forked from Archive/PX4-Autopilot
336 lines
12 KiB
Python
336 lines
12 KiB
Python
#!/usr/bin/env python
|
|
|
|
from __future__ import print_function
|
|
|
|
"""Dump binary log generated by PX4's sdlog2 or APM as CSV
|
|
|
|
Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
|
|
|
|
-v Use plain debug output instead of CSV.
|
|
|
|
-e Recover from errors.
|
|
|
|
-d Use "delimiter" in CSV. Default is ",".
|
|
|
|
-n Use "null" as placeholder for empty values in CSV. Default is empty.
|
|
|
|
-m MSG[.field1,field2,...]
|
|
Dump only messages of specified type, and only specified fields.
|
|
Multiple -m options allowed."""
|
|
|
|
__author__ = "Anton Babushkin"
|
|
__version__ = "1.2"
|
|
|
|
import struct, sys
|
|
|
|
if sys.hexversion >= 0x030000F0:
|
|
runningPython3 = True
|
|
def _parseCString(cstr):
|
|
return str(cstr, 'ascii').split('\0')[0]
|
|
else:
|
|
runningPython3 = False
|
|
def _parseCString(cstr):
|
|
return str(cstr).split('\0')[0]
|
|
|
|
class SDLog2Parser:
|
|
BLOCK_SIZE = 8192
|
|
MSG_HEADER_LEN = 3
|
|
MSG_HEAD1 = 0xA3
|
|
MSG_HEAD2 = 0x95
|
|
MSG_FORMAT_PACKET_LEN = 89
|
|
MSG_FORMAT_STRUCT = "BB4s16s64s"
|
|
MSG_TYPE_FORMAT = 0x80
|
|
FORMAT_TO_STRUCT = {
|
|
"b": ("b", None),
|
|
"B": ("B", None),
|
|
"h": ("h", None),
|
|
"H": ("H", None),
|
|
"i": ("i", None),
|
|
"I": ("I", None),
|
|
"f": ("f", None),
|
|
"n": ("4s", None),
|
|
"N": ("16s", None),
|
|
"Z": ("64s", None),
|
|
"c": ("h", 0.01),
|
|
"C": ("H", 0.01),
|
|
"e": ("i", 0.01),
|
|
"E": ("I", 0.01),
|
|
"L": ("i", 0.0000001),
|
|
"M": ("b", None),
|
|
"q": ("q", None),
|
|
"Q": ("Q", None),
|
|
}
|
|
__csv_delim = ","
|
|
__csv_null = ""
|
|
__msg_filter = []
|
|
__time_msg = None
|
|
__debug_out = False
|
|
__correct_errors = False
|
|
__file_name = None
|
|
__file = None
|
|
|
|
def __init__(self):
|
|
return
|
|
|
|
def reset(self):
|
|
self.__msg_descrs = {} # message descriptions by message type map
|
|
self.__msg_labels = {} # message labels by message name map
|
|
self.__msg_names = [] # message names in the same order as FORMAT messages
|
|
self.__buffer = bytearray() # buffer for input binary data
|
|
self.__ptr = 0 # read pointer in buffer
|
|
self.__csv_columns = [] # CSV file columns in correct order in format "MSG.label"
|
|
self.__csv_data = {} # current values for all columns
|
|
self.__csv_updated = False
|
|
self.__msg_filter_map = {} # filter in form of map, with '*" expanded to full list of fields
|
|
|
|
def setCSVDelimiter(self, csv_delim):
|
|
self.__csv_delim = csv_delim
|
|
|
|
def setCSVNull(self, csv_null):
|
|
self.__csv_null = csv_null
|
|
|
|
def setMsgFilter(self, msg_filter):
|
|
self.__msg_filter = msg_filter
|
|
|
|
def setTimeMsg(self, time_msg):
|
|
self.__time_msg = time_msg
|
|
|
|
def setDebugOut(self, debug_out):
|
|
self.__debug_out = debug_out
|
|
|
|
def setCorrectErrors(self, correct_errors):
|
|
self.__correct_errors = correct_errors
|
|
|
|
def setFileName(self, file_name):
|
|
self.__file_name = file_name
|
|
if file_name != None:
|
|
self.__file = open(file_name, 'w+')
|
|
else:
|
|
self.__file = None
|
|
|
|
|
|
def process(self, fn):
|
|
self.reset()
|
|
if self.__debug_out:
|
|
# init __msg_filter_map
|
|
for msg_name, show_fields in self.__msg_filter:
|
|
self.__msg_filter_map[msg_name] = show_fields
|
|
first_data_msg = True
|
|
f = open(fn, "rb")
|
|
bytes_read = 0
|
|
while True:
|
|
chunk = f.read(self.BLOCK_SIZE)
|
|
if len(chunk) == 0:
|
|
break
|
|
self.__buffer = self.__buffer[self.__ptr:] + chunk
|
|
self.__ptr = 0
|
|
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
|
|
head1 = self.__buffer[self.__ptr]
|
|
head2 = self.__buffer[self.__ptr+1]
|
|
if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
|
|
if self.__correct_errors:
|
|
self.__ptr += 1
|
|
continue
|
|
else:
|
|
raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
|
|
msg_type = self.__buffer[self.__ptr+2]
|
|
if msg_type == self.MSG_TYPE_FORMAT:
|
|
# parse FORMAT message
|
|
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
|
|
break
|
|
self.__parseMsgDescr()
|
|
else:
|
|
# parse data message
|
|
msg_descr = self.__msg_descrs[msg_type]
|
|
if msg_descr == None:
|
|
raise Exception("Unknown msg type: %i" % msg_type)
|
|
msg_length = msg_descr[0]
|
|
if self.__bytesLeft() < msg_length:
|
|
break
|
|
if first_data_msg:
|
|
# build CSV columns and init data map
|
|
if not self.__debug_out:
|
|
self.__initCSV()
|
|
first_data_msg = False
|
|
self.__parseMsg(msg_descr)
|
|
bytes_read += self.__ptr
|
|
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
|
|
self.__printCSVRow()
|
|
f.close()
|
|
|
|
def __bytesLeft(self):
|
|
return len(self.__buffer) - self.__ptr
|
|
|
|
def __filterMsg(self, msg_name):
|
|
show_fields = "*"
|
|
if len(self.__msg_filter_map) > 0:
|
|
show_fields = self.__msg_filter_map.get(msg_name)
|
|
return show_fields
|
|
|
|
def __initCSV(self):
|
|
if len(self.__msg_filter) == 0:
|
|
for msg_name in self.__msg_names:
|
|
self.__msg_filter.append((msg_name, "*"))
|
|
for msg_name, show_fields in self.__msg_filter:
|
|
if show_fields == "*":
|
|
show_fields = self.__msg_labels.get(msg_name, [])
|
|
self.__msg_filter_map[msg_name] = show_fields
|
|
for field in show_fields:
|
|
full_label = msg_name + "_" + field
|
|
self.__csv_columns.append(full_label)
|
|
self.__csv_data[full_label] = None
|
|
if self.__file != None:
|
|
print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
|
|
else:
|
|
print(self.__csv_delim.join(self.__csv_columns))
|
|
|
|
def __printCSVRow(self):
|
|
s = []
|
|
for full_label in self.__csv_columns:
|
|
v = self.__csv_data[full_label]
|
|
if v == None:
|
|
v = self.__csv_null
|
|
else:
|
|
v = str(v)
|
|
s.append(v)
|
|
|
|
if self.__file != None:
|
|
print(self.__csv_delim.join(s), file=self.__file)
|
|
else:
|
|
print(self.__csv_delim.join(s))
|
|
|
|
def __parseMsgDescr(self):
|
|
if runningPython3:
|
|
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
|
|
else:
|
|
data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
|
|
msg_type = data[0]
|
|
if msg_type != self.MSG_TYPE_FORMAT:
|
|
msg_length = data[1]
|
|
msg_name = _parseCString(data[2])
|
|
msg_format = _parseCString(data[3])
|
|
msg_labels = _parseCString(data[4]).split(",")
|
|
# Convert msg_format to struct.unpack format string
|
|
msg_struct = ""
|
|
msg_mults = []
|
|
for c in msg_format:
|
|
try:
|
|
f = self.FORMAT_TO_STRUCT[c]
|
|
msg_struct += f[0]
|
|
msg_mults.append(f[1])
|
|
except KeyError as e:
|
|
raise Exception("Unsupported format char: %s in message %s (%i)" % (c, msg_name, msg_type))
|
|
msg_struct = "<" + msg_struct # force little-endian
|
|
self.__msg_descrs[msg_type] = (msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults)
|
|
self.__msg_labels[msg_name] = msg_labels
|
|
self.__msg_names.append(msg_name)
|
|
if self.__debug_out:
|
|
if self.__filterMsg(msg_name) != None:
|
|
print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
|
|
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
|
|
self.__ptr += self.MSG_FORMAT_PACKET_LEN
|
|
|
|
def __parseMsg(self, msg_descr):
|
|
msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults = msg_descr
|
|
if not self.__debug_out and self.__time_msg != None and msg_name == self.__time_msg and self.__csv_updated:
|
|
self.__printCSVRow()
|
|
self.__csv_updated = False
|
|
show_fields = self.__filterMsg(msg_name)
|
|
if (show_fields != None):
|
|
if runningPython3:
|
|
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
|
|
else:
|
|
data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
|
|
for i in range(len(data)):
|
|
if type(data[i]) is str:
|
|
data[i] = _parseCString(data[i])
|
|
m = msg_mults[i]
|
|
if m != None:
|
|
data[i] = data[i] * m
|
|
if self.__debug_out:
|
|
s = []
|
|
for i in range(len(data)):
|
|
label = msg_labels[i]
|
|
if show_fields == "*" or label in show_fields:
|
|
s.append(label + "=" + str(data[i]))
|
|
print("MSG %s: %s" % (msg_name, ", ".join(s)))
|
|
else:
|
|
# update CSV data buffer
|
|
for i in range(len(data)):
|
|
label = msg_labels[i]
|
|
if label in show_fields:
|
|
self.__csv_data[msg_name + "_" + label] = data[i]
|
|
if self.__time_msg != None and msg_name != self.__time_msg:
|
|
self.__csv_updated = True
|
|
if self.__time_msg == None:
|
|
self.__printCSVRow()
|
|
self.__ptr += msg_length
|
|
|
|
def _main():
|
|
if len(sys.argv) < 2:
|
|
print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
|
|
print("\t-v\tUse plain debug output instead of CSV.\n")
|
|
print("\t-e\tRecover from errors.\n")
|
|
print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
|
|
print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
|
|
print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
|
|
print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
|
|
print("\t-fPrint to file instead of stdout")
|
|
return
|
|
fn = sys.argv[1]
|
|
debug_out = False
|
|
correct_errors = False
|
|
msg_filter = []
|
|
csv_null = ""
|
|
csv_delim = ","
|
|
time_msg = "TIME"
|
|
file_name = None
|
|
opt = None
|
|
for arg in sys.argv[2:]:
|
|
if opt != None:
|
|
if opt == "d":
|
|
csv_delim = arg
|
|
elif opt == "n":
|
|
csv_null = arg
|
|
elif opt == "t":
|
|
time_msg = arg
|
|
elif opt == "f":
|
|
file_name = arg
|
|
elif opt == "m":
|
|
show_fields = "*"
|
|
a = arg.split("_")
|
|
if len(a) > 1:
|
|
show_fields = a[1].split(",")
|
|
msg_filter.append((a[0], show_fields))
|
|
opt = None
|
|
else:
|
|
if arg == "-v":
|
|
debug_out = True
|
|
elif arg == "-e":
|
|
correct_errors = True
|
|
elif arg == "-d":
|
|
opt = "d"
|
|
elif arg == "-n":
|
|
opt = "n"
|
|
elif arg == "-m":
|
|
opt = "m"
|
|
elif arg == "-t":
|
|
opt = "t"
|
|
elif arg == "-f":
|
|
opt = "f"
|
|
|
|
if csv_delim == "\\t":
|
|
csv_delim = "\t"
|
|
parser = SDLog2Parser()
|
|
parser.setCSVDelimiter(csv_delim)
|
|
parser.setCSVNull(csv_null)
|
|
parser.setMsgFilter(msg_filter)
|
|
parser.setTimeMsg(time_msg)
|
|
parser.setFileName(file_name)
|
|
parser.setDebugOut(debug_out)
|
|
parser.setCorrectErrors(correct_errors)
|
|
parser.process(fn)
|
|
|
|
if __name__ == "__main__":
|
|
_main()
|