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 (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);
}
}
}
}
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);
}
}
}