private void BUT_bintolog_Click(object sender, EventArgs e)
{
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "Binary Log|*.bin";
ofd.ShowDialog();
if (File.Exists(ofd.FileName))
{
List <string> log = BinaryLog.ReadLog(ofd.FileName);
SaveFileDialog sfd = new SaveFileDialog();
sfd.Filter = "log|*.log";
DialogResult res = sfd.ShowDialog();
if (res == System.Windows.Forms.DialogResult.OK)
{
StreamWriter sw = new StreamWriter(sfd.OpenFile());
foreach (string line in log)
{
sw.Write(line);
}
sw.Close();
}
}
}
string GetLog(ushort no)
{
MainV2.comPort.Progress += comPort_Progress;
status = serialstatus.Reading;
// get df log from mav
var ms = MainV2.comPort.GetLog(no);
status = serialstatus.Done;
updateDisplay();
MainV2.comPort.Progress -= comPort_Progress;
// set log fn
byte[] hbpacket = MainV2.comPort.getHeartBeat();
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)MainV2.comPort.DebugPacket(hbpacket);
logfile = MainV2.LogDir + Path.DirectorySeparatorChar
+ MainV2.comPort.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + " " + no + ".bin";
// make log dir
Directory.CreateDirectory(Path.GetDirectoryName(logfile));
// save memorystream to file
using (BinaryWriter bw = new BinaryWriter(File.OpenWrite(logfile)))
{
bw.Write(ms.ToArray());
}
// create ascii log
BinaryLog.ConvertBin(logfile, logfile + ".log");
//update the new filename
logfile = logfile + ".log";
// get gps time of assci log
DateTime logtime = DFLog.GetFirstGpsTime(logfile);
// rename log is we have a valid gps time
if (logtime != DateTime.MinValue)
{
string newlogfilename = MainV2.LogDir + Path.DirectorySeparatorChar
+ MainV2.comPort.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar + logtime.ToString("yyyy-MM-dd HH-mm-ss") + ".log";
try
{
File.Move(logfile, newlogfilename);
// rename bin as well
File.Move(logfile.Replace(".log", ""), newlogfilename.Replace(".log", ".bin"));
logfile = newlogfilename;
}
catch { CustomMessageBox.Show("Failed to rename file " + logfile + "\nto " + newlogfilename, "Error"); }
}
return(logfile);
}
public T this[int index]
{
get
{
// return cached value is same index
if (indexcachelineno == index)
{
return((T)currentindexcache);
}
long startoffset = linestartoffset[index];
long endoffset = startoffset;
if ((index + 1) >= linestartoffset.Count)
{
endoffset = basestream.Length;
}
else
{
endoffset = linestartoffset[index + 1];
}
int length = (int)(endoffset - startoffset);
if (linestartoffset[index] != basestream.Position)
{
basestream.Seek(linestartoffset[index], SeekOrigin.Begin);
}
if (binary)
{
var answer = BinaryLog.ReadMessage(basestream);
currentindexcache = (object)answer;
indexcachelineno = index;
}
else
{
byte[] data = new byte[length];
basestream.Read(data, 0, length);
currentindexcache = (object)ASCIIEncoding.ASCII.GetString(data);
indexcachelineno = index;
}
return((T)currentindexcache);
}
set
{
throw new NotImplementedException();
}
}
private void BUT_bintolog_Click(object sender, EventArgs e)
{
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "Binary Log|*.bin";
ofd.ShowDialog();
if (File.Exists(ofd.FileName))
{
SaveFileDialog sfd = new SaveFileDialog();
sfd.Filter = "log|*.log";
DialogResult res = sfd.ShowDialog();
if (res == System.Windows.Forms.DialogResult.OK)
{
BinaryLog.ConvertBin(ofd.FileName, sfd.FileName);
}
}
}
string GetLog(ushort no, string fileName)
{
log.Info("GetLog " + no);
MainV2.comPort.Progress += comPort_Progress;
status = SerialStatus.Reading;
// used for log fn
MAVLink.MAVLinkMessage hbpacket = MainV2.comPort.getHeartBeat();
if (hbpacket != null)
{
log.Info("Got hbpacket length: " + hbpacket.Length);
}
// get df log from mav
using (var ms = MainV2.comPort.GetLog(no))
{
if (ms != null)
{
log.Info("Got Log length: " + ms.Length);
}
ms.Seek(0, SeekOrigin.Begin);
status = SerialStatus.Done;
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)MainV2.comPort.DebugPacket(hbpacket);
logfile = Settings.Instance.LogDir + Path.DirectorySeparatorChar
+ MainV2.comPort.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket.sysid + Path.DirectorySeparatorChar + no + " " + MakeValidFileName(fileName) + ".bin";
// make log dir
Directory.CreateDirectory(Path.GetDirectoryName(logfile));
log.Info("about to write: " + logfile);
// save memorystream to file
using (BinaryWriter bw = new BinaryWriter(File.OpenWrite(logfile)))
{
byte[] buffer = new byte[256 * 1024];
while (ms.Position < ms.Length)
{
int read = ms.Read(buffer, 0, buffer.Length);
bw.Write(buffer, 0, read);
}
}
}
log.Info("about to convertbin: " + logfile);
// create ascii log
BinaryLog.ConvertBin(logfile, logfile + ".log");
//update the new filename
logfile = logfile + ".log";
// rename file if needed
log.Info("about to GetFirstGpsTime: " + logfile);
// get gps time of assci log
DateTime logtime = new DFLog().GetFirstGpsTime(logfile);
// rename log is we have a valid gps time
if (logtime != DateTime.MinValue)
{
string newlogfilename = Settings.Instance.LogDir + Path.DirectorySeparatorChar
+ MainV2.comPort.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket.sysid + Path.DirectorySeparatorChar +
logtime.ToString("yyyy-MM-dd HH-mm-ss") + ".log";
try
{
File.Move(logfile, newlogfilename);
// rename bin as well
File.Move(logfile.Replace(".log", ""), newlogfilename.Replace(".log", ".bin"));
logfile = newlogfilename;
}
catch
{
CustomMessageBox.Show(Strings.ErrorRenameFile + " " + logfile + "\nto " + newlogfilename,
Strings.ERROR);
}
}
MainV2.comPort.Progress -= comPort_Progress;
return(logfile);
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
{
continue;
}
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
List <PointLatLngAlt> locs = new List <PointLatLngAlt>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
MAVLinkInterface mine = new MAVLinkInterface();
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
if (packet.Length < 5)
{
continue;
}
try
{
if (MainV2.speechEngine != null)
{
MainV2.speechEngine.SpeakAsyncCancelAll();
}
}
catch { }
if (packet[5] == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ByteArrayToStructure <MAVLink.mavlink_global_position_int_t>(6);
if (loc.lat == 0 || loc.lon == 0)
{
continue;
}
locs.Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
using (var st = File.OpenRead(logfile))
{
using (StreamReader sr = new StreamReader(st))
{
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = BinaryLog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
DFLog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = DFLog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[DFLog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[DFLog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
{
continue;
}
locs.Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (locs.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
PointF lastpoint = new PointF();
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
{
grap.DrawLine(Pens.Red, lastpoint, newpoint);
}
lastpoint = newpoint;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
{
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
}
continue;
}
}
}
public static void log(string fn)
{
string[] filelines;
if (fn.ToLower().EndsWith(".bin"))
{
filelines = BinaryLog.ReadLog(fn).ToArray();
}
else
{
// read the file
filelines = File.ReadAllLines(fn);
}
// store all the arrays
List <MLArray> mlList = new List <MLArray>();
// store data to putinto the arrays
Dictionary <string, List <double[]> > data = new Dictionary <string, List <double[]> >();
// store line item lengths
Hashtable len = new Hashtable();
// store whats we have seen in the log
Hashtable seen = new Hashtable();
// store the params seen
SortedDictionary <string, double> param = new SortedDictionary <string, double>();
// keep track of line no
int a = 0;
foreach (var line in filelines)
{
a++;
Console.Write(a + "\r");
string strLine = line.Replace(", ", ",");
strLine = strLine.Replace(": ", ":");
string[] items = strLine.Split(',', ':');
// process the fmt messages
if (line.StartsWith("FMT"))
{
// +1 for line no
string[] names = new string[items.Length - 5 + 1];
names[0] = "LineNo";
Array.ConstrainedCopy(items, 5, names, 1, names.Length - 1);
MLArray format = CreateCellArray(items[3] + "_label", names);
if (items[3] == "PARM")
{
}
else
{
mlList.Add(format);
}
len[items[3]] = names.Length;
} // process param messages
else if (line.StartsWith("PARM"))
{
try
{
param[items[1]] = double.Parse(items[2], CultureInfo.InvariantCulture);
}
catch { }
}// everyting else is generic
else
{
// make sure the line is long enough
if (items.Length < 2)
{
continue;
}
// check we have a valid fmt message for this message type
if (!len.ContainsKey(items[0]))
{
continue;
}
// check the fmt length matchs what the log has
if (items.Length != (int)len[items[0]])
{
continue;
}
// make it as being seen
seen[items[0]] = 1;
double[] dbarray = new double[items.Length];
// set line no
dbarray[0] = a;
for (int n = 1; n < items.Length; n++)
{
try
{
dbarray[n] = double.Parse(items[n], CultureInfo.InvariantCulture);
}
catch { }
}
if (!data.ContainsKey(items[0]))
{
data[items[0]] = new List <double[]>();
}
data[items[0]].Add(dbarray);
}
}
foreach (var item in data)
{
double[][] temp = item.Value.ToArray();
MLArray dbarray = new MLDouble(item.Key, temp);
mlList.Add(dbarray);
}
MLCell cell = new MLCell("PARM", new int[] { param.Keys.Count, 2 });
int m = 0;
foreach (var item in param.Keys)
{
cell[m, 0] = new MLChar(null, item.ToString());
cell[m, 1] = new MLDouble(null, new double[] { (double)param[item] }, 1);
m++;
}
mlList.Add(cell);
MLArray seenmsg = CreateCellArray("Seen", seen.Keys.Cast <string>().ToArray());
mlList.Add(seenmsg);
try
{
MatFileWriter mfw = new MatFileWriter(fn + ".mat", mlList, true);
}
catch (Exception err)
{
MessageBox.Show("There was an error when creating the MAT-file: \n" + err.ToString(),
"MAT-File Creation Error!", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
}
private void Form1_Load(object sender, EventArgs e)
{
rowno = 1;
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "Log Files|*.log;*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = MainV2.LogDir;
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
Stream stream;
if (openFileDialog1.FileName.ToLower().EndsWith(".bin"))
{
// extract log
List <string> loglines = BinaryLog.ReadLog(openFileDialog1.FileName);
// convert log to memory stream;
stream = new MemoryStream();
// create single string with entire log
foreach (string line in loglines)
{
stream.Write(ASCIIEncoding.ASCII.GetBytes(line), 0, line.Length);
}
// back to stream start
stream.Seek(0, SeekOrigin.Begin);
}
else
{
stream = File.Open(openFileDialog1.FileName, FileMode.Open, FileAccess.Read, FileShare.Read);
}
this.Text = "Log Browser - " + Path.GetFileName(openFileDialog1.FileName);
PopulateDataTableFromUploadedFile(stream);
stream.Close();
dataGridView1.DataSource = m_dtCSV;
dataGridView1.Columns[0].Visible = false;
}
catch (Exception ex) { CustomMessageBox.Show("Failed to read File: " + ex.ToString()); }
foreach (DataGridViewColumn column in dataGridView1.Columns)
{
column.SortMode = DataGridViewColumnSortMode.NotSortable;
}
DrawMap();
CreateChart(zg1);
}
else
{
return;
}
}
string GetLog(string no, string fileName)
{
log.Info("GetLog " + no);
status = SerialStatus.Reading;
logfile = Settings.Instance.LogDir + Path.DirectorySeparatorChar
+ MakeValidFileName(fileName) + ".bin";
// make log dir
Directory.CreateDirectory(Path.GetDirectoryName(logfile));
log.Info("about to write: " + logfile);
// save memorystream to file
SftpClient client = new SftpClient(_connectionInfo);
client.Connect();
using (var logstream = File.Open(logfile, FileMode.Create, FileAccess.Write))
{
client.DownloadFile(no, logstream, downloadCallback);
}
client.Disconnect();
log.Info("about to convertbin: " + logfile);
// create ascii log
BinaryLog.ConvertBin(logfile, logfile + ".log");
//update the new filename
logfile = logfile + ".log";
// rename file if needed
log.Info("about to GetFirstGpsTime: " + logfile);
// get gps time of assci log
DateTime logtime = new DFLog().GetFirstGpsTime(logfile);
// rename log is we have a valid gps time
if (logtime != DateTime.MinValue)
{
string newlogfilename = Settings.Instance.LogDir + Path.DirectorySeparatorChar
+ logtime.ToString("yyyy-MM-dd HH-mm-ss") + ".log";
try
{
File.Move(logfile, newlogfilename);
// rename bin as well
File.Move(logfile.Replace(".log", ""), newlogfilename.Replace(".log", ".bin"));
logfile = newlogfilename;
}
catch
{
CustomMessageBox.Show(Strings.ErrorRenameFile + " " + logfile + "\nto " + newlogfilename,
Strings.ERROR);
}
}
MainV2.comPort.Progress -= comPort_Progress;
return(logfile);
}
private void Form1_Load(object sender, EventArgs e)
{
Hashtable seenmessagetypes = new Hashtable();
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "Log Files|*.log;*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = MainV2.LogDir;
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
Stream stream;
if (openFileDialog1.FileName.ToLower().EndsWith(".bin"))
{
log.Info("before " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
// extract log - converts to assci lines
var loglines = BinaryLog.ReadLog(openFileDialog1.FileName);
log.Info("loglines " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
GC.Collect();
log.Info("loglines2 " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
// create temp file
string tempfile = Path.GetTempFileName();
log.Info("temp file " + tempfile);
stream = File.Open(tempfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Delete);
// save ascii lines to file
foreach (string line in loglines)
{
stream.Write(ASCIIEncoding.ASCII.GetBytes(line), 0, line.Length);
}
stream.Flush();
// back to stream start
stream.Seek(0, SeekOrigin.Begin);
loglines.Clear();
loglines = null;
// force memory reclaim after loglines clear
GC.Collect();
log.Info("loglines.clear " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
}
else
{
stream = File.Open(openFileDialog1.FileName, FileMode.Open, FileAccess.Read, FileShare.Read);
}
logdata = DFLog.ReadLog(stream);
this.Text = "Log Browser - " + Path.GetFileName(openFileDialog1.FileName);
log.Info("about to create DataTable " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
m_dtCSV = new DataTable();
log.Info("process to datagrid " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
bool largelog = logdata.Count > 500000 ? true : false;
foreach (var item in logdata)
{
if (item.items != null)
{
while (m_dtCSV.Columns.Count < (item.items.Length + typecoloum))
{
m_dtCSV.Columns.Add();
}
seenmessagetypes[item.msgtype] = "";
if (largelog)
{
continue;
}
DataRow dr = m_dtCSV.NewRow();
dr[0] = item.lineno;
dr[1] = item.time.ToString("yyyy-MM-dd HH:mm:ss.fff");
for (int a = 0; a < item.items.Length; a++)
{
dr[a + typecoloum] = item.items[a];
}
m_dtCSV.Rows.Add(dr);
}
}
log.Info("Done " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
//PopulateDataTableFromUploadedFile(stream);
stream.Close();
log.Info("set dgv datasourse " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
if (MainV2.MONO)
{
//if (m_dtCSV.Rows.Count > 5000)
// {
// CustomMessageBox.Show("This log apears to be a large log, the grid view will be disabled.\nAll graphing will still work however", "Large Log");
// dataGridView1.Visible = false;
// }
// else
{
BindingSource bs = new BindingSource();
bs.DataSource = m_dtCSV;
dataGridView1.DataSource = bs;
}
}
else
{
dataGridView1.VirtualMode = true;
dataGridView1.RowCount = logdata.Count;
dataGridView1.ColumnCount = m_dtCSV.Columns.Count;
}
dataGridView1.Columns[0].Visible = false;
log.Info("datasource set " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
}
catch (Exception ex) { CustomMessageBox.Show("Failed to read File: " + ex.ToString()); }
foreach (DataGridViewColumn column in dataGridView1.Columns)
{
column.SortMode = DataGridViewColumnSortMode.NotSortable;
}
CreateChart(zg1);
ResetTreeView(seenmessagetypes);
if (DFLog.logformat.Count == 0)
{
CustomMessageBox.Show("Log Browse will not function correctly without FMT messages in your log.\nThese appear to be missing from your log.", "Error");
this.Close();
return;
}
}
else
{
this.Close();
return;
}
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
continue;
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
List<PointLatLngAlt> locs = new List<PointLatLngAlt>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)))
{
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
if (packet.Length < 5)
continue;
try
{
if (MainV2.speechEngine != null)
MainV2.speechEngine.SpeakAsyncCancelAll();
}
catch { }
if (packet[5] == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ByteArrayToStructure<MAVLink.mavlink_global_position_int_t>(6);
if (loc.lat == 0 || loc.lon == 0)
continue;
locs.Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
BinaryLog binlog = new BinaryLog();
DFLog dflog = new DFLog();
using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
using (StreamReader sr = new StreamReader(st))
{
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = binlog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
dflog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = dflog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
continue;
locs.Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (locs.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
PointF lastpoint = new PointF();
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
grap.DrawLine(Pens.Red, lastpoint, newpoint);
lastpoint = newpoint;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
continue;
}
}
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
{
continue;
}
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
Dictionary <int, List <PointLatLngAlt> > loc_list = new Dictionary <int, List <PointLatLngAlt> >();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
mine.logreadmode = true;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
if (packet.Length < 5)
{
continue;
}
try
{
if (MainV2.speechEngine != null)
{
MainV2.speechEngine.SpeakAsyncCancelAll();
}
}
catch
{
}
if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ToStructure <MAVLink.mavlink_global_position_int_t>();
if (loc.lat == 0 || loc.lon == 0)
{
continue;
}
var id = MAVList.GetID(packet.sysid, packet.compid);
if (!loc_list.ContainsKey(id))
{
loc_list[id] = new List <PointLatLngAlt>();
}
loc_list[id].Add(new PointLatLngAlt(loc.lat / 10000000.0f, loc.lon / 10000000.0f));
minx = Math.Min(minx, loc.lon / 10000000.0f);
maxx = Math.Max(maxx, loc.lon / 10000000.0f);
miny = Math.Min(miny, loc.lat / 10000000.0f);
maxy = Math.Max(maxy, loc.lat / 10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
BinaryLog binlog = new BinaryLog();
DFLog dflog = new DFLog();
using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
using (StreamReader sr = new StreamReader(st))
{
loc_list[0] = new List <PointLatLngAlt>();
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = binlog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
dflog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = dflog.GetDFItemFromLine(line, 0);
var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0)
{
continue;
}
loc_list[0].Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (loc_list.First().Value.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
int a = 0;
foreach (var locs in loc_list.Values)
{
PointF lastpoint = new PointF();
var pen = new Pen(colours[a % (colours.Length - 1)]);
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
{
grap.DrawLine(pen, lastpoint, newpoint);
}
lastpoint = newpoint;
}
a++;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
{
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
}
continue;
}
}
}
public static void ProcessLog(string fn)
{
StreamReader sr;
if (fn.ToLower().EndsWith(".bin"))
{
string tmpfile = Path.GetTempFileName();
BinaryLog.ConvertBin(fn, tmpfile);
sr = new StreamReader(tmpfile);
}
else
{
sr = new StreamReader(fn);
}
// store all the arrays
List <MLArray> mlList = new List <MLArray>();
// store data to putinto the arrays
Dictionary <string, DoubleList> data = new Dictionary <string, DoubleList>();
// store line item lengths
Hashtable len = new Hashtable();
// store whats we have seen in the log
Hashtable seen = new Hashtable();
// store the params seen
SortedDictionary <string, double> param = new SortedDictionary <string, double>();
// keep track of line no
int a = 0;
log.Info("ProcessLog start " + (GC.GetTotalMemory(false) / 1024.0 / 1024.0));
while (!sr.EndOfStream)
{
var line = sr.ReadLine();
a++;
if (a % 100 == 0)
{
Console.Write(a + "\r");
}
string strLine = line.Replace(", ", ",");
strLine = strLine.Replace(": ", ":");
string[] items = strLine.Split(',', ':');
// process the fmt messages
if (line.StartsWith("FMT"))
{
// +1 for line no
string[] names = new string[items.Length - 5 + 1];
names[0] = "LineNo";
Array.ConstrainedCopy(items, 5, names, 1, names.Length - 1);
MLArray format = CreateCellArray(items[3] + "_label", names);
if (items[3] == "PARM")
{
}
else
{
mlList.Add(format);
}
len[items[3]] = names.Length;
} // process param messages
else if (line.StartsWith("PARM"))
{
try
{
param[items[2]] = double.Parse(items[3], CultureInfo.InvariantCulture);
}
catch
{
}
} // everyting else is generic
else
{
// make sure the line is long enough
if (items.Length < 2)
{
continue;
}
// check we have a valid fmt message for this message type
if (!len.ContainsKey(items[0]))
{
continue;
}
// check the fmt length matchs what the log has
if (items.Length != (int)len[items[0]])
{
continue;
}
// make it as being seen
seen[items[0]] = 1;
double[] dbarray = new double[items.Length];
// set line no
dbarray[0] = a;
for (int n = 1; n < items.Length; n++)
{
double dbl = 0;
double.TryParse(items[n], NumberStyles.Any, CultureInfo.InvariantCulture, out dbl);
dbarray[n] = dbl;
}
if (!data.ContainsKey(items[0]))
{
data[items[0]] = new DoubleList();
}
data[items[0]].Add(dbarray);
}
// split at x records
if (a % 2000000 == 0)
{
GC.Collect();
DoWrite(fn + "-" + a, data, param, mlList, seen);
mlList.Clear();
data.Clear();
param.Clear();
seen.Clear();
GC.Collect();
}
}
DoWrite(fn + "-" + a, data, param, mlList, seen);
sr.Close();
}
string GetLog(ushort no, string fileName)
{
log.Info("GetLog " + no);
MainV2.comPort.Progress += comPort_Progress;
status = SerialStatus.Reading;
// used for log fn
byte[] hbpacket = MainV2.comPort.getHeartBeat();
if (hbpacket != null)
{
log.Info("Got hbpacket length: " + hbpacket.Length);
}
// get df log from mav
using (var ms = MainV2.comPort.GetLog(no))
{
if (ms != null)
{
log.Info("Got Log length: " + ms.Length);
}
ms.Seek(0, SeekOrigin.Begin);
status = SerialStatus.Done;
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)MainV2.comPort.DebugPacket(hbpacket);
logfile = Settings.Instance.LogDir + Path.DirectorySeparatorChar
+ MainV2.comPort.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar + no + " " + MakeValidFileName(fileName) + ".bin";
// make log dir
Directory.CreateDirectory(Path.GetDirectoryName(logfile));
log.Info("about to write: " + logfile);
// save memorystream to file
using (BinaryWriter bw = new BinaryWriter(File.OpenWrite(logfile)))
{
byte[] buffer = new byte[256 * 1024];
while (ms.Position < ms.Length)
{
int read = ms.Read(buffer, 0, buffer.Length);
bw.Write(buffer, 0, read);
}
}
}
log.Info("about to convertbin: " + logfile);
// create ascii log
BinaryLog.ConvertBin(logfile, logfile + ".log");
//update the new filename
logfile = logfile + ".log";
MainV2.comPort.Progress -= comPort_Progress;
return(logfile);
}
public static void MapLogs(string[] logs)
{
foreach (var logfile in logs)
{
if (File.Exists(logfile + ".jpg"))
continue;
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
bool sitl = false;
Dictionary<int,List<PointLatLngAlt>> loc_list = new Dictionary<int, List<PointLatLngAlt>>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
mine.logreadmode = true;
mine.speechenabled = false;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
if (packet.Length < 5)
continue;
if (packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SIM_STATE || packet.msgid == (byte)MAVLink.MAVLINK_MSG_ID.SIMSTATE)
{
sitl = true;
}
if (packet.msgid == (byte) MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ToStructure<MAVLink.mavlink_global_position_int_t>();
if (loc.lat == 0 || loc.lon == 0)
continue;
var id = MAVList.GetID(packet.sysid, packet.compid);
if (!loc_list.ContainsKey(id))
loc_list[id] = new List<PointLatLngAlt>();
loc_list[id].Add(new PointLatLngAlt(loc.lat/10000000.0f, loc.lon/10000000.0f));
minx = Math.Min(minx, loc.lon/10000000.0f);
maxx = Math.Max(maxx, loc.lon/10000000.0f);
miny = Math.Min(miny, loc.lat/10000000.0f);
maxy = Math.Max(maxy, loc.lat/10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
bool bin = logfile.ToLower().EndsWith(".bin");
BinaryLog binlog = new BinaryLog();
DFLog dflog = new DFLog();
using (var st = File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
using (StreamReader sr = new StreamReader(st))
{
loc_list[0] = new List<PointLatLngAlt>();
while (sr.BaseStream.Position < sr.BaseStream.Length)
{
string line = "";
if (bin)
{
line = binlog.ReadMessage(sr.BaseStream);
}
else
{
line = sr.ReadLine();
}
if (line.StartsWith("FMT"))
{
dflog.FMTLine(line);
}
else if (line.StartsWith("GPS"))
{
var item = dflog.GetDFItemFromLine(line, 0);
if (!dflog.logformat.ContainsKey("GPS"))
continue;
var status = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Status")]);
var lat = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0 || status < 3)
continue;
loc_list[0].Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
}
if (loc_list.Count > 0 && loc_list.First().Value.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
if (sitl)
{
AddTextToMap(grap, "SITL");
}
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
int a = 0;
foreach (var locs in loc_list.Values)
{
PointF lastpoint = new PointF();
var pen = new Pen(colours[a%(colours.Length - 1)]);
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
grap.DrawLine(pen, lastpoint, newpoint);
lastpoint = newpoint;
}
a++;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
continue;
}
}
}
private void Form1_Load(object sender, EventArgs e)
{
rowno = 1;
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "Log Files|*.log;*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = MainV2.LogDir;
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
Stream stream;
if (openFileDialog1.FileName.ToLower().EndsWith(".bin"))
{
// extract log
List <string> loglines = BinaryLog.ReadLog(openFileDialog1.FileName);
// convert log to memory stream;
stream = new MemoryStream();
// create single string with entire log
foreach (string line in loglines)
{
stream.Write(ASCIIEncoding.ASCII.GetBytes(line), 0, line.Length);
}
// back to stream start
stream.Seek(0, SeekOrigin.Begin);
}
else
{
stream = File.Open(openFileDialog1.FileName, FileMode.Open, FileAccess.Read, FileShare.Read);
}
var logdata = DFLog.ReadLog(stream);
this.Text = "Log Browser - " + Path.GetFileName(openFileDialog1.FileName);
m_dtCSV = new DataTable();
log.Info("process to datagrid");
foreach (var item in logdata)
{
if (item.items != null)
{
while (m_dtCSV.Columns.Count < (item.items.Length + typecoloum))
{
m_dtCSV.Columns.Add();
}
DataRow dr = m_dtCSV.NewRow();
dr[0] = item.lineno;
dr[1] = item.time.ToString("yyyy-MM-dd HH:mm:ss.fff");
for (int a = 0; a < item.items.Length; a++)
{
dr[a + typecoloum] = item.items[a];
}
m_dtCSV.Rows.Add(dr);
}
}
log.Info("Done");
//PopulateDataTableFromUploadedFile(stream);
stream.Close();
log.Info("set dgv datasourse");
dataGridView1.DataSource = m_dtCSV;
dataGridView1.Columns[0].Visible = false;
log.Info("datasource set");
}
catch (Exception ex) { CustomMessageBox.Show("Failed to read File: " + ex.ToString()); }
foreach (DataGridViewColumn column in dataGridView1.Columns)
{
column.SortMode = DataGridViewColumnSortMode.NotSortable;
}
log.Info("Get map");
DrawMap();
log.Info("map done");
CreateChart(zg1);
}
else
{
this.Close();
return;
}
}
