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fix bugs.
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@lovettchris
lovettchris committed Apr 11, 2017
1 parent 839d891 commit 59a6514
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Showing 7 changed files with 246 additions and 21 deletions.
1 change: 0 additions & 1 deletion LogViewer/LogViewer/Controls/ChartGroup.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@ namespace LogViewer.Controls
public class ChartGroup : Grid
{
private bool scaleIndependently;
private int scaleIndex = 0;

public bool ScaleIndependently
{
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2 changes: 1 addition & 1 deletion LogViewer/LogViewer/Controls/SimpleLineChart.xaml.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -527,7 +527,7 @@ private void AddScaledValues(PathFigure figure, int start, int end)

double rx = pt.X + offset;

if (pt.X > 0 && pt.X < width)
if (pt.X >= 0 && pt.X < width)
{
visibleCount++;
if (!started)
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6 changes: 3 additions & 3 deletions LogViewer/LogViewer/Model/JSonDataLog.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -56,9 +56,9 @@ public async Task Load(string file, ProgressUtility progress)

bool hasStartTime = false;
this.startTime = DateTime.MinValue;
DateTime? gpsStartTime = null;
ulong gpsAbsoluteOffset = 0;
ulong logStartTime = 0;
//DateTime? gpsStartTime = null;
//ulong gpsAbsoluteOffset = 0;
//ulong logStartTime = 0;

List<LogEntry> rows = new List<LogEntry>();

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236 changes: 227 additions & 9 deletions LogViewer/LogViewer/Model/Px4ULog.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,40 @@ public override string ToString()
return typeName + (arraySize > 0 ? "[" + arraySize + "] " : " ") + name;
}

public static string GetFieldTypeName(FieldType f)
{
switch (f)
{
case FieldType.Float:
return "float";
case FieldType.Double:
return "double";
case FieldType.Int8:
return "int8_t";
case FieldType.Bool:
return "bool";
case FieldType.UInt8:
return "uint8_t";
case FieldType.Int16:
return "int16_t";
case FieldType.UInt16:
return "uint16_t";
case FieldType.Int32:
return "int32_t";
case FieldType.UInt32:
return "uint32_t";
case FieldType.Int64:
return "int64_t";
case FieldType.UInt64:
return "uint64_t";
case FieldType.Char:
return "char";
case FieldType.Struct:
break;
}
throw new Exception("Unexpected FieldType");
}

public MessageField(string definition)
{
string[] parts = definition.Split(' ');
Expand Down Expand Up @@ -190,6 +224,7 @@ public MessageLogging(byte logLevel, long timestamp, string msg)
class MessageData : Message
{
internal MessageSubscription subscription;
internal MessageFormat format;
UInt16 msgId;
byte[] value;
Dictionary<string, object> values;
Expand All @@ -199,6 +234,7 @@ public MessageData(UInt16 msgId, byte[] value, MessageSubscription s)
this.msgId = msgId;
this.value = value;
this.subscription = s;
this.format = s.format;
}

internal DataValue GetValue(MessageField field)
Expand Down Expand Up @@ -230,10 +266,14 @@ internal DataValue GetValue(MessageField field)

private void ParseValues()
{
values = new Dictionary<string, object>();
BinaryReader reader = new BinaryReader(new MemoryStream(value));
ReadValues(reader);
}

foreach (var field in subscription.format.fields)
private void ReadValues(BinaryReader reader)
{
values = new Dictionary<string, object>();
foreach (var field in this.format.fields)
{
object value = null;
if (field.arraySize > 0)
Expand All @@ -249,13 +289,14 @@ private void ParseValues()
{
value = ReadField(reader, field);
}
field.value = value;
values[field.name] = value;
}
}

private object ReadField(BinaryReader reader, MessageField field)
{
object o = null;
object o = null;
switch (field.type)
{
case FieldType.Float:
Expand Down Expand Up @@ -295,11 +336,126 @@ private object ReadField(BinaryReader reader, MessageField field)
o = (char)reader.ReadByte();
break;
case FieldType.Struct:
// todo
{
MessageFormat f = field.structType;
if (f == null)
{
throw new Exception(string.Format("Unexpected FieldType.Struct in field {0}", field.name));
}
MessageData s = new MessageData(this.msgId, null, this.subscription);
s.format = f;
s.ReadValues(reader);
o = s;
}
break;
}
return o;
}

internal MessageData GetNestedData(string fieldName)
{
if (values == null)
{
ParseValues();
}

foreach (var field in format.fields)
{
if (field.name == fieldName)
{
if (field.arraySize > 0)
{
// cook up a MessageData just for the array.
MessageData array = new MessageData(this.msgId, null, this.subscription);
StringBuilder fieldTypes = new StringBuilder();
fieldTypes.Append(fieldName);
fieldTypes.Append(':');

var values = new Dictionary<string, object>();
bool first = true;
object ts = null;
// we need to copy the timestamp down so the data renders with time sync.
if (this.values.TryGetValue("timestamp", out ts))
{
fieldTypes.Append("double timestamp");
values["timestamp"] = ts;
first = false;
}

Array data = (Array)field.value;
for (int i = 0; i < field.arraySize; i++)
{
if (!first)
{
fieldTypes.Append(';');
}
fieldTypes.Append(MessageField.GetFieldTypeName(field.type));
fieldTypes.Append(' ');
fieldTypes.Append(i.ToString());
values[i.ToString()] = data.GetValue(i);
first = false;
}
array.format = new MessageFormat(fieldTypes.ToString());
array.values = values;
return array;
}
else if (field.value is MessageData)
{
return (MessageData)field.value;
}
else
{
throw new Exception(string.Format("Field {0} is not a struct", fieldName));
}
}
}
return null;
}

internal T GetValue<T>(string fieldName) where T : IComparable
{
if (values == null)
{
ParseValues();
}

foreach (var field in format.fields)
{
if (field.name == fieldName)
{
object o = null;
if (values.TryGetValue(field.name, out o))
{
if (typeof(T) == typeof(UInt64))
{
object i = Convert.ToUInt64(o);
return (T)i;
}
if (typeof(T) == typeof(float))
{
object i = Convert.ToSingle(o);
return (T)i;
}
if (typeof(T) == typeof(double))
{
object i = Convert.ToDouble(o);
return (T)i;
}
if (typeof(T) == typeof(int))
{
object i = Convert.ToInt32(o);
return (T)i;
}
if (typeof(T) == typeof(byte))
{
object i = Convert.ToByte(o);
return (T)i;
}
}
}
}
return default(T);
}
}

class MessageInfo : Message
Expand Down Expand Up @@ -382,7 +538,7 @@ enum ULogMessageType
SYNC = 'S',
DROPOUT = 'O',
LOGGING = 'L',
};
};

BinaryReader reader;
TimeSpan duration;
Expand Down Expand Up @@ -428,17 +584,35 @@ public IEnumerable<DataValue> GetDataValues(LogItemSchema schema, DateTime start
MessageData data = (MessageData)m;
if (data.subscription.id == root.Id)
{
MessageFormat f = data.format;
// matching root schema, so drill down if necessary.
for (int i = 1, n = path.Count; i < n; i++)
{
bool found = false;
LogItemSchema child = path[i];
foreach (var field in data.subscription.format.fields)
foreach (var field in f.fields)
{
if (field.name == child.Name)
{
yield return data.GetValue(field);
found = true;
if (i + 1 < n && child.HasChildren)
{
// still need to drill down, so we need a MessageData and MessageFormat for the child item.
data = data.GetNestedData(field.name);
f = data.format;
}
else
{
yield return data.GetValue(field);
found = false; // done drilling down
}
break;
}
}
if (!found)
{
break;
}
}
}
}
Expand All @@ -452,7 +626,25 @@ public IEnumerable<Flight> GetFlights()

public IEnumerable<LogEntry> GetRows(string typeName, DateTime startTime, TimeSpan duration)
{
throw new NotImplementedException();
if (typeName == "GPS")
{
// convert the ulog "vehicleglobal_position" to a GPS entry.
MessageFormat format = null;
if (formats.TryGetValue("vehicle_global_position", out format))
{
foreach (var m in msgs)
{
if (m is MessageData)
{
MessageData data = (MessageData)m;
if (data.format == format)
{
yield return new vehicleglobal_position(data);
}
}
}
}
}
}

public DateTime GetTime(ulong timeMs)
Expand Down Expand Up @@ -528,13 +720,23 @@ LogItemSchema CreateSchemaItem(MessageSubscription sub, MessageFormat fmt)
LogItemSchema element = new LogItemSchema() { Name = fmt.name, Parent = schema, Id = sub.id };
foreach (var f in fmt.fields)
{
LogItemSchema column = new LogItemSchema() { Name = f.name, Parent = element, Type = f.typeName + (f.arraySize > 0 ? "[" + f.arraySize + "]" : "") };
LogItemSchema column = new LogItemSchema() { Name = f.name, Parent = element, Type = f.typeName + (f.arraySize > 0 ? "[" + f.arraySize + "]" : ""), Id = sub.id };
if (f.type == FieldType.Struct)
{
// nested
var child = CreateSchemaItem(sub, f.structType);
column.ChildItems = child.ChildItems;
}
else if (f.arraySize > 0)
{
List<LogItemSchema> arrayItems = new List<LogItemSchema>();
// break out the elements of the array as separate items.
for (int i = 0; i < f.arraySize; i++)
{
arrayItems.Add(new LogItemSchema() { Name = i.ToString(), Parent = column, Type = f.typeName, Id = sub.id });
}
column.ChildItems = arrayItems;
}
if (element.ChildItems == null)
{
element.ChildItems = new List<Model.LogItemSchema>();
Expand Down Expand Up @@ -690,6 +892,22 @@ public MessageDropOut ReadDropOutMessage(ushort len)
UInt16 duration = reader.ReadUInt16();
return new MessageDropOut(duration);
}

private class vehicleglobal_position : LogEntry
{
public vehicleglobal_position(MessageData m)
{
SetField("GPSTime", m.GetValue<UInt64>("timestamp"));
SetField("EPH", m.GetValue<float>("eph"));
SetField("EPV", m.GetValue<float>("epv"));
SetField("Lat", m.GetValue<double>("lat"));
SetField("Lon", m.GetValue<double>("lon"));
SetField("Alt", m.GetValue<float>("alt"));
SetField("VelN", m.GetValue<float>("vel_n"));
SetField("VelE", m.GetValue<float>("vel_e"));
SetField("VelD", m.GetValue<float>("vel_d"));
}
}
}

static class BinaryReaderExtensions
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4 changes: 4 additions & 0 deletions LogViewer/LogViewer/Utilities/Generated.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,10 @@ class LogEntryGPS
public UInt16 N;
public UInt16 J;

public LogEntryGPS()
{
}

public LogEntryGPS(LogEntry entry)
{
if (entry.HasField("TimeUS"))
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8 changes: 6 additions & 2 deletions Unreal/Plugins/AirSim/Source/FlyingPawn.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,8 +93,12 @@ APIPCamera* AFlyingPawn::getFpvCamera()

void AFlyingPawn::setRotorSpeed(int rotor_index, float radsPerSec)
{
if (rotor_index >= 0 && rotor_index < rotor_count)
rotating_movements_[rotor_index]->RotationRate.Yaw = radsPerSec * 180.0f / M_PIf * RotatorFactor;
if (rotor_index >= 0 && rotor_index < rotor_count) {
auto comp = rotating_movements_[rotor_index];
if (comp != nullptr) {
comp->RotationRate.Yaw = radsPerSec * 180.0f / M_PIf * RotatorFactor;
}
}
}

std::string AFlyingPawn::getVehicleName()
Expand Down
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