def test_parse_two_packets(self):
xp = XSensParser(None)
data = bytes.fromhex(
"FA FF 36 53 10 20 02 89 90 10 60 04 00 26 C7 33 40 20 0C 3D 0A 5D 4A BD 28 44 1C 41 1D "
"09 AF 40 10 0C 38 B0 80 00 B8 D7 28 00 3C C9 02 28 80 20 0C BA E5 4C 02 BB 9A 3F 83 BA "
"D8 04 03 80 30 10 3F 80 00 01 B6 12 C0 01 B6 C5 70 00 B6 0A 40 00 E0 20 04 00 00 00 05 "
"F4"
"FA FF 36 53 10 20 02 89 90 10 60 04 00 26 C7 33 40 20 0C 3D 0A 5D 4A BD 28 44 1C 41 1D "
"09 AF 40 10 0C 38 B0 80 00 B8 D7 28 00 3C C9 02 28 80 20 0C BA E5 4C 02 BB 9A 3F 83 BA "
"D8 04 03 80 30 10 3F 80 00 01 B6 12 C0 01 B6 C5 70 00 B6 0A 40 00 E0 20 04 00 00 00 05 "
"F4")
xp.parse(data)
packet1 = xp.get()
packet2 = xp.get()
errors = object_hierarchy_equals(packet1, self.correct_single_packet)
# print("\n".join(errors))
self.assertEqual(len(errors), 0)
errors = object_hierarchy_equals(packet2, self.correct_single_packet)
# print("\n".join(errors))
self.assertEqual(len(errors), 0)
def test_single_packet_file_like(self):
bytes_io = BytesIO(
bytes.fromhex(
"FA FF 36 53 10 20 02 89 90 10 60 04 00 26 C7 33 40 20 0C 3D 0A 5D 4A BD 28 44 1C 41 1D "
"09 AF 40 10 0C 38 B0 80 00 B8 D7 28 00 3C C9 02 28 80 20 0C BA E5 4C 02 BB 9A 3F 83 BA "
"D8 04 03 80 30 10 3F 80 00 01 B6 12 C0 01 B6 C5 70 00 B6 0A 40 00 E0 20 04 00 00 00 05 "
"F4"))
xp = XSensParser(bytes_io)
xp.start()
packet = xp.get()
errors = object_hierarchy_equals(packet, self.correct_single_packet)
# print("\n".join(errors))
self.assertEqual(len(errors), 0)
def test_file(self):
with open(test_dir_path / "data_files" / "xsens_raw_data.bin",
"rb") as f:
xp = XSensParser(f)
xp.start()
tables = xp.get_tables()
# Uncomment this line to update the tables in the data file.
# File(test_dir_path / "data_files" / "correct_xsens_tables.msgp.gz").dump(tables)
correct_tables = flex_load(test_dir_path / "data_files" /
"correct_xsens_tables.msgp.gz")
errors = object_hierarchy_equals(tables, correct_tables)
# print("\n".join(errors))
self.assertEqual(len(errors), 0)
def main(cls, args: argparse.Namespace):
# Load calibration data if provided.
calibration_data = None
if args.calibration_data is not None:
calibration_data = flex_load(args.calibration_data)
if args.input_file is not None:
if args.large_file:
output_path = pathlib.PurePath(args.output_file[0])
output_format = "".join(output_path.suffixes)
output_format = None if output_format == '' else output_format
output_path = output_path.stem
with open(args.input_file, "rb") as f:
xp = XSensLargeFileParser(
f,
output_path=output_path,
output_format=output_format,
calibration_data=calibration_data,
verbose=args.verbose)
xp.start()
else:
with open(args.input_file, "rb") as f:
xp = XSensParser(f,
verbose=args.verbose,
calibration_data=calibration_data)
xp.start()
if args.verbose:
print("device_id:", xp.device_id)
tables = xp.get_tables()
for key, value in tables.items():
if isinstance(value, str):
continue
# print(key, type(value['time']), type(value['data'][0]))
for output_path in map(pathlib.Path, args.output_file):
flex_dump(tables, output_path)
else:
raise ValueError("No input source given.")