Flight logs

.gitignore

@@ -11,6 +11,7 @@ build/
 dist/
 doc/build/
 doc/skybrush-server-docs-*.zip
+flight_logs/
 htmlcov/
 tmp/
 .venv/

src/flockwave/server/ext/mavlink/driver.py

@@ -704,7 +704,7 @@ async def _enter_low_power_mode_single(
         ):
             raise RuntimeError("Failed to request low-power mode from autopilot")
 
-    async def get_log(
+    async def _get_log(
         self, uav: "MAVLinkUAV", log_id: str
     ) -> AsyncIterator[Union[Progress, Optional[FlightLog]]]:
         try:

src/flockwave/server/ext/mavlink/log_download.py

@@ -137,12 +137,12 @@ async def _get_log_inner(
     ) -> AsyncIterator[Union[Progress, Optional[FlightLog]]]:
         last_progress_at = current_time()
 
-        # We are requesting at most 512 LOG_DATA messages at once to let the
+        # We are requesting at most 10 LOG_DATA messages at once to let the
         # wifi module also take care of other things while doing the download.
         # Requesting the entire log at once has caused timeout problems with
         # mavesp8266. The strategy adopted here is identical to what
         # QGroundControl is doing
-        MAX_CHUNK_SIZE = 512 * 90
+        MAX_CHUNK_SIZE = 10 * 90
 
         try:
             # Get the size of the log first and create a chunk assembler

src/flockwave/server/ext/virtual_uavs/driver.py

@@ -10,7 +10,7 @@
 from time import monotonic
 from trio import CancelScope, sleep
 from trio_util import periodic
-from typing import Any, Callable, NoReturn, Optional, Union
+from typing import Any, AsyncIterator, Callable, NoReturn, Optional, Union
 
 from flockwave.concurrency import delayed
 from flockwave.ext.manager import ExtensionAPIProxy
@@ -1081,11 +1081,14 @@ async def handle_command_yo(self, uav: VirtualUAV) -> str:
     handle_command_param = create_parameter_command_handler()
     handle_command_version = create_version_command_handler()
 
-    async def get_log(self, uav: VirtualUAV, log_id: str) -> FlightLog:
-        # Simulate a bit of delay to make it more realistic
-        await sleep(0.5)
+    async def _get_log(self, uav: VirtualUAV, log_id: str) -> AsyncIterator[Union[Progress, Optional[FlightLog]]]:
+        # Simulate some progress to make it more realistic
+        total_chunks = 10
+        for chunk in range(total_chunks):
+            await sleep(0.2)
+            yield Progress(percentage=chunk * 100 // total_chunks)
         try:
-            return _LOGS[log_id]
+            yield _LOGS[log_id]
         except KeyError:
             raise RuntimeError(f"no such log: {log_id}") from None
 

src/flockwave/server/model/uav.py

@@ -5,6 +5,7 @@
 from abc import ABCMeta, abstractproperty
 from typing import (
     Any,
+    AsyncIterator,
     Callable,
     Generic,
     Iterable,
@@ -21,6 +22,7 @@
 
 from .attitude import Attitude
 from .battery import BatteryInfo
+from .commands import Progress
 from .devices import ObjectNode
 from .gps import GPSFix, GPSFixLike
 from .log import FlightLog, FlightLogMetadata
@@ -31,6 +33,8 @@
 from .transport import TransportOptions
 from .utils import as_base64, scaled_by
 
+import os
+
 if TYPE_CHECKING:
     from flockwave.server.app import SkybrushServer
 
@@ -43,6 +47,8 @@
     "UAVStatusInfo",
 )
 
+FLIGHT_LOGS_DIR = "flight_logs"
+
 log = base_log.getChild("uav")
 
 
@@ -193,6 +199,13 @@ def id(self) -> str:
         """
         return self._id
 
+    @property
+    def padded_id(self) -> str:
+        """Returns the ID of the UAV, padded with zeros to ensure it has at least
+        3 characters.
+        """
+        return self._id.zfill(3)
+
     @property
     def status(self) -> UAVStatusInfo:
         """Returns an UAVStatusInfo_ object representing the status of the
@@ -489,6 +502,17 @@ def enter_low_power_mode(
         )
 
     def get_log(self, uav: TUAV, log_id: str) -> FlightLog:
+        async def wrapper():
+            async for result in self._get_log(uav, log_id):
+                if isinstance(result, FlightLog):
+                    # Write the log to disk
+                    os.makedirs(FLIGHT_LOGS_DIR, exist_ok=True)
+                    with open(f"{FLIGHT_LOGS_DIR}/{uav.padded_id}_{log_id}.log", "w") as f:
+                        f.write(result.body)
+                yield result
+        return wrapper()
+
+    def _get_log(self, uav: TUAV, log_id: str) -> AsyncIterator[Union[Progress, Optional[FlightLog]]]:
         """Asks the driver to retrieve the log with the given ID from the
         given UAV.