From 487497d66eab5846f133ed2da1a1f72356c24668 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 12 Aug 2013 23:50:29 +0200 Subject: Added Python 2 / 3 Windows / Linux / Mac OS converter script. So much for cross-platform / version agnostic --- Tools/README.txt | 13 ++++++++ Tools/sdlog2_dump.py | 86 ++++++---------------------------------------------- 2 files changed, 22 insertions(+), 77 deletions(-) create mode 100644 Tools/README.txt (limited to 'Tools') diff --git a/Tools/README.txt b/Tools/README.txt new file mode 100644 index 000000000..abeb9a4c7 --- /dev/null +++ b/Tools/README.txt @@ -0,0 +1,13 @@ +====== PX4 LOG CONVERSION ====== + +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). + +There are two conversion scripts in this ZIP file: + +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. + +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: + +python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n "" + +Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux. \ No newline at end of file diff --git a/Tools/sdlog2_dump.py b/Tools/sdlog2_dump.py index 0ffb38176..bb109d6f3 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 [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] @@ -21,17 +23,6 @@ __version__ = "1.2" import struct, sys -from pypreprocessor import pypreprocessor - -#exclude -if sys.version[:3].split('.')[0] == '2': - pypreprocessor.defines.append('python2') -if sys.version[:3].split('.')[0] == '3': - pypreprocessor.defines.append('python3') - -pypreprocessor.parse() -#endexclude - class SDLog2Parser: BLOCK_SIZE = 8192 MSG_HEADER_LEN = 3 @@ -76,11 +67,7 @@ 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 - #ifdef python2 - self.__buffer = "" # buffer, python2 - #else - self.__buffer = bytearray() # buffer for input binary data - #endif + self.__buffer = "" # 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 @@ -129,24 +116,15 @@ class SDLog2Parser: self.__buffer = self.__buffer[self.__ptr:] + chunk self.__ptr = 0 while self.__bytesLeft() >= self.MSG_HEADER_LEN: - #ifdef python2 head1 = ord(self.__buffer[self.__ptr]) head2 = ord(self.__buffer[self.__ptr+1]) - #else - head1 = self.__buffer[self.__ptr] - head2 = self.__buffer[self.__ptr+1] - #endif 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)) - #ifdef python2 msg_type = ord(self.__buffer[self.__ptr+2]) - #else - msg_type = self.__buffer[self.__ptr+2] - #endif if msg_type == self.MSG_TYPE_FORMAT: # parse FORMAT message if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN: @@ -192,13 +170,9 @@ 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: - #ifdef python2 - print self.__csv_delim.join(self.__csv_columns) - #else print(self.__csv_delim.join(self.__csv_columns)) - #endif def __printCSVRow(self): s = [] @@ -211,28 +185,18 @@ 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: - #ifdef python2 - print self.__csv_delim.join(s) - #else print(self.__csv_delim.join(s)) - #endif def __parseMsgDescr(self): data = struct.unpack(self.MSG_FORMAT_STRUCT, 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] - #ifdef python2 - msg_name = data[2].strip("\0") - msg_format = data[3].strip("\0") - msg_labels = data[4].strip("\0").split(",") - #else - 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(",") - #endif + 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 = [] @@ -249,13 +213,8 @@ class SDLog2Parser: self.__msg_names.append(msg_name) if self.__debug_out: if self.__filterMsg(msg_name) != None: - #ifdef python2 - 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) - #else 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)) - #endif self.__ptr += self.MSG_FORMAT_PACKET_LEN def __parseMsg(self, msg_descr): @@ -266,11 +225,7 @@ class SDLog2Parser: 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])) - #ifdef python2 - for i in xrange(len(data)): - #else for i in range(len(data)): - #endif if type(data[i]) is str: data[i] = data[i].strip("\0") m = msg_mults[i] @@ -278,26 +233,14 @@ class SDLog2Parser: data[i] = data[i] * m if self.__debug_out: s = [] - #ifdef python2 - for i in xrange(len(data)): - #else for i in range(len(data)): - #endif label = msg_labels[i] if show_fields == "*" or label in show_fields: s.append(label + "=" + str(data[i])) - #ifdef python2 - print "MSG %s: %s" % (msg_name, ", ".join(s)) - #else print("MSG %s: %s" % (msg_name, ", ".join(s))) - #endif else: # update CSV data buffer - #ifdef python2 - for i in xrange(len(data)): - #else for i in range(len(data)): - #endif label = msg_labels[i] if label in show_fields: self.__csv_data[msg_name + "_" + label] = data[i] @@ -309,16 +252,6 @@ class SDLog2Parser: def _main(): if len(sys.argv) < 2: - #ifdef python2 - print "Usage: python sdlog2_dump.py [-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" - #else print("Usage: python sdlog2_dump.py [-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") @@ -327,7 +260,6 @@ def _main(): 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") - #endif return fn = sys.argv[1] debug_out = False -- cgit v1.2.3