From 2f9363b7a41f02e3c9952a193c986380bf52d1b1 Mon Sep 17 00:00:00 2001 From: STT <8894457+sttdo@user.noreply.gitee.com> Date: Sat, 4 Dec 2021 22:20:04 +0800 Subject: [PATCH] Add the log writing function Signed-off-by: STT --- ...{USVControl.exe => USVControl_21.12.3.exe} | Bin README.md | 4 ++ log.py | 55 ++++++++++++++++++ mission.py | 7 +-- settings.py | 5 ++ usv.py | 3 + 6 files changed, 69 insertions(+), 5 deletions(-) rename Executable program/{USVControl.exe => USVControl_21.12.3.exe} (100%) create mode 100644 log.py diff --git a/Executable program/USVControl.exe b/Executable program/USVControl_21.12.3.exe similarity index 100% rename from Executable program/USVControl.exe rename to Executable program/USVControl_21.12.3.exe diff --git a/README.md b/README.md index 9fa070e..75f5ffe 100644 --- a/README.md +++ b/README.md @@ -41,6 +41,10 @@ python版船控，也可控两轮无人车，作者初学python练手。 2. Fix the mission upload function 3. Pack EXE +2021.12.4 + +1. Add the log writing function + #### 开发计划 1. 日志功能 diff --git a/log.py b/log.py new file mode 100644 index 0000000..1448c6c --- /dev/null +++ b/log.py @@ -0,0 +1,55 @@ +import time + + +class Log: + """记日志的类""" + + def __init__(self, usv_id): + self.file_name = f"AppData/{usv_id}_{time.strftime('%Y_%m_%d_%H_%M')}.csv" + with open(self.file_name, 'a') as log: + log.write('Timestamp,mode,') + log.write('Rudder,Thrust,Status,') + log.write('Latitude,Longitude,Altitude,') + log.write('Roll,Pitch,Yaw,') + log.write('Speed,VelocityNorth,VelocityEast,VelocityDown,') + log.write('GyroscopeX,GyroscopeY,GyroscopeZ,') + log.write('AccelerometerX,AccelerometerY,AccelerometerZ,') + log.write('SystemStatus,FilterStatus,') + log.write('command_Rudder,command_Thrust,') + log.write('DesiredHeading,DesiredSpeed,DesiredLatitude,DesiredLongitude,') + log.write('HeadingP,HeadingI,HeadingD,') + log.write('SpeedP,SpeedI,SpeedD,') + log.write('PositionP,PositionI,PositionD\n') + + def write_log(self, usv): + with open(self.file_name, 'a') as log: + log.write(f"{time.strftime('%H_%M_%S')}{str(round(time.time() % 1, 3))[1:]},{usv.control.data['mode']},") + + log.write(f"{usv.control.data['rudder']},{usv.control.data['thrust']},{usv.control.status},") + + log.write(f"{usv.navigation.data['location']['latitude']},{usv.navigation.data['location']['longitude']},") + log.write(f"{usv.navigation.data['location']['altitude']},") + + log.write(f"{usv.navigation.data['posture']['roll']},{usv.navigation.data['posture']['pitch']},") + log.write(f"{usv.navigation.data['posture']['yaw']},") + + log.write(f"{usv.navigation.data['velocity']['speed']},{usv.navigation.data['velocity']['north']},") + log.write(f"{usv.navigation.data['velocity']['east']},{usv.navigation.data['velocity']['down']},") + + log.write(f"{usv.navigation.data['gyroscope']['X']},{usv.navigation.data['gyroscope']['Y']},") + log.write(f"{usv.navigation.data['gyroscope']['Z']},") + + log.write(f"{usv.navigation.data['accelerometer']['X']},{usv.navigation.data['accelerometer']['Y']},") + log.write(f"{usv.navigation.data['accelerometer']['Z']},") + + log.write(f"{usv.navigation.data['system_status']},{usv.navigation.data['filter_status']},") + + log.write(f"{usv.gcs.command['desired_rudder']},{usv.gcs.command['desired_thrust']},") + + log.write(f"{usv.gcs.command['desired_heading']},{usv.gcs.command['desired_speed']},") + log.write(f"{usv.gcs.command['desired_latitude']},{usv.gcs.command['desired_longitude']},") + + log.write(f"{usv.control.pid['heading_p']},{usv.control.pid['heading_i']},{usv.control.pid['heading_d']},") + log.write(f"{usv.control.pid['speed_p']},{usv.control.pid['speed_i']},{usv.control.pid['speed_d']},") + log.write( + f"{usv.control.pid['position_p']},{usv.control.pid['position_i']},{usv.control.pid['position_d']}\n") diff --git a/mission.py b/mission.py index a309cfd..2467da3 100644 --- a/mission.py +++ b/mission.py @@ -1,4 +1,3 @@ -import os from xml.etree import ElementTree from SelfBuiltModul.func import pretty_xml @@ -6,10 +5,8 @@ from SelfBuiltModul.func import pretty_xml class Mission: """任务相关类""" - def __init__(self, id): - self.file_name = f"AppData/{id}.xml" - if not os.path.exists("AppData"): - os.mkdir("AppData") + def __init__(self, usv_id): + self.file_name = f"AppData/{usv_id}.xml" def read(self): """去读xml文件，返回路点列表""" diff --git a/settings.py b/settings.py index a716166..53a621d 100644 --- a/settings.py +++ b/settings.py @@ -1,7 +1,12 @@ +import os + + class Settings: """配置项""" def __init__(self): + if not os.path.exists("AppData"): + os.mkdir("AppData") self.usv_id = 0 self.los_distance = 1.5 diff --git a/usv.py b/usv.py index ec67f9f..caaf410 100644 --- a/usv.py +++ b/usv.py @@ -6,6 +6,7 @@ from control import Control from settings import Settings from ground_control_station import GroundControlStation from mission import Mission +from log import Log class UsvControl: @@ -19,6 +20,7 @@ class UsvControl: self.control = Control() self.gcs = GroundControlStation(self.settings.gcs_com) self.mission = Mission(self.settings.usv_id) + self.log = Log(self.settings.usv_id) def ms10_run(self): self.futaba.rcu_run(self) @@ -26,6 +28,7 @@ class UsvControl: self.navigation.n_run() self.gcs.g_run(self) self.futaba.backup_data() + self.log.write_log(self) timer_10 = threading.Timer(0.01, self.ms10_run, ) timer_10.start()