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-rw-r--r--Tools/sdlog2_dump.py76
1 files changed, 47 insertions, 29 deletions
diff --git a/Tools/sdlog2_dump.py b/Tools/sdlog2_dump.py
index ebc04f4d0..7fefc5908 100644
--- a/Tools/sdlog2_dump.py
+++ b/Tools/sdlog2_dump.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python
-"""Dump binary log generated by sdlog2 or APM as CSV
+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,...]]
@@ -21,6 +23,11 @@ __version__ = "1.2"
import struct, sys
+if sys.hexversion >= 0x030000F0:
+ runningPython3 = True
+else:
+ runningPython3 = False
+
class SDLog2Parser:
BLOCK_SIZE = 8192
MSG_HEADER_LEN = 3
@@ -65,7 +72,7 @@ class SDLog2Parser:
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 = "" # buffer for input binary data
+ 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
@@ -105,7 +112,7 @@ class SDLog2Parser:
for msg_name, show_fields in self.__msg_filter:
self.__msg_filter_map[msg_name] = show_fields
first_data_msg = True
- f = open(fn, "r")
+ f = open(fn, "rb")
bytes_read = 0
while True:
chunk = f.read(self.BLOCK_SIZE)
@@ -114,15 +121,15 @@ class SDLog2Parser:
self.__buffer = self.__buffer[self.__ptr:] + chunk
self.__ptr = 0
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
- head1 = ord(self.__buffer[self.__ptr])
- head2 = ord(self.__buffer[self.__ptr+1])
+ 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 = ord(self.__buffer[self.__ptr+2])
+ 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:
@@ -168,9 +175,9 @@ class SDLog2Parser:
self.__csv_columns.append(full_label)
self.__csv_data[full_label] = None
if self.__file != None:
- print >> self.__file, self.__csv_delim.join(self.__csv_columns)
+ print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
else:
- print self.__csv_delim.join(self.__csv_columns)
+ print(self.__csv_delim.join(self.__csv_columns))
def __printCSVRow(self):
s = []
@@ -183,18 +190,26 @@ class SDLog2Parser:
s.append(v)
if self.__file != None:
- print >> self.__file, self.__csv_delim.join(s)
+ print(self.__csv_delim.join(s), file=self.__file)
else:
- print self.__csv_delim.join(s)
+ print(self.__csv_delim.join(s))
def __parseMsgDescr(self):
- data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+ 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 = data[2].strip("\0")
- msg_format = data[3].strip("\0")
- msg_labels = data[4].strip("\0").split(",")
+ if runningPython3:
+ msg_name = str(data[2], 'ascii').strip("\0")
+ msg_format = str(data[3], 'ascii').strip("\0")
+ msg_labels = str(data[4], 'ascii').strip("\0").split(",")
+ else:
+ msg_name = str(data[2]).strip("\0")
+ msg_format = str(data[3]).strip("\0")
+ msg_labels = str(data[4]).strip("\0").split(",")
# Convert msg_format to struct.unpack format string
msg_struct = ""
msg_mults = []
@@ -211,8 +226,8 @@ class SDLog2Parser:
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)
+ 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):
@@ -222,8 +237,11 @@ class SDLog2Parser:
self.__csv_updated = False
show_fields = self.__filterMsg(msg_name)
if (show_fields != None):
- data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
- for i in xrange(len(data)):
+ 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] = data[i].strip("\0")
m = msg_mults[i]
@@ -231,14 +249,14 @@ class SDLog2Parser:
data[i] = data[i] * m
if self.__debug_out:
s = []
- for i in xrange(len(data)):
+ 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))
+ print("MSG %s: %s" % (msg_name, ", ".join(s)))
else:
# update CSV data buffer
- for i in xrange(len(data)):
+ for i in range(len(data)):
label = msg_labels[i]
if label in show_fields:
self.__csv_data[msg_name + "_" + label] = data[i]
@@ -250,14 +268,14 @@ class SDLog2Parser:
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"
+ 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-08 00:04:57 +0000