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#!/usr/bin/env python
"""Convert binary log generated by sdlog to CSV format
Usage: python logconv.py <log.bin>"""
__author__ = "Anton Babushkin"
__version__ = "0.1"
import struct, sys
def _unpack_packet(data):
s = ""
s += "Q" #.timestamp = buf.raw.timestamp,
s += "fff" #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
s += "fff" #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
s += "fff" #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
s += "f" #.baro = buf.raw.baro_pres_mbar,
s += "f" #.baro_alt = buf.raw.baro_alt_meter,
s += "f" #.baro_temp = buf.raw.baro_temp_celcius,
s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
s += "ffffffff" #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
s += "f" #.vbat = buf.batt.voltage_v,
s += "f" #.bat_current = buf.batt.current_a,
s += "f" #.bat_discharged = buf.batt.discharged_mah,
s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
s += "fff" #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
s += "iii" #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
s += "fff" #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
s += "fffffffff" #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
s += "fff" #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
s += "ffffff" #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
s += "f" #.diff_pressure = buf.diff_pres.differential_pressure_pa,
s += "f" #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
s += "f" #.true_airspeed = buf.airspeed.true_airspeed_m_s
s += "iii" # to align to 280
d = struct.unpack(s, data)
return d
def _main():
if len(sys.argv) < 2:
print "Usage:\npython logconv.py <log.bin>"
return
fn = sys.argv[1]
sysvector_size = 280
f = open(fn, "r")
while True:
data = f.read(sysvector_size)
if len(data) < sysvector_size:
break
a = []
for i in _unpack_packet(data):
a.append(str(i))
print ";".join(a)
f.close()
if __name__ == "__main__":
_main()
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