112 lines
3.3 KiB
Python
112 lines
3.3 KiB
Python
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#!/usr/bin/env python
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'''
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convert a MAVLink tlog file to a MATLab mfile
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'''
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from __future__ import print_function
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from builtins import range
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import os
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import re
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import sys
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from pymavlink import mavutil
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def process_tlog(filename):
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'''convert a tlog to a .m file'''
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is_py2 = sys.version_info < (3,0)
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print("Processing %s" % filename)
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mlog = mavutil.mavlink_connection(filename, dialect=args.dialect, zero_time_base=True)
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# first walk the entire file, grabbing all messages into a hash of lists,
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#and the first message of each type into a hash
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msg_types = {}
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msg_lists = {}
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types = args.types
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if types is not None:
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types = types.split(',')
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# note that Octave doesn't like any extra '.', '*', '-', characters in the filename
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(head, tail) = os.path.split(filename)
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basename = '.'.join(tail.split('.')[:-1])
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mfilename = re.sub('[\.\-\+\*]','_', basename) + '.m'
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# Octave also doesn't like files that don't start with a letter
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if re.match('^[a-zA-z]', mfilename) is None:
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mfilename = 'm_' + mfilename
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if head is not None:
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mfilename = os.path.join(head, mfilename)
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print("Creating %s" % mfilename)
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f = open(mfilename, "w")
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type_counters = {}
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while True:
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m = mlog.recv_match(condition=args.condition)
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if m is None:
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break
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if types is not None and m.get_type() not in types:
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continue
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if m.get_type() == 'BAD_DATA':
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continue
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fieldnames = m._fieldnames
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mtype = m.get_type()
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if mtype in ['FMT', 'PARM']:
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continue
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if mtype not in type_counters:
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type_counters[mtype] = 0
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f.write("%s.columns = {'timestamp'" % mtype)
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for field in fieldnames:
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val = getattr(m, field)
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if is_py2:
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if isinstance(val,unicode): # NOQA
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val = str(val)
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if not isinstance(val, str):
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if type(val) is not list:
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f.write(",'%s'" % field)
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else:
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for i in range(0, len(val)):
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f.write(",'%s%d'" % (field, i + 1))
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f.write("};\n")
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type_counters[mtype] += 1
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f.write("%s.data(%u,:) = [%f" % (mtype, type_counters[mtype], m._timestamp))
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for field in m._fieldnames:
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val = getattr(m, field)
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if is_py2:
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if isinstance(val,unicode): # NOQA
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val = str(val)
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if not isinstance(val, str):
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if type(val) is not list:
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f.write(",%.20g" % val)
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else:
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for i in range(0, len(val)):
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f.write(",%.20g" % val[i])
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f.write("];\n")
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f.close()
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--condition", default=None, help="select packets by condition")
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parser.add_argument("-o", "--output", default=None, help="output filename")
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parser.add_argument("--types", default=None, help="types of messages (comma separated)")
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parser.add_argument("--dialect", default="ardupilotmega", help="MAVLink dialect")
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parser.add_argument("logs", metavar="LOG", nargs="+")
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args = parser.parse_args()
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for filename in args.logs:
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process_tlog(filename)
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