diff --git a/cflib_groundstation/LogfileHandler.py b/cflib_groundstation/LogfileHandler.py
index 59fea4953be8636f7a99d7b0d024f35db4622378..71220df0261e587f320a82f085bb7d92e7f15f55 100644
--- a/cflib_groundstation/LogfileHandler.py
+++ b/cflib_groundstation/LogfileHandler.py
@@ -1,10 +1,13 @@
from datetime import datetime
from email.utils import localtime
+from threading import Thread
from time import time
from typing import List
import time
import struct
+from venv import create
+import os
import cflib.crtp
from cflib.crazyflie import Crazyflie
@@ -41,7 +44,11 @@ class LogfileHandler:
self.is_connected = False
self.param_callback_count = 0
self.logging_configs = []
- self.data_log = ""
+ self.data_log = None
+ self.data_log_name = ""
+ self.header_id = 0
+
+ self.create_log_data_file()
@@ -110,15 +117,35 @@ class LogfileHandler:
raise Exception("loggingBlocks.txt is not formatted correctly")
config = LogConfig(data[1], data[2])
for i in range(3, len(data)):
- config.add_variable(data[i])
+ config.add_variable(data[i], 'float')
active_blocks.append(config)
+ self.add_config_headers(active_blocks)
return active_blocks
def create_log_data_file(self):
- raise Exception
+ self.data_log_name = os.getcwd()
+ self.data_log_name += f"/logs/cflie1_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
+ self.data_log = open(self.data_log_name, 'w')
+ self.data_log.close()
+ self.data_log = open(self.data_log_name, 'a')
+ self.data_log.write("#Crazyflie\r")
+ self.data_log.write("#Controller:Unknown\r")
+ self.data_log.close()
+
+ def add_config_headers(self, config_list: List[LogConfig]):
+ self.data_log = open(self.data_log_name, 'a')
+ header = "#" + str(self.header_id) + "\ttime"
+ for config in config_list:
+ print(config)
+ for variable in config.variables:
+ print("Var: " + variable.name)
+ header += "\t" + variable.name
+ self.data_log.write(header + "\r")
+ self.header_id += 1
+ self.data_log.close()
+
+
- def add_config_headers(self):
- raise Exception
def start_logging(self):
raise Exception
@@ -126,8 +153,18 @@ class LogfileHandler:
def stop_logging(self):
raise Exception
- def write_data_point(self):
- raise Exception
+ def write_data_points(self, data, timestamp):
+ self.data_log = open(self.data_log_name, 'a')
+ line = str(timestamp) + " "
+ for group in data:
+ for data in group.values():
+ line += str(data) + "\t"
+ line += "\r"
+ self.data_log.write(line)
+ self.data_log.close()
+
+
+
diff --git a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
index 6467201807fee9556118b139b0fd672116df9b80..38c58eb95bad0da7d7cb58dabaca510ba2832a5c 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__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index a880844f863cc0e4376eae434e19710590875b17..c8b8d69dfd7a79b2ef07b4e7cc8c8446aa446fb0 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/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 4e414f4eda5071b62b3a832571374322fb4058b8..6030a4464f8bba5f706a08218908f7fb81c6cb8f 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -7,7 +7,8 @@ cflib library.
from datetime import datetime
from email.utils import localtime
-from time import time
+from threading import Thread
+from time import sleep, time
from typing import List
import time
import struct
@@ -45,15 +46,15 @@ class CrazyflieConnection:
# be in seconds since startup.
self.start_time = time.time()
- self.logging_queue = Queue()
-
self.scf = None
self.is_connected = False
self.param_callback_count = 0
self.logging_configs = []
-
+ self.logging_thread = None
+ self.stop_thread = False
self.setpoint_handler = SetpointHandler()
self.logfile_handler = LogfileHandler()
+ self.timestamp = 0
# self.timer = QTimer()
# self.timer.timeout.connect(self.update_plot)
@@ -253,8 +254,16 @@ class CrazyflieConnection:
id = command['data'][0]
print(id)
if id == 0: # logdata?
- for config in self.logging_configs:
- self.simple_log(self.scf, config)
+ filename = self.logfile_handler.data_log_name
+ data = bytearray()
+ data += bytes(filename, 'utf-8')
+ responsedata = {
+ "msg_type": (MessageTypeID.RESPLOGFILE_ID),
+ "msg_id": command['msg_id'],
+ "data_len": len(data),
+ "data": data
+ }
+ outputQueue.put(responsedata)
elif id == 1: # param toc
params = self.get_param_toc()
filename = self.logfile_handler.CopyTocToFile(params, True)
@@ -304,24 +313,28 @@ class CrazyflieConnection:
self.enable_logging()
elif id == 5:
self.disable_logging()
+ elif id == 8:
+ self.start_logging()
+ elif id == 9:
+ self.stop_logging()
def simple_log(self, scf, logconf):
print("Logging...")
with SyncLogger(scf, logconf) as logger:
for log_entry in logger:
- timestamp = log_entry[0]
+ self.timestamp = log_entry[0]
data = log_entry[1]
logconf_name = log_entry[2]
- print('[%d][%s]: %s' % (timestamp, logconf_name, data))
-
- break
+ #print('[%d][%s]: %s' % (self.timestamp, logconf_name, data))
+ return data
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
@@ -333,6 +346,24 @@ class CrazyflieConnection:
for block in self.logging_configs:
block.delete()
self.logging_configs.remove(block)
+
+ def start_logging(self):
+ self.stop_thread = False
+ self.logging_thread = Thread(target=self.continous_log)
+ self.logging_thread.start()
+
+ def stop_logging(self):
+ self.stop_thread = True
+
+ def continous_log(self):
+ while not self.stop_thread:
+ data = []
+ for config in self.logging_configs:
+ data.append(self.simple_log(self.scf, config))
+ print(data)
+ self.logfile_handler.write_data_points(data, self.timestamp / 1000)
+ sleep(0.3)
+
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:10:24.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:10:24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:12:13.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:12:13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:13:15.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:13:15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:14:15.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:14:15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1e1cb035520d9d9cea6d45cb3d46ab3d83c81c6
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:14:15.txt
@@ -0,0 +1 @@
+#Crazyflie#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:15:17.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:15:17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:17:02.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:17:02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:17:50.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:17:50.txt
new file mode 100644
index 0000000000000000000000000000000000000000..498dffdd10fbf19917fea1e1a59bc99304a52338
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:17:50.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:43:23.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:43:23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..498dffdd10fbf19917fea1e1a59bc99304a52338
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:43:23.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:45:48.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:45:48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..891e2c4a37684701d52f4fa31b8df0286c95ad95
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:45:48.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yawstateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:51:23.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:51:23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:51:23.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:51:55.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:51:55.txt
new file mode 100644
index 0000000000000000000000000000000000000000..498dffdd10fbf19917fea1e1a59bc99304a52338
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:51:55.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_13_18:52:26.txt b/cflib_groundstation/logs/cflie1_2023_11_13_18:52:26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24cf99abdfd7c9a80fdc59e1a64fc2feb12aa455
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_13_18:52:26.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw2664.527 -0.2249341905117035 0.1795833259820938 -20.655818939208984 0.0630495622754097 -0.019611896947026253 -0.021850405260920525 0.0 0.0 0.0 0.0 0.0 -20.662267684936523
2665.559 -0.22593162953853607 0.17787422239780426 -20.668827056884766 -0.003237646771594882 -0.06716358661651611 -0.1893502026796341 0.0 0.0 0.0 0.0 0.0 -20.665260314941406
2666.608 -0.232166588306427 0.1993357241153717 -20.671485900878906 -0.15982186794281006 -0.14582476019859314 0.21151892840862274 0.0 0.0 0.0 0.0 0.0 -20.670024871826172
2667.666 -0.23002538084983826 0.20136956870555878 -20.67282485961914 -0.1109040230512619 0.16435162723064423 0.19461053609848022 0.0 0.0 0.0 0.0 0.0 -20.678686141967773
2668.717 -0.24088990688323975 0.1908612698316574 -20.68611717224121 -0.05335886403918266 0.25089824199676514 0.03748396039009094 0.0 0.0 0.0 0.0 0.0 -20.681615829467773
2669.788 -0.2471611648797989 0.18524512648582458 -20.680728912353516 0.029240721836686134 0.07677371054887772 0.14828798174858093 0.0 0.0 0.0 0.0 0.0 -20.68077278137207
2670.836 -0.24013113975524902 0.1678890585899353 -20.677570343017578 0.0710749700665474 0.10382790118455887 0.08601564168930054 0.0 0.0 0.0 0.0 0.0 -20.67952537536621
2671.903 -0.23463235795497894 0.1790095418691635 -20.68352508544922 0.037242621183395386 0.038598258048295975 -0.171991229057312 0.0 0.0 0.0 0.0 0.0 -20.701509475708008
2672.956 -0.2289217859506607 0.19495955109596252 -20.708011627197266 -0.21793454885482788 0.0018176068551838398 -0.140023872256279 0.0 0.0 0.0 0.0 0.0 -20.71295738220215
2674.007 -0.2356119155883789 0.18666185438632965 -20.723102569580078 -0.04160384088754654 0.5091188549995422 -0.2663525938987732 0.0 0.0 0.0 0.0 0.0 -20.731910705566406
2675.079 -0.23103639483451843 0.18645061552524567 -20.73302459716797 -0.04817742854356766 0.003122511552646756 -0.03841472044587135 0.0 0.0 0.0 0.0 0.0 -20.731088638305664
2676.137 -0.21975839138031006 0.1698170006275177 -20.736764907836914 0.009844992309808731 0.1422719806432724 0.10667766630649567 0.0 0.0 0.0 0.0 0.0 -20.744792938232422
\ No newline at end of file