diff --git a/cflib_groundstation/LogfileHandler.py b/cflib_groundstation/LogfileHandler.py
index 4dca8f9244e239668cda07156626d5414148ddb9..59fea4953be8636f7a99d7b0d024f35db4622378 100644
--- a/cflib_groundstation/LogfileHandler.py
+++ b/cflib_groundstation/LogfileHandler.py
@@ -41,69 +41,45 @@ class LogfileHandler:
self.is_connected = False
self.param_callback_count = 0
self.logging_configs = []
+ self.data_log = ""
- def add_log_config(self, name: str, period: int, variables: List[str]):
- """ Add a logging config. Used from logging tab when refreshing
- logging variables. Add callback to route logged data to logging
- queue. """
-
- print("Name: " + name + ", period: " + str(period) + ", variables: "
- + str(variables))
- logging_group = LogConfig(name=name, period_in_ms=period)
-
- for variable in variables:
- logging_group.add_variable(variable, 'float')
-
- self.logging_configs.append(logging_group)
- self.logging_configs[-1].data_received_cb.add_callback(
- self.logging_callback)
- self.scf.cf.log.add_config(self.logging_configs[-1])
-
-
- def refresh_logging_configs(self):
- return self.read_all_active_blocks()
-
- def load_logging_configs(self):
- return self.read_all_active_blocks()
-
- def clear_logging_configs(self):
- """ Stop logging and clear configuration. Used when refreshing
- logging to stop anything that has configured to be logged from
- logging. """
-
- self.stop_logging()
- self.logging_configs = []
- # done refreshing toc is a callback function that is triggered when
- # refresh toc is done executing.
- self.scf.cf.log.refresh_toc(
- self.done_refreshing_toc, self.scf.cf.log._toc_cache)
- # Blocks until toc is done refreshing.
- while self.param_callback_count < 1:
- time.sleep(0.01)
- self.param_callback_count = 0
-
- # grabs new toc values
- self.scf.wait_for_params()
- def resume_logging_configs():
- raise Exception
-
- def pause_logging_configs():
- raise Exception
-
- def enable_logging(self):
- """ Begins logging all configured logging blocks. This is used from
- the controls tab when hitting begin logging. """
- for i in range(0, len(self.logging_configs)):
- self.logging_configs[i].start()
-
- def disable_logging(self):
- """ Stops logging all configured logging blocks. This is used from
- the controls tab when hitting pause logging. """
- for i in range(0, len(self.logging_configs)):
- self.logging_configs[i].stop()
-
+ def CopyTocToFile(self, toc :dict, isParams):
+ if isParams:
+ logType = "Param"
+ else:
+ logType = "Log"
+
+ filename = os.getcwd()
+ filename += f"/logs/cflie1_{logType}_toc_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
+ # print(f"TOCtoFILE:{filename}")
+
+ types = {'uint8_t' : 0x08,
+ 'uint16_t' : 0x09,
+ 'uint32_t' : 0x0A,
+ 'uint64_t' : 0x0B,
+ 'int8_t' : 0x00,
+ 'int16_t' : 0x01,
+ 'int32_t' : 0x02,
+ 'int64_t' : 0x03,
+ 'FP16' : 0x05,
+ 'float' : 0x06,
+ 'double' : 0x07}
+
+ file = open(filename, "w")
+ file.write(f"{logType} ID Type Group Identifier Name\n")
+ file.close()
+ file = open(filename, "a")
+ for group in list(toc.keys()):
+ for name in list(toc[group].keys()):
+ file.write(f"{toc[group][name].ident} {types.get(toc[group][name].ctype)} {group} {name}\n")
+ #print(f" Identity: {toc[group][name].ident} Packet Type:{toc[group][name].pytype} CType:{toc[group][name].ctype} Group:{group} Name:{name}\n")
+
+
+
+ file.close()
+ return filename
def read_all_active_blocks(self):
active_blocks = []
@@ -119,7 +95,6 @@ class LogfileHandler:
i = 0
newLine = logBlockFile.readline().strip()
while newLine != "END BLOCK":
- print(newLine)
if newLine == "" or newLine == "END BLOCK":
print("New Line: " + newLine)
raise Exception("loggingBlocks.txt is not formatted correctly")
@@ -136,8 +111,23 @@ class LogfileHandler:
config = LogConfig(data[1], data[2])
for i in range(3, len(data)):
config.add_variable(data[i])
- config.create()
active_blocks.append(config)
return active_blocks
+ def create_log_data_file(self):
+ raise Exception
+
+ def add_config_headers(self):
+ raise Exception
+
+ def start_logging(self):
+ raise Exception
+
+ def stop_logging(self):
+ raise Exception
+
+ def write_data_point(self):
+ raise Exception
+
+
diff --git a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
index 7fcdd75366634ed8a67ceb0bc0249148df63257c..6467201807fee9556118b139b0fd672116df9b80 100644
Binary files a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc and b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
index 0c7e0a74ab5cc30a12251e4bb5914b570dbe5755..4b6fa575d603a6f5965726a792f3559d6bdcb65f 100644
Binary files a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc and b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index c0374ef88a85fc8fd2568c1ec8d3a508f778406b..a880844f863cc0e4376eae434e19710590875b17 100644
Binary files a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc and b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index c7682e1b85a3353b38ec590272b6af5937d17a5e..be803194c29d9124de995ab5d59fc3d0dbd15cd0 100644
Binary files a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc and b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index 80519f2ef307568ffdfa9785fe9f2aa52894b146..85e268143825e20c74f5e47f55281d03cd536423 100644
Binary files a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc and b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc differ
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 5c427193efe233d41b3569d0e1ecefcd138be148..4e414f4eda5071b62b3a832571374322fb4058b8 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -16,6 +16,7 @@ import os
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.crazyflie.syncLogger import SyncLogger
from queue import Queue
#import groundstation_socket as gs
import uCartCommander
@@ -23,6 +24,7 @@ from groundstation_socket import MessageTypeID
from SetpointHandler import SetpointHandler, FlightMode
from cflib.crazyflie.log import LogConfig
import numpy as np
+from LogfileHandler import LogfileHandler
class CrazyflieConnection:
@@ -51,6 +53,7 @@ class CrazyflieConnection:
self.logging_configs = []
self.setpoint_handler = SetpointHandler()
+ self.logfile_handler = LogfileHandler()
# self.timer = QTimer()
# self.timer.timeout.connect(self.update_plot)
@@ -250,10 +253,11 @@ class CrazyflieConnection:
id = command['data'][0]
print(id)
if id == 0: # logdata?
- raise Exception # Not implemented
+ for config in self.logging_configs:
+ self.simple_log(self.scf, config)
elif id == 1: # param toc
params = self.get_param_toc()
- filename = self.CopyTocToFile(params, True)
+ filename = self.logfile_handler.CopyTocToFile(params, True)
data = bytearray()
data += bytes(filename, 'utf-8')
responsedata = {
@@ -265,7 +269,7 @@ class CrazyflieConnection:
outputQueue.put(responsedata)
elif id == 2: # logging toc
logs = self.get_logging_toc()
- filename = self.CopyTocToFile(logs, False)
+ filename = self.logfile_handler.CopyTocToFile(logs, False)
data = bytearray()
data += bytes(filename, 'utf-8')
responsedata = {
@@ -281,43 +285,54 @@ class CrazyflieConnection:
raise Exception # Not implemented
else :
raise Exception
- def LogBlockCommand():
- #TODO
- raise Exception
+
+ def LogBlockCommand(self, command):
+ print("Log Block Command")
+ id = command['data'][0]
+ print(id)
+ if id == 0:
+ self.delete_log_blocks()
+ elif id == 1:
+ self.delete_log_blocks()
+ self.logging_configs = self.logfile_handler.read_all_active_blocks()
+ elif id == 2:
+ self.logging_configs = self.logfile_handler.read_all_active_blocks()
+ elif id == 3:
+ block_id = command['data'][1]
+ self.logging_configs.remove(self.logging_configs[block_id])
+ elif id == 4:
+ self.enable_logging()
+ elif id == 5:
+ self.disable_logging()
+
+ def simple_log(self, scf, logconf):
+ print("Logging...")
+ with SyncLogger(scf, logconf) as logger:
+ for log_entry in logger:
+ timestamp = log_entry[0]
+ data = log_entry[1]
+ logconf_name = log_entry[2]
+
+ print('[%d][%s]: %s' % (timestamp, logconf_name, data))
+
+ break
+
+ def enable_logging(self):
+ """ Begins logging all configured logging blocks. This is used from
+ the controls tab when hitting begin logging. """
+ for i in range(0, len(self.logging_configs)):
+ self.logging_configs[i].start()
+
+ def disable_logging(self):
+ """ Stops logging all configured logging blocks. This is used from
+ the controls tab when hitting pause logging. """
+ for i in range(0, len(self.logging_configs)):
+ self.logging_configs[i].stop()
+
+ def delete_log_blocks(self):
+ for block in self.logging_configs:
+ block.delete()
+ self.logging_configs.remove(block)
+
- def CopyTocToFile(self, toc :dict, isParams):
- if isParams:
- logType = "Param"
- else:
- logType = "Log"
-
- filename = os.getcwd()
- filename += f"/logs/cflie1_{logType}_toc_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
- # print(f"TOCtoFILE:{filename}")
-
- types = {'uint8_t' : 0x08,
- 'uint16_t' : 0x09,
- 'uint32_t' : 0x0A,
- 'uint64_t' : 0x0B,
- 'int8_t' : 0x00,
- 'int16_t' : 0x01,
- 'int32_t' : 0x02,
- 'int64_t' : 0x03,
- 'FP16' : 0x05,
- 'float' : 0x06,
- 'double' : 0x07}
-
- file = open(filename, "w")
- file.write(f"{logType} ID Type Group Identifier Name\n")
- file.close()
- file = open(filename, "a")
- for group in list(toc.keys()):
- for name in list(toc[group].keys()):
- file.write(f"{toc[group][name].ident} {types.get(toc[group][name].ctype)} {group} {name}\n")
- #print(f" Identity: {toc[group][name].ident} Packet Type:{toc[group][name].pytype} CType:{toc[group][name].ctype} Group:{group} Name:{name}\n")
-
-
-
- file.close()
- return filename
diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index d003fb7832f9226804e2011546379b9f6637a7d4..8e769525d932b2c51a9e5b0537ff8cf3961fb3a2 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/cflib_groundstation/groundstation_socket.py
@@ -168,6 +168,7 @@ class MessageTypeID(Enum):
#MAX_TYPE_ID = 21
GETLOGFILE_ID = 21
RESPLOGFILE_ID = 22
+ LOGBLOCKCOMMAND_ID = 23
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index 212ed6b46ae07712e7716922fcb8971f15c2bae8..7b12911f7e1ca3a394fc1d3d675708b53af2e3f1 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -65,6 +65,8 @@ class main():
self.cfConnect.LogBlockCommand()
elif msg_type == MessageTypeID.GETLOGFILE_ID.value:
self.cfConnect.GetLogFile(command, self.outputQueue)
+ elif msg_type == MessageTypeID.LOGBLOCKCOMMAND_ID.value:
+ self.cfConnect.LogBlockCommand(command)
@@ -76,8 +78,8 @@ class main():
if __name__ == '__main__':
- lf = LogfileHandler()
- lf.read_all_active_blocks()
- #main().start()
+ #lf = LogfileHandler()
+ #lf.read_all_active_blocks()
+ main().start()
\ No newline at end of file