px4_log_reader 0.0.5

data/test/test_log_file.rb

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+require 'minitest/autorun'
+require 'px4_log_reader'
+
+class TestLogFile < MiniTest::Test
+
+	def setup
+	end
+
+	def teardown
+	end
+
+	def test_read_descriptors
+
+		# log_file = open_log_file
+		# descriptors = Px4LogReader::LogFile.read_descriptors( log_file )
+
+		# puts "Found #{descriptors.count} descriptors"
+		# descriptors.each do |type,descriptor|
+		# 	puts "  #{descriptor.name}"
+		# end
+
+		# log_file.close
+
+	end
+
+	def test_read_message
+
+		# log_file = open_log_file
+		# descriptors = Px4LogReader::LogFile.read_descriptors( log_file )
+
+		# log_file.rewind
+		# message = Px4LogReader::LogFile.read_message( log_file, descriptors )
+		
+		# puts message.descriptor
+
+	end
+
+
+	def open_log_file
+		log_file = File.open( File.join( '/Volumes/rvaughan_share/Development/px4_log_reader_test_data', '2016-07-24', '17_18_36.px4log' ), 'r' )
+		log_file
+	end
+
+end

data/test/test_message_descriptor.rb

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+require 'minitest/autorun'
+require 'px4_log_reader'
+
+class TestMessageDescriptor < MiniTest::Test
+
+	def setup
+	end
+
+	def teardown
+	end
+
+	def test_build_format_specifier
+
+		px4_format_specifier = 'BBnNZ'
+		ruby_format_specifier =
+			Px4LogReader::MessageDescriptor.build_format_specifier( px4_format_specifier )
+
+		assert_equal 'CCA4A16A64', ruby_format_specifier
+	end
+
+	def test_unpack_message
+
+	end
+
+	def test_descriptor_from_message
+
+		fields = [ 0x24, 32, 'test', 'IIbMh', 'id,counts,flag,length,ord' ]
+
+		message = Px4LogReader::LogMessage.new(
+			Px4LogReader::FORMAT_MESSAGE,
+			fields )
+
+		descriptor = Px4LogReader::MessageDescriptor.new
+		assert_equal nil, descriptor.type
+		assert_equal nil, descriptor.name
+		assert_equal nil, descriptor.length
+		assert_equal nil, descriptor.format
+		assert_equal nil, descriptor.format_specifier
+		assert_equal true, descriptor.field_list.empty?
+
+		descriptor.from_message( message )
+		assert_equal 0x24, descriptor.type
+		assert_equal 'test', descriptor.name
+		assert_equal 32, descriptor.length
+		assert_equal 'IIbMh', descriptor.format
+		assert_equal 'LLcCs', descriptor.format_specifier
+		assert_equal false, descriptor.field_list.empty?
+		assert_equal 0, descriptor.field_list['id']
+		assert_equal 1, descriptor.field_list['counts']
+		assert_equal 2, descriptor.field_list['flag']
+		assert_equal 3, descriptor.field_list['length']
+		assert_equal 4, descriptor.field_list['ord']
+
+	end
+
+end

data/test/test_message_descriptor_cache.rb

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+require 'minitest/autorun'
+require 'px4_log_reader'
+
+class TestMessageDescriptorCache < MiniTest::Test
+
+	def setup
+	end
+
+	def teardown
+	end
+
+	def test_write_read_descriptors
+
+		cache_filename = File.join( 'test', 'test_files', 'test_cache.px4mc' )
+
+		FileUtils.rm( cache_filename ) if File.exist? cache_filename
+
+		# Create a couple of descriptors
+		w_descriptors = {}
+		descriptor = Px4LogReader::MessageDescriptor.new({
+			name: 'FMT',
+			type: 0x80,
+			length: 89,
+			format: 'BBnNZ',
+			fields: [ "Type", "Length", "Name", "Format", "Labels" ] })
+		w_descriptors[ descriptor.type ] = descriptor.dup
+
+		descriptor = Px4LogReader::MessageDescriptor.new({
+			name: 'ATT',
+			type: 0x23,
+			length: 18,
+			format: 'LLBbff',
+			fields: [ "sec", "usec", "valid", "offset", "latitude", "longitude" ] })
+		w_descriptors[ descriptor.type ] = descriptor.dup
+
+
+		cache = Px4LogReader::MessageDescriptorCache.new( cache_filename )
+		assert_equal false, cache.exist?
+
+		cache.write_descriptors( w_descriptors )
+		assert_equal true, cache.exist?
+
+		r_descriptors = cache.read_descriptors
+
+		# assert_equal 2, r_descriptors.size
+		# assert_equal [ 0x23, 0x80 ], r_descriptors.keys.sort
+
+		w_descriptors.each do |type,w_descriptor|
+
+			assert_equal true, r_descriptors.keys.include?( type )
+
+			if r_descriptors.keys.include? type
+
+				r_descriptor = r_descriptors[ type ]
+
+				assert_equal w_descriptor.name, r_descriptor.name
+				assert_equal w_descriptor.type, r_descriptor.type
+				assert_equal w_descriptor.length, r_descriptor.length
+				assert_equal w_descriptor.format, r_descriptor.format
+				assert_equal w_descriptor.field_list.keys, r_descriptor.field_list.keys
+
+			end
+
+		end
+
+		FileUtils.rm( cache_filename )
+
+	end
+
+end

data/test/test_reader.rb

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+require 'minitest/autorun'
+require 'px4_log_reader'
+
+class TestReader < MiniTest::Test
+
+	def setup
+	end
+
+	def test_non_existent_log_file
+
+		nonexistent_filename = 'nonexistent_logfile.px4log'
+
+		exception = assert_raises Px4LogReader::FileNotFoundError do
+			reader = Px4LogReader.open!( nonexistent_filename )
+		end
+
+		exception = assert_raises Px4LogReader::FileNotFoundError do
+			Px4LogReader.open!( nonexistent_filename ) do |reader|
+			end
+		end
+
+	end
+
+	def test_non_existent_log_file_no_except
+
+		nonexistent_filename = 'nonexistent_logfile.px4log'
+
+		assert_nil Px4LogReader.open( nonexistent_filename )
+
+		Px4LogReader.open( nonexistent_filename ) do |reader|
+			assert_nil reader
+		end
+	end
+
+	def test_reader
+
+		log_file_opened = false
+		log_filename = File.join( 'test', 'test_files', 'test_log.px4log' )
+
+		Px4LogReader.open( log_filename ) do |reader|
+
+			log_file_opened = true
+
+			# Verify that all expected descriptors are read.
+			descriptors = reader.descriptors
+			assert_equal Hash, descriptors.class
+			assert_equal false, descriptors.empty?
+
+			assert_equal true, all_descriptors_found( descriptors )
+
+
+			# The log file associated with this test case contains the following
+			# messages in the specified order. Validate the order and context.
+			#
+			# 1) TIME
+			# 2) STAT
+			# 3) IMU
+			# 4) SENS
+			# 5) IMU1
+			# 6) VTOL
+			# 7) GPS
+			#
+			index = 0
+			expected_message_names = ['TIME','STAT','IMU','SENS','IMU1','VTOL','GPS']
+			expected_message_types = [0x81,0x0A,0x04,0x05,0x16,0x2B,0x08]
+
+			reader.each_message do |message,context|
+
+				expected_name = expected_message_names[ index ]
+				expected_type = expected_message_types[ index ]
+
+				assert_equal expected_name, message.descriptor.name
+				assert_equal expected_type, message.descriptor.type
+
+				context_message = context.find_by_name( expected_name )
+				refute_nil context_message
+				assert_equal expected_name, context_message.descriptor.name
+
+				context_message = context.find_by_type( expected_type )
+				refute_nil context_message
+				assert_equal expected_type, context_message.descriptor.type
+
+				index += 1
+				assert_equal index, context.messages.size
+
+			end
+
+
+			index = 0
+			expected_message_names = ['TIME','IMU','SENS','VTOL','GPS']
+			expected_message_types = [0x81,0x04,0x05,0x2B,0x08]
+
+			reader.each_message( { without: ['STAT','IMU1'] } ) do |message,context|
+
+				expected_name = expected_message_names[ index ]
+				expected_type = expected_message_types[ index ]
+
+				assert_equal expected_name, message.descriptor.name
+				assert_equal expected_type, message.descriptor.type
+
+				context_message = context.find_by_name( expected_name )
+				refute_nil context_message
+				assert_equal expected_name, context_message.descriptor.name
+
+				context_message = context.find_by_type( expected_type )
+				refute_nil context_message
+				assert_equal expected_type, context_message.descriptor.type
+
+				index += 1
+				assert_equal index, context.messages.size
+
+			end
+
+		end
+
+		assert_equal true, log_file_opened
+
+	end
+
+
+
+	def all_descriptors_found( descriptors )
+		# TODO: Validate all descriptors?
+		return true
+	end
+
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: px4_log_reader
+version: !ruby/object:Gem::Version
+  version: 0.0.5
+platform: ruby
+authors:
+- Robert Glissmann
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2016-09-07 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.1'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.1'
+description: Px4LogReader is a gem for parsing PX4-format flight logs generated by
+  the Pixhawk.
+email: Robert.Glissmann@gmail.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- README.md
+- Rakefile
+- lib/px4_log_reader.rb
+- lib/px4_log_reader/invalid_descriptor_error.rb
+- lib/px4_log_reader/log_buffer.rb
+- lib/px4_log_reader/log_file.rb
+- lib/px4_log_reader/log_message.rb
+- lib/px4_log_reader/message_descriptor.rb
+- lib/px4_log_reader/message_descriptor_cache.rb
+- lib/px4_log_reader/reader.rb
+- lib/px4_log_reader/version.rb
+- lib/px4log_parser.rb
+- px4_log_reader.gemspec
+- test/test.rb
+- test/test_files/pixhawk_descriptor_cache.px4mc
+- test/test_files/test_log.px4log
+- test/test_log_buffer.rb
+- test/test_log_file.rb
+- test/test_message_descriptor.rb
+- test/test_message_descriptor_cache.rb
+- test/test_reader.rb
+homepage: https://github.com/rgmann/px4_log_reader
+licenses:
+- BSD
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.4.5.1
+signing_key: 
+specification_version: 4
+summary: PX4 flight log reader
+test_files: []
+has_rdoc: