mavlink-log 0.0.2 → 0.0.3

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 2aa7c3553fcad5fa98c61094e850ed0b23e9e28a
-  data.tar.gz: 95db6b58d4f7c4bf4af1ca0d5c97218dcf385d01
+  metadata.gz: 1f2ccd8859542f1c3980ef2e82e771c82b6c5a1c
+  data.tar.gz: 6a08466974f2e16eb8cf2177c68ad424fe563eb6
 SHA512:
-  metadata.gz: d2f934aed5b2e6c68f31cec773efe744ded1bf7d0b21497e3e3ddf57a236ad1bacccc86b16e8541a0146050716bd883e8ea14fba02651dcdeebb1fa7c5319896
-  data.tar.gz: dc241610e2b09e2dc5e32e1d90898ec026dd0986034a3326097d482ece1ebf1b6dd924865f676c5f5aea13be6e3b220b25f0e6b6a5a9583a58332c9ccafc55b5
+  metadata.gz: 4c297d769749ef45691c58cd659459a0fdf772af9ac46affb47aab2832a091d4bc94e82b02b0c498f5d3eabee679d68583e2831fbde71549709f683ff600767b
+  data.tar.gz: 4aea05a6affd339af3766269b0033b5bf5f024eb3e443f571282149710b8678d447c756ad28c269f8890914d0f30748a9899b6798c2d9cd10cc7a4e1cbe7e00d

data/lib/mavlink/log/entry.rb

@@ -11,7 +11,7 @@ module MAVLink
         @payload = payload
         @crc = to_crc(raw_crc)
 
-        if false && header.id==22
+        if false && header.id==40
           puts raw_time.unpack('H*')
           puts payload.unpack("H*")
           puts raw_crc.unpack('H*')

data/lib/mavlink/log/file.rb

@@ -36,10 +36,11 @@ module MAVLink
         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})"
+        unless @entries.length >= 2
+          # bad ending message, give the file benefit of the doubt...
+          raise ArgumentError, "File does not appear to be an MAVLink log (#{e})"
+        end
       end
 
       # Gets the duration of the session, in seconds.
@@ -47,15 +48,27 @@ module MAVLink
       # @return [Float] duration of the session, in seconds
       def duration
         return 0 if @entries.empty?
-        (@entries.last.time - @entries.first.time) / 1000000.0
+        ended_at - started_at
       end
 
+      # Gets the starting time as a Unix Epoch time stamp in seconds.
+      #
+      # @return [Float] unix epoch time the log began
       def started_at
-        Time.at(@entries.first.time / 1000000.0)
+        time_in_seconds(@entries.first.time)
       end
 
+      # Gets the ending time as a Unix Epoch time stamp in seconds.
+      #
+      # @return [Float] unix epoch time the log ended
       def ended_at
-        Time.at(@entries.last.time / 1000000.0)
+        time_in_seconds(@entries.last.time)
+      end
+
+      private
+
+      def time_in_seconds(stamp)
+        stamp / 1000000.0
       end
 
     end

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

@@ -21,11 +21,14 @@ module MAVLink; module Log; module Messages
       when 33;  GlobalPositionInt.new(entry)
       when 35;  RcChannelsRaw.new(entry)
       when 36;  ServoOutputRaw.new(entry)
+      when 39;  MissionItem.new(entry)
+      when 40;  MissionRequest.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)
+      when 253; StatusText.new(entry)
       else
         puts entry.header.inspect
         nil

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

@@ -3,6 +3,8 @@ require_relative 'global_position_int'
 require_relative 'gps_raw_int'
 require_relative 'heart_beat'
 require_relative 'mission_current'
+require_relative 'mission_item'
+require_relative 'mission_request'
 require_relative 'nav_controller_output'
 require_relative 'param_request_list'
 require_relative 'param_value'
@@ -11,5 +13,6 @@ require_relative 'rc_channels_raw'
 require_relative 'request_data_stream'
 require_relative 'scaled_pressure'
 require_relative 'servo_output_raw'
+require_relative 'status_text'
 require_relative 'sys_status'
 require_relative 'vfr_hud'

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

@@ -0,0 +1,63 @@
+module MAVLink; module Log; module Messages
+
+  class MissionItem < Message
+
+    def param1
+      @param1 ||= float(0..3)
+    end
+
+    def param2
+      @param2 ||= float(4..7)
+    end
+
+    def param3
+      @param3 ||= float(8..11)
+    end
+
+    def param4
+      @param4 ||= float(12..15)
+    end
+
+    def x
+      @x ||= float(16..19)
+    end
+
+    def y
+      @y ||= float(20..23)
+    end
+
+    def z
+      @z ||= float(24..27)
+    end
+
+    def seq
+      @seq ||= uint16_t(28..29)
+    end
+
+    def command
+      @command ||= uint16_t(30..31)
+    end
+
+    def target_system
+      @target_system ||= uint8_t(32)
+    end
+
+    def target_component
+      @target_component ||= uint8_t(33)
+    end
+
+    def frame
+      @frame ||= uint8_t(34)
+    end
+
+    def current
+      @current ||= !!uint8_t(35)
+    end
+
+    def autocontinue
+      @autocontinue ||= !!uint8_t(36)
+    end
+
+  end
+
+end; end; end

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

@@ -0,0 +1,19 @@
+module MAVLink; module Log; module Messages
+
+  class MissionRequest < Message
+
+    def seq
+      @seq ||= uint16_t(0..1)
+    end
+
+    def target_system
+      @target_system ||= uint8_t(2)
+    end
+
+    def target_component
+      @target_component ||= uint8_t(3)
+    end
+
+  end
+
+end; end; end

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

@@ -0,0 +1,15 @@
+module MAVLink; module Log; module Messages
+
+  class StatusText < Message
+
+    def severity
+      @severity ||= uint8_t(0)
+    end
+
+    def text
+      @text ||= string(1..50)
+    end
+
+  end
+
+end; end; end

data/lib/mavlink/log/version.rb

@@ -1,5 +1,5 @@
 module MAVLink
   module Log
-    VERSION = "0.0.2"
+    VERSION = "0.0.3"
   end
 end

data/spec/file_spec.rb

@@ -4,18 +4,57 @@ describe MAVLink::Log::File do
 
   describe '#new' do
 
-    context 'with data file delete-me-soon.tlog' do
+    context 'with data file 2013-10-13 16-58-51.tlog' do
 
-      before(:all) { @file = MAVLink::Log::File.new(data_file('delete-me-soon.tlog')) }
-      #before(:all) { @file = MAVLink::Log::File.new("/Users/nick/Desktop/2013-10-11 16-28-33.tlog") }
+      before(:all) { @file = MAVLink::Log::File.new(data_file('2013-10-13 16-58-51.tlog')) }
 
       subject { @file }
 
-      its(:duration) { should be_within(0.1).of(99.7) }
+      its(:duration) { should be_within(0.1).of(570.8) }
 
-      it { should have(21138).entries }
+      its(:started_at) { should be_within(0.0001).of(1381701533.3125) }
 
-      it { should have(21138).messages }
+      its(:ended_at) { should be_within(0.0001).of(1381702104.1094) }
+
+      it { should have(16187).entries }
+
+      it { should have(16187).messages }
+
+    end
+
+    context 'with data file 2013-10-13 18-31-24.tlog' do
+
+      before(:all) { @file = MAVLink::Log::File.new(data_file('2013-10-13 18-31-24.tlog')) }
+
+      subject { @file }
+
+      its(:duration) { should be_within(0.1).of(1113.8) }
+
+      its(:started_at) { should be_within(0.0001).of(1381707086.4375) }
+
+      its(:ended_at) { should be_within(0.0001).of(1381708200.2188) }
+
+      it { should have(13382).entries }
+
+      it { should have(13382).messages }
+
+    end
+
+    context 'with data file 2013-10-13 18-50-10.tlog' do
+
+      before(:all) { @file = MAVLink::Log::File.new(data_file('2013-10-13 18-50-10.tlog')) }
+
+      subject { @file }
+
+      its(:duration) { should be_within(0.1).of(629.9) }
+
+      its(:started_at) { should be_within(0.0001).of(1381708212.0313) }
+
+      its(:ended_at) { should be_within(0.0001).of(1381708842.0) }
+
+      it { should have(19359).entries }
+
+      it { should have(19359).messages }
 
     end
 

data/spec/messages/mission_item_spec.rb

@@ -0,0 +1,48 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::MissionItem do
+
+  let(:time) { ["0004E8A67D4E5686"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE25BB010127"].pack('H*')) }
+
+  let(:payload) { ["0000000000000000000000000000000016BE24425C05C0C20000000000001000FFBE000101"].pack('H*') }
+
+  let(:crc) { ["9E5A"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::MissionItem.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:param1) { should be_within(0.1).of(0) }
+
+  its(:param2) { should be_within(0.1).of(0) }
+
+  its(:param3) { should be_within(0.1).of(0) }
+
+  its(:param4) { should be_within(0.1).of(0) }
+
+  its(:x) { should be_within(0.00001).of(41.18563) }
+
+  its(:y) { should be_within(0.00001).of(-96.01047) }
+
+  its(:z) { should be_within(0.1).of(0) }
+
+  its(:seq) { should eql(0) }
+
+  its(:command) { should eql(16) }
+
+  its(:target_system) { should eql(255) }
+
+  its(:target_component) { should eql(190) }
+
+  its(:frame) { should eql(0) }
+
+  its(:current) { should be_true }
+
+  its(:autocontinue) { should be_true }
+
+end

data/spec/messages/mission_request_spec.rb

@@ -0,0 +1,26 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::MissionRequest do
+
+  let(:time) { ["0004E8A7C0EAD571"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE0449FFBE28"].pack('H*')) }
+
+  let(:payload) { ["00000101"].pack('H*') }
+
+  let(:crc) { ["14B9"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::MissionRequest.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:seq) { should eql(0) }
+
+  its(:target_system) { should eql(1) }
+
+  its(:target_component) { should eql(1) }
+
+end

data/spec/messages/status_text_spec.rb

@@ -0,0 +1,24 @@
+require 'spec_helper'
+
+describe MAVLink::Log::Messages::StatusText do
+
+  let(:time) { ["0004E8A824FF4B55"].pack('H*') }
+
+  let(:header) { MAVLink::Log::Header.new(["FE331C0101FD"].pack('H*')) }
+
+  let(:payload) { ["01496E697469616C6973696E672041504D2E2E2E00000000000000000000000000000000000000000000000000000000000000"].pack('H*') }
+
+  let(:crc) { ["BD5C"].pack('H*') }
+
+  subject do
+    entry = MAVLink::Log::Entry.new(time, header, payload, crc)
+    MAVLink::Log::Messages::StatusText.new(entry)
+  end
+
+  it_behaves_like 'a message'
+
+  its(:severity) { should eql(1) }
+
+  its(:text) { should eql('Initialising APM...') }
+
+end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: mavlink-log
 version: !ruby/object:Gem::Version
-  version: 0.0.2
+  version: 0.0.3
 platform: ruby
 authors:
 - Nick Veys
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-10-13 00:00:00.000000000 Z
+date: 2013-10-14 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: awesome_print
@@ -161,6 +161,8 @@ files:
 - lib/mavlink/log/messages/heart_beat.rb
 - lib/mavlink/log/messages/messages.rb
 - lib/mavlink/log/messages/mission_current.rb
+- lib/mavlink/log/messages/mission_item.rb
+- lib/mavlink/log/messages/mission_request.rb
 - lib/mavlink/log/messages/nav_controller_output.rb
 - lib/mavlink/log/messages/param_request_list.rb
 - lib/mavlink/log/messages/param_value.rb
@@ -169,11 +171,14 @@ files:
 - lib/mavlink/log/messages/request_data_stream.rb
 - lib/mavlink/log/messages/scaled_pressure.rb
 - lib/mavlink/log/messages/servo_output_raw.rb
+- lib/mavlink/log/messages/status_text.rb
 - lib/mavlink/log/messages/sys_status.rb
 - lib/mavlink/log/messages/vfr_hud.rb
 - lib/mavlink/log/version.rb
 - mavlink-log.gemspec
-- spec/data/delete-me-soon.tlog
+- spec/data/2013-10-13 16-58-51.tlog
+- spec/data/2013-10-13 18-31-24.tlog
+- spec/data/2013-10-13 18-50-10.tlog
 - spec/data/invalid/castle/long-flight.csv
 - spec/data/invalid/eagle_tree/multi-session-2.fdr
 - spec/data/invalid/empty.file
@@ -183,9 +188,12 @@ files:
 - spec/messages/global_position_int_spec.rb
 - spec/messages/gps_raw_int_spec.rb
 - spec/messages/heart_beat_spec.rb
+- spec/messages/mission_item_spec.rb
+- spec/messages/mission_request_spec.rb
 - spec/messages/param_value_spec.rb
 - spec/messages/raw_imu_spec.rb
 - spec/messages/rc_channels_raw_spec.rb
+- spec/messages/status_text_spec.rb
 - spec/messages/sys_status_spec.rb
 - spec/messages/vfr_hud_spec.rb
 - spec/spec_helper.rb
@@ -218,7 +226,9 @@ signing_key:
 specification_version: 4
 summary: MAVLink telemetry log file reader
 test_files:
-- spec/data/delete-me-soon.tlog
+- spec/data/2013-10-13 16-58-51.tlog
+- spec/data/2013-10-13 18-31-24.tlog
+- spec/data/2013-10-13 18-50-10.tlog
 - spec/data/invalid/castle/long-flight.csv
 - spec/data/invalid/eagle_tree/multi-session-2.fdr
 - spec/data/invalid/empty.file
@@ -228,9 +238,12 @@ test_files:
 - spec/messages/global_position_int_spec.rb
 - spec/messages/gps_raw_int_spec.rb
 - spec/messages/heart_beat_spec.rb
+- spec/messages/mission_item_spec.rb
+- spec/messages/mission_request_spec.rb
 - spec/messages/param_value_spec.rb
 - spec/messages/raw_imu_spec.rb
 - spec/messages/rc_channels_raw_spec.rb
+- spec/messages/status_text_spec.rb
 - spec/messages/sys_status_spec.rb
 - spec/messages/vfr_hud_spec.rb
 - spec/spec_helper.rb