forked from Archive/PX4-Autopilot
344 lines
13 KiB
Python
Executable File
344 lines
13 KiB
Python
Executable File
#!/usr/bin/env python
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from __future__ import print_function
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"""Dump binary log generated by PX4's sdlog2 or APM as CSV
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Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[_field1,field2,...]]
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Example Usage: python sdlog2_dump.py log.bin -m GPS_Lat,Lng -m AHR2_Roll,Pitch,Yaw
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-v Use plain debug output instead of CSV.
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-e Recover from errors.
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-d Use "delimiter" in CSV. Default is ",".
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-n Use "null" as placeholder for empty values in CSV. Default is empty.
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-m MSG[_field1,field2,...]
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Dump only messages of specified type, and only specified fields.
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Multiple -m options allowed.
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"""
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__author__ = "Anton Babushkin"
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__version__ = "1.2"
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import struct, sys
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if sys.hexversion >= 0x030000F0:
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runningPython3 = True
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def _parseCString(cstr):
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return str(cstr, 'ascii').split('\0')[0]
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else:
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runningPython3 = False
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def _parseCString(cstr):
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return str(cstr).split('\0')[0]
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class SDLog2Parser:
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BLOCK_SIZE = 8192
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MSG_HEADER_LEN = 3
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MSG_HEAD1 = 0xA3
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MSG_HEAD2 = 0x95
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MSG_FORMAT_PACKET_LEN = 89
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MSG_FORMAT_STRUCT = "BB4s16s64s"
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MSG_TYPE_FORMAT = 0x80
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FORMAT_TO_STRUCT = {
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"b": ("b", None),
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"B": ("B", None),
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"h": ("h", None),
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"H": ("H", None),
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"i": ("i", None),
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"I": ("I", None),
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"f": ("f", None),
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"d": ("d", None),
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"n": ("4s", None),
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"N": ("16s", None),
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"Z": ("64s", None),
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"c": ("h", 0.01),
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"C": ("H", 0.01),
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"e": ("i", 0.01),
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"E": ("I", 0.01),
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"L": ("i", 0.0000001),
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"M": ("b", None),
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"q": ("q", None),
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"Q": ("Q", None),
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}
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__csv_delim = ","
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__csv_null = ""
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__msg_filter = []
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__time_msg = None
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__debug_out = False
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__correct_errors = False
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__file_name = None
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__file = None
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def __init__(self):
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return
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def reset(self):
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self.__msg_descrs = {} # message descriptions by message type map
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self.__msg_labels = {} # message labels by message name map
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self.__msg_names = [] # message names in the same order as FORMAT messages
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self.__buffer = bytearray() # buffer for input binary data
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self.__ptr = 0 # read pointer in buffer
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self.__csv_columns = [] # CSV file columns in correct order in format "MSG.label"
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self.__csv_data = {} # current values for all columns
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self.__csv_updated = False
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self.__msg_filter_map = {} # filter in form of map, with '*" expanded to full list of fields
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def setCSVDelimiter(self, csv_delim):
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self.__csv_delim = csv_delim
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def setCSVNull(self, csv_null):
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self.__csv_null = csv_null
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def setMsgFilter(self, msg_filter):
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self.__msg_filter = msg_filter
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def setTimeMsg(self, time_msg):
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self.__time_msg = time_msg
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def setDebugOut(self, debug_out):
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self.__debug_out = debug_out
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def setCorrectErrors(self, correct_errors):
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self.__correct_errors = correct_errors
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def setFileName(self, file_name):
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self.__file_name = file_name
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if file_name != None:
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self.__file = open(file_name, 'w+')
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else:
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self.__file = None
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def process(self, fn):
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self.reset()
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if self.__debug_out:
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# init __msg_filter_map
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for msg_name, show_fields in self.__msg_filter:
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self.__msg_filter_map[msg_name] = show_fields
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first_data_msg = True
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f = open(fn, "rb")
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bytes_read = 0
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while True:
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chunk = f.read(self.BLOCK_SIZE)
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if len(chunk) == 0:
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break
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self.__buffer = self.__buffer[self.__ptr:] + chunk
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self.__ptr = 0
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while self.__bytesLeft() >= self.MSG_HEADER_LEN:
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head1 = self.__buffer[self.__ptr]
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head2 = self.__buffer[self.__ptr+1]
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if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
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if self.__correct_errors:
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self.__ptr += 1
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continue
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else:
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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))
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msg_type = self.__buffer[self.__ptr+2]
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if msg_type == self.MSG_TYPE_FORMAT:
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# parse FORMAT message
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if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
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break
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self.__parseMsgDescr()
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else:
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# parse data message
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msg_descr = self.__msg_descrs.get(msg_type, None)
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if msg_descr == None:
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if self.__correct_errors:
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self.__ptr += 1
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continue
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else:
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raise Exception("Unknown msg type: %i" % msg_type)
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msg_length = msg_descr[0]
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if self.__bytesLeft() < msg_length:
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break
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if first_data_msg:
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# build CSV columns and init data map
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if not self.__debug_out:
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self.__initCSV()
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first_data_msg = False
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self.__parseMsg(msg_descr)
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bytes_read += self.__ptr
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if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
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self.__printCSVRow()
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f.close()
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def __bytesLeft(self):
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return len(self.__buffer) - self.__ptr
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def __filterMsg(self, msg_name):
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show_fields = "*"
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if len(self.__msg_filter_map) > 0:
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show_fields = self.__msg_filter_map.get(msg_name)
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return show_fields
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def __initCSV(self):
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if len(self.__msg_filter) == 0:
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for msg_name in self.__msg_names:
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self.__msg_filter.append((msg_name, "*"))
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for msg_name, show_fields in self.__msg_filter:
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if show_fields == "*":
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show_fields = self.__msg_labels.get(msg_name, [])
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self.__msg_filter_map[msg_name] = show_fields
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for field in show_fields:
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full_label = msg_name + "_" + field
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self.__csv_columns.append(full_label)
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self.__csv_data[full_label] = None
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if self.__file != None:
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print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
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else:
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print(self.__csv_delim.join(self.__csv_columns))
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def __printCSVRow(self):
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s = []
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for full_label in self.__csv_columns:
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v = self.__csv_data[full_label]
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if v == None:
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v = self.__csv_null
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else:
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v = str(v)
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s.append(v)
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if self.__file != None:
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print(self.__csv_delim.join(s), file=self.__file)
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else:
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print(self.__csv_delim.join(s))
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def __parseMsgDescr(self):
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if runningPython3:
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data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
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else:
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data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
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msg_type = data[0]
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if msg_type != self.MSG_TYPE_FORMAT:
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msg_length = data[1]
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msg_name = _parseCString(data[2])
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msg_format = _parseCString(data[3])
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msg_labels = _parseCString(data[4]).split(",")
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# Convert msg_format to struct.unpack format string
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msg_struct = ""
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msg_mults = []
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for c in msg_format:
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try:
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f = self.FORMAT_TO_STRUCT[c]
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msg_struct += f[0]
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msg_mults.append(f[1])
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except KeyError as e:
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raise Exception("Unsupported format char: %s in message %s (%i)" % (c, msg_name, msg_type))
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msg_struct = "<" + msg_struct # force little-endian
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self.__msg_descrs[msg_type] = (msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults)
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self.__msg_labels[msg_name] = msg_labels
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self.__msg_names.append(msg_name)
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if self.__debug_out:
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if self.__filterMsg(msg_name) != None:
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print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
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msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
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self.__ptr += self.MSG_FORMAT_PACKET_LEN
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def __parseMsg(self, msg_descr):
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msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults = msg_descr
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if not self.__debug_out and self.__time_msg != None and msg_name == self.__time_msg and self.__csv_updated:
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self.__printCSVRow()
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self.__csv_updated = False
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show_fields = self.__filterMsg(msg_name)
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if (show_fields != None):
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if runningPython3:
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data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
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else:
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data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
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for i in range(len(data)):
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if type(data[i]) is str:
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data[i] = _parseCString(data[i])
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m = msg_mults[i]
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if m != None:
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data[i] = data[i] * m
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if self.__debug_out:
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s = []
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for i in range(len(data)):
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label = msg_labels[i]
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if show_fields == "*" or label in show_fields:
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s.append(label + "=" + str(data[i]))
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print("MSG %s: %s" % (msg_name, ", ".join(s)))
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else:
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# update CSV data buffer
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for i in range(len(data)):
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label = msg_labels[i]
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if label in show_fields:
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self.__csv_data[msg_name + "_" + label] = data[i]
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if self.__time_msg != None and msg_name != self.__time_msg:
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self.__csv_updated = True
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if self.__time_msg == None:
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self.__printCSVRow()
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self.__ptr += msg_length
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def _main():
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if len(sys.argv) < 2:
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print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[_field1,field2,...]] [-t TIME_MSG_NAME]\n")
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print("\t-v\tUse plain debug output instead of CSV.\n")
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print("\t-e\tRecover from errors.\n")
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print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
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print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
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print("\t-m MSG[_field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
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print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
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print("\t-fPrint to file instead of stdout")
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return
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fn = sys.argv[1]
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debug_out = False
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correct_errors = False
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msg_filter = []
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csv_null = ""
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csv_delim = ","
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time_msg = "TIME"
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file_name = None
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opt = None
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for arg in sys.argv[2:]:
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if opt != None:
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if opt == "d":
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csv_delim = arg
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elif opt == "n":
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csv_null = arg
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elif opt == "t":
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time_msg = arg
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elif opt == "f":
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file_name = arg
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elif opt == "m":
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show_fields = "*"
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a = arg.split("_")
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if len(a) > 1:
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show_fields = a[1].split(",")
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msg_filter.append((a[0], show_fields))
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opt = None
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else:
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if arg == "-v":
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debug_out = True
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elif arg == "-e":
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correct_errors = True
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elif arg == "-d":
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opt = "d"
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elif arg == "-n":
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opt = "n"
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elif arg == "-m":
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opt = "m"
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elif arg == "-t":
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opt = "t"
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elif arg == "-f":
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opt = "f"
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if csv_delim == "\\t":
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csv_delim = "\t"
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parser = SDLog2Parser()
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parser.setCSVDelimiter(csv_delim)
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parser.setCSVNull(csv_null)
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parser.setMsgFilter(msg_filter)
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parser.setTimeMsg(time_msg)
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parser.setFileName(file_name)
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parser.setDebugOut(debug_out)
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parser.setCorrectErrors(correct_errors)
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parser.process(fn)
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if __name__ == "__main__":
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_main()
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