private void CreateSchema(PX4BinaryLog log)
{
LogItemSchema schema = new LogItemSchema()
{
Name = "Px4DataLog", Type = "Root"
};
foreach (var fmt in log.GetFormats())
{
LogItemSchema element = new LogItemSchema()
{
Name = fmt.Name
};
int i = 0;
foreach (var c in fmt.Columns)
{
LogItemSchema column = new LogItemSchema()
{
Name = c
};
if (i < fmt.FormatString.Length)
{
column.Type = GetTypeName(fmt.FormatString[i]);
}
i++;
element.AddChild(column);
}
schema.AddChild(element);
}
this.schema = schema;
}
private void CreateSchema(PX4BinaryLog log)
{
LogItemSchema schema = new LogItemSchema()
{
Name = "Px4DataLog", Type = "Root", ChildItems = new List <Model.LogItemSchema>()
};
foreach (var fmt in log.GetFormats())
{
LogItemSchema element = new LogItemSchema()
{
Name = fmt.Name, Parent = schema
};
int i = 0;
foreach (var c in fmt.Columns)
{
LogItemSchema column = new LogItemSchema()
{
Name = c, Parent = element
};
if (i < fmt.FormatString.Length)
{
column.Type = GetTypeName(fmt.FormatString[i]);
}
i++;
if (element.ChildItems == null)
{
element.ChildItems = new List <Model.LogItemSchema>();
}
element.ChildItems.Add(column);
}
schema.ChildItems.Add(element);
}
this.schema = schema;
}
public async Task Load(string file, ProgressUtility progress)
{
this.file = file;
string ext = System.IO.Path.GetExtension(file).ToLowerInvariant();
if (ext == ".bin")
{
this.logType = LogType.binFile;
}
else if (ext == ".px4log")
{
this.logType = LogType.px4logFile;
}
bool hasStartTime = false;
this.startTime = DateTime.MinValue;
List <LogEntry> rows = new List <LogEntry>();
await Task.Run(() =>
{
using (Stream s = File.OpenRead(file))
{
BinaryReader reader = new BinaryReader(s);
PX4BinaryLog log = new PX4BinaryLog(this.logType);
log.GenerateParser = false;
DateTime?gpsStartTime = null;
ulong gpsAbsoluteOffset = 0;
ulong logStartTime = 0;
while (s.Position < s.Length)
{
progress.ShowProgress(0, s.Length, s.Position);
LogEntry row = log.ReadMessageObjects(s) as LogEntry;
if (row == null)
{
// has no system clock value yet, so skip it.
continue;
}
if (!hasStartTime && log.CurrentTime != 0)
{
hasStartTime = true;
logStartTime = log.CurrentTime;
this.startTime = GetTime(log.CurrentTime);
}
if (!gpsStartTime.HasValue && row.Name == "GPS")
{
ulong time = row.GetField <ulong>("GPSTime");
if (time > 0)
{
// ok, we got a real GPS time
gpsStartTime = GetTime(time);
// backtrack and fix up initial rows.
if (hasStartTime)
{
// compute offset from PX4 boot time (which is the log.CurrentTime) and the absolute GPS real time clock
// so we can add this offset to PX4 log.CurrentTime so all our times from here on out are in real time.
gpsStartTime = gpsStartTime.Value.AddMilliseconds((double)logStartTime - (double)log.CurrentTime);
}
ulong linuxEpochMicroseconds = ((ulong)(gpsStartTime.Value.ToUniversalTime() - new DateTime(1970, 1, 1)).TotalMilliseconds * 1000);
gpsAbsoluteOffset = linuxEpochMicroseconds - logStartTime;
this.startTime = gpsStartTime.Value;
// and fix existing log entries
foreach (LogEntry e in rows)
{
// add GPS absolute offset to the timestamp.
e.Timestamp += gpsAbsoluteOffset;
}
hasStartTime = true;
}
}
if (gpsStartTime.HasValue)
{
// add GPS absolute offset to the timestamp.
row.Timestamp += gpsAbsoluteOffset;
}
rows.Add(row);
if (row.Format.Name == "PARM")
{
string name = row.GetField <string>("Name");
float value = row.GetField <float>("Value");
Debug.WriteLine("{0}={1}", name, value);
}
}
if (log.CurrentTime != 0)
{
DateTime endTime = GetTime(log.CurrentTime + gpsAbsoluteOffset);
this.duration = endTime - startTime;
Debug.WriteLine("StartTime={0}, EndTime={1}, Duration={2}", startTime.ToString(), endTime.ToString(), duration.ToString());
}
CreateSchema(log);
}
});
this.data = rows;
}
