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# blueye.sdk.logs

## `` logs

Classes:

- `LegacyLogFile` –

  This class is a container for a log file stored on the drone

- `LegacyLogs` –

  This class is an index of the legacy csv log files stored on the drone

- `LogFile` –
- `LogStream` –

  Class for streaming a log

- `Logs` –
- `StreamingDecompressor` –

  A streaming decompressor that handles gzip data incrementally

Functions:

- `human_readable_filesize` –

  Convert bytes to human readable string

- `is_gzip_compressed` –

  Check if data is gzip compressed by looking at the magic header bytes

### `` LegacyLogFile

    LegacyLogFile(maxdepth, name, timestamp, binsize, ip)

This class is a container for a log file stored on the drone

The drone lists the file name, max depth, start time, and file size for each log, and you can show this information by printing the log object, eg. on a Drone object called `myDrone`:

    print(myDrone.logs[0])

or, if you want to display the header you can format the object with `with_header`:

    print(f"{myDrone.logs[0]:with_header}")

Calling the download() method on a log object will pull the CSV (Comma Separated Value) file from the drone to your local filesystem.

Methods:

- `download` –

  Download the specified log to your local file system

Source code in `blueye/sdk/logs.py`

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    def __init__(self, maxdepth, name, timestamp, binsize, ip):
        self.maxdepth = maxdepth
        self.name = name
        self.timestamp: datetime = dateutil.parser.isoparse(timestamp)
        self.binsize = binsize
        self.download_path = "http://" + ip + "/logcsv/" + name
        self._formatted_values = [
            self.name,
            self.timestamp.strftime("%d. %b %Y %H:%M"),
            f"{self.maxdepth/1000:.2f} m",
            human_readable_filesize(self.binsize),
        ]

#### `` download

    download(
        output_path=None,
        output_name=None,
        downsample_divisor=10,
    )

Download the specified log to your local file system

If you specify an output_path the log file will be downloaded to that directory instead of the current one.

Specifying output_name will overwrite the default file name with whatever you have specified (be sure to include the .csv extension).

The drone samples the log content at 10 Hz, and by default this function downsamples this rate to 1 Hz.

Source code in `blueye/sdk/logs.py`

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    def download(self, output_path=None, output_name=None, downsample_divisor=10):
        """
        Download the specified log to your local file system

        If you specify an output_path the log file will be downloaded to that directory
        instead of the current one.

        Specifying output_name will overwrite the default file name with whatever you
        have specified (be sure to include the .csv extension).

        The drone samples the log content at 10 Hz, and by default this function downsamples this
        rate to 1 Hz.
        """
        log = requests.get(self.download_path, params={"divisor": downsample_divisor}).content
        if output_path is None:
            output_path = "./"
        if output_name is None:
            output_name = self.name
        with open(f"{output_path}{output_name}", "wb") as f:
            f.write(log)

### `` LegacyLogs

    LegacyLogs(parent_drone, auto_download_index=False)

This class is an index of the legacy csv log files stored on the drone

To show the available logs you simply print this object, ie. if your Drone object is called `myDrone`, you can do:

    print(myDrone.legacy_logs)

This will print a list of all available logs, with some of their metadata, such as name and maxdepth.

You can access logfile objects either by index or by name. Eg. if you want the first logfile in the list you can do `myDrone.logs[0]`, or if you want some particular log you can do `myDrone.logs["exampleName0001.csv"]`. You can even give it a slice, so if you want the last 10 logs you can do `myDrone.logs[-10:]`.

Methods:

- `refresh_log_index` –

  Refresh the log index from the drone

Source code in `blueye/sdk/logs.py`

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    def __init__(self, parent_drone, auto_download_index=False):
        self.ip = parent_drone._ip
        self._parent_drone = parent_drone
        self.index_downloaded = False
        if auto_download_index:
            self.refresh_log_index()
        else:
            self._logs = {}

#### `` refresh_log_index

    refresh_log_index(get_all_logs=False)

Refresh the log index from the drone

This is method is run on the first log access by default, but if you would like to check for new log files it can be called at any time.

Pass with `get_all_logs=True` to include logs that are not classified as dives.

Source code in `blueye/sdk/logs.py`

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    def refresh_log_index(self, get_all_logs=False):
        """Refresh the log index from the drone

        This is method is run on the first log access by default, but if you would like to check
        for new log files it can be called at any time.

        Pass with `get_all_logs=True` to include logs that are not classified as dives.
        """
        if not self._parent_drone.connected:
            raise ConnectionError(
                "The connection to the drone is not established, try calling the connect method "
                "before retrying"
            )
        list_of_logs_in_dictionaries = self._get_list_of_logs_from_drone(get_all_logs)
        self._logs = self._build_log_files_from_dictionary(list_of_logs_in_dictionaries)
        self.index_downloaded = True

### `` LogFile

    LogFile(
        name: str,
        is_dive: bool,
        filesize: int,
        start_time: int,
        max_depth_magnitude: int,
        ip: str,
    )

Methods:

- `download` –

  Download a log file from the drone

- `parse_to_stream` –

  Parse the log file to a stream

Source code in `blueye/sdk/logs.py`

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    def __init__(
        self,
        name: str,
        is_dive: bool,
        filesize: int,
        start_time: int,
        max_depth_magnitude: int,
        ip: str,
    ):
        self.name = name
        self.is_dive = is_dive
        self.filesize = filesize
        self.start_time: datetime = datetime.fromtimestamp(start_time, tz=timezone.utc)
        self.max_depth_magnitude = max_depth_magnitude
        self.download_url = f"http://{ip}/logs/{self.name}/binlog"
        self.content = None
        self._formatted_values = [
            self.name,
            self.start_time.strftime("%d. %b %Y %H:%M"),
            f"{self.max_depth_magnitude} m",
            human_readable_filesize(self.filesize),
        ]

#### `` download

    download(
        output_path: Optional[Path | str] = None,
        write_to_file: bool = True,
        timeout: float = 1,
        overwrite_cache: bool = False,
    ) -> bytes

Download a log file from the drone

Arguments:

- `output_path`: Path to write the log file to. If `None`, the log will be written to the current working directory. If the path is a directory, the log will be downloaded to that directory with its original name. Else the log will be downloaded to the specified path.
- `write_to_file`: If True, the log will be written to the specified path. If False, the log will only be returned as a bytes object.
- `timeout`: Seconds to wait for response
- `overwrite_cache`: If True, the log will be downloaded even if it is already been downloaded.

Returns:

The compressed log file as a bytes object.

Source code in `blueye/sdk/logs.py`

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    def download(
        self,
        output_path: Optional[Path | str] = None,
        write_to_file: bool = True,
        timeout: float = 1,
        overwrite_cache: bool = False,
    ) -> bytes:
        """Download a log file from the drone

        *Arguments*:

        * `output_path`:
            Path to write the log file to. If `None`, the log will be written to the
            current working directory. If the path is a directory, the log will be
            downloaded to that directory with its original name. Else the log will be
            downloaded to the specified path.
        * `write_to_file`:
            If True, the log will be written to the specified path. If False, the
            log will only be returned as a bytes object.
        * `timeout`:
            Seconds to wait for response
        * `overwrite_cache`:
            If True, the log will be downloaded even if it is already been downloaded.

        *Returns*:

        The compressed log file as a bytes object.
        """
        if self.content is None or overwrite_cache:
            self.content = requests.get(self.download_url, timeout=timeout).content
        if write_to_file:
            if output_path is None:
                output_path = Path(f"{self.name}.bez")
            else:
                if type(output_path) == str:
                    output_path = Path(output_path)
                if output_path.is_dir():
                    output_path = output_path.joinpath(f"{self.name}.bez")
            with open(output_path, "wb") as f:
                f.write(self.content)
        return self.content

#### `` parse_to_stream

    parse_to_stream() -> LogStream

Parse the log file to a stream

Will download the log if it is not already downloaded.

Returns:

A `LogStream` object

Source code in `blueye/sdk/logs.py`

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    def parse_to_stream(self) -> LogStream:
        """Parse the log file to a stream

        Will download the log if it is not already downloaded.

        *Returns*:

        A `LogStream` object
        """
        return LogStream(self.download(write_to_file=False))

### `` LogStream

    LogStream(log: bytes, decompress: bool = True)

Class for streaming a log

Creates a stream from a downloaded log file. Iterate over the object to get the next log record.

Source code in `blueye/sdk/logs.py`

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    def __init__(self, log: bytes, decompress: bool = True) -> Iterator[
        Tuple[
            proto.datetime_helpers.DatetimeWithNanoseconds,  # Real time clock
            timedelta,  # Time since first message
            proto.message.MessageMeta,  # Message type
            proto.message.Message,  # Message contents
        ]
    ]:
        if decompress:
            self.stream = StreamingDecompressor(log)
        else:
            self.stream = io.BytesIO(log)

        self.start_monotonic: proto.datetime_helpers.DatetimeWithNanoseconds = 0

### `` Logs

    Logs(parent_drone, auto_download_index=False)

Methods:

- `filter` –

  Return a new Logs object with only those matching the filter

- `refresh_log_index` –

  Refresh the log index from the drone

Source code in `blueye/sdk/logs.py`

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    def __init__(self, parent_drone, auto_download_index=False):
        self._parent_drone = parent_drone
        self.auto_download_index = auto_download_index
        self.index_downloaded = False
        self._logs = {}
        if auto_download_index:
            self.refresh_log_index()

#### `` filter

    filter(filter_func: Callable[[LogFile], bool]) -> Logs

Return a new Logs object with only those matching the filter

Eg. to get logs classified as a dive:

    dive_logs = myDrone.logs.filter(lambda log: log.is_dive)

or to get all logs with a max depth greater than 10m:

    deep_logs = myDrone.logs.filter(lambda log: log.max_depth_magnitude > 10)

Source code in `blueye/sdk/logs.py`

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    def filter(self, filter_func: Callable[[LogFile], bool]) -> Logs:
        """Return a new Logs object with only those matching the filter

        Eg. to get logs classified as a dive:
        ```
        dive_logs = myDrone.logs.filter(lambda log: log.is_dive)
        ```

        or to get all logs with a max depth greater than 10m:
        ```
        deep_logs = myDrone.logs.filter(lambda log: log.max_depth_magnitude > 10)
        ```
        """
        if not self.index_downloaded:
            self.refresh_log_index()
        filtered_logs = Logs(self._parent_drone)
        filtered_logs.index_downloaded = True
        for log in self:
            if filter_func(log):
                filtered_logs._logs[log.name] = log
        return filtered_logs

#### `` refresh_log_index

    refresh_log_index()

Refresh the log index from the drone

This is method is run on the first log access by default, but if you would like to check for new log files it can be called at any time.

Source code in `blueye/sdk/logs.py`

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    def refresh_log_index(self):
        """Refresh the log index from the drone

        This is method is run on the first log access by default, but if you would like to check
        for new log files it can be called at any time.
        """
        if not self._parent_drone.connected:
            raise ConnectionError(
                "The connection to the drone is not established, try calling the connect method "
                "before retrying"
            )
        logger.debug("Refreshing log index")
        logs_endpoint = f"http://{self._parent_drone._ip}/logs"
        logs: List[dict] = requests.get(logs_endpoint).json()

        if version.parse(self._parent_drone.software_version_short) < version.parse("3.3"):
            # Extend index with dive info, sends a request for each log file so can be quite slow
            # for drones with many logs. Not necessary for Blunux >= 3.3 as dive info is included in
            # the index.
            logger.debug(f"Getting dive info for {len(logs)} logs")
            for index, log in enumerate(logs):
                dive_info = requests.get(f"{logs_endpoint}/{log['name']}/dive_info").json()
                logs[index].update(dive_info)

        # Instantiate log objects for each log
        logger.debug(f"Creating log objects for {len(logs)} logs")
        for log in logs:
            if log["has_binlog"]:
                self._logs[log["name"]] = LogFile(
                    log["name"],
                    log["is_dive"],
                    log["binlog_size"],
                    log["start_time"],
                    log["max_depth_magnitude"],
                    self._parent_drone._ip,
                )
            else:
                logger.info(f"Log {log['name']} does not have a binlog, ignoring")
        self.index_downloaded = True

### `` StreamingDecompressor

    StreamingDecompressor(compressed_data: bytes)

A streaming decompressor that handles gzip data incrementally

Methods:

- `read` –

  Read up to size bytes from the decompressed stream

Source code in `blueye/sdk/logs.py`

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    def __init__(self, compressed_data: bytes):
        self.compressed_data = compressed_data
        self.compressed_pos = 0
        self.decompressor = None
        self.decompressed_buffer = bytearray()
        self.eof = False

        if is_gzip_compressed(compressed_data):
            # Initialize zlib decompressor for gzip data
            self.decompressor = zlib.decompressobj(wbits=zlib.MAX_WBITS | 16)
        else:
            # Data is not compressed
            self.decompressed_buffer = bytearray(compressed_data)
            self.eof = True

#### `` read

    read(size: int) -> bytes

Read up to size bytes from the decompressed stream

Source code in `blueye/sdk/logs.py`

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    def read(self, size: int) -> bytes:
        """Read up to size bytes from the decompressed stream"""
        if self.eof and len(self.decompressed_buffer) == 0:
            return b""

        # If we need more decompressed data and we're not at EOF
        while len(self.decompressed_buffer) < size and not self.eof:
            # Read a chunk from compressed data
            chunk_size = min(8192, len(self.compressed_data) - self.compressed_pos)
            if chunk_size == 0:
                # No more compressed data
                if self.decompressor:
                    # Finalize decompression. This can fail on corrupted data.
                    try:
                        final_data = self.decompressor.flush()
                        self.decompressed_buffer.extend(final_data)
                    except zlib.error as e:
                        logger.warning(
                            f"Decompression flush failed, likely due to corrupted data: {e}"
                        )
                    except (MemoryError, OverflowError) as e:
                        logger.error(f"Decompression flush failed due to resource limits: {e}")
                    except Exception as e:
                        logger.error(f"Unexpected error during decompression flush: {e}")
                self.eof = True
                break

            chunk = self.compressed_data[self.compressed_pos : self.compressed_pos + chunk_size]
            self.compressed_pos += chunk_size

            if self.decompressor:
                try:
                    decompressed_chunk = self.decompressor.decompress(chunk)
                    self.decompressed_buffer.extend(decompressed_chunk)
                except zlib.error as e:
                    # If decompression fails, we're probably done. This can happen with
                    # truncated or corrupted files.
                    logger.warning(f"Decompression of chunk failed: {e}")
                    self.eof = True
                    break
                except (MemoryError, OverflowError) as e:
                    logger.error(f"Decompression failed due to resource limits: {e}")
                    self.eof = True
                    break
                except Exception as e:
                    logger.error(f"Unexpected error during decompression: {e}")
                    self.eof = True
                    break

        # Return requested amount of data
        result_size = min(size, len(self.decompressed_buffer))
        result = bytes(self.decompressed_buffer[:result_size])
        self.decompressed_buffer = self.decompressed_buffer[result_size:]

        return result

### `` human_readable_filesize

    human_readable_filesize(binsize: int) -> str

Convert bytes to human readable string

Source code in `blueye/sdk/logs.py`

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    def human_readable_filesize(binsize: int) -> str:
        """Convert bytes to human readable string"""
        suffix = "B"
        num = binsize
        for unit in ["", "Ki", "Mi"]:
            if abs(num) < 1024.0:
                return f"{num:3.1f} {unit}{suffix}"
            num /= 1024.0
        return f"{num:.1f} Gi{suffix}"

### `` is_gzip_compressed

    is_gzip_compressed(data: bytes) -> bool

Check if data is gzip compressed by looking at the magic header bytes

Source code in `blueye/sdk/logs.py`

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    def is_gzip_compressed(data: bytes) -> bool:
        """Check if data is gzip compressed by looking at the magic header bytes"""
        return len(data) >= 2 and data[0] == 0x1F and data[1] == 0x8B