add gps log file

class_model/src/mqttPubMain.py

@@ -42,11 +42,11 @@ def init_dataFormat(cfg:utils.Read_PUB_Config):
         rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, utils.Json_msg_from_ros.callBack_gps)
         rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, utils.Json_msg_from_ros.callBack_compass_hdg)
     else:
-        logging.debug("msg_format not found")
+        logger.debug("msg_format not found")
 
 
 def on_connect(self, userdata, flags, rc):
-    logger.info("Connected with result code " + str(rc))
+    logger.debug("Connected with result code " + str(rc))
 
 def on_publish(self, userdata, mid):
     logger.debug("pub success")
@@ -63,22 +63,24 @@ if __name__ == '__main__':
     client = utils.MQTTClient(cfg.MQTTClientNamePub)
 
     # set log
-    log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
-    formatter = logging.Formatter(log_format)
+    file_log_format = "%(message)s"
+    file_formatter = logging.Formatter(file_log_format)
+    stream_formatter = logging.Formatter(stream_log_format)
 
     stream_handler = logging.StreamHandler()
-    stream_handler.setFormatter(formatter)
+    stream_handler.setFormatter(stream_formatter)
     stream_handler.setLevel(logging.DEBUG)
 
     file_handler = logging.FileHandler(cfg.logFileName)
-    file_handler.setFormatter(formatter)
+    file_handler.setFormatter(file_formatter)
     file_handler.setLevel(logging.INFO)
 
     logger = logging.getLogger(__name__)
     logger.setLevel(logging.INFO)
     logger.addHandler(file_handler)
     logger.addHandler(stream_handler)
-    logger.info(cfg)
+    logger.debug(cfg)
     
     # Mqtt
     client.on_connect = on_connect
@@ -98,6 +100,6 @@ if __name__ == '__main__':
         rospy.spin()
     except BaseException as error:
         client.disconnect()
-        logger.info("End of program")
+        logger.debug("End of program")
         sys.exit()
      

class_model/src/uavlinkPubMain.py

@@ -20,7 +20,7 @@ from sensor_msgs.msg import Range
 from geometry_msgs.msg import Vector3
 
 
-def init_dataFormat(cfg:Read_PUB_Config):
+def init_dataFormat(cfg):
     Proto_msg_from_ros.sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
     Proto_msg_from_ros.rate = rospy.Rate(5)

class_model/src/uavlinkSubMain.py

@@ -23,7 +23,7 @@ from geometry_msgs.msg import Vector3
 from class_model.msg import FlightInformation
 
 
-def init_dataFormat(cfg:Read_SUB_Config):
+def init_dataFormat(cfg):
     Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
     Proto_msg_to_ros.rate = rospy.Rate(10)
     Proto_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.Dron550_ROStopicName_Flight_Information,FlightInformation,queue_size=10)

class_model/src/utils/.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

class_model/src/utils/.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,104 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="84">
+            <item index="0" class="java.lang.String" itemvalue="mysqlclient" />
+            <item index="1" class="java.lang.String" itemvalue="protobuf" />
+            <item index="2" class="java.lang.String" itemvalue="pywinpty" />
+            <item index="3" class="java.lang.String" itemvalue="mysql-connector" />
+            <item index="4" class="java.lang.String" itemvalue="PyYAML" />
+            <item index="5" class="java.lang.String" itemvalue="atomicwrites" />
+            <item index="6" class="java.lang.String" itemvalue="QtPy" />
+            <item index="7" class="java.lang.String" itemvalue="cycler" />
+            <item index="8" class="java.lang.String" itemvalue="MarkupSafe" />
+            <item index="9" class="java.lang.String" itemvalue="locket" />
+            <item index="10" class="java.lang.String" itemvalue="patsy" />
+            <item index="11" class="java.lang.String" itemvalue="tables" />
+            <item index="12" class="java.lang.String" itemvalue="appdirs" />
+            <item index="13" class="java.lang.String" itemvalue="contextlib2" />
+            <item index="14" class="java.lang.String" itemvalue="conda-verify" />
+            <item index="15" class="java.lang.String" itemvalue="mccabe" />
+            <item index="16" class="java.lang.String" itemvalue="pyzmq" />
+            <item index="17" class="java.lang.String" itemvalue="certifi" />
+            <item index="18" class="java.lang.String" itemvalue="HeapDict" />
+            <item index="19" class="java.lang.String" itemvalue="entrypoints" />
+            <item index="20" class="java.lang.String" itemvalue="mysql" />
+            <item index="21" class="java.lang.String" itemvalue="anaconda-navigator" />
+            <item index="22" class="java.lang.String" itemvalue="bkcharts" />
+            <item index="23" class="java.lang.String" itemvalue="comtypes" />
+            <item index="24" class="java.lang.String" itemvalue="pywin32" />
+            <item index="25" class="java.lang.String" itemvalue="clyent" />
+            <item index="26" class="java.lang.String" itemvalue="navigator-updater" />
+            <item index="27" class="java.lang.String" itemvalue="terminado" />
+            <item index="28" class="java.lang.String" itemvalue="wincertstore" />
+            <item index="29" class="java.lang.String" itemvalue="xlwings" />
+            <item index="30" class="java.lang.String" itemvalue="win-unicode-console" />
+            <item index="31" class="java.lang.String" itemvalue="pyodbc" />
+            <item index="32" class="java.lang.String" itemvalue="boto" />
+            <item index="33" class="java.lang.String" itemvalue="h5py" />
+            <item index="34" class="java.lang.String" itemvalue="wrapt" />
+            <item index="35" class="java.lang.String" itemvalue="menuinst" />
+            <item index="36" class="java.lang.String" itemvalue="QDarkStyle" />
+            <item index="37" class="java.lang.String" itemvalue="fastcache" />
+            <item index="38" class="java.lang.String" itemvalue="anaconda-client" />
+            <item index="39" class="java.lang.String" itemvalue="cytoolz" />
+            <item index="40" class="java.lang.String" itemvalue="widgetsnbextension" />
+            <item index="41" class="java.lang.String" itemvalue="multipledispatch" />
+            <item index="42" class="java.lang.String" itemvalue="mkl-service" />
+            <item index="43" class="java.lang.String" itemvalue="scikit-image" />
+            <item index="44" class="java.lang.String" itemvalue="Bottleneck" />
+            <item index="45" class="java.lang.String" itemvalue="pathspec" />
+            <item index="46" class="java.lang.String" itemvalue="brotlipy" />
+            <item index="47" class="java.lang.String" itemvalue="pycurl" />
+            <item index="48" class="java.lang.String" itemvalue="json5" />
+            <item index="49" class="java.lang.String" itemvalue="mypy-extensions" />
+            <item index="50" class="java.lang.String" itemvalue="pep8" />
+            <item index="51" class="java.lang.String" itemvalue="pycosat" />
+            <item index="52" class="java.lang.String" itemvalue="llvmlite" />
+            <item index="53" class="java.lang.String" itemvalue="numpy" />
+            <item index="54" class="java.lang.String" itemvalue="simplegeneric" />
+            <item index="55" class="java.lang.String" itemvalue="mysql-connector-python" />
+            <item index="56" class="java.lang.String" itemvalue="jdcal" />
+            <item index="57" class="java.lang.String" itemvalue="mkl-fft" />
+            <item index="58" class="java.lang.String" itemvalue="jupyter" />
+            <item index="59" class="java.lang.String" itemvalue="backports.weakref" />
+            <item index="60" class="java.lang.String" itemvalue="pkginfo" />
+            <item index="61" class="java.lang.String" itemvalue="pywin32-ctypes" />
+            <item index="62" class="java.lang.String" itemvalue="conda" />
+            <item index="63" class="java.lang.String" itemvalue="zict" />
+            <item index="64" class="java.lang.String" itemvalue="xmltodict" />
+            <item index="65" class="java.lang.String" itemvalue="sip" />
+            <item index="66" class="java.lang.String" itemvalue="pyreadline" />
+            <item index="67" class="java.lang.String" itemvalue="zope.event" />
+            <item index="68" class="java.lang.String" itemvalue="opencv-python" />
+            <item index="69" class="java.lang.String" itemvalue="parso" />
+            <item index="70" class="java.lang.String" itemvalue="pytest" />
+            <item index="71" class="java.lang.String" itemvalue="black" />
+            <item index="72" class="java.lang.String" itemvalue="conda-build" />
+            <item index="73" class="java.lang.String" itemvalue="xlwt" />
+            <item index="74" class="java.lang.String" itemvalue="et-xmlfile" />
+            <item index="75" class="java.lang.String" itemvalue="mistune" />
+            <item index="76" class="java.lang.String" itemvalue="future" />
+            <item index="77" class="java.lang.String" itemvalue="mpmath" />
+            <item index="78" class="java.lang.String" itemvalue="statsmodels" />
+            <item index="79" class="java.lang.String" itemvalue="olefile" />
+            <item index="80" class="java.lang.String" itemvalue="ply" />
+            <item index="81" class="java.lang.String" itemvalue="unicodecsv" />
+            <item index="82" class="java.lang.String" itemvalue="webencodings" />
+            <item index="83" class="java.lang.String" itemvalue="argh" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+    <inspection_tool class="PyPep8NamingInspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
+      <option name="ignoredErrors">
+        <list>
+          <option value="N803" />
+        </list>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

class_model/src/utils/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

class_model/src/utils/.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (base)" project-jdk-type="Python SDK" />
+</project>

class_model/src/utils/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/utils.iml" filepath="$PROJECT_DIR$/.idea/utils.iml" />
+    </modules>
+  </component>
+</project>

class_model/src/utils/.idea/utils.iml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

class_model/src/utils/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
+  </component>
+</project>

class_model/src/utils/mqttConfig_PUB.yml

@@ -19,5 +19,5 @@ ROS:
   ROStopicName_Flight_Information: Dron650_Flight_Information_reciver
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
-  logFileName: pub.log
+  logFileName: GPSDrone1.log
 UAVLINK: "None"

class_model/src/utils/protoJson_mqtt_sub_data_from_ros.py

@@ -1,5 +1,8 @@
 import orjson
 import time
+import logging
+
+logger = logging.getLogger(__name__)
 
 class Proto_msg_from_ros:
     #Protobuf
@@ -88,14 +91,17 @@ class Json_msg_from_ros:
         dataGpsUpdate = {"heading": heading}
         cls.GPS_Data.update(dataGpsUpdate)
         dataJsonFormate = orjson.dumps(cls.GPS_Data)
+        cls.log()
         cls.mqtt_Pub(message=dataJsonFormate, topics=cls.Flight_Information_topicToMqtt)
         
+        
     @classmethod
     def callBack_fly_formation(cls, Formation):
         Formation_data = {"velocity": Formation.velocity, "type": Formation.type}
         flyFormationMsg = orjson.dumps(Formation_data)
         cls.mqtt_Pub(message=flyFormationMsg, topics=cls.Fly_Formation_topicToMqtt, qos=cls.Fly_Formation_topicToMqtt_QOS)
-        print(flyFormationMsg)
+
+
     @classmethod
     def mqtt_Pub(cls, message:str, topics:str, waitForAck:bool=False, qos:int=0):
         mid = cls.client.publish(topics, message, qos)[1]
@@ -104,3 +110,7 @@ class Json_msg_from_ros:
                 print("wait for ack")
                 time.sleep(0.25)
             cls.client.topic_ack.remove(mid)
+    @classmethod
+    def log(cls):
+        unit = 1e7
+        logger.info("{},{},{},{}".format(cls.GPS_Data["lat"]/1e7, cls.GPS_Data["lon"]/1e7, cls.GPS_Data["alt"]/100, cls.GPS_Data["heading"]/100))

class_model/src/utils/proto_uavlink_sub_data_from_ros.py

@@ -2,7 +2,7 @@ import orjson
 import time
 import logging
 
-logger = logging.getLogger("__UAVLINKSUBPUB__")
+logger = logging.getLogger(__name__)
 
 class Proto_msg_from_ros:
     #Protobuf
@@ -33,6 +33,7 @@ class Proto_msg_from_ros:
         cls.flight_information_msg.heading = Compass.data
         flightInformationMsg = cls.flight_information_msg.SerializeToString()
         cls.sel.write(cls.f2_code + flightInformationMsg + cls.noEcho_code)
+        logger.info()
         cls.rate.sleep()
 
 

class_model/src/utils/readConfig.py

@@ -21,13 +21,13 @@ class Config:
                     optval=ecfg[opt]
                     #verify parameter type
                     if type(optval) != self.options[opts][opt][0]:
-                        raise Exception("Parameter {} has wrong type".format(self.opt))
+                        raise Exception("Parameter {} has wrong type".format(opt))
                      
                     #create attributes on the fly
                     setattr(self,opt,optval)
                 else:
                     if self.options[opts][opt][1]:
-                        raise Exception("Missing mandatory parameter {}".format(self.opt))
+                        raise Exception("Missing mandatory parameter {}".format(opt))
                     else:
                         setattr(self,opt,None)
          
@@ -99,7 +99,6 @@ class Read_SUB_Config(Config):
                             "ROSClientNameSub": (str,True),
                             "Dron550_ROStopicName_Flight_Information": (str,False),
                             "Dron380_ROStopicName_Flight_Information": (str,False),
-                            "Dron380_ROStopicName_Flight_Information": (str,False),
                             "Dron650_ROStopicName_Flight_Information": (str,False),
                             "Dron888_ROStopicName_Flight_Information": (str,False),
                             "Dron555_ROStopicName_Flight_Information": (str,False),
@@ -112,10 +111,6 @@ class Read_SUB_Config(Config):
                             "uav_id": (str,False),
                             "baudrate": (int,False),
                             "ttyport": (str,False)}}
-        self.setAttribute()
-
-    def __str__(self):
-        return super().__str__()
 
 class Read_CMD_Config(Config):
     def setAttribute(self):
@@ -146,7 +141,7 @@ class Read_CMD_Config(Config):
         return super().__str__()
 
 if __name__ == "__main__":
-    cfg=Read_CMD_Config("mqttConfig_CMD.yml")
+    cfg=Read_CMD_Config("uavlinkConfig_SUB.yml")
     print(cfg)