private async Task LoadBinaryFile(string file)
{
try
{
AppendMessage("Loading " + file);
ShowStatus("Loading " + file);
Px4DataLog data = new Px4DataLog();
await data.Load(file, progress);
logs.Add(data);
ShowSchema();
Debug.WriteLine(data.StartTime.ToString());
UiDispatcher.RunOnUIThread(() =>
{
// add flight for
Flight entireLog = new Flight()
{
Name = "Log " + logs.Count,
StartTime = data.StartTime,
Duration = data.Duration
};
allFlights.Add(entireLog);
foreach (var flight in data.GetFlights())
{
flight.Name = "Flight " + allFlights.Count;
allFlights.Add(flight);
AppendMessage("Motor started at {0} and ran for {1} ", flight.StartTime, flight.Duration);
}
if (myMap.Visibility == Visibility.Visible)
{
ShowMap();
}
});
// remember successfully loaded log file.
Settings settings = await ((App)App.Current).LoadSettings();
settings.LastLogFile = file;
await settings.SaveAsync();
}
catch (Exception ex)
{
AppendMessage("### Error loading log: " + ex.Message);
}
ShowStatus("Done Loading " + file);
UpdateButtons();
}
public IEnumerable <Flight> GetFlights()
{
if (flights == null)
{
flights = new List <Model.Flight>();
int min = int.MaxValue;
int max = int.MinValue;
// mavlink_servo_output_raw_t is an actual PWM signal, so it toggles between RC0_TRIM (usually 1500) and the
// values it is sending to the motor, so we have to weed out the trim values in order to see the actual
// values.
int trim = 1500; // should get this from the parameter values.
// compute the min/max servo settings.
foreach (var msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_servo_output_raw_t)
{
MAVLink.mavlink_servo_output_raw_t servo = (MAVLink.mavlink_servo_output_raw_t)msg.TypedValue;
if (servo.servo1_raw != 0 && servo.servo1_raw != trim)
{
min = Math.Min(min, servo.servo1_raw);
max = Math.Max(max, servo.servo1_raw);
}
}
}
// find flights
DateTime start = this.startTime;
DateTime endTime = start;
Flight current = null;
int offCount = 0;
// compute the min/max servo settings.
foreach (var msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_servo_output_raw_t)
{
MAVLink.mavlink_servo_output_raw_t servo = (MAVLink.mavlink_servo_output_raw_t)msg.TypedValue;
endTime = start.AddMilliseconds(servo.time_usec / 1000);
if (servo.servo1_raw != trim)
{
if (servo.servo1_raw > min)
{
if (current == null)
{
current = new Flight()
{
Log = this,
StartTime = start.AddMilliseconds(servo.time_usec / 1000)
};
flights.Add(current);
offCount = 0;
}
}
else if (servo.servo1_raw == min && offCount++ > 10)
{
if (current != null)
{
current.Duration = endTime - current.StartTime;
current = null;
}
}
}
}
}
if (current != null)
{
current.Duration = endTime - current.StartTime;
}
}
return(flights);
}
public async Task Load(string fileName, ProgressUtility progress)
{
flights.Clear();
// CSV doesn't have realtime clock, so go with the file date instead.
this.startTime = File.GetLastWriteTime(fileName);
// time (us)
int min = int.MaxValue;
int max = int.MinValue;
await Task.Run(() =>
{
using (Stream s = File.OpenRead(fileName))
{
XmlNameTable nametable = new NameTable();
using (XmlCsvReader reader = new XmlCsvReader(s, System.Text.Encoding.UTF8, new Uri(fileName), nametable))
{
progress.ShowProgress(0, s.Length, s.Position);
reader.FirstRowHasColumnNames = true;
data = XDocument.Load(reader);
this.schema = new LogItemSchema() { Name = "CsvDataLog", Type = "Root" };
// create the schema
List<LogItemSchema> children = new List<Model.LogItemSchema>();
foreach (String name in reader.ColumnNames)
{
children.Add(new LogItemSchema() { Name = name, Parent = this.schema });
}
this.schema.ChildItems = children;
progress.ShowProgress(0, s.Length, s.Position);
}
}
foreach (var e in data.Root.Elements())
{
int? i = GetTimeMicroseconds(e);
if (i.HasValue)
{
if (i.Value < min)
{
min = i.Value;
}
if (i > max)
{
max = i.Value;
}
}
}
});
// this log has no absolute UTC time, only ticks since board was booted, so we make up a start time.
DateTime end = this.startTime.AddMilliseconds((max - min) / 1000);
var flight = new Flight() { Log = this, StartTime = this.startTime, Duration = end - this.startTime };
this.duration = end - this.startTime;
this.flights.Add(flight);
}
public async Task Load(string fileName, ProgressUtility progress)
{
flights.Clear();
// CSV doesn't have realtime clock, so go with the file date instead.
this.startTime = File.GetLastWriteTime(fileName);
// time (ms)
long min = long.MaxValue;
long max = long.MinValue;
await Task.Run(() =>
{
timeElementName = null;
using (Stream s = File.OpenRead(fileName))
{
Dictionary <string, LogItemSchema> map = new Dictionary <string, LogItemSchema>();
XmlNameTable nametable = new NameTable();
using (XmlCsvReader reader = new XmlCsvReader(s, System.Text.Encoding.UTF8, new Uri(fileName), nametable))
{
reader.FirstRowHasColumnNames = true;
reader.ColumnsAsAttributes = true;
while (reader.Read())
{
progress.ShowProgress(0, s.Length, s.Position);
if (this.schema == null)
{
// create the schema
this.schema = new LogItemSchema()
{
Name = "CsvLog", Type = "Root"
};
List <LogItemSchema> children = new List <Model.LogItemSchema>();
LogItemSchema row = null;
foreach (String name in reader.ColumnNames)
{
if (timeElementName == null && (name.ToLower().Contains("time") || name.ToLower().Contains("ticks")))
{
timeElementName = name;
}
if (name.Contains(":"))
{
// then we have sub-parts.
int pos = name.IndexOf(":");
string key = name.Substring(0, pos);
string field = name.Substring(pos + 1);
LogItemSchema group = null;
if (!map.ContainsKey(key))
{
group = new LogItemSchema()
{
Name = key, Parent = this.schema, Type = key, ChildItems = new List <LogItemSchema>()
};
children.Add(group);
map[key] = group;
}
else
{
group = map[key];
}
var leaf = new LogItemSchema()
{
Name = field, Parent = group, Type = "Double"
};
group.ChildItems.Add(leaf);
map[name] = leaf;
}
else
{
if (row == null)
{
row = new LogItemSchema()
{
Name = "Other", Parent = this.schema, Type = "Other", ChildItems = new List <LogItemSchema>()
};
children.Add(row);
}
var leaf = new LogItemSchema()
{
Name = name, Parent = row, Type = "Double"
};
row.ChildItems.Add(leaf);
map[name] = leaf;
}
}
this.schema.ChildItems = children;
}
if (reader.NodeType == XmlNodeType.Element && reader.LocalName == "row")
{
// read a row
long time = GetTicks(reader);
min = Math.Min(min, time);
max = Math.Max(max, time);
LogEntry row = new Model.LogEntry()
{
Name = "Other", Timestamp = (ulong)time
};
log.Add(row);
Dictionary <string, LogEntry> groups = new Dictionary <string, LogEntry>();
if (reader.MoveToFirstAttribute())
{
do
{
string name = XmlConvert.DecodeName(reader.LocalName);
LogItemSchema itemSchema = map[name];
LogEntry e = row;
if (name.Contains(":"))
{
// then we have sub-parts.
int pos = name.IndexOf(":");
string key = name.Substring(0, pos);
string field = name.Substring(pos + 1);
if (!groups.ContainsKey(key))
{
e = new LogEntry()
{
Name = key, Timestamp = (ulong)time
};
groups[key] = e;
log.Add(e);
}
else
{
e = groups[key];
}
name = field;
}
string value = reader.Value;
double d = 0;
if (double.TryParse(value, out d))
{
e.SetField(name, d);
}
else
{
if (!string.IsNullOrEmpty(value))
{
// not a number.
itemSchema.Type = "String";
e.SetField(name, value);
}
}
}while (reader.MoveToNextAttribute());
reader.MoveToElement();
}
}
}
}
}
});
// this log has no absolute UTC time, only ticks since board was booted, so we make up a start time.
DateTime end = this.startTime.AddMilliseconds((max - min) / 1000);
var flight = new Flight()
{
Log = this, StartTime = this.startTime, Duration = end - this.startTime
};
this.duration = end - this.startTime;
this.flights.Add(flight);
}
