From ae9599ebe8c5448d2c3650ce727dd18659789ca2 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Wed, 8 Nov 2023 23:12:24 +0100
Subject: [PATCH] created LogfileHandler class
---
cflib_groundstation/LogfileHandler.py | 105 ++++++++++++++++++++
cflib_groundstation/crazyflie_connection.py | 53 ----------
2 files changed, 105 insertions(+), 53 deletions(-)
diff --git a/cflib_groundstation/LogfileHandler.py b/cflib_groundstation/LogfileHandler.py
index e69de29bb..c219a7d61 100644
--- a/cflib_groundstation/LogfileHandler.py
+++ b/cflib_groundstation/LogfileHandler.py
@@ -0,0 +1,105 @@
+
+from datetime import datetime
+from email.utils import localtime
+from time import time
+from typing import List
+import time
+import struct
+
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from queue import Queue
+#import groundstation_socket as gs
+import uCartCommander
+from groundstation_socket import MessageTypeID
+from SetpointHandler import SetpointHandler, FlightMode
+from cflib.crazyflie.log import LogConfig
+import numpy as np
+
+
+class LogfileHandler:
+ """
+ Handles all interactions with cflib.
+ """
+
+ def __init__(self):
+ """
+ Initialize the start time, the logging queue which is given to the
+ plotting window, and set the synchronous crazyflie connection by
+ default to None. This should be set to the crazyflie when connecting
+ to one.
+ """
+
+ # Get the start time, so that the timestamp returned to the user will
+ # 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 = []
+
+ 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() :
+ raise Exception
+
+ def load_logging_configs() :
+ raise Exception
+
+ 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()
+
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index b94d4e230..ecf005c9d 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -304,56 +304,3 @@ class CrazyflieConnection:
file.close()
return filename
- 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 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 done_refreshing_toc(self, *_args):
- """ Callback for flow control, increments param callback count to
- allow exit of while loop. """
- self.param_callback_count = 1
-
- def start_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 stop_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()
-
--
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