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mavlogdump: CSV option: Don't cut out messages with same timestamp #912

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Feb 1, 2024
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mavlogdump: CSV option: Don't cut out messages with same timestamp #912

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51 changes: 16 additions & 35 deletions tools/mavlogdump.py
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Original file line number Diff line number Diff line change
Expand Up @@ -187,22 +187,21 @@ def match_type(mtype, patterns):
currentOffset += len(fields)
except IndexError:
quit()
except AttributeError:
print("Message type '%s' not found" % (type))
quit()
except TypeError:
print("You must specify a list of message types if outputting CSV format via the --types argument.")
exit()

# The first line output are names for all columns
csv_out = ["" for x in fields]
print(args.csv_sep.join(fields))

if isbin and args.format == 'csv': # need to accumulate columns from message
if (isbin or islog) and args.format == 'csv': # need to accumulate columns from message
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if types is None or len(types) != 1:
print("Need exactly one type when dumping CSV from bin file")
quit()

# Track the last timestamp value. Used for compressing data for the CSV output format.
last_timestamp = None

# Track types found
available_types = set()

Expand All @@ -217,7 +216,11 @@ def match_type(mtype, patterns):
match_types = []
match_types.append(k)

if isbin and args.format == 'csv':
if (isbin or islog) and args.format == 'csv':
# Make sure the specified type was found
if match_types is None:
print("Specified type '%s' not found in log file" % (types[0]))
quit()
# we need FMT messages for column headings
match_types.append("FMT")

Expand All @@ -226,17 +229,12 @@ def match_type(mtype, patterns):
while True:
m = mlog.recv_match(blocking=args.follow, type=match_types)
if m is None:
# write the final csv line before exiting
if args.format == 'csv' and csv_out:
csv_out[0] = "{:.8f}".format(last_timestamp)
print(args.csv_sep.join(csv_out))
break
m_type = m.get_type()
available_types.add(m_type)
if isbin and m_type == "FMT" and args.format == 'csv':
if (isbin or islog) and m_type == "FMT" and args.format == 'csv':
if m.Name == types[0]:
fields += m.Columns.split(',')
csv_out = ["" for x in fields]
print(args.csv_sep.join(fields))

if args.reduce and reduce_msg(m_type, args.reduce):
Expand Down Expand Up @@ -329,27 +327,13 @@ def match_type(mtype, patterns):
# CSV format outputs columnar data with a user-specified delimiter
elif args.format == 'csv':
data = m.to_dict()

# If this message has a duplicate timestamp, copy its data into the existing data list. Also
# do this if it's the first message encountered.
if timestamp == last_timestamp or last_timestamp is None:
if isbin:
newData = [str(data[y]) if y != "timestamp" else "" for y in fields]
else:
newData = [str(data[y.split('.')[-1]]) if y.split('.')[0] == m_type and y.split('.')[-1] in data else "" for y in fields]

for i, val in enumerate(newData):
if val:
csv_out[i] = val

# Otherwise if this is a new timestamp, print out the old output data, and store the current message for later output.
if isbin or islog:
csv_out = [str(data[y]) if y != "timestamp" else "" for y in fields]
else:
csv_out[0] = "{:.8f}".format(last_timestamp)
print(args.csv_sep.join(csv_out))
if isbin:
csv_out = [str(data[y]) if y != "timestamp" else "" for y in fields]
else:
csv_out = [str(data[y.split('.')[-1]]) if y.split('.')[0] == m_type and y.split('.')[-1] in data else "" for y in fields]
csv_out = [str(data[y.split('.')[-1]]) if y.split('.')[0] == m_type and y.split('.')[-1] in data else "" for y in fields]
csv_out[0] = "{:.8f}".format(timestamp)
print(args.csv_sep.join(csv_out))

# MAT format outputs data to a .mat file specified through the
# --mat_file option
elif args.format == 'mat':
Expand Down Expand Up @@ -393,9 +377,6 @@ def match_type(mtype, patterns):
s += " seq=%u" % m.get_seq()
print(s)

# Update our last timestamp value.
last_timestamp = timestamp

# Export the .mat file
if args.format == 'mat':
scipy.io.savemat(args.mat_file, MAT, do_compression=args.compress)
Expand Down
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