From 9dd4e462373821bdb94759466fde904df6c5ad5f Mon Sep 17 00:00:00 2001
From: daohu527 <daohu527@gmail.com>
Date: Sat, 21 Mar 2026 23:19:51 +0800
Subject: [PATCH] feat: add analyze_can

---
 modules/tools/whl-can/analyze_can.py | 227 +++++++++++++++++++++++++++
 1 file changed, 227 insertions(+)
 create mode 100644 modules/tools/whl-can/analyze_can.py

diff --git a/modules/tools/whl-can/analyze_can.py b/modules/tools/whl-can/analyze_can.py
new file mode 100644
index 00000000..7a6c85e4
--- /dev/null
+++ b/modules/tools/whl-can/analyze_can.py
@@ -0,0 +1,227 @@
+import argparse
+import cantools
+import re
+import sys
+import os
+
+import pandas as pd
+from rich.console import Console
+from rich.table import Table
+from rich import print as rprint
+
+
+log_pattern = re.compile(
+    r"\((?P<time>\d+\.\d+)\)\s+(?P<iface>\w+)\s+(?P<id>[0-9A-Fa-f]+)#(?P<data>[0-9A-Fa-f]*)"
+)
+
+
+def analyze_log(file_path, db, filters=None, target_signals=None):
+    """Parse the log and return structured data."""
+    parsed_data = []
+
+    with open(file_path, "r") as f:
+        for line in f:
+            match = log_pattern.match(line)
+            if not match:
+                continue
+
+            can_id = int(match.group("id"), 16)
+            data_hex = match.group("data")
+            data = bytes.fromhex(data_hex) if data_hex else b""
+
+            try:
+                message = db.get_message_by_frame_id(can_id)
+            except KeyError:
+                continue
+
+            if filters and not any(s in message.name for s in filters):
+                continue
+
+            try:
+                decoded = db.decode_message(can_id, data)
+
+                # build base row data
+                row = {
+                    "Time": float(match.group("time")),
+                    "Message": message.name,
+                    "ID": f"0x{can_id:X}",
+                }
+
+                # if target signals specified, only extract those
+                if target_signals:
+                    matched_any = False
+                    for sig in target_signals:
+                        if sig in decoded:
+                            row[sig] = decoded[sig]
+                            matched_any = True
+                    if not matched_any:
+                        continue  # skip messages that do not contain requested signals
+                else:
+                    row.update(decoded)
+
+                parsed_data.append(row)
+
+            except Exception as e:
+                pass  # ignore frames that fail to decode
+
+    return parsed_data
+
+
+def display_dashboard(df):
+    """Display terminal latest state dashboard"""
+    console = Console()
+    table = Table(
+        title="Vehicle CAN Messages Latest State Dashboard",
+        show_header=True,
+        header_style="bold magenta",
+    )
+    table.add_column("Latest Time", style="dim")
+    table.add_column("Message", style="cyan")
+    table.add_column("CAN ID", justify="right")
+    table.add_column("Key Signals (Signals)", style="green")
+
+    # group by message and take last row (latest state)
+    latest_states = df.groupby("Message").last().reset_index()
+    latest_states = latest_states.sort_values(by="Time", ascending=False)
+
+    for _, row in latest_states.iterrows():
+        msg_name = row["Message"]
+        time_str = f"{row['Time']:.3f}"
+        can_id = row["ID"]
+
+        # extract signals, ignore base columns and NaN
+        signals = []
+        for col in df.columns:
+            if col not in ["Time", "Message", "ID"] and pd.notna(row[col]):
+                val = row[col]
+                if isinstance(val, float):
+                    signals.append(f"{col}: {val:.2f}")
+                else:
+                    signals.append(f"{col}: {val}")
+
+        sig_str = " | ".join(signals)
+        # truncate long signal string for nicer display
+        if len(sig_str) > 80:
+            sig_str = sig_str[:77] + "..."
+
+        table.add_row(time_str, msg_name, can_id, sig_str)
+
+    console.print(table)
+
+
+def display_signal_trace(df, signals):
+    """Trace specific signals time series and display table"""
+    console = Console()
+    table = Table(
+        title=f"Signal Time Series Trace: {', '.join(signals)}",
+        show_header=True,
+        header_style="bold yellow",
+    )
+    table.add_column("Time", justify="left", style="dim")
+    table.add_column("Message", style="cyan")
+
+    for sig in signals:
+        table.add_column(sig, justify="right", style="green")
+
+    # drop rows where all these signals are NaN
+    df_filtered = df.dropna(subset=signals, how="all")
+
+    # only show first 50 rows to avoid flooding the terminal
+    display_limit = 50
+    for i, row in df_filtered.head(display_limit).iterrows():
+        row_data = [f"{row['Time']:.4f}", str(row["Message"])]
+        for sig in signals:
+            val = row[sig] if pd.notna(row[sig]) else "-"
+            if isinstance(val, float):
+                row_data.append(f"{val:.2f}")
+            else:
+                row_data.append(str(val))
+        table.add_row(*row_data)
+
+    console.print(table)
+    if len(df_filtered) > display_limit:
+        rprint(
+            f"[dim]... {len(df_filtered) - display_limit} rows hidden. Consider exporting with --csv to inspect.[/dim]"
+        )
+
+
+def load_dbc(path):
+    # preserve original DBC fix logic
+    try:
+        return cantools.database.load_file(path)
+    except Exception as e:
+        raise RuntimeError(f"Failed to load DBC file: {e}")
+
+
+def main():
+    parser = argparse.ArgumentParser(description="高级 CAN 日志解析与分析工具")
+    parser.add_argument("--dbc", required=True, help="Path to DBC file")
+    parser.add_argument("--log", required=True, help="Path to candump log file")
+    parser.add_argument(
+        "--filter", help="Filter by message name, comma-separated, e.g. Steer,Brake"
+    )
+    parser.add_argument(
+        "--signals",
+        help="Extract specific signals, comma-separated, e.g. VehicleSpeed,SteerMod",
+    )
+    parser.add_argument(
+        "--table",
+        action="store_true",
+        help="Display latest state dashboard in terminal",
+    )
+    parser.add_argument(
+        "--csv", help="Export flattened time series CSV path (e.g. output.csv)"
+    )
+
+    args = parser.parse_args()
+
+    try:
+        db = load_dbc(args.dbc)
+    except Exception as e:
+        print(f"Failed to load DBC: {e}")
+        sys.exit(1)
+
+    filters = args.filter.split(",") if args.filter else None
+    target_signals = args.signals.split(",") if args.signals else None
+
+    # 1. parse logs into a list of dicts
+    print("Parsing log...")
+    parsed_data = analyze_log(
+        args.log, db, filters=filters, target_signals=target_signals
+    )
+
+    if not parsed_data:
+        print("No matching CAN data found.")
+        sys.exit(0)
+
+    # 2. convert to Pandas DataFrame (the analyst's swiss army knife)
+    df = pd.DataFrame(parsed_data)
+
+    # 3. sort by time
+    df = df.sort_values(by="Time").reset_index(drop=True)
+
+    # branch 1: trace specific signals and print table
+    if target_signals:
+        display_signal_trace(df, target_signals)
+
+    # branch 2: display overall dashboard (when --table is used and no specific signals)
+    elif args.table:
+        display_dashboard(df)
+
+    # branch 3: print last few records for quick inspection
+    elif not args.csv:
+        print("\nNo display option specified, previewing last 5 records:")
+        print(df.tail(5).to_string())
+
+    # branch 4: export to CSV
+    if args.csv:
+        # we usually might ffill() before plotting to align timestamps, but keep NaNs to preserve raw values
+        df.to_csv(args.csv, index=False)
+        print(f"\n✅ Data successfully exported to: {args.csv}")
+        print(
+            "Tip: You can open the CSV in Excel, or use Python/PlotJuggler for waveform plotting."
+        )
+
+
+if __name__ == "__main__":
+    main()