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Add parsertool dump to json, implement more to_json() for UBX #210

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Merged
flipflip8952 merged 1 commit into from
Aug 3, 2026
Merged

Add parsertool dump to json, implement more to_json() for UBX #210

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19 changes: 2 additions & 17 deletions fpsdk_apps/fpltool/fpltool_extract.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,10 +41,7 @@
#include <fpsdk_common/time.hpp>
#include <fpsdk_common/to_json/fpl.hpp>
#include <fpsdk_common/to_json/fpl_ros1.hpp>
#include <fpsdk_common/to_json/nmea.hpp>
#include <fpsdk_common/to_json/parser.hpp>
#include <fpsdk_common/to_json/parser_fpa.hpp>
#include <fpsdk_common/to_json/parser_fpb.hpp>
#include <fpsdk_common/to_json/ros1.hpp>
#include <fpsdk_common/to_json/time.hpp>
#include <fpsdk_common/types.hpp>
Expand All @@ -61,9 +58,6 @@ using namespace fpsdk::common::app;
using namespace fpsdk::common::cam;
using namespace fpsdk::common::fpl;
using namespace fpsdk::common::parser;
using namespace fpsdk::common::parser::fpa;
using namespace fpsdk::common::parser::fpb;
using namespace fpsdk::common::parser::nmea;
using namespace fpsdk::common::path;
using namespace fpsdk::common::ros1;
using namespace fpsdk::common::string;
Expand Down Expand Up @@ -628,17 +622,8 @@ bool FplToolExtract::WriteJson(const std::string& name, const nlohmann::json& js
bool FplToolExtract::WriteStreamMsg(const std::string& name, const StreamMsg& streammsg, const ParserMsg& parsermsg)
{
parsermsg.MakeInfo();
nlohmann::json jdata = streammsg; // magic to_json() (_type, _stamp, _stream, _data/_data_b64)
jdata.update(parsermsg); // magic to_json() (_proto, _name, _seq, _info, _data/_data_b64)

// We can decode some messages of some protocols
if (parsermsg.proto_ == Protocol::FP_A) {
jdata.update(FpaDecodeMessage(parsermsg.data_)); // magic to_json()
} else if (parsermsg.proto_ == Protocol::NMEA) {
jdata.update(NmeaDecodeMessage(parsermsg.data_)); // magic to_json()
} else if (parsermsg.proto_ == Protocol::FP_B) {
jdata.update(to_json_FP_B(parsermsg)); // magic to_json()
}
auto jdata = ParserMsgToJson(parsermsg); // magic to_json() (_proto, _name, _seq, _info, _data/_data_b64)
jdata.update(streammsg); // magic to_json() (_type, _stamp, _stream, _data/_data_b64)
return WriteJson(name, jdata);
}

Expand Down
96 changes: 66 additions & 30 deletions fpsdk_apps/parsertool/parsertool.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include <fpsdk_common/parser.hpp>
#include <fpsdk_common/string.hpp>
#include <fpsdk_common/time.hpp>
#include <fpsdk_common/to_json/parser.hpp>

/* PACKAGE */
#include "../common/common.hpp"
Expand All @@ -50,15 +51,17 @@ class ParserToolOptions : public ProgramOptions
public:
ParserToolOptions() // clang-format off
: ProgramOptions("parsertool", {
{ 'x', false, "hexdump" }, { 's', false, "save" }, { 'f', true, "filter" }, { 'c', false, "stdout" }
{ 'x', false, "hexdump" }, { 's', false, "save" }, { 'f', true, "filter" }, { 'c', false, "stdout" },
{ 'j', false, "jsonl" }
}) {}; // clang-format on

// clang-format off
bool hexdump_ = false; //!< Do hexdump of messages
bool split_ = false; //!< Split individual messages and save to files
std::vector<std::string> inputs_; //!< Input file(s)
std::vector<std::string> filters_; //!< Filters
bool stdout_ = false; //!< Write message to stdout instead of info about it
bool hexdump_ = false; //!< See help screen below
bool save_ = false; //!< See help screen below
std::vector<std::string> inputs_; //!< See help screen below
std::vector<std::string> filters_; //!< See help screen below
bool stdout_ = false; //!< See help screen below
bool jsonl_ = false; //!< See help screen below
// clang-format on

void PrintHelp() override final
Expand All @@ -79,11 +82,12 @@ class ParserToolOptions : public ProgramOptions
std::fputs(
"\n"
" -x, --hexdump -- Print hexdump of each message, not with -c\n"
" -s, --save -- Save each (!) message into a separate (!) file in the current directory, not with -c\n"
" -s, --save -- Save each (!) message into a separate (!) file in the current directory, not with -cj\n"
" -f <filter>, --filter <filter>\n"
" -- Filter input, where <filter> is a comma-separated list of full or partial message.\n"
" names. Multiple -f can be given.\n"
" -c, --stdout -- Write messages to stdout instead of printing info, useful with -f\n"
" -c, --stdout -- Write messages to stdout instead of printing info, useful with -f, not with -j\n"
" -j, --jsonl -- Write messages as JSONL to stdout instead of printing info, not with -c\n"
" <input> -- File or device to read data from (instead of stdin)\n"
"\n"
"Examples:\n"
Expand All @@ -107,16 +111,24 @@ class ParserToolOptions : public ProgramOptions
"\n"
" Filter all FP_A-ODOMETRY:\n"
"\n"
" parsertool -f FP_A-ODOMETRY fpsdk_common/test/data/mixed.bin\n"
" parsertool -f FP_A-ODOMETRY fpsdk_common/test/data/test_data_mixed.bin\n"
"\n"
" Filter all NMEA and FP_A messages. Either command does the same.\n"
"\n"
" parsertool -f FP_A -f NMEA fpsdk_common/test/data/mixed.bin\n"
" parsertool -f FP_A,NMEA fpsdk_common/test/data/mixed.bin\n"
" parsertool -f FP_A -f NMEA fpsdk_common/test/data/test_data_mixed.bin\n"
" parsertool -f FP_A,NMEA fpsdk_common/test/data/test_data_mixed.bin\n"
"\n"
" Filter all NMEA and FP_A messages and store to output.txt file:\n"
"\n"
" parsertool -f FP_A,NMEA -c fpsdk_common/test/data/mixed.bin > output.txt\n"
" parsertool -f FP_A,NMEA -c fpsdk_common/test/data/test_data_mixed.bin > output.txt\n"
"\n"
" Output messages as JSON (incl. decoding of fields where implemented):\n"
"\n"
" parsertool -j fpsdk_common/test/data/test_data_mixed.bin\n"
"\n"
" Output messages as JSON and pretty-print:\n"
"\n"
" parsertool -j fpsdk_common/test/data/test_data_mixed.bin | jq\n"
"\n"
"\n", stdout);
// clang-format on
Expand All @@ -130,7 +142,7 @@ class ParserToolOptions : public ProgramOptions
hexdump_ = true;
break;
case 's':
split_ = true;
save_ = true;
break;
case 'f':
for (auto& f : StrSplit(argument, ",")) {
Expand All @@ -140,6 +152,9 @@ class ParserToolOptions : public ProgramOptions
case 'c':
stdout_ = true;
break;
case 'j':
jsonl_ = true;
break;
default:
ok = false;
break;
Expand All @@ -158,11 +173,27 @@ class ParserToolOptions : public ProgramOptions
DEBUG("inputs_[%" PRIuMAX "] = '%s'", ix, inputs_[ix].c_str());
}
DEBUG("hexdump = %s", ToStr(hexdump_));
DEBUG("split = %s", ToStr(split_));
DEBUG("save = %s", ToStr(save_));
for (std::size_t ix = 0; ix < filters_.size(); ix++) {
DEBUG("filters[%" PRIuMAX "] = %s", ix, filters_[ix].c_str());
}
DEBUG("stdout = %s", ToStr(stdout_));
DEBUG("jsonl = %s", ToStr(jsonl_));

if (stdout_ && jsonl_) {
WARNING("Cannot do --stdout and --jsonl at the same time");
ok = false;
}

if (hexdump_ && jsonl_) {
WARNING("Cannot do --hexdump and --jsonl at the same time");
ok = false;
}

if (save_ && (stdout_ || jsonl_)) {
WARNING("Cannot do --save and --stdout or --jsonlat the same time");
ok = false;
}

return ok;
}
Expand Down Expand Up @@ -289,7 +320,8 @@ class ParserTool
void PrintMessageHeader()
{
// Keep in sync with PrintMessageData()
std::printf("------- Seq# Offset Size Protocol Message Info\n");
std::fprintf(opts_.jsonl_ ? stderr : stdout,
"------- Seq# Offset Size Protocol Message Info\n");
}

// -----------------------------------------------------------------------------------------------------------------
Expand All @@ -302,16 +334,19 @@ class ParserTool

if (opts_.stdout_) {
std::fwrite(msg.Data(), msg.Size(), 1, stdout);
} else if (opts_.jsonl_) {
msg.MakeInfo();
std::printf("%s\n", ParserMsgToJson(msg).dump().c_str());
} else {
msg.MakeInfo();
std::printf("message %06" PRIuMAX " %8" PRIuMAX " %5" PRIuMAX " %-8s %-30s %s\n", msg.seq_, offs,
std::printf("message %08" PRIuMAX " %8" PRIuMAX " %5" PRIuMAX " %-8s %-30s %s\n", msg.seq_, offs,
msg.Size(), ProtocolStr(msg.proto_), msg.name_.c_str(), msg.info_.empty() ? "-" : msg.info_.c_str());
if (hexdump) {
for (auto& line : HexDump(msg.data_)) {
std::printf("%s\n", line.c_str());
}
}
if (opts_.split_) {
if (opts_.save_) {
SaveMessage(msg);
}
}
Expand All @@ -327,21 +362,22 @@ class ParserTool
const auto& s = stats_;
const double p_n = (s.n_msgs_ > 0 ? 100.0 / (double)s.n_msgs_ : 0.0);
const double p_s = (s.s_msgs_ > 0 ? 100.0 / (double)s.s_msgs_ : 0.0);
std::printf("Stats: Messages Bytes\n");
FILE* f = (opts_.jsonl_ ? stderr : stdout);
std::fprintf(f, "Stats: Messages Bytes\n");
const char* fmt = "%-8s %10" PRIu64 " (%5.1f%%) %10" PRIu64 " (%5.1f%%)\n";
// clang-format off
std::printf(fmt, "Total", s.n_msgs_, (double)s.n_msgs_ * p_n, s.s_msgs_, (double)s.s_msgs_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::FP_A), s.n_fpa_, (double)s.n_fpa_ * p_n, s.s_fpa_, (double)s.s_fpa_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::FP_B), s.n_fpb_, (double)s.n_fpb_ * p_n, s.s_fpb_, (double)s.s_fpb_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::NMEA), s.n_nmea_, (double)s.n_nmea_ * p_n, s.s_nmea_, (double)s.s_nmea_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::UBX), s.n_ubx_, (double)s.n_ubx_ * p_n, s.s_ubx_, (double)s.s_ubx_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::RTCM3), s.n_rtcm3_, (double)s.n_rtcm3_ * p_n, s.s_rtcm3_, (double)s.s_rtcm3_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::NOV_B), s.n_novb_, (double)s.n_novb_ * p_n, s.s_novb_, (double)s.s_novb_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::UNI_B), s.n_unib_, (double)s.n_unib_ * p_n, s.s_unib_, (double)s.s_unib_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::SBF), s.n_sbf_, (double)s.n_sbf_ * p_n, s.s_sbf_, (double)s.s_sbf_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::QGC), s.n_qgc_, (double)s.n_qgc_ * p_n, s.s_qgc_, (double)s.s_qgc_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::SPARTN), s.n_spartn_, (double)s.n_spartn_ * p_n, s.s_spartn_, (double)s.s_spartn_ * p_s);
std::printf(fmt, ProtocolStr(Protocol::OTHER), s.n_other_, (double)s.n_other_ * p_n, s.s_other_, (double)s.s_other_ * p_s);
std::fprintf(f, fmt, "Total", s.n_msgs_, (double)s.n_msgs_ * p_n, s.s_msgs_, (double)s.s_msgs_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::FP_A), s.n_fpa_, (double)s.n_fpa_ * p_n, s.s_fpa_, (double)s.s_fpa_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::FP_B), s.n_fpb_, (double)s.n_fpb_ * p_n, s.s_fpb_, (double)s.s_fpb_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::NMEA), s.n_nmea_, (double)s.n_nmea_ * p_n, s.s_nmea_, (double)s.s_nmea_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::UBX), s.n_ubx_, (double)s.n_ubx_ * p_n, s.s_ubx_, (double)s.s_ubx_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::RTCM3), s.n_rtcm3_, (double)s.n_rtcm3_ * p_n, s.s_rtcm3_, (double)s.s_rtcm3_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::NOV_B), s.n_novb_, (double)s.n_novb_ * p_n, s.s_novb_, (double)s.s_novb_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::UNI_B), s.n_unib_, (double)s.n_unib_ * p_n, s.s_unib_, (double)s.s_unib_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::SBF), s.n_sbf_, (double)s.n_sbf_ * p_n, s.s_sbf_, (double)s.s_sbf_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::QGC), s.n_qgc_, (double)s.n_qgc_ * p_n, s.s_qgc_, (double)s.s_qgc_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::SPARTN), s.n_spartn_, (double)s.n_spartn_ * p_n, s.s_spartn_, (double)s.s_spartn_ * p_s);
std::fprintf(f, fmt, ProtocolStr(Protocol::OTHER), s.n_other_, (double)s.n_other_ * p_n, s.s_other_, (double)s.s_other_ * p_s);
// clang-format on
}

Expand Down
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