saleae_uavcan.py

# Decode UAVCAN transfers from a CAN dump CSV exported from Saleae Logic

import argparse
import csv
import uavcan
from uavcan.transport import TransferManager, Frame, Transfer
  
def parsecsv(f):
  manager = TransferManager()
  reader = csv.reader(f, delimiter=',')
  for t, seq, tp, id, ctl, data, crc, ack in reader:
    if "Time" in t: continue # skip header
    
    id = int(id, 16)
    data = [int(x, 16) for x in data.split(' ')]
    frame = Frame(id, data)
    transfer_frames = manager.receive_frame(frame)
    if transfer_frames:
      transfer = Transfer()
      transfer.from_frames(transfer_frames)
      yield t, transfer
      
if __name__ == "__main__":
  parser = argparse.ArgumentParser()
  parser.add_argument('csvfile', help="CSV file exported from the Saleae CAN decoder")
  parser.add_argument('-d', '--dsdl', action='append', help="Path to a DSDL library")
  args = parser.parse_args()

  uavcan.load_dsdl(args.dsdl)

  with open(args.csvfile, 'rb') as csvfile:
    for time, transfer in parsecsv(csvfile):
      print "{0} {1!r}\n".format(time, transfer)