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https://github.com/okalachev/flix.git
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Oleg Kalachev
83d1c5c68a
Make topic-based logging mechanics. Print any log value to console. Possibility to expose any logging value to mavlink.
56 lines
1.4 KiB
Python
Executable File
56 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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"""Convert CSV log file to MCAP file.
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Usage:
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csv_to_mcap.py <csv_file> [<mcap_file>]
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"""
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import csv
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import json
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import docopt
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import math
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from mcap.writer import Writer
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args = docopt.docopt(__doc__)
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input_file = args['<csv_file>']
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output_file = args['<mcap_file>'] or input_file.replace('.csv', '.mcap')
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if input_file == output_file:
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raise ValueError('Input and output files are the same')
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csv_file = open(input_file, 'r')
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csv_reader = csv.reader(csv_file, delimiter=',')
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header = next(csv_reader)
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mcap_file = open(output_file, 'wb')
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writer = Writer(mcap_file)
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writer.start()
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properties = {key: {'type': 'number'} for key in header}
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schema_id = writer.register_schema(
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name="state",
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encoding="jsonschema",
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data=json.dumps({"type": "object", "properties": properties}).encode(),
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)
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channel_id = writer.register_channel(
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schema_id=schema_id,
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topic="state",
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message_encoding="json",
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)
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for row in csv_reader:
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if row[0] == '': continue
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data = {}
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for key, value in zip(header, row):
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if value == '' or math.isnan(float(value)):
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data[key] = None
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else:
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data[key] = float(value)
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data = {key: float(value) if value != '' else None for key, value in zip(header, row)}
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timestamp = round(float(row[0]) * 1e9)
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writer.add_message(channel_id=channel_id, log_time=timestamp, data=json.dumps(data).encode(), publish_time=timestamp,)
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writer.finish()
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