unix_time := Some (unix_time -. timestamp) start_unix_time := Some (unix_time -. timestamp)
| "ALIVE" when !md5 = "" -> | "ALIVE" when !md5 = "" ->
md5 := hex_of_array (Pprz.assoc "md5sum" vs) md5 := hex_of_array (Pprz.assoc "md5sum" vs)
| _ -> () | _ -> ()
with _ -> fprintf stderr "Parsing error, skipping message\n" with _ -> fprintf stderr "Parsing error, skipping message\n"
in in
@@ -179,11 +185,11 @@ let convert_file = fun file ->
(* Rename the file according to the GPS time *) (* Rename the file according to the GPS time *)
let start_time, mark = let start_time, mark =
match !start_unix_time with match !start_unix_time with
None -> | None ->
fprintf stderr "Warning: not time found in GPS messages; using current date\n"; fprintf stderr "Warning: not time found in GPS messages; using current date\n";
U.gettimeofday (), "_no_GPS" (* Not found, use now *) U.gettimeofday (), "_no_GPS" (* Not found, use now *)
| Some u -> u, "" in | Some u -> u, "" in
let d = U.localtime start_time in let d = U.localtime start_time in
let basename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_SD%s" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) mark in let basename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_SD%s" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) mark in
@@ -199,29 +205,28 @@ let convert_file = fun file ->
(** Save the corresponding .log file *) (** Save the corresponding .log file *)
fprintf stderr "Looking for %s conf...\n%!" !md5; fprintf stderr "Looking for %s conf...\n%!" !md5;
let configuration = let configuration =
try xml_parse_compressed_file (search_conf !md5) with try xml_parse_compressed_file (search_conf !md5) with
Not_found -> Not_found ->
fprintf stderr "Not found...\n%!"; fprintf stderr "Not found...\n%!";
if !single_ac_id >= 0 then begin if !single_ac_id >= 0 then begin
fprintf stderr "Try to rebuild it for A/C %d ...\n%!" !single_ac_id; fprintf stderr "Try to rebuild it for A/C %d ...\n%!" !single_ac_id;
try log_xml !single_ac_id with try log_xml !single_ac_id with _ ->
_ -> fprintf stderr "Failure: A/C %d not found\n%!" !single_ac_id;
fprintf stderr "Failure: A/C %d not found\n%!" !single_ac_id; Xml.PCData ""
Xml.PCData "" end else
end else Xml.PCData "" in
Xml.PCData "" in
if configuration <> Xml.PCData "" then if configuration <> Xml.PCData "" then
let log = let log =
ExtXml.subst_attrib "time_of_day" (string_of_float start_time) ExtXml.subst_attrib "time_of_day" (string_of_float start_time)
(ExtXml.subst_attrib "data_file" data_name configuration) in (ExtXml.subst_attrib "data_file" data_name configuration) in
let f = open_out (logs_path // log_name) in let f = open_out (logs_path // log_name) in
output_string f (Xml.to_string_fmt log); output_string f (Xml.to_string_fmt log);
close_out f; close_out f;
fprintf stderr "%s file produced\n%!" log_name fprintf stderr "%s file produced\n%!" log_name
else else
fprintf stderr "No .log produced\n"; fprintf stderr "No .log produced\n";
(** Save the original binary file *) (** Save the original binary file *)
let com = sprintf "cp %s %s" file (logs_path // tlm_name) in let com = sprintf "cp %s %s" file (logs_path // tlm_name) in
@@ -231,7 +236,9 @@ let convert_file = fun file ->
let () = let () =
if Array.length Sys.argv = 2 then if Array.length Sys.argv = 2 then
convert_file Sys.argv.(1) convert_file Sys.argv.(1)
else if Array.length Sys.argv = 3 then
convert_file ~output_dir:(Some Sys.argv.(2)) Sys.argv.(1)
else begin else begin
fprintf stderr "Usage: %s <telemetry airborne file>\n" Sys.argv.(0); fprintf stderr "Usage: %s <telemetry airborne file> [<output directory (default in Paparazzi logs folder)>]\n" Sys.argv.(0);
exit 1; exit 1;
end end