public static void anonymise(string logfile, string outputfile)
{
if (!File.Exists(logfile))
{
return;
}
var rand = new Random();
var latrandom = rand.NextDouble() * (rand.NextDouble() * 3);
// TLOG
if (logfile.ToLower().EndsWith(".tlog"))
{
Comms.CommsFile tlogFile = new CommsFile();
tlogFile.Open(logfile);
using (var stream = new CommsStream(tlogFile, tlogFile.BytesToRead))
using (var outfilestream = File.Open(outputfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Read))
{
MAVLink.MavlinkParse parse = new MAVLink.MavlinkParse(true);
var block = new Type[]
{
typeof(MAVLink.mavlink_fence_point_t),
typeof(MAVLink.mavlink_simstate_t),
typeof(MAVLink.mavlink_rally_point_t),
typeof(MAVLink.mavlink_ahrs2_t),
typeof(MAVLink.mavlink_camera_feedback_t),
typeof(MAVLink.mavlink_ahrs3_t),
typeof(MAVLink.mavlink_deepstall_t),
typeof(MAVLink.mavlink_gps_raw_int_t),
typeof(MAVLink.mavlink_global_position_int_t),
typeof(MAVLink.mavlink_set_gps_global_origin_t),
typeof(MAVLink.mavlink_gps_global_origin_t),
typeof(MAVLink.mavlink_global_position_int_cov_t),
typeof(MAVLink.mavlink_set_position_target_global_int_t),
typeof(MAVLink.mavlink_hil_state_t),
typeof(MAVLink.mavlink_sim_state_t),
typeof(MAVLink.mavlink_hil_gps_t),
typeof(MAVLink.mavlink_hil_state_quaternion_t),
typeof(MAVLink.mavlink_gps2_raw_t),
typeof(MAVLink.mavlink_terrain_request_t),
typeof(MAVLink.mavlink_terrain_check_t),
typeof(MAVLink.mavlink_terrain_report_t),
typeof(MAVLink.mavlink_follow_target_t),
typeof(MAVLink.mavlink_gps_input_t),
typeof(MAVLink.mavlink_high_latency_t),
typeof(MAVLink.mavlink_home_position_t),
typeof(MAVLink.mavlink_set_home_position_t),
typeof(MAVLink.mavlink_adsb_vehicle_t),
typeof(MAVLink.mavlink_camera_image_captured_t),
typeof(MAVLink.mavlink_uavionix_adsb_out_dynamic_t),
typeof(MAVLink.mavlink_global_position_int_t),
typeof(MAVLink.mavlink_set_home_position_t),
typeof(MAVLink.mavlink_home_position_t),
typeof(MAVLink.mavlink_set_position_target_global_int_t),
typeof(MAVLink.mavlink_local_position_ned_t),
typeof(MAVLink.mavlink_command_long_t),
typeof(MAVLink.mavlink_mission_item_t),
typeof(MAVLink.mavlink_mission_item_int_t),
typeof(MAVLink.mavlink_uavionix_adsb_out_cfg_t)
};
var checks = new string[]
{
"lat", "latitude", "lat_int", "landing_lat",
"path_lat", "arc_entry_lat", "gpsLat", "gpsOffsetLat"
};
while (stream.Position < stream.Length)
{
var packet = parse.ReadPacket(stream);
if (packet == null)
{
continue;
}
var msginfo = MAVLink.MAVLINK_MESSAGE_INFOS.GetMessageInfo(packet.msgid);
if (block.Contains(msginfo.type))
{
bool valid = false;
var oldrxtime = packet.rxtime;
foreach (var check in checks)
{
var field = msginfo.type.GetField(check);
if (field != null)
{
var pkt = packet.data;
var value = field.GetValue(pkt);
if (value is Int32)
{
if ((int)value != 0)
{
field.SetValue(pkt, (int)((int)value + latrandom * 1e7));
}
packet = new MAVLink.MAVLinkMessage(
parse.GenerateMAVLinkPacket20((MAVLink.MAVLINK_MSG_ID)msginfo.msgid,
pkt, false, packet.sysid, packet.compid, packet.seq));
valid = true;
}
else if (value is Single)
{
if ((Single)value != 0)
{
field.SetValue(pkt, (Single)value + latrandom);
}
packet = new MAVLink.MAVLinkMessage(
parse.GenerateMAVLinkPacket20((MAVLink.MAVLINK_MSG_ID)msginfo.msgid,
pkt, false, packet.sysid, packet.compid, packet.seq));
valid = true;
}
else
{
continue;
}
}
}
packet.rxtime = oldrxtime;
}
byte[] datearray =
BitConverter.GetBytes(
(UInt64)((packet.rxtime.ToUniversalTime() - new DateTime(1970, 1, 1))
.TotalMilliseconds * 1000));
Array.Reverse(datearray);
outfilestream.Write(datearray, 0, datearray.Length);
outfilestream.Write(packet.buffer, 0, packet.Length);
}
}
}
else //LOG
{
using (DFLogBuffer col = new DFLogBuffer(File.OpenRead(logfile)))
using (var outfilestream = File.Open(outputfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Read))
{
foreach (var dfItem in col.GetEnumeratorTypeAll())
{
var index = col.dflog.FindMessageOffset(dfItem.msgtype, "lat");
if (index != -1)
{
var lat = Double.Parse(dfItem.items[index], CultureInfo.InvariantCulture);
if (lat != 0)
{
dfItem.items[index] = (lat + latrandom).ToString(CultureInfo.InvariantCulture);
}
}
var str = String.Join(",", dfItem.items) + "\r\n";
outfilestream.Write(ASCIIEncoding.ASCII.GetBytes(str), 0, str.Length);
}
}
}
}
public static void tlog(string logfile)
{
List <MLArray> mlList = new List <MLArray>();
Hashtable datappl = new Hashtable();
using (Comms.CommsFile cf = new CommsFile(logfile))
using (CommsStream cs = new CommsStream(cf, cf.BytesToRead))
{
MAVLink.MavlinkParse parse = new MAVLink.MavlinkParse(true);
while (cs.Position < cs.Length)
{
MAVLink.MAVLinkMessage packet = parse.ReadPacket(cs);
if (packet == null)
{
continue;
}
object data = packet.data;
if (data == null)
{
continue;
}
if (data is MAVLink.mavlink_heartbeat_t)
{
if (((MAVLink.mavlink_heartbeat_t)data).type == (byte)MAVLink.MAV_TYPE.GCS)
{
continue;
}
}
Type test = data.GetType();
DateTime time = packet.rxtime;
double matlabtime = GetMatLabSerialDate(time);
try
{
foreach (var field in test.GetFields())
{
// field.Name has the field's name.
object fieldValue = field.GetValue(data); // Get value
if (field.FieldType.IsArray)
{
}
else
{
if (!datappl.ContainsKey(field.Name + "_" + field.DeclaringType.Name))
{
datappl[field.Name + "_" + field.DeclaringType.Name] = new List <double[]>();
}
List <double[]> list =
((List <double[]>)datappl[field.Name + "_" + field.DeclaringType.Name]);
object value = fieldValue;
if (value.GetType() == typeof(Single))
{
list.Add(new double[] { matlabtime, (double)(Single)field.GetValue(data) });
}
else if (value.GetType() == typeof(short))
{
list.Add(new double[] { matlabtime, (double)(short)field.GetValue(data) });
}
else if (value.GetType() == typeof(ushort))
{
list.Add(new double[] { matlabtime, (double)(ushort)field.GetValue(data) });
}
else if (value.GetType() == typeof(byte))
{
list.Add(new double[] { matlabtime, (double)(byte)field.GetValue(data) });
}
else if (value.GetType() == typeof(sbyte))
{
list.Add(new double[] { matlabtime, (double)(sbyte)field.GetValue(data) });
}
else if (value.GetType() == typeof(Int32))
{
list.Add(new double[] { matlabtime, (double)(Int32)field.GetValue(data) });
}
else if (value.GetType() == typeof(UInt32))
{
list.Add(new double[] { matlabtime, (double)(UInt32)field.GetValue(data) });
}
else if (value.GetType() == typeof(ulong))
{
list.Add(new double[] { matlabtime, (double)(ulong)field.GetValue(data) });
}
else if (value.GetType() == typeof(long))
{
list.Add(new double[] { matlabtime, (double)(long)field.GetValue(data) });
}
else if (value.GetType() == typeof(double))
{
list.Add(new double[] { matlabtime, (double)(double)field.GetValue(data) });
}
else
{
Console.WriteLine("Unknown data type");
}
}
}
}
catch
{
}
}
}
foreach (string item in datappl.Keys)
{
double[][] temp = ((List <double[]>)datappl[item]).ToArray();
MLArray dbarray = new MLDouble(item.Replace(" ", "_"), temp);
mlList.Add(dbarray);
}
try
{
MatFileWriter mfw = new MatFileWriter(logfile + ".mat", mlList, false);
}
catch (Exception err)
{
throw new Exception("There was an error when creating the MAT-file: \n" + err.ToString(), err);
}
}
private void CoTmainloop()
{
CoTthreadrun = true;
var stream = new CommsStream(CoTStream, int.MaxValue);
var lookfor = "<?xml".Select(a => (byte)a).ToArray();
var lookforend = "</event>".Select(a => (byte)a).ToArray();
while (CoTthreadrun)
{
try
{
var sb = new StringBuilder();
var buff = new byte[4096];
while (CoTthreadrun)
{
var by = stream.Read(buff, 0, buff.Length);
var pos = 0;
while (pos < by)
{
var start = buff.Search(lookfor, pos);
var end = buff.Search(lookforend, pos);
// entire message
if (start >= 0 && end >= 0 && end > start)
{
var xml = ASCIIEncoding.ASCII.GetString(buff.Skip(start).Take(end + lookforend.Length - start).ToArray());
pos = end + lookforend.Length;
ProcessCoTMessage(xml);
}// start with no end
else if (start >= 0 && end == -1)
{
var partxml = ASCIIEncoding.ASCII.GetString(buff.Skip(start).ToArray());
pos = by;
sb.Append(partxml);
}// no start with end
else if (end >= 0)
{
var partxml = ASCIIEncoding.ASCII.GetString(buff.Take(end + lookforend.Length).ToArray());
sb.Append(partxml);
ProcessCoTMessage(sb.ToString());
sb.Clear();
pos = end + lookforend.Length;
}// no start or end
else
{
sb.Append(ASCIIEncoding.ASCII.GetString(buff));
pos = by;
}
}
}
}
catch
{
}
finally
{
}
}
}
public static void anonymise(string logfile, string outputfile)
{
var latrandom = new Random().NextDouble();
//LOG
using (CollectionBuffer col = new CollectionBuffer(File.OpenRead(logfile)))
using (var outfilestream = File.Open(outputfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Read))
{
foreach (var dfItem in col.GetEnumeratorTypeAll())
{
var index = col.dflog.FindMessageOffset(dfItem.msgtype, "lat");
if (index != -1)
{
dfItem.items[index] =
(Double.Parse(dfItem.items[index], CultureInfo.InvariantCulture) + latrandom).ToString(
CultureInfo.InvariantCulture);
}
var str = String.Join(",", dfItem.items) + "\r\n";
outfilestream.Write(ASCIIEncoding.ASCII.GetBytes(str), 0, str.Length);
}
}
return;
// TLOG
Comms.CommsFile tlogFile = new CommsFile();
tlogFile.Open(logfile);
using (var stream = new CommsStream(tlogFile, tlogFile.BytesToRead))
using (var outfilestream = File.Open(outputfile, FileMode.Create, FileAccess.ReadWrite, FileShare.Read))
{
MAVLink.MavlinkParse parse = new MAVLink.MavlinkParse();
double lat = 0;
double lng = 0;
while (stream.Position < stream.Length)
{
var packet = parse.ReadPacket(stream);
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
packet.ToStructure <MAVLink.mavlink_global_position_int_t>();
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.POSITION_TARGET_GLOBAL_INT)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.SET_HOME_POSITION)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.HOME_POSITION)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.SET_POSITION_TARGET_GLOBAL_INT)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.LOCAL_POSITION_NED)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.COMMAND_LONG)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.MISSION_ITEM)
{
}
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.MISSION_ITEM_INT)
{
}
byte[] datearray =
BitConverter.GetBytes(
(UInt64)((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds * 1000));
Array.Reverse(datearray);
outfilestream.Write(datearray, 0, datearray.Length);
outfilestream.Write(packet.buffer, 0, packet.Length);
}
}
}
public static void ProcessFile(string logfile)
{
if (File.Exists(logfile + ".jpg"))
{
return;
}
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"))
{
Comms.CommsFile cf = new CommsFile();
cf.Open(logfile);
using (CommsStream cs = new CommsStream(cf, cf.BytesToRead))
{
MAVLink.MavlinkParse parse = new MAVLink.MavlinkParse(true);
while (cs.Position < cs.Length)
{
try
{
MAVLink.MAVLinkMessage packet = parse.ReadPacket(cs);
if (packet == null || 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 = packet.sysid * 256 + 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);
}
}
catch { }
}
}
cf.Close();
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
using (
DFLogBuffer colbuf =
new DFLogBuffer(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
loc_list[0] = new List <PointLatLngAlt>();
foreach (var item in colbuf.GetEnumeratorType("GPS"))
{
if (item.msgtype.StartsWith("GPS"))
{
if (!colbuf.dflog.logformat.ContainsKey("GPS"))
{
continue;
}
var status =
double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Status")]);
var lat = double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[colbuf.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);
using (var map = GetMap(area))
using (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", SKEncodedImageFormat.Jpeg);
File.SetLastWriteTime(logfile + ".jpg", new FileInfo(logfile).LastWriteTime);
}
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
File.SetLastWriteTime(logfile + ".jpg", new FileInfo(logfile).LastWriteTime);
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
{
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
}
}
}
