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Improve support for TRC files (#1530)
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* Improve support for TRC files

* Add support for Version 2.0
* Add support for $STARTTIME in Version 1.1 and Version 2.1
* Add support for $COLUMNS in Version 2.1

* Add type annotations

* Fix mypy findings

* remove assert

---------

Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com>
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@twam @zariiii9003
twam and zariiii9003 committed Mar 30, 2023
1 parent fa5b133 commit 740c50c
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Showing 3 changed files with 98 additions and 34 deletions.
114 changes: 85 additions & 29 deletions can/io/trc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,15 +7,15 @@
Version 1.1 will be implemented as it is most commonly used
""" # noqa

from datetime import datetime, timedelta
from datetime import datetime, timedelta, timezone
from enum import Enum
import io
import os
import logging
from typing import Generator, Optional, Union, TextIO, Callable, List
from typing import Generator, Optional, Union, TextIO, Callable, List, Dict

from ..message import Message
from ..util import channel2int
from ..util import channel2int, len2dlc, dlc2len
from .generic import FileIOMessageWriter, MessageReader
from ..typechecking import StringPathLike

Expand All @@ -32,6 +32,11 @@ class TRCFileVersion(Enum):
V2_0 = 200
V2_1 = 201

def __ge__(self, other):
if self.__class__ is other.__class__:
return self.value >= other.value
return NotImplemented


class TRCReader(MessageReader):
"""
Expand All @@ -51,6 +56,8 @@ def __init__(
"""
super().__init__(file, mode="r")
self.file_version = TRCFileVersion.UNKNOWN
self.start_time: Optional[datetime] = None
self.columns: Dict[str, int] = {}

if not self.file:
raise ValueError("The given file cannot be None")
Expand All @@ -67,17 +74,42 @@ def _extract_header(self):
file_version = line.split("=")[1]
if file_version == "1.1":
self.file_version = TRCFileVersion.V1_1
elif file_version == "2.0":
self.file_version = TRCFileVersion.V2_0
elif file_version == "2.1":
self.file_version = TRCFileVersion.V2_1
else:
self.file_version = TRCFileVersion.UNKNOWN
except IndexError:
logger.debug("TRCReader: Failed to parse version")
elif line.startswith(";$STARTTIME"):
logger.debug("TRCReader: Found start time '%s'", line)
try:
self.start_time = datetime(
1899, 12, 30, tzinfo=timezone.utc
) + timedelta(days=float(line.split("=")[1]))
except IndexError:
logger.debug("TRCReader: Failed to parse start time")
elif line.startswith(";$COLUMNS"):
logger.debug("TRCReader: Found columns '%s'", line)
try:
columns = line.split("=")[1].split(",")
self.columns = {column: columns.index(column) for column in columns}
except IndexError:
logger.debug("TRCReader: Failed to parse columns")
elif line.startswith(";"):
continue
else:
break

if self.file_version >= TRCFileVersion.V1_1:
if self.start_time is None:
raise ValueError("File has no start time information")

if self.file_version >= TRCFileVersion.V2_0:
if not self.columns:
raise ValueError("File has no column information")

if self.file_version == TRCFileVersion.UNKNOWN:
logger.info(
"TRCReader: No file version was found, so version 1.0 is assumed"
Expand All @@ -87,8 +119,8 @@ def _extract_header(self):
self._parse_cols = self._parse_msg_V1_0
elif self.file_version == TRCFileVersion.V1_1:
self._parse_cols = self._parse_cols_V1_1
elif self.file_version == TRCFileVersion.V2_1:
self._parse_cols = self._parse_cols_V2_1
elif self.file_version in [TRCFileVersion.V2_0, TRCFileVersion.V2_1]:
self._parse_cols = self._parse_cols_V2_x
else:
raise NotImplementedError("File version not fully implemented for reading")

Expand All @@ -113,7 +145,12 @@ def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]:
arbit_id = cols[3]

msg = Message()
msg.timestamp = float(cols[1]) / 1000
if isinstance(self.start_time, datetime):
msg.timestamp = (
self.start_time + timedelta(milliseconds=float(cols[1]))
).timestamp()
else:
msg.timestamp = float(cols[1]) / 1000
msg.arbitration_id = int(arbit_id, 16)
msg.is_extended_id = len(arbit_id) > 4
msg.channel = 1
Expand All @@ -122,15 +159,38 @@ def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]:
msg.is_rx = cols[2] == "Rx"
return msg

def _parse_msg_V2_1(self, cols: List[str]) -> Optional[Message]:
def _parse_msg_V2_x(self, cols: List[str]) -> Optional[Message]:
type_ = cols[self.columns["T"]]
bus = self.columns.get("B", None)

if "l" in self.columns:
length = int(cols[self.columns["l"]])
dlc = len2dlc(length)
elif "L" in self.columns:
dlc = int(cols[self.columns["L"]])
length = dlc2len(dlc)
else:
raise ValueError("No length/dlc columns present.")

msg = Message()
msg.timestamp = float(cols[1]) / 1000
msg.arbitration_id = int(cols[4], 16)
msg.is_extended_id = len(cols[4]) > 4
msg.channel = int(cols[3])
msg.dlc = int(cols[7])
msg.data = bytearray([int(cols[i + 8], 16) for i in range(msg.dlc)])
msg.is_rx = cols[5] == "Rx"
if isinstance(self.start_time, datetime):
msg.timestamp = (
self.start_time + timedelta(milliseconds=float(cols[self.columns["O"]]))
).timestamp()
else:
msg.timestamp = float(cols[1]) / 1000
msg.arbitration_id = int(cols[self.columns["I"]], 16)
msg.is_extended_id = len(cols[self.columns["I"]]) > 4
msg.channel = int(cols[bus]) if bus is not None else 1
msg.dlc = dlc
msg.data = bytearray(
[int(cols[i + self.columns["D"]], 16) for i in range(length)]
)
msg.is_rx = cols[self.columns["d"]] == "Rx"
msg.is_fd = type_ in ["FD", "FB", "FE", "BI"]
msg.bitrate_switch = type_ in ["FB", " FE"]
msg.error_state_indicator = type_ in ["FE", "BI"]

return msg

def _parse_cols_V1_1(self, cols: List[str]) -> Optional[Message]:
Expand All @@ -141,10 +201,10 @@ def _parse_cols_V1_1(self, cols: List[str]) -> Optional[Message]:
logger.info("TRCReader: Unsupported type '%s'", dtype)
return None

def _parse_cols_V2_1(self, cols: List[str]) -> Optional[Message]:
dtype = cols[2]
if dtype == "DT":
return self._parse_msg_V2_1(cols)
def _parse_cols_V2_x(self, cols: List[str]) -> Optional[Message]:
dtype = cols[self.columns["T"]]
if dtype in ["DT", "FD", "FB"]:
return self._parse_msg_V2_x(cols)
else:
logger.info("TRCReader: Unsupported type '%s'", dtype)
return None
Expand Down Expand Up @@ -228,7 +288,7 @@ def __init__(
self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0
self._format_message = self._format_message_init

def _write_header_V1_0(self, start_time: timedelta) -> None:
def _write_header_V1_0(self, start_time: datetime) -> None:
lines = [
";##########################################################################",
f"; {self.filepath}",
Expand All @@ -249,13 +309,11 @@ def _write_header_V1_0(self, start_time: timedelta) -> None:
]
self.file.writelines(line + "\n" for line in lines)

def _write_header_V2_1(self, header_time: timedelta, start_time: datetime) -> None:
milliseconds = int(
(header_time.seconds * 1000) + (header_time.microseconds / 1000)
)
def _write_header_V2_1(self, start_time: datetime) -> None:
header_time = start_time - datetime(year=1899, month=12, day=30)
lines = [
";$FILEVERSION=2.1",
f";$STARTTIME={header_time.days}.{milliseconds}",
f";$STARTTIME={header_time/timedelta(days=1)}",
";$COLUMNS=N,O,T,B,I,d,R,L,D",
";",
f"; {self.filepath}",
Expand Down Expand Up @@ -308,14 +366,12 @@ def _format_message_init(self, msg, channel):

def write_header(self, timestamp: float) -> None:
# write start of file header
ref_time = datetime(year=1899, month=12, day=30)
start_time = datetime.now() + timedelta(seconds=timestamp)
header_time = start_time - ref_time
start_time = datetime.utcfromtimestamp(timestamp)

if self.file_version == TRCFileVersion.V1_0:
self._write_header_V1_0(header_time)
self._write_header_V1_0(start_time)
elif self.file_version == TRCFileVersion.V2_1:
self._write_header_V2_1(header_time, start_time)
self._write_header_V2_1(start_time)
else:
raise NotImplementedError("File format is not supported")
self.header_written = True
Expand Down
2 changes: 1 addition & 1 deletion test/data/test_CanMessage.trc
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
;$FILEVERSION=2.1
;$STARTTIME=0
;$STARTTIME=43008.920986006946
;$COLUMNS=N,O,T,B,I,d,R,L,D
;
; C:\Users\User\Desktop\python-can\test\data\test_CanMessage.trc
Expand Down
16 changes: 12 additions & 4 deletions test/logformats_test.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -810,9 +810,10 @@ class TestTrcFileFormatGen(TestTrcFileFormatBase):
"""Generic tests for can.TRCWriter and can.TRCReader with different file versions"""

def test_can_message(self):
start_time = 1506809173.191 # 30.09.2017 22:06:13.191.000 as timestamp
expected_messages = [
can.Message(
timestamp=2.5010,
timestamp=start_time + 2.5010,
arbitration_id=0xC8,
is_extended_id=False,
is_rx=False,
Expand All @@ -821,7 +822,7 @@ def test_can_message(self):
data=[9, 8, 7, 6, 5, 4, 3, 2],
),
can.Message(
timestamp=17.876708,
timestamp=start_time + 17.876708,
arbitration_id=0x6F9,
is_extended_id=False,
channel=0,
Expand All @@ -841,10 +842,17 @@ def test_can_message(self):
)
def test_can_message_versions(self, name, filename, is_rx_support):
with self.subTest(name):
if name == "V1_0":
# Version 1.0 does not support start time
start_time = 0
else:
start_time = (
1639837687.062001 # 18.12.2021 14:28:07.062.001 as timestamp
)

def msg_std(timestamp):
msg = can.Message(
timestamp=timestamp,
timestamp=timestamp + start_time,
arbitration_id=0x000,
is_extended_id=False,
channel=1,
Expand All @@ -857,7 +865,7 @@ def msg_std(timestamp):

def msg_ext(timestamp):
msg = can.Message(
timestamp=timestamp,
timestamp=timestamp + start_time,
arbitration_id=0x100,
is_extended_id=True,
channel=1,
Expand Down

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