def xyz_points(packet, os16=False):
"""
Returns a tuple of x, y, z points where each x, y, z is a list of
all the x, y or z points in the packet
(
[x1, x2, ...],
[y1, y2, ...],
[z1, z2, ...],
)
"""
channels = OS_16_CHANNELS if os16 else OS_64_CHANNELS
if not isinstance(packet, tuple):
packet = unpack(packet)
x = []
y = []
z = []
for b in range(AZIMUTH_BLOCK_COUNT):
block = azimuth_block(b, packet)
if not azimuth_valid(block):
continue
for c in channels:
point = xyz_point(c, block)
x.append(point[0])
y.append(point[1])
z.append(point[2])
return x, y, z
def xyz_points_with_time(packet, os16=False):
channels = OS_16_CHANNELS if os16 else OS_128_CHANNELS
if not isinstance(packet, tuple):
packet = unpack(packet)
ch = []
timeStamp = []
encoderCount = []
measurementID = []
frameID = []
for b in range(AZIMUTH_BLOCK_COUNT):
block = azimuth_block(b, packet)
if not azimuth_valid(block):
continue
for c in channels:
ch.append(c)
timeStamp.append(azimuth_timestamp(block))
encoderCount.append(azimuth_encoder_count(block))
measurementID.append(azimuth_measurement_id(block))
frameID.append(azimuth_frame_id(block))
return ch, timeStamp, encoderCount, measurementID, frameID
def raw_points(packet, os16=False):
"""
Returns a list of raw data point lists for a given packet.
Parameters
----------
packet : bytearray
UDP raw packet data
azimuth_block : list of packet data
raw packet data from the azimuth block for processing
Returns
-------
data : list
[FrameID, AzimuthID, ChannelID, Timestamp, EncoderPosition, Range, Reflectivity, Signal, Noise]
"""
channels = OS_16_CHANNELS if os16 else OS_64_CHANNELS
if not isinstance(packet, tuple):
packet = unpack(packet)
raw = []
for b in range(AZIMUTH_BLOCK_COUNT):
block = azimuth_block(b, packet)
if azimuth_valid(block):
for c in channels:
raw.append(raw_point(c, block))
return raw
def raw_values(packet, os16=False):
channels = OS_16_CHANNELS if os16 else OS_128_CHANNELS
if not isinstance(packet, tuple):
packet = unpack(packet)
ch = []
timeStamp = []
encoderCount = []
measurementID = []
frameID = []
x = []
y = []
z = []
ch_range = []
reflectivity = []
intensity = []
noise = []
for b in range(AZIMUTH_BLOCK_COUNT):
block = azimuth_block(b, packet)
# if not azimuth_valid(block):
# continue
for c in channels:
channel = channel_block(c, block)
ch.append(c)
ch_range.append(channel_range(channel))
timeStamp.append(azimuth_timestamp(block))
encoderCount.append(azimuth_encoder_count(block))
measurementID.append(azimuth_measurement_id(block))
frameID.append(azimuth_frame_id(block))
point = xyz_point(c, block)
x.append(point[0])
y.append(point[1])
z.append(point[2])
reflectivity.append(channel_reflectivity(channel))
intensity.append(channel_signal_photons(channel))
noise.append(channel_noise_photons(channel))
return ch, ch_range, reflectivity, intensity, timeStamp, encoderCount, measurementID, frameID, x, y, z, noise
def xyz_columns(packet, os16=False):
"""
Similar to xyz_points except the x, y, z values are ordered by
column. This is convenient if you only want to render a specific
column.
The structure of it will be be columns containing channels. It
looks like...
[
# column 1
[
[channel1_x, channel2_x, ...],
[channel1_y, channel2_y, ...],
[channel1_z, channel2_z, ...],
],
# column 2
[
[channel1_x, channel2_x, ...],
[channel1_y, channel2_y, ...],
[channel1_z, channel2_z, ...],
],
]
"""
channels = OS_16_CHANNELS if os16 else OS_64_CHANNELS
if not isinstance(packet, tuple):
packet = unpack(packet)
points = []
for b in range(AZIMUTH_BLOCK_COUNT):
block = azimuth_block(b, packet)
x = []
y = []
z = []
for channel in channels:
point = xyz_point(channel, block)
x.append(point[0])
y.append(point[1])
z.append(point[2])
points.append([x, y, z])
return points
def test_unpack(self):
for packet in self.recorder.play(self.record):
try:
unpack(packet)
except Exception:
self.fail("Couldn't unpack packet")
def iter_packets(self):
for packet in self.recorder.play(self.record):
yield unpack(packet)