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#!/usr/bin/env python
"""Dump binary log generated by sdlog2 or APM as CSV
Usage: python sdlog2_dump.py <log.bin> [-v] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
-v Use plain debug output instead of CSV.
-d Use "delimiter" in CSV. Default is ",".
-n Use "null" as placeholder for empty values in CSV. Default is empty.
-m MSG[.field1,field2,...]
Dump only messages of specified type, and only specified fields.
Multiple -m options allowed."""
__author__ = "Anton Babushkin"
__version__ = "1.1"
import struct, sys
class SDLog2Parser:
BLOCK_SIZE = 8192
MSG_HEADER_LEN = 3
MSG_HEAD1 = 0xA3
MSG_HEAD2 = 0x95
MSG_FORMAT_PACKET_LEN = 89
MSG_FORMAT_STRUCT = "BB4s16s64s"
MSG_TYPE_FORMAT = 0x80
FORMAT_TO_STRUCT = {
"b": ("b", None),
"B": ("B", None),
"h": ("h", None),
"H": ("H", None),
"i": ("i", None),
"I": ("I", None),
"f": ("f", None),
"n": ("4s", None),
"N": ("16s", None),
"Z": ("64s", None),
"c": ("h", 0.01),
"C": ("H", 0.01),
"e": ("i", 0.01),
"E": ("I", 0.01),
"L": ("i", 0.0000001),
"M": ("b", None),
"q": ("q", None),
"Q": ("Q", None),
}
__csv_delim = ","
__csv_null = ""
__msg_filter = []
__debug_out = False
def __init__(self):
return
def reset(self):
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.__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
self.__msg_filter_map = {} # filter in form of map, with '*" expanded to full list of fields
def setCSVDelimiter(self, csv_delim):
self.__csv_delim = csv_delim
def setCSVNull(self, csv_null):
self.__csv_null = csv_null
def setMsgFilter(self, msg_filter):
self.__msg_filter = msg_filter
def setDebugOut(self, debug_out):
self.__debug_out = debug_out
def process(self, fn):
self.reset()
if self.__debug_out:
# init __msg_filter_map
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")
while True:
chunk = f.read(self.BLOCK_SIZE)
if len(chunk) == 0:
break
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])
if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
raise Exception("Invalid header: %02X %02X, must be %02X %02X" % (head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
msg_type = ord(self.__buffer[self.__ptr+2])
if msg_type == self.MSG_TYPE_FORMAT:
# parse FORMAT message
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
break
self.__parseMsgDescr()
else:
# parse data message
msg_descr = self.__msg_descrs[msg_type]
if msg_descr == None:
raise Exception("Unknown msg type: %i" % msg_type)
msg_length = msg_descr[0]
if self.__bytesLeft() < msg_length:
break
if first_data_msg:
# build CSV columns and init data map
self.__initCSV()
first_data_msg = False
self.__parseMsg(msg_descr)
f.close()
def __bytesLeft(self):
return len(self.__buffer) - self.__ptr
def __filterMsg(self, msg_name):
show_fields = "*"
if len(self.__msg_filter_map) > 0:
show_fields = self.__msg_filter_map.get(msg_name)
return show_fields
def __initCSV(self):
if len(self.__msg_filter) == 0:
for msg_name in self.__msg_names:
self.__msg_filter.append((msg_name, "*"))
for msg_name, show_fields in self.__msg_filter:
if show_fields == "*":
show_fields = self.__msg_labels.get(msg_name, [])
self.__msg_filter_map[msg_name] = show_fields
for field in show_fields:
full_label = msg_name + "." + field
self.__csv_columns.append(full_label)
self.__csv_data[full_label] = None
print self.__csv_delim.join(self.__csv_columns)
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]
msg_name = data[2].strip("\0")
msg_format = data[3].strip("\0")
msg_labels = data[4].strip("\0").split(",")
# Convert msg_format to struct.unpack format string
msg_struct = ""
msg_mults = []
for c in msg_format:
try:
f = self.FORMAT_TO_STRUCT[c]
msg_struct += f[0]
msg_mults.append(f[1])
except KeyError as e:
raise Exception("Unsupported format char: %s in message %s (%i)" % (c, msg_name, msg_type))
msg_struct = "<" + msg_struct # force little-endian
self.__msg_descrs[msg_type] = (msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults)
self.__msg_labels[msg_name] = msg_labels
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)
self.__ptr += self.MSG_FORMAT_PACKET_LEN
def __parseMsg(self, msg_descr):
msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults = msg_descr
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 type(data[i]) is str:
data[i] = data[i].strip("\0")
m = msg_mults[i]
if m != None:
data[i] = data[i] * m
if self.__debug_out:
s = []
for i in xrange(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))
else:
# update CSV data buffer
for i in xrange(len(data)):
label = msg_labels[i]
if label in show_fields:
self.__csv_data[msg_name + "." + label] = data[i]
# format and print CSV row
s = []
for full_label in self.__csv_columns:
v = self.__csv_data[full_label]
if v == None:
v = self.__csv_null
else:
v = str(v)
s.append(v)
print self.__csv_delim.join(s)
self.__ptr += msg_length
def _main():
if len(sys.argv) < 2:
print "Usage: python sdlog2_dump.py <log.bin> [-v] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]\n"
print "\t-v\tUse plain debug output instead of CSV.\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."
return
fn = sys.argv[1]
debug_out = False
msg_filter = []
csv_null = ""
csv_delim = ","
opt = None
for arg in sys.argv[2:]:
if opt != None:
if opt == "d":
csv_delim = arg
elif opt == "n":
csv_null = arg
if opt == "m":
show_fields = "*"
a = arg.split(".")
if len(a) > 1:
show_fields = a[1].split(",")
msg_filter.append((a[0], show_fields))
opt = None
else:
if arg == "-v":
debug_out = True
elif arg == "-d":
opt = "d"
elif arg == "-n":
opt = "n"
elif arg == "-m":
opt = "m"
if csv_delim == "\\t":
csv_delim = "\t"
parser = SDLog2Parser()
parser.setCSVDelimiter(csv_delim)
parser.setCSVNull(csv_null)
parser.setMsgFilter(msg_filter)
parser.setDebugOut(debug_out)
parser.process(fn)
if __name__ == "__main__":
_main()
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