def connections_section(bagmeta, dataset, title):
"""Section displaying information about ROS connections."""
dataset, bagmeta = yield marv.pull_all(dataset, bagmeta)
if not bagmeta.topics:
raise marv.Abort()
columns = [
{'title': 'Topic'},
{'title': 'Type'},
{'title': 'MD5'},
{'title': 'Latching'},
{'title': 'Message count', 'align': 'right'}
]
rows = [{'id': idx, 'cells': [
{'text': con.topic},
{'text': con.datatype},
{'text': con.md5sum},
{'bool': con.latching},
{'uint64': con.msg_count}
]} for idx, con in enumerate(bagmeta.connections)]
widgets = [{'table': {'columns': columns, 'rows': rows}}]
# TODO: Add text widget explaining what can be seen here: ROS bag
# files store connections. There can be multiple connections for
# one topic with the same or different message types and message
# types with the same name might have different md5s. For
# simplicity connections with the same topic, message type and md5
# are treated as one, within one bag file as well as across bags
# of one set. If one of such connections is latching, the
# aggregated connection will be latching.
yield marv.push({'title': title, 'widgets': widgets})
def trajectory(navsatfixes):
navsatfix = yield marv.pull(navsatfixes) # Only one topic for now
if not navsatfix:
raise marv.Abort()
yield marv.set_header(title=navsatfix.title)
features = []
prev_quality = None
timestamps = []
while True:
msg = yield marv.pull(navsatfix)
if msg is None:
break
dt = msg['timestamp']
timestamps.append(int(dt * 1e9))
# Whether to output an augmented fix is determined by both the fix
# type and the last time differential corrections were received. A
# fix is valid when status >= STATUS_FIX.
# STATUS_NO_FIX = -1 -> unable to fix position -> color id 0 = red
# STATUS_FIX = 0 -> unaugmented fix -> color id 1 = orange
# STATUS_SBAS_FIX = 1 -> satellite-based augmentation -> color id 2 = blue
# STATUS_GBAS_FIX = 2 -> ground-based augmentation -> color id 3 = green
# -> unknown status id -> color id 4 = black
if -1 <= msg['status'] <= 2:
quality = msg['status'] + 1
else:
quality = 4
if quality != prev_quality:
color = (
(1., 0., 0., 1.), # rgba
(1., 0.65, 0., 1.),
(0., 0., 1., 1.),
(0., 1., 0., 1.))[quality]
coords = []
feat = {
'properties': {
'color': color,
'width': 4.,
'timestamps': timestamps,
'markervertices':
[c * 30 for c in (0., 0., -1., .3, -1., -.3)]
},
'geometry': {
'line_string': {
'coordinates': coords
}
}
}
features.append(feat)
prev_quality = quality
coords.append((msg['lon'], msg['lat']))
if features:
out = {'feature_collection': {'features': features}}
yield marv.push(out)
def fulltext_per_topic(stream):
yield marv.set_header() # TODO: workaround
words = set()
pytype = get_message_type(stream)
rosmsg = pytype()
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
words.update(rosmsg.data.split())
if not words:
raise marv.Abort()
yield marv.push({'words': list(words)})
def fulltext(streams):
"""Extract all text from bag file and store for fulltext search"""
tmp = []
while True:
stream = yield marv.pull(streams)
if stream is None:
break
tmp.append(stream)
streams = tmp
if not streams:
raise marv.Abort()
msgs = yield marv.pull_all(*streams)
words = {x for msg in msgs for x in msg.words}
yield marv.push({'words': list(words)})
def trajectory(navsatfixes):
navsatfix = yield marv.pull(navsatfixes) # Only one topic for now
if not navsatfix:
raise marv.Abort()
yield marv.set_header(title=navsatfix.title)
features = []
quality = None
coords = []
timestamps = []
while True:
msg = yield marv.pull(navsatfix)
if msg is None:
break
dt = msg['timestamp']
timestamps.append(int(dt * 1e9))
# Whether to output an augmented fix is determined by both the fix
# type and the last time differential corrections were received. A
# fix is valid when status >= STATUS_FIX.
# STATUS_NO_FIX = -1 -> unable to fix position -> color id 0 = red
# STATUS_FIX = 0 -> unaugmented fix -> color id 1 = orange
# STATUS_SBAS_FIX = 1 -> satellite-based augmentation -> color id 2 = blue
# STATUS_GBAS_FIX = 2 -> ground-based augmentation -> color id 3 = green
# -> unknown status id -> color id 4 = black
if -1 <= msg['status'] <= 2:
new_quality = msg['status'] + 1
else:
new_quality = 4
# start new feature if quality changed
if quality != new_quality:
if coords:
features.append(_create_feature(coords, quality, timestamps))
quality = new_quality
coords = []
timestamps = []
coords.append((msg['lon'], msg['lat']))
if coords:
features.append(_create_feature(coords, quality, timestamps))
if features:
out = {'feature_collection': {'features': features}}
yield marv.push(out)
def video_section(videos, title):
"""Section displaying one video player per image stream."""
tmps = []
while True:
tmp = yield marv.pull(videos)
if tmp is None:
break
tmps.append(tmp)
videos = sorted(tmps, key=lambda x: x.title)
if not videos:
raise marv.Abort()
videofiles = yield marv.pull_all(*videos)
widgets = [{'title': video.title, 'video': {'src': videofile.relpath}}
for video, videofile in zip(videos, videofiles)]
assert len(set(x['title'] for x in widgets)) == len(widgets)
if widgets:
yield marv.push({'title': title, 'widgets': widgets})
def trajectory_section(geojson, title, minzoom, maxzoom, tile_server_protocol):
"""Section displaying trajectory on a map.
Args:
tile_server_protocol (str): Set to ``https:`` if you host marv
behind http and prefer the tile requests to be secured.
"""
geojson = yield marv.pull(geojson)
if not geojson:
raise marv.Abort()
layers = [
{'title': 'Background',
'tiles': [
{'title': 'Roadmap',
'url': '%s//[abc].osm.ternaris.com/styles/osm-bright/rendered/{z}/{x}/{y}.png' % tile_server_protocol,
'attribution': '© <a href="http://openstreetmap.org/copyright">OpenStreetMap</a> contributors',
'retina': 3,
'zoom': {'min': 0, 'max': 20}},
{'title': 'Satellite',
'url': '%s//server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}.png' % tile_server_protocol,
'attribution': 'Sources: Esri, DigitalGlobe, GeoEye, Earthstar Geographics, CNES/Airbus DS, USDA, USGS, AeroGRID, IGN, and the GIS User Community',
'zoom': {'min': 0, 'max': 18}},
]},
{'title': 'Trajectory',
'color': (0., 1., 0., 1.),
'geojson': geojson},
]
dct = make_map_dict({
'layers': layers,
'zoom': {'min': minzoom, 'max': maxzoom},
})
jsonfile = yield marv.make_file('data.json')
with open(jsonfile.path, 'w') as f:
json.dump(dct, f, sort_keys=True)
yield marv.push({'title': title,
'widgets': [{'map_partial': 'marv-partial:{}'.format(jsonfile.relpath)}]})
def gnss_plots(gps, orientation):
# TODO: framework does not yet support multiple foreach
# pick only first combination for now
log = yield marv.get_logger()
gps, orientation = yield marv.pull_all(gps, orientation)
if gps is None:
log.error('No gps messages')
raise marv.Abort()
gtitle = gps.title
gps = yield marv.pull(gps) # There is only one message
# Check whether there are any valid messages left
if gps is None:
log.error('No valid gps messages')
raise marv.Abort()
gps = gps['values']
if orientation is not None:
otitle = orientation.title
orientation = yield marv.pull(orientation)
if orientation is None:
log.warn('No orientations found')
otitle = 'none'
orientation = []
else:
orientation = orientation['values']
name = '__'.join(x.replace('/', ':')[1:]
for x in [gtitle, otitle]) + '.jpg'
title = '{} with {}'.format(gtitle, otitle)
yield marv.set_header(title=title)
plotfile = yield marv.make_file(name)
fig = plt.figure()
fig.subplots_adjust(wspace=0.3)
ax1 = fig.add_subplot(1, 3, 1) # e-n plot
ax2 = fig.add_subplot(2, 3, 2) # orientation plot
ax3 = fig.add_subplot(2, 3, 3) # e-time plot
ax4 = fig.add_subplot(2, 3, 5) # up plot
ax5 = fig.add_subplot(2, 3, 6) # n-time plot
# masking for finite values
gps = np.array(gps)
gps = gps[np.isfinite(gps[:, 1])]
# precompute plot vars
c = cm.prism(gps[:, 7] / 2)
ax1.scatter(gps[:, 4],
gps[:, 5],
c=c,
edgecolor='none',
s=3,
label="green: RTK\nyellow: DGPS\nred: Single")
xfmt = md.DateFormatter('%H:%M:%S')
ax3.xaxis.set_major_formatter(xfmt)
ax4.xaxis.set_major_formatter(xfmt)
ax5.xaxis.set_major_formatter(xfmt)
if orientation:
ax2.xaxis.set_major_formatter(xfmt)
orientation = np.array(orientation)
ax2.plot([datetime.fromtimestamp(x) for x in orientation[:, 0]],
orientation[:, 1])
ax3.plot([datetime.fromtimestamp(x) for x in gps[:, 0]], gps[:, 4])
ax4.plot([datetime.fromtimestamp(x) for x in gps[:, 0]], gps[:, 6])
ax5.plot([datetime.fromtimestamp(x) for x in gps[:, 0]], gps[:, 5])
fig.autofmt_xdate()
ax1.legend(loc='upper right', title='')
ax1.set_ylabel('GNSS northing [m]')
ax1.set_xlabel('GNSS easting [m]')
ax2.set_ylabel('Heading over time [rad]')
ax3.set_ylabel('GNSS easting over time [m]')
ax4.set_ylabel('GNSS height over time [m]')
ax5.set_ylabel('GNSS northing over time [m]')
fig.set_size_inches(16, 9)
try:
fig.savefig(plotfile.path)
except:
plt.close()
yield plotfile