public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
File.Move(logfile, destdir + Path.GetFileName(logfile));
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
continue;
}
MAVLinkInterface mine = new MAVLinkInterface();
try
{
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
continue;
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
File.Move(logfile, destdir + Path.GetFileName(logfile));
try
{
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
}
}
catch { continue; }
}
}
/// <summary>
/// Processes a tlog to get the offsets - creates dxf of data
/// </summary>
/// <param name="fn">Filename</param>
/// <returns>Offsets</returns>
public static double[] getOffsets(string fn, int throttleThreshold = 0)
{
// based off tridge's work
string logfile = fn;
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// this is for a dxf
Polyline3dVertex vertex;
List <Polyline3dVertex> vertexes = new List <Polyline3dVertex>();
// data storage
Tuple <float, float, float> offset = new Tuple <float, float, float>(0, 0, 0);
List <Tuple <float, float, float> > data = new List <Tuple <float, float, float> >();
Hashtable filter = new Hashtable();
// track data to use
bool useData = false;
if (throttleThreshold <= 0)
{
useData = true;
}
log.Info("Start log: " + DateTime.Now);
MAVLinkInterface mine = new MAVLinkInterface();
try
{
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return(new double[] { 0 }); }
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
// gather data
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packetraw = mine.readPacket();
var packet = mine.DebugPacket(packetraw, false);
// this is for packets we dont know about
if (packet == null)
{
continue;
}
if (packet.GetType() == typeof(MAVLink.mavlink_vfr_hud_t))
{
if (((MAVLink.mavlink_vfr_hud_t)packet).throttle >= throttleThreshold)
{
useData = true;
}
else
{
useData = false;
}
}
if (packet.GetType() == typeof(MAVLink.mavlink_sensor_offsets_t))
{
offset = new Tuple <float, float, float>(
((MAVLink.mavlink_sensor_offsets_t)packet).mag_ofs_x,
((MAVLink.mavlink_sensor_offsets_t)packet).mag_ofs_y,
((MAVLink.mavlink_sensor_offsets_t)packet).mag_ofs_z);
}
else if (packet.GetType() == typeof(MAVLink.mavlink_raw_imu_t) && useData)
{
int div = 20;
// fox dxf
vertex = new Polyline3dVertex(new Vector3f(
((MAVLink.mavlink_raw_imu_t)packet).xmag - offset.Item1,
((MAVLink.mavlink_raw_imu_t)packet).ymag - offset.Item2,
((MAVLink.mavlink_raw_imu_t)packet).zmag - offset.Item3)
);
vertexes.Add(vertex);
// for old method
setMinorMax(((MAVLink.mavlink_raw_imu_t)packet).xmag - offset.Item1, ref minx, ref maxx);
setMinorMax(((MAVLink.mavlink_raw_imu_t)packet).ymag - offset.Item2, ref miny, ref maxy);
setMinorMax(((MAVLink.mavlink_raw_imu_t)packet).zmag - offset.Item3, ref minz, ref maxz);
// for new lease sq
string item = (int)(((MAVLink.mavlink_raw_imu_t)packet).xmag / div) + "," +
(int)(((MAVLink.mavlink_raw_imu_t)packet).ymag / div) + "," +
(int)(((MAVLink.mavlink_raw_imu_t)packet).zmag / div);
if (filter.ContainsKey(item))
{
filter[item] = (int)filter[item] + 1;
if ((int)filter[item] > 3)
{
continue;
}
}
else
{
filter[item] = 1;
}
data.Add(new Tuple <float, float, float>(
((MAVLink.mavlink_raw_imu_t)packet).xmag - offset.Item1,
((MAVLink.mavlink_raw_imu_t)packet).ymag - offset.Item2,
((MAVLink.mavlink_raw_imu_t)packet).zmag - offset.Item3));
}
}
log.Info("Log Processed " + DateTime.Now);
Console.WriteLine("Extracted " + data.Count + " data points");
Console.WriteLine("Current offset: " + offset);
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
throw new Exception("Not Enough Data");
}
data.Sort(
delegate(Tuple <float, float, float> d1, Tuple <float, float, float> d2)
{
// get distance from 0,0,0
double ans1 = Math.Sqrt(d1.Item1 * d1.Item1 + d1.Item2 * d1.Item2 + d1.Item3 * d1.Item3);
double ans2 = Math.Sqrt(d2.Item1 * d2.Item1 + d2.Item2 * d2.Item2 + d2.Item3 * d2.Item3);
if (ans1 > ans2)
{
return(1);
}
if (ans1 < ans2)
{
return(-1);
}
return(0);
}
);
data.RemoveRange(data.Count - (data.Count / 16), data.Count / 16);
System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx) / 2, -(maxy + miny) / 2, -(maxz + minz) / 2);
double[] x = LeastSq(data);
log.Info("Least Sq Done " + DateTime.Now);
doDXF(vertexes, x);
Array.Resize <double>(ref x, 3);
return(x);
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch { }
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch { }
continue;
}
MAVLinkInterface mine = new MAVLinkInterface();
try
{
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD");
log.Info("Move log bad " + logfile + " to " + Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar + Path.GetFileName(logfile));
movefileusingmask(logfile, Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar);
continue;
}
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
movefileusingmask(logfile, destdir);
}
}
catch { continue; }
}
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch
{
}
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch
{
}
continue;
}
try
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
var midpoint = mine.logplaybackfile.BaseStream.Length / 2;
mine.logplaybackfile.BaseStream.Seek(midpoint, SeekOrigin.Begin);
MAVLink.MAVLinkMessage hbpacket = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket1 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket2 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket3 = mine.getHeartBeat();
if (hbpacket.Length == 0 && hbpacket1.Length == 0 && hbpacket2.Length == 0 && hbpacket3.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar +
"BAD");
log.Info("Move log bad " + logfile + " to " + Path.GetDirectoryName(logfile) +
Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar +
Path.GetFileName(logfile));
movefileusingmask(logfile,
Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" +
Path.DirectorySeparatorChar);
continue;
}
if (hbpacket.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t) mine.DebugPacket(hbpacket);
}
if (hbpacket1.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb1 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket1);
}
if (hbpacket2.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb2 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket2);
}
if (hbpacket3.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb3 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket3);
}
// find most appropriate
if (mine.MAVlist.Count > 1)
{
foreach (var mav in mine.MAVlist.GetMAVStates())
{
if (mav.aptype == MAVLink.MAV_TYPE.ANTENNA_TRACKER)
continue;
if (mav.aptype == MAVLink.MAV_TYPE.GCS)
continue;
mine.sysidcurrent = mav.sysid;
mine.compidcurrent = mav.compid;
}
}
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ mine.MAV.sysid + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
Directory.CreateDirectory(destdir);
movefileusingmask(logfile, destdir);
}
}
catch
{
continue;
}
}
}
public static void ScanAccel()
{
string[] files = Directory.GetFiles(MainV2.LogDir, "*.tlog", SearchOption.AllDirectories);
List<string> badfiles = new List<string>();
foreach (var file in files)
{
bool board = false;
Console.WriteLine(file);
MAVLinkInterface mavi = new MAVLinkInterface();
using (mavi.logplaybackfile = new BinaryReader(File.OpenRead(file)))
{
mavi.logreadmode = true;
try
{
while (mavi.logplaybackfile.BaseStream.Position < mavi.logplaybackfile.BaseStream.Length)
{
byte[] packet = mavi.readPacket();
if (packet.Length == 0)
break;
var objectds = mavi.DebugPacket(packet, false);
if (objectds is MAVLink.mavlink_param_value_t)
{
MAVLink.mavlink_param_value_t param = (MAVLink.mavlink_param_value_t)objectds;
if (ASCIIEncoding.ASCII.GetString(param.param_id).Contains("INS_PRODUCT_ID"))
{
if (param.param_value == 0 || param.param_value == 5)
{
board = true;
}
else
{
break;
}
}
}
if (objectds is MAVLink.mavlink_raw_imu_t)
{
MAVLink.mavlink_raw_imu_t rawimu = (MAVLink.mavlink_raw_imu_t)objectds;
if (board && Math.Abs(rawimu.xacc) > 2000 && Math.Abs(rawimu.yacc) > 2000 && Math.Abs(rawimu.zacc) > 2000)
{
//CustomMessageBox.Show("Bad Log " + file);
badfiles.Add(file);
break;
}
}
}
}
catch { }
}
}
if (badfiles.Count > 0)
{
FileStream fs = File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + "SearchResults.zip", FileMode.Create);
ZipOutputStream zipStream = new ZipOutputStream(fs);
zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
zipStream.UseZip64 = UseZip64.Off; // older zipfile
foreach (var file in badfiles)
{
// entry 2
string entryName = ZipEntry.CleanName(Path.GetFileName(file)); // Removes drive from name and fixes slash direction
ZipEntry newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
byte[] buffer = new byte[4096];
using (FileStream streamReader = File.OpenRead(file))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
}
zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
zipStream.Close();
CustomMessageBox.Show("Added " + badfiles.Count + " logs to " + MainV2.LogDir + Path.DirectorySeparatorChar + "SearchResults.zip\n Please send this file to Craig Elder <*****@*****.**>");
}
else
{
CustomMessageBox.Show("No Bad Logs Found");
}
}
public static void ScanAccel()
{
string[] files = Directory.GetFiles(MainV2.LogDir, "*.tlog", SearchOption.AllDirectories);
List <string> badfiles = new List <string>();
foreach (var file in files)
{
bool board = false;
Console.WriteLine(file);
using (MAVLinkInterface mavi = new MAVLinkInterface())
using (mavi.logplaybackfile = new BinaryReader(File.OpenRead(file)))
{
mavi.logreadmode = true;
try
{
while (mavi.logplaybackfile.BaseStream.Position < mavi.logplaybackfile.BaseStream.Length)
{
byte[] packet = mavi.readPacket();
if (packet.Length == 0)
{
break;
}
var objectds = mavi.DebugPacket(packet, false);
if (objectds is MAVLink.mavlink_param_value_t)
{
MAVLink.mavlink_param_value_t param = (MAVLink.mavlink_param_value_t)objectds;
if (ASCIIEncoding.ASCII.GetString(param.param_id).Contains("INS_PRODUCT_ID"))
{
if (param.param_value == 0 || param.param_value == 5)
{
board = true;
}
else
{
break;
}
}
}
if (objectds is MAVLink.mavlink_raw_imu_t)
{
MAVLink.mavlink_raw_imu_t rawimu = (MAVLink.mavlink_raw_imu_t)objectds;
if (board && Math.Abs(rawimu.xacc) > 2000 && Math.Abs(rawimu.yacc) > 2000 &&
Math.Abs(rawimu.zacc) > 2000)
{
//CustomMessageBox.Show("Bad Log " + file);
badfiles.Add(file);
break;
}
}
}
}
catch
{
}
}
}
if (badfiles.Count > 0)
{
FileStream fs = File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + "SearchResults.zip",
FileMode.Create);
ZipOutputStream zipStream = new ZipOutputStream(fs);
zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
zipStream.UseZip64 = UseZip64.Off; // older zipfile
foreach (var file in badfiles)
{
// entry 2
string entryName = ZipEntry.CleanName(Path.GetFileName(file));
// Removes drive from name and fixes slash direction
ZipEntry newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
byte[] buffer = new byte[4096];
using (FileStream streamReader = File.OpenRead(file))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
}
zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
zipStream.Close();
CustomMessageBox.Show("Added " + badfiles.Count + " logs to " + MainV2.LogDir +
Path.DirectorySeparatorChar +
"SearchResults.zip\n Please send this file to Craig Elder <*****@*****.**>");
}
else
{
CustomMessageBox.Show("No Bad Logs Found");
}
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch { }
continue;
}
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
File.Move(logfile, destdir + Path.GetFileName(logfile));
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
continue;
}
MAVLinkInterface mine = new MAVLinkInterface();
try
{
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
{
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD");
}
File.Move(logfile, Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar + Path.GetFileName(logfile));
continue;
}
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
File.Move(logfile, destdir + Path.GetFileName(logfile));
try
{
File.Move(logfile.Replace(".tlog", ".rlog"), destdir + Path.GetFileName(logfile).Replace(".tlog", ".rlog"));
}
catch { }
}
}
catch { continue; }
}
}
public static void SortLogs(string[] logs, string masterdestdir = "")
{
foreach (var logfile in logs)
{
if (masterdestdir == "")
{
masterdestdir = Path.GetDirectoryName(logfile);
}
issitl = false;
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch
{
}
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = masterdestdir + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch
{
}
continue;
}
try
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
mine.speechenabled = false;
var midpoint = mine.logplaybackfile.BaseStream.Length / 2;
mine.logplaybackfile.BaseStream.Seek(midpoint, SeekOrigin.Begin);
// used for sitl detection
mine.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SIMSTATE, sitldetection);
mine.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SIM_STATE, sitldetection);
MAVLink.MAVLinkMessage hbpacket = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket1 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket2 = mine.getHeartBeat();
MAVLink.MAVLinkMessage hbpacket3 = mine.getHeartBeat();
if (hbpacket.Length == 0 && hbpacket1.Length == 0 && hbpacket2.Length == 0 && hbpacket3.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(masterdestdir + Path.DirectorySeparatorChar + "BAD"))
{
Directory.CreateDirectory(masterdestdir + Path.DirectorySeparatorChar +
"BAD");
}
log.Info("Move log bad " + logfile + " to " + masterdestdir +
Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar +
Path.GetFileName(logfile));
movefileusingmask(logfile,
masterdestdir + Path.DirectorySeparatorChar + "BAD" +
Path.DirectorySeparatorChar);
continue;
}
if (hbpacket.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
}
if (hbpacket1.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb1 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket1);
}
if (hbpacket2.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb2 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket2);
}
if (hbpacket3.Length != 0)
{
MAVLink.mavlink_heartbeat_t hb3 = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket3);
}
// find most appropriate
if (mine.MAVlist.Count > 1)
{
foreach (var mav in mine.MAVlist)
{
if (mav.aptype == MAVLink.MAV_TYPE.ANTENNA_TRACKER)
{
continue;
}
if (mav.aptype == MAVLink.MAV_TYPE.GCS)
{
continue;
}
mine.sysidcurrent = mav.sysid;
mine.compidcurrent = mav.compid;
}
}
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = masterdestdir + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ mine.MAV.sysid + Path.DirectorySeparatorChar;
if (issitl)
{
destdir = masterdestdir + Path.DirectorySeparatorChar
+ "SITL" + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ mine.MAV.sysid + Path.DirectorySeparatorChar;
}
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
movefileusingmask(logfile, destdir);
}
}
catch
{
continue;
}
}
}
public static void SortLogs(string[] logs)
{
foreach (var logfile in logs)
{
FileInfo info = new FileInfo(logfile);
// delete 0 size files
if (info.Length == 0)
{
try
{
File.Delete(logfile);
}
catch { }
continue;
}
// move small logs - most likerly invalid
if (info.Length <= 1024)
{
try
{
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ "SMALL" + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
log.Info("Move log small " + logfile + " to " + destdir + Path.GetFileName(logfile));
movefileusingmask(logfile, destdir);
}
catch { }
continue;
}
try
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)))
{
mine.logreadmode = true;
byte[] hbpacket = mine.getHeartBeat();
if (hbpacket.Length == 0)
{
mine.logreadmode = false;
mine.logplaybackfile.Close();
if (!Directory.Exists(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD"))
{
Directory.CreateDirectory(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD");
}
log.Info("Move log bad " + logfile + " to " + Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar + Path.GetFileName(logfile));
movefileusingmask(logfile, Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + "BAD" + Path.DirectorySeparatorChar);
continue;
}
MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)mine.DebugPacket(hbpacket);
mine.logreadmode = false;
mine.logplaybackfile.Close();
string destdir = Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar
+ mine.MAV.aptype.ToString() + Path.DirectorySeparatorChar
+ hbpacket[3] + Path.DirectorySeparatorChar;
if (!Directory.Exists(destdir))
{
Directory.CreateDirectory(destdir);
}
movefileusingmask(logfile, destdir);
}
}
catch { continue; }
}
}