mavlink-log 0.0.1 → 0.0.2

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -7,6 +7,7 @@ Information:
 * mavlink github: https://github.com/mavlink/mavlink
 * Spec: https://pixhawk.ethz.ch/mavlink
 * Common message definitions: https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml
+* Packet Decoding: http://eastbay-rc.blogspot.com/2013/04/mavlink-protocol-notes-packet-decoding.html
 
 ## Installation
 

data/lib/mavlink/log.rb

@@ -1,3 +1,7 @@
+require "mavlink/log/entry"
 require "mavlink/log/file"
-require "mavlink/log/messages"
+require "mavlink/log/header"
+require "mavlink/log/message"
+require "mavlink/log/messages/factory"
+require "mavlink/log/messages/messages"
 require "mavlink/log/version"

data/lib/mavlink/log/entry.rb

@@ -0,0 +1,34 @@
+module MAVLink
+  module Log
+
+    class Entry
+
+      attr_reader :time, :header, :payload, :crc
+
+      def initialize(raw_time, header, payload, raw_crc)
+        @time = to_time(raw_time)
+        @header = header
+        @payload = payload
+        @crc = to_crc(raw_crc)
+
+        if false && header.id==22
+          puts raw_time.unpack('H*')
+          puts payload.unpack("H*")
+          puts raw_crc.unpack('H*')
+        end
+      end
+
+      private
+
+      def to_time(raw)
+        (raw[0..3].unpack('L>')[0] << 32) | raw[4..7].unpack('L>')[0]
+      end
+
+      def to_crc(raw)
+        raw.unpack('S>')[0]
+      end
+
+    end
+
+  end
+end

data/lib/mavlink/log/file.rb

@@ -3,15 +3,9 @@ require 'open-uri'
 module MAVLink
   module Log
 
-    USEC_PER_SEC = 1000000.0
-
-    Header = Struct.new(:magic, :length, :sequence, :system, :component, :id)
-
-    Entry = Struct.new(:time, :header, :payload, :crc)
-
     class File
 
-      attr_accessor :entries, :messages
+      attr_reader :entries, :messages
 
       # Determines if the file at the given URI is a MAVLink telemetry log file.
       #
@@ -29,17 +23,21 @@ module MAVLink
             raw_time = file.read(8)
             break if raw_time.nil?
 
-            time = to_time(raw_time)
-            header = to_header(file.read(6))
+            header = Header.new(file.read(6))
+            raise "Unexpected magic number (#{header.magic})" unless header.magic == 0xFE
+
             payload = file.read(header.length)
-            crc = file.read(2).unpack('S>')[0]
-            @entries << Entry.new(time, header, payload, crc)
-            @messages << MessageFactory.build(@entries.last)
+            raw_crc = file.read(2)
+            @entries << Entry.new(raw_time, header, payload, raw_crc)
+            @messages << Messages::Factory.build(@entries.last)
           end
         end
-        #@messages.each do |e|
-        #  puts e.inspect
-        #end
+
+        if @entries.empty?
+          raise 'No entries found in file'
+        end
+
+        #puts @messages.inspect
       rescue => e
         raise ArgumentError, "File does not appear to be an MAVLink log (#{e})"
       end
@@ -49,38 +47,15 @@ module MAVLink
       # @return [Float] duration of the session, in seconds
       def duration
         return 0 if @entries.empty?
-        (@entries.last.time - @entries.first.time) / USEC_PER_SEC
+        (@entries.last.time - @entries.first.time) / 1000000.0
       end
 
       def started_at
-        Time.at(@entries.first.time / USEC_PER_SEC)
+        Time.at(@entries.first.time / 1000000.0)
       end
 
       def ended_at
-        Time.at(@entries.last.time / USEC_PER_SEC)
-      end
-
-      # Determines if KML methods can be called for this file.
-      #
-      # @return [Boolean] true if KML can be generated for this file, false otherwise
-      def to_kml?
-        @entries.any? { |e| e.header.id == GlobalPositionInt::ID }
-      end
-
-      private
-
-      def to_time(raw_time)
-        (raw_time[0..3].unpack('L>')[0] << 32) | raw_time[4..7].unpack('L>')[0]
-      end
-
-      def to_header(raw_header)
-        magic = raw_header[0].unpack('C')[0]
-        length = raw_header[1].unpack('C')[0]
-        sequence = raw_header[2].unpack('C')[0]
-        system = raw_header[3].unpack('C')[0]
-        component = raw_header[4].unpack('C')[0]
-        id = raw_header[5].unpack('C')[0]
-        Header.new(magic, length, sequence, system, component, id)
+        Time.at(@entries.last.time / 1000000.0)
       end
 
     end

data/lib/mavlink/log/header.rb

@@ -0,0 +1,20 @@
+module MAVLink
+  module Log
+
+    class Header
+
+      attr_reader :magic, :length, :sequence, :system, :component, :id
+
+      def initialize(raw_header)
+        @magic = raw_header[0].unpack('C')[0]
+        @length = raw_header[1].unpack('C')[0]
+        @sequence = raw_header[2].unpack('C')[0]
+        @system = raw_header[3].unpack('C')[0]
+        @component = raw_header[4].unpack('C')[0]
+        @id = raw_header[5].unpack('C')[0]
+      end
+
+    end
+
+  end
+end

data/lib/mavlink/log/message.rb

@@ -0,0 +1,83 @@
+module MAVLink; module Log
+
+  class Message
+
+    def initialize(entry)
+      @entry = entry
+    end
+
+    def id
+      @entry.header.id
+    end
+
+    def crc
+      @entry.crc
+    end
+
+    protected
+
+    def float(range)
+      unpack(range, 'e')
+    end
+
+    def int8_t(range)
+      unpack(range, 'c')
+    end
+
+    def uint8_t(range)
+      unpack(range, 'C')
+    end
+
+    def int16_t(range)
+      unpack(range, 's<')
+    end
+
+    def uint16_t(range)
+      unpack(range, 'S<')
+    end
+
+    def int32_t(range)
+      unpack(range, 'l<')
+    end
+
+    def uint32_t(range)
+      unpack(range, 'L<')
+    end
+
+    def uint64_t(range)
+      unpack(range, 'Q<')
+    end
+
+    def string(range)
+      unpack(range, 'Z*')
+    end
+
+    private
+
+    def payload
+      @entry.payload
+    end
+
+    def unpack(range, format, index = 0)
+      payload[range].unpack(format)[index]
+    end
+
+  end
+
+  class TimedMessageMilli < Message
+
+    def time_boot_ms
+      @time_boot_ms ||= uint32_t(0..3)
+    end
+
+  end
+
+  class TimedMessageMicro < Message
+
+    def time_usec
+      @time_usec ||= uint64_t(0..7)
+    end
+
+  end
+
+end; end

data/lib/mavlink/log/messages/attitude.rb

@@ -0,0 +1,37 @@
+module MAVLink; module Log; module Messages
+
+  class Attitude < TimedMessageMilli
+
+    # radians (-pi..pi)
+    def roll
+      @roll ||= float(0..3)
+    end
+
+    # radians (-pi..pi)
+    def pitch
+      @pitch ||= float(4..7)
+    end
+
+    # radians (-pi..pi)
+    def yaw
+      @yaw ||= float(8..11)
+    end
+
+    # rad/s
+    def rollspeed
+      @rollspeed ||= float(12..15)
+    end
+
+    # rad/s
+    def pitchspeed
+      @pitchspeed ||= float(16..19)
+    end
+
+    # rad/s
+    def yawspeed
+      @yawspeed ||= float(20..23)
+    end
+
+  end
+
+end; end; end

data/lib/mavlink/log/messages/factory.rb

@@ -0,0 +1,37 @@
+module MAVLink; module Log; module Messages
+
+  class Dummy
+    def initialize(entry)
+      #puts entry.header.inspect
+    end
+  end
+
+  class Factory
+
+    def self.build(entry)
+      case(entry.header.id)
+      when 0;   HeartBeat.new(entry)
+      when 1;   SysStatus.new(entry)
+      when 21;  ParamRequestList.new(entry)
+      when 22;  ParamValue.new(entry)
+      when 24;  GpsRawInt.new(entry)
+      when 27;  RawImu.new(entry)
+      when 29;  ScaledPressure.new(entry)
+      when 30;  Attitude.new(entry)
+      when 33;  GlobalPositionInt.new(entry)
+      when 35;  RcChannelsRaw.new(entry)
+      when 36;  ServoOutputRaw.new(entry)
+      when 42;  MissionCurrent.new(entry)
+      when 62;  NavControllerOutput.new(entry)
+      when 66;  RequestDataStream.new(entry)
+      when 74;  VfrHud.new(entry)
+      when 150..240; Dummy.new(entry)
+      else
+        puts entry.header.inspect
+        nil
+      end
+    end
+
+  end
+
+end; end; end

data/lib/mavlink/log/messages/global_position_int.rb

@@ -0,0 +1,47 @@
+module MAVLink; module Log; module Messages
+
+  class GlobalPositionInt < TimedMessageMilli
+
+    # dec. degrees
+    def lat
+      @lat ||= (int32_t(4..7) / 10000000.0)
+    end
+
+    # dec. degrees
+    def lon
+      @lon ||= (int32_t(8..11) / 10000000.0)
+    end
+
+    # meters
+    def alt
+      @alt ||= (int32_t(12..15) / 1000.0)
+    end
+
+    # meters
+    def relative_alt
+      @relative_alt ||= (int32_t(16..19) / 1000.0)
+    end
+
+    # m/s
+    def vx
+      @vx ||= (int16_t(20..21) / 100.0)
+    end
+
+    # m/s
+    def vy
+      @vy ||= (int16_t(22..23) / 100.0)
+    end
+
+    # m/s
+    def vz
+      @vz ||= (int16_t(24..25) / 100.0)
+    end
+
+    # degrees (0.0..359.99) (0xFFFF if unknown)
+    def hdg
+      @hdg ||= (uint16_t(26..27) / 100.0)
+    end
+
+  end
+
+end; end; end

data/lib/mavlink/log/messages/gps_raw_int.rb

@@ -0,0 +1,51 @@
+module MAVLink; module Log; module Messages
+
+  class GpsRawInt < TimedMessageMicro
+
+    # WGS84 dec. degrees
+    def lat
+      @lat ||= (int32_t(8..11) / 10000000.0)
+    end
+
+    # WGS84 dec. degrees
+    def lon
+      @lon ||= (int32_t(12..15) / 10000000.0)
+    end
+
+    # meters
+    def alt
+      @alt ||= (int32_t(16..19) / 1000.0)
+    end
+
+    # meters
+    def eph
+      @eph ||= (uint16_t(20..21) / 100.0)
+    end
+
+    # meters
+    def epv
+      @epv ||= (uint16_t(22..23) / 100.0)
+    end
+
+    # m/s
+    def vel
+      @vel ||= (uint16_t(24..25) / 100.0)
+    end
+
+    # degrees 0..359.99
+    def cog
+      @cog ||= (uint16_t(26..27) / 100.0)
+    end
+
+    # 0-1: no fix, 2: 2D fix, 3: 3D fix
+    def fix_type
+      @fix_type ||= uint8_t(28)
+    end
+
+    def satellites_visible
+      @satellites_visible ||= uint8_t(29)
+    end
+
+  end
+
+end; end; end

data/lib/mavlink/log/messages/heart_beat.rb

@@ -0,0 +1,31 @@
+module MAVLink; module Log; module Messages
+
+  class HeartBeat < Message
+
+    def type
+      @type ||= uint8_t(0)
+    end
+
+    def autopilot
+      @autopilot ||= uint8_t(1)
+    end
+
+    def base_mode
+      @base_mode ||= uint8_t(2)
+    end
+
+    def custom_mode
+      @custom_mode ||= uint32_t(3..6)
+    end
+
+    def system_status
+      @system_status ||= uint8_t(7)
+    end
+
+    def mavlink_version
+      @mavlink_version ||= uint8_t(8)
+    end
+
+  end
+
+end; end; end