mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 08:28:52 +08:00
Added Python 2 / 3 Windows / Linux / Mac OS converter script. So much for cross-platform / version agnostic
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,13 @@
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====== PX4 LOG CONVERSION ======
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On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
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There are two conversion scripts in this ZIP file:
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logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
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sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
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python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
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Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
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+9
-77
@@ -1,6 +1,8 @@
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#!/usr/bin/env python
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"""Dump binary log generated by sdlog2 or APM as CSV
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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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@@ -21,17 +23,6 @@ __version__ = "1.2"
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import struct, sys
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from pypreprocessor import pypreprocessor
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#exclude
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if sys.version[:3].split('.')[0] == '2':
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pypreprocessor.defines.append('python2')
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if sys.version[:3].split('.')[0] == '3':
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pypreprocessor.defines.append('python3')
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pypreprocessor.parse()
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#endexclude
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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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@@ -76,11 +67,7 @@ class SDLog2Parser:
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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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#ifdef python2
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self.__buffer = "" # buffer, python2
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#else
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self.__buffer = bytearray() # buffer for input binary data
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#endif
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self.__buffer = "" # 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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@@ -129,24 +116,15 @@ class SDLog2Parser:
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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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#ifdef python2
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head1 = ord(self.__buffer[self.__ptr])
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head2 = ord(self.__buffer[self.__ptr+1])
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#else
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head1 = self.__buffer[self.__ptr]
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head2 = self.__buffer[self.__ptr+1]
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#endif
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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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#ifdef python2
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msg_type = ord(self.__buffer[self.__ptr+2])
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#else
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msg_type = self.__buffer[self.__ptr+2]
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#endif
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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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@@ -192,13 +170,9 @@ class SDLog2Parser:
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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.__file, self.__csv_delim.join(self.__csv_columns)
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print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
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else:
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#ifdef python2
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print self.__csv_delim.join(self.__csv_columns)
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#else
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print(self.__csv_delim.join(self.__csv_columns))
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#endif
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def __printCSVRow(self):
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s = []
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@@ -211,28 +185,18 @@ class SDLog2Parser:
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s.append(v)
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if self.__file != None:
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print >> self.__file, self.__csv_delim.join(s)
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print(self.__csv_delim.join(s), file=self.__file)
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else:
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#ifdef python2
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print self.__csv_delim.join(s)
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#else
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print(self.__csv_delim.join(s))
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#endif
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def __parseMsgDescr(self):
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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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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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#ifdef python2
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msg_name = data[2].strip("\0")
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msg_format = data[3].strip("\0")
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msg_labels = data[4].strip("\0").split(",")
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#else
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msg_name = str(data[2], 'ascii').strip("\0")
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msg_format = str(data[3], 'ascii').strip("\0")
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msg_labels = str(data[4], 'ascii').strip("\0").split(",")
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#endif
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msg_name = str(data[2]).strip("\0")
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msg_format = str(data[3]).strip("\0")
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msg_labels = str(data[4]).strip("\0").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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@@ -249,13 +213,8 @@ class SDLog2Parser:
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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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#ifdef python2
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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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#else
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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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#endif
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self.__ptr += self.MSG_FORMAT_PACKET_LEN
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def __parseMsg(self, msg_descr):
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@@ -266,11 +225,7 @@ class SDLog2Parser:
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show_fields = self.__filterMsg(msg_name)
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if (show_fields != None):
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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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#ifdef python2
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for i in xrange(len(data)):
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#else
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for i in range(len(data)):
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#endif
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if type(data[i]) is str:
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data[i] = data[i].strip("\0")
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m = msg_mults[i]
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@@ -278,26 +233,14 @@ class SDLog2Parser:
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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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#ifdef python2
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for i in xrange(len(data)):
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#else
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for i in range(len(data)):
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#endif
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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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#ifdef python2
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print "MSG %s: %s" % (msg_name, ", ".join(s))
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#else
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print("MSG %s: %s" % (msg_name, ", ".join(s)))
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#endif
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else:
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# update CSV data buffer
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#ifdef python2
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for i in xrange(len(data)):
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#else
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for i in range(len(data)):
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#endif
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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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@@ -309,16 +252,6 @@ class SDLog2Parser:
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def _main():
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if len(sys.argv) < 2:
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#ifdef python2
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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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#else
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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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@@ -327,7 +260,6 @@ def _main():
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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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#endif
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return
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fn = sys.argv[1]
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debug_out = False
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