flix/tools/csv_to_ulog/csv_to_ulog.cpp
2024-07-25 02:44:47 +03:00

73 lines
1.9 KiB
C++

// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// Tool for conversion CSV log file to ULog format
#include <ulog_cpp/simple_writer.hpp>
#include <rapidcsv.h>
#include <vector>
#include <string>
#include <filesystem>
using std::vector;
using std::string;
struct Data {
uint64_t timestamp;
float values[30];
};
int main(int argc, char** argv)
{
if (argc < 2) {
printf("Usage: %s file.csv [file.ulg]\n", argv[0]);
return -1;
}
// check input file exists
if (!std::filesystem::exists(argv[1])) {
printf("Input file \"%s\" does not exist\n", argv[1]);
return -1;
}
// open csv file
rapidcsv::Document csv(argv[1]);
auto columns = csv.GetColumnNames();
// open ulog file
string ulog_file;
if (argc < 3) {
ulog_file = std::filesystem::path(argv[1]).replace_extension(".ulg").string();
} else {
ulog_file = argv[2];
}
ulog_cpp::SimpleWriter writer(ulog_file.c_str(), 0);
writer.writeInfo("sys_name", "flix");
vector<ulog_cpp::Field> fields;
fields.push_back(ulog_cpp::Field("uint64_t", "timestamp"));
columns.erase(columns.begin()); // remove timestamp column
for (auto& column : columns) {
// Valid field name for ULog: [a-z0-9_]+
std::replace(column.begin(), column.end(), '.', '_'); // replace dots with underscores
std::transform(column.begin(), column.end(), column.begin(), [](unsigned char c) { return std::tolower(c); }); // lowercase column name
fields.push_back(ulog_cpp::Field("float", column));
}
const char* msg_name = "state";
writer.writeMessageFormat(msg_name, fields);
writer.headerComplete();
const uint16_t msg_id = writer.writeAddLoggedMessage(msg_name);
for (size_t i = 0; i < csv.GetRowCount(); i++) {
Data data;
data.timestamp = csv.GetCell<float>(0, i) * 1000000.0;
for (size_t j = 1; j <= columns.size(); j++) {
data.values[j - 1] = csv.GetCell<float>(j, i);
}
writer.writeData(msg_id, data);
}
}