def publish(self, channel, data):
assert channel in self.outputs.values(), (channel,
tuple(self.outputs.values()))
dt, stream_id, bytes_data = next(self.reader)
while stream_id not in self.outputs:
input_name = self.inputs[stream_id]
if input_name.startswith("slot_"):
data = deserialize(bytes_data)
getattr(self.node, input_name)(dt, data)
else:
self.buffer_queue.append((dt, stream_id, bytes_data))
dt, stream_id, bytes_data = next(self.reader)
assert channel == self.outputs[stream_id], (channel,
self.outputs[stream_id], dt
) # wrong channel
if len(self.buffer_queue) > 0:
delay = dt - self.buffer_queue[0][0]
if delay > self.max_delay:
self.max_delay = delay
self.max_delay_timestamp = dt
if delay > ASSERT_QUEUE_DELAY:
print(dt, "maximum delay overshot:", delay)
ref_data = deserialize(bytes_data)
assert almost_equal(data, ref_data), (data, ref_data, dt)
return dt
def main():
import argparse
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('logfile', help='recorded log file', nargs='+')
parser.add_argument('--out', help='map output file')
parser.add_argument('--pose2d',
help='stream ID for pose2d messages',
default='app.pose2d')
parser.add_argument('--artf', help='stream ID with artifacts XYZ')
args = parser.parse_args()
out_filename = args.out
if out_filename is None:
out_filename = os.path.splitext(args.logfile[0])[0] + '.jpg'
pts = []
artf = []
for filename in args.logfile:
pose_id = lookup_stream_id(filename, args.pose2d)
streams = [pose_id]
artf_id = None
if args.artf is not None:
artf_id = lookup_stream_id(filename, args.artf)
streams.append(artf_id)
for dt, channel, data in LogReader(filename, only_stream_id=streams):
if channel == pose_id:
pose = deserialize(data)
pts.append(pose[:2])
elif channel == artf_id:
arr = deserialize(data)
artf.extend(arr)
pts2image(pts, artf, out_filename)
def test_packed_data(self):
data = [0] * 1000
packet = serialize(data)
self.assertEqual(len(packet), 1003)
self.assertEqual(deserialize(packet), data)
compressed_packet = serialize(data, compress=True)
self.assertEqual(len(compressed_packet), 22)
self.assertEqual(deserialize(compressed_packet), data)
def test_numpy(self):
data = numpy.asarray(range(1, 100, 2), dtype=numpy.uint16)
packet = serialize(data)
self.assertEqual(len(packet), 163)
dedata = deserialize(packet)
self.assertTrue(numpy.array_equal(dedata, data))
self.assertEqual(dedata.dtype, data.dtype)
with unittest.mock.patch('osgar.lib.serialize.numpy', new=False):
with self.assertRaises(TypeError):
serialize(data)
with self.assertRaises(TypeError):
deserialize(packet)
def debug2dir(filename, out_dir):
from osgar.logger import LogReader, lookup_stream_names
from osgar.lib.serialize import deserialize
names = lookup_stream_names(filename)
assert 'detector.debug_artf' in names, names
assert 'detector.artf' in names, names
assert 'rosmsg.sim_time_sec' in names, names
image_id = names.index('detector.debug_artf') + 1
artf_id = names.index('detector.artf') + 1
sim_sec_id = names.index('rosmsg.sim_time_sec') + 1
sim_time_sec = None
image = None
artf = None
for dt, channel, data in LogReader(
filename, only_stream_id=[image_id, artf_id, sim_sec_id]):
data = deserialize(data)
if channel == sim_sec_id:
sim_time_sec = data
elif channel == image_id:
image = data
assert artf is not None
time_sec = sim_time_sec if sim_time_sec is not None else int(
dt.total_seconds())
name = os.path.basename(filename)[:-4] + '-' + artf[0] + '-' + str(
time_sec) + '.jpg'
print(name)
with open(os.path.join(out_dir, name), 'wb') as f:
f.write(image)
elif channel == artf_id:
artf = data
def mapping_server(logfile, cpr, loop=False):
try:
name = u'Skiddy'
stream_id = lookup_stream_id(logfile, 'fromros.points')
except ValueError:
name = u'Kloubak'
stream_id = lookup_stream_id(logfile, 'from_jetson_front.points')
with LogReader(args.logfile, only_stream_id=stream_id) as logreader:
for timestamp, stream, raw_data in logreader:
arr = deserialize(raw_data)
assert len(
arr
) == 1, arr # array of arrays, but maybe it is mistake no ROS serializer side?
if len(arr[0]) == 0:
continue # but maybe we should report at least one empty map?
print('SENDING', len(arr[0]))
cloud = create_map(arr)
print(cloud)
if cpr is not None:
res = cpr.send_map_msg(u'PointCloud2', msg=cloud, name=name)
print(res)
if not loop:
break
time.sleep(1.0)
def create_video(logfile, stream, outfile, add_time=False,
start_time_sec=0, end_time_sec=None, fps=25):
assert outfile.endswith(".avi"), outFilename
only_stream = lookup_stream_id(logfile, stream)
with LogReader(logfile, only_stream_id=only_stream) as log:
writer = None
for timestamp, stream_id, data in log:
buf = deserialize(data)
img = cv2.imdecode(np.fromstring(buf, dtype=np.uint8), 1)
if writer is None:
height, width = img.shape[:2]
writer = cv2.VideoWriter(outfile,
cv2.VideoWriter_fourcc('F', 'M', 'P', '4'),
fps,
(width, height))
if add_time:
if (width, height) == (640, 480):
x, y = 350, 50
thickness = 3
size = 3.0
else:
x, y = 800, 100
thickness = 5
size = 5.0
# clip microseconds to miliseconds
s = str(timestamp-timedelta(seconds=start_time_sec))[:-3]
cv2.putText(img, s, (x, y), cv2.FONT_HERSHEY_PLAIN,
size, (255, 255, 255), thickness=thickness)
if timestamp.total_seconds() > start_time_sec:
writer.write(img)
if end_time_sec is not None and timestamp.total_seconds() > end_time_sec:
break
writer.release()
def main():
import argparse
import sys
import io
from pprint import pprint
parser = argparse.ArgumentParser(description='')
parser.add_argument('log', help='filepaths', nargs='+')
parser.add_argument('--threads', help='how many threads to use', type=int, default=1)
parser.add_argument('--gui', help='show found tags', default=False, action='store_true')
parser.add_argument('--margin', help='apriltag decision margin threshold', default=30, type=int)
args = parser.parse_args()
detector = apriltag.apriltag('tag16h5', threads=args.threads)
for filepath in args.log:
print(filepath)
streams = lookup_stream_names(filepath)
processing = []
for i, stream in enumerate(streams):
if stream == "camera.raw" or stream.endswith('.jpg') or stream.endswith('.image'):
print("processing stream {} => {}".format(i, stream))
processing.append(i+1)
if len(processing) == 0:
print("no jpeg found in streams:")
pprint(streams)
continue
with LogReader(filepath, only_stream_id=processing) as log:
for dt, channel, data in log:
try:
jpeg = deserialize(data)
except Exception as e:
print(e)
continue
np_jpeg = numpy.frombuffer(jpeg, dtype='u1')
gray = cv2.imdecode(np_jpeg, cv2.IMREAD_GRAYSCALE)
found = detector.detect(gray)
found = [tag for tag in found if tag['margin'] > args.margin and tag['hamming'] == 0]
if len(found) > 0:
ids = list(tag['id'] for tag in found)
print(dt, end=' ')
if args.gui:
img = cv2.imdecode(np_jpeg, cv2.IMREAD_COLOR)
for tag in found:
rect = tag['lb-rb-rt-lt'].astype('float32')
area = cv2.contourArea(rect)
print('{:2d}: {{margin: {:3d}, area: {:4d}}}'.format(tag['id'], int(tag['margin']), int(area)), end=' ')
center = tuple(tag['center'].astype(int))
poly = rect.astype('int32')
if args.gui:
cv2.circle(img, center, 3, (0, 0 ,255), -1)
cv2.polylines(img, [poly], True, (0, 255, 255), 3)
print()
if args.gui:
cv2.imshow('image', img)
key = cv2.waitKey(0)
if key == 27:
return
def main(logfile, streams):
warning_event = False
base_logname = os.path.basename(logfile)
print("\n" + base_logname)
print("-" * 60)
relevant_streams_id = [
lookup_stream_id(logfile, name) for name in streams.keys()
]
stat_list = [np.array([])] * len(relevant_streams_id)
encoder_stream_id = lookup_stream_id(logfile, "kloubak.encoders")
prev_time_in_sec = None
time_diff = None
with LogReader(logfile, only_stream_id=relevant_streams_id) as log:
for timestamp, stream_id, data in log:
time_in_sec = timestamp.total_seconds()
item_id = relevant_streams_id.index(stream_id)
stat_list[item_id] = np.append(stat_list[item_id], time_in_sec)
if stream_id == encoder_stream_id:
encoders = deserialize(data)
for enc in encoders:
if enc > abs(100):
if prev_time_in_sec is not None:
time_diff = time_in_sec - prev_time_in_sec
print(
f"\nEncoders: {encoders}, time diff: {time_diff}, at {timestamp}"
)
prev_time_in_sec = time_in_sec
for arr, name in zip(stat_list, streams):
gaps_event = False
if len(arr) <= 1:
print(f'\n{name:>{20}}\t{"No data or only one msg received!!!"}')
warning_event = True
else:
# average frequencies
average_freq = len(arr) / (arr[-1] - arr[0]
) # average number of msg per second
expected_freq = streams[name][0]
acceptable_gap = streams[name][1]
num_gaps = len(np.where(np.diff(arr) > acceptable_gap)[0])
if num_gaps > 0:
max_gap = max(np.diff(arr))
print(
f'\n{name:>{20}}\t{"number of gaps %d" %num_gaps}\t{"max gap %.2f s" %max_gap}\t{"acceptable gap %.2f s" %acceptable_gap}'
)
gaps_event = True
warning_event = True
if average_freq < expected_freq:
if not gaps_event:
print("")
print(
f'{name:>{20}}\t{"received %.1f Hz" % average_freq}\t{"expected %.1f Hz" % expected_freq}'
)
warning_event = True
if not warning_event:
print("log OK")
def listen(self):
dt, stream_id, bytes_data = next(self.reader)
self.time = dt
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
if channel.startswith("slot_"):
channel = channel[len('slot_'):] # workaround for non-slot run
return dt, channel, data
def listen(self):
if self.buffer_queue.empty():
dt, stream_id, bytes_data = next(self.reader)
else:
dt, stream_id, bytes_data = self.buffer_queue.get()
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
return dt, channel, data
def _step(self, direction):
self.bbox = None
if (self.current + direction) >= len(self.log):
self.log.grow()
while self.current + direction >= 0 and self.current + direction < len(self.log):
self.current += direction
timestamp, stream_id, data = self.log[self.current]
if stream_id == self.keyframes_id:
self.keyframe = True
if stream_id == self.title_id:
self.title = deserialize(data)
if stream_id == self.bbox_id:
self.bbox = deserialize(data)
if stream_id == self.lidar_id:
self.scan = deserialize(data)
keyframe = self.keyframe
self.keyframe = False
return timestamp, self.pose, self.scan, self.scan2, self.image, self.image2, self.bbox, self.joint, keyframe, self.title, False
if stream_id == self.lidar2_id:
self.scan2 = deserialize(data)
elif stream_id == self.camera_id:
self.image = get_image(deserialize(data))
if self.lidar_id is None:
keyframe = self.keyframe
self.keyframe = False
return timestamp, self.pose, self.scan, self.scan2, self.image, self.image2, self.bbox, self.joint, keyframe, self.title, False
elif stream_id == self.camera2_id:
self.image2 = get_image(deserialize(data))
elif stream_id == self.joint_id:
self.joint = deserialize(data)
elif stream_id == self.pose3d_id:
pose3d, orientation = deserialize(data)
assert len(pose3d) == 3
assert len(orientation) == 4
self.pose = [pose3d[0], pose3d[1], quaternion.heading(orientation)]
self.pose3d = [pose3d, orientation]
elif stream_id == self.pose2d_id:
arr = deserialize(data)
assert len(arr) == 3
self.pose = (arr[0]/1000.0, arr[1]/1000.0, math.radians(arr[2]/100.0))
x, y, heading = self.pose
self.pose = (x * math.cos(g_rotation_offset_rad) - y * math.sin(g_rotation_offset_rad),
x * math.sin(g_rotation_offset_rad) + y * math.cos(g_rotation_offset_rad),
heading + g_rotation_offset_rad)
if self.lidar_id is None and self.camera_id is None:
keyframe = self.keyframe
self.keyframe = False
return timestamp, self.pose, self.scan, self.scan2, self.image, self.image2, self.bbox, self.joint, keyframe, self.title, False
return timedelta(), self.pose, self.scan, self.scan2, self.image, self.image2, self.bbox, self.joint, self.keyframe, self.title, True
def scans_gen(logfile, lidar_name=None, poses_name=None, camera_name=None):
"""
Generator for (timestamp, pose, lidar, image) where freqency is defined
by LIDAR and pose and image is used the most recent
"""
names = lookup_stream_names(logfile)
assert not (lidar_name is None and poses_name is None
and camera_name is None), names
lidar_id, poses_id, camera_id = None, None, None
if lidar_name is not None:
lidar_id = names.index(lidar_name) + 1
if poses_name is not None:
poses_id = names.index(poses_name) + 1
if camera_name is not None:
camera_id = names.index(camera_name) + 1
pose = (0, 0, 0)
image = None
scan = []
eof = False
streams = [s for s in [lidar_id, poses_id, camera_id] if s is not None]
with LogReader(logfile, only_stream_id=streams) as log:
for timestamp, stream_id, data in log:
if stream_id == lidar_id:
scan = deserialize(data)
yield timestamp, pose, scan, image, eof
elif stream_id == camera_id:
jpeg = deserialize(data)
image = pygame.image.load(io.BytesIO(jpeg), 'JPG').convert()
if lidar_id is None:
yield timestamp, pose, scan, image, eof
elif stream_id == poses_id:
arr = deserialize(data)
assert len(arr) == 3
pose = (arr[0] / 1000.0, arr[1] / 1000.0,
math.radians(arr[2] / 100.0))
if lidar_id is None and camera_id is None:
yield timestamp, pose, scan, image, eof
# generate last message with EOF ...
eof = True
yield timestamp, pose, scan, image, eof
def decompress(data):
# RTABMap compresses float32 depth data into RGBA channes of a PNG image.
# It does not, however, store information about endiannes. All we can do is
# hope that the current machine and the data origin machine have the same
# one.
depth_img = cv2.imdecode(np.frombuffer(data, np.uint8),
cv2.IMREAD_UNCHANGED)
if depth_img is not None:
return depth_img.view(dtype=np.float32)[:, :, 0]
return deserialize(data)
def listen(self):
while True:
if len(self.buffer_queue) == 0:
dt, stream_id, bytes_data = next(self.reader)
else:
dt, stream_id, bytes_data = self.buffer_queue.popleft()
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
if channel.startswith("slot_"):
getattr(self.node, channel)(data)
else:
break
return dt, channel, data
def publish(self, channel, data):
assert channel in self.outputs.values(), (channel,
self.outputs.values())
dt, stream_id, bytes_data = next(self.reader)
while stream_id not in self.outputs:
assert stream_id in self.inputs, stream_id
self.buffer_queue.put((dt, stream_id, bytes_data))
dt, stream_id, bytes_data = next(self.reader)
assert channel == self.outputs[stream_id], (channel,
self.outputs[stream_id]
) # wrong channel
ref_data = deserialize(bytes_data)
assert data == ref_data, (data, ref_data)
def listen(self):
while True:
if len(self.buffer_queue) == 0:
dt, stream_id, bytes_data = next(self.reader)
else:
dt, stream_id, bytes_data = self.buffer_queue.popleft()
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
if channel.startswith("slot_"):
getattr(self.node, channel)(data)
else:
break
return dt, channel, data
def publish(self, channel, data):
assert channel in self.outputs.values(), (channel, self.outputs.values())
dt, stream_id, bytes_data = next(self.reader)
while stream_id not in self.outputs:
input_name = self.inputs[stream_id]
if input_name.startswith("slot_"):
data = deserialize(bytes_data)
getattr(self.node, input_name)(data)
else:
self.buffer_queue.append((dt, stream_id, bytes_data))
dt, stream_id, bytes_data = next(self.reader)
assert channel == self.outputs[stream_id], (channel, self.outputs[stream_id], dt) # wrong channel
if len(self.buffer_queue) > 0:
delay = dt - self.buffer_queue[0][0]
if delay > self.max_delay:
self.max_delay = delay
self.max_delay_timestamp = dt
if delay > ASSERT_QUEUE_DELAY:
print("maximum delay overshot:", delay)
ref_data = deserialize(bytes_data)
assert data == ref_data, (data, ref_data, dt)
return dt
def _step(self, direction):
if (self.current + direction) >= len(self.log):
self.log.grow()
while self.current + direction >= 0 and self.current + direction < len(
self.log):
self.current += direction
timestamp, stream_id, data = self.log[self.current]
if stream_id == self.lidar_id:
self.scan = deserialize(data)
return timestamp, self.pose, self.scan, self.image, False
elif stream_id == self.camera_id:
jpeg = deserialize(data)
self.image = pygame.image.load(io.BytesIO(jpeg),
'JPG').convert()
if self.lidar_id is None:
return timestamp, self.pose, self.scan, self.image, False
elif stream_id == self.pose3d_id:
pose3d, orientation = deserialize(data)
assert len(pose3d) == 3
assert len(orientation) == 4
self.pose = [
pose3d[0], pose3d[1],
quaternion.heading(orientation)
]
self.pose3d = [pose3d, orientation]
elif stream_id == self.pose2d_id:
arr = deserialize(data)
assert len(arr) == 3
self.pose = (arr[0] / 1000.0, arr[1] / 1000.0,
math.radians(arr[2] / 100.0))
x, y, heading = self.pose
self.pose = (x * math.cos(g_rotation_offset_rad) -
y * math.sin(g_rotation_offset_rad),
x * math.sin(g_rotation_offset_rad) +
y * math.cos(g_rotation_offset_rad),
heading + g_rotation_offset_rad)
if self.lidar_id is None and self.camera_id is None:
return timestamp, self.pose, self.scan, self.image, False
return timedelta(), self.pose, self.scan, self.image, True
def autodetect_name(logfile):
stream_id = lookup_stream_id(logfile, ROBOT_NAME_STREAM)
for dt, channel, data in LogReader(logfile, only_stream_id=stream_id):
robot_name = deserialize(data).decode('ascii')
return robot_name
_, _, data = next(LogReader(logfile))
data = ast.literal_eval(str(data, 'ascii'))
while data:
if data[0] != "--robot-name":
del data[0]
continue
return data[1]
assert False, "Robot name autodetection failed!"
def on_radio(self, data):
src, packet = data
name = src.decode('ascii')
__, channel, msg_data = deserialize(packet)
if channel == 'artf':
self.publish(
'artf_xyz',
msg_data) # topic rename - beware of limits 1500bytes!
elif channel in ['breadcrumb', 'trace_info', 'robot_trace']:
self.publish(channel, msg_data)
elif channel == 'xyz':
self.publish('robot_xyz', [name, msg_data])
if self.verbose:
self.debug_robot_poses.append((self.time, name, msg_data))
def run_input(self):
names = lookup_stream_names(self.filename)
print(names)
ids = [i + 1 for i, name in enumerate(names) if name in self.pins]
print(ids)
for timestamp, channel_index, data_raw in LogReader(self.filename,
only_stream_id=ids):
if not self.bus.is_alive():
break
channel = names[channel_index - 1]
assert channel in self.pins
data = deserialize(data_raw)
# TODO reuse timestamp
self.bus.publish(self.pins[channel], data)
print('Replay completed!')
def run_input(self):
names = lookup_stream_names(self.filename)
print(names)
ids = [i + 1 for i, name in enumerate(names) if name in self.pins]
print(ids)
for timestamp, channel_index, data_raw in LogReader(
self.filename, only_stream_id=ids):
if not self.bus.is_alive():
break
channel = names[channel_index - 1]
assert channel in self.pins
data = deserialize(data_raw)
# TODO reuse timestamp
self.bus.publish(self.pins[channel], data)
print('Replay completed!')
def deserialize(self):
from osgar.logger import LogReader, lookup_stream_names, lookup_stream_id
from osgar.lib.serialize import deserialize
streams = lookup_stream_names(self.log_file)
with LogReader(self.log_file,
only_stream_id=lookup_stream_id(self.log_file,
'can.can')) as log:
log_list = []
for timestamp, stream_id, data in log:
sec = timestamp.total_seconds()
stream_id = stream_id
data = deserialize(data)
log_list.append(
[stream_id, sec, data[0], data[1].hex(),
len(data[1])])
return streams, log_list
def listen(self):
while True:
if self.finished.is_set():
raise BusShutdownException
if len(self.buffer_queue) == 0:
dt, stream_id, bytes_data = next(self.reader)
else:
dt, stream_id, bytes_data = self.buffer_queue.popleft()
if stream_id not in self.inputs:
error = f"unexpected input (stream {stream_id}, known inputs {list(self.inputs.keys())})"
raise RuntimeError(error)
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
if channel.startswith("slot_"):
getattr(self.node, channel)(dt, data)
else:
break
return dt, channel, data
def read_pose3d(filename, pose3d_name, seconds=MAX_SIMULATION_DURATION):
stream_id = lookup_stream_id(filename, pose3d_name)
sim_time_id = lookup_stream_id(filename, SIM_TIME_STREAM)
poses = []
sim_time = None
pose_sim_time = None # sim_time, but valid only for the first pose after time change
for dt, channel, data in LogReader(filename, only_stream_id=[stream_id, sim_time_id]):
value = deserialize(data)
if len(poses) > seconds:
break
if channel == sim_time_id:
if sim_time != value:
sim_time = value
pose_sim_time = sim_time
else: # pose3d
if pose_sim_time is not None:
poses.append((pose_sim_time, value))
pose_sim_time = None
return poses
def create_video(logfile,
stream,
outfile,
add_time=False,
start_time_sec=0,
end_time_sec=None,
fps=25):
assert outfile.endswith(".avi"), outFilename
only_stream = lookup_stream_id(logfile, stream)
with LogReader(logfile, only_stream_id=only_stream) as log:
writer = None
for timestamp, stream_id, data in log:
buf = deserialize(data)
img = cv2.imdecode(np.fromstring(buf, dtype=np.uint8), 1)
if writer is None:
height, width = img.shape[:2]
writer = cv2.VideoWriter(
outfile, cv2.VideoWriter_fourcc('F', 'M', 'P', '4'), fps,
(width, height))
if add_time:
if (width, height) == (640, 480):
x, y = 350, 50
thickness = 3
size = 3.0
else:
x, y = 800, 100
thickness = 5
size = 5.0
# clip microseconds to miliseconds
s = str(timestamp - timedelta(seconds=start_time_sec))[:-3]
cv2.putText(img,
s, (x, y),
cv2.FONT_HERSHEY_PLAIN,
size, (255, 255, 255),
thickness=thickness)
if timestamp.total_seconds() > start_time_sec:
writer.write(img)
if end_time_sec is not None and timestamp.total_seconds(
) > end_time_sec:
break
writer.release()
def log2pcap(input_filepath, output_dir):
"""
Extract from logfile Velodyne UPD packets and save them in 'pcap' format
undestandable by Wireshark and VeloView.
"""
output_filepath = os.path.join(output_dir, os.path.basename(input_filepath))
assert output_filepath.endswith('.log'), output_filepath
output_filepath = output_filepath[:-4] + '.pcap'
print(output_filepath)
only_stream = lookup_stream_id(input_filepath, 'velodyne.raw')
with LogReader(input_filepath, only_stream_id=only_stream) as log, open(output_filepath, 'wb') as out:
out.write(unhexlify(FILE_HEADER))
for timestamp, stream_id, data in log:
packet = deserialize(data)
assert len(packet) == 1206, len(packet)
out.write(unhexlify(PACKET_HEADER)) # TODO revise timestamps
out.write(unhexlify(IP_HEADER))
out.write(packet)
def deserialize(self):
from osgar.logger import LogReader, lookup_stream_names, lookup_stream_id
from osgar.lib.serialize import deserialize
streams = lookup_stream_names(log_file)
# streams.index("can.can")
# for list_id in range(len(streams)):
# if 'can.can' == streams[list_id]: break
with LogReader(log_file,
only_stream_id=lookup_stream_id(log_file,
'can.can')) as log:
log_list = []
for timestamp, stream_id, data in log:
sec = timestamp.total_seconds()
stream_id = stream_id
data = deserialize(data)
log_list.append(
[stream_id, sec, data[0], data[1].hex(),
len(data[1])])
return log_list
def log2pcap(input_filepath, output_dir):
"""
Extract from logfile Velodyne UPD packets and save them in 'pcap' format
undestandable by Wireshark and VeloView.
"""
output_filepath = os.path.join(output_dir,
os.path.basename(input_filepath))
assert output_filepath.endswith('.log'), output_filepath
output_filepath = output_filepath[:-4] + '.pcap'
print(output_filepath)
only_stream = lookup_stream_id(input_filepath, 'velodyne.raw')
with LogReader(input_filepath, only_stream_id=only_stream) as log, open(
output_filepath, 'wb') as out:
out.write(unhexlify(FILE_HEADER))
for timestamp, stream_id, data in log:
packet = deserialize(data)
assert len(packet) == 1206, len(packet)
out.write(unhexlify(PACKET_HEADER)) # TODO revise timestamps
out.write(unhexlify(IP_HEADER))
out.write(packet)
def listen(self):
dt, stream_id, bytes_data = next(self.reader)
self.time = dt
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
return dt, channel, data
def listen(self):
dt, stream_id, bytes_data = next(self.reader)
channel = self.inputs[stream_id]
data = deserialize(bytes_data)
return dt, channel, data
def main():
import argparse
import sys
from osgar.lib.serialize import deserialize
parser = argparse.ArgumentParser(description='Extract data from log')
parser.add_argument('logfile', help='filename of stored file')
parser.add_argument('--stream',
help='stream ID or name',
default=None,
nargs='*')
parser.add_argument('--list-names',
'-l',
help='list stream names',
action='store_true')
parser.add_argument('--times',
help='display timestamps',
action='store_true')
parser.add_argument('--sec',
help='display timestamps in seconds',
action='store_true')
parser.add_argument('--stat',
help='output only message statistics',
action='store_true')
parser.add_argument('--raw',
help='skip data deserialization',
action='store_true')
args = parser.parse_args()
if args.list_names:
print(lookup_stream_names(args.logfile))
sys.exit()
if args.stat:
stat, count, timestamp = calculate_stat(args.logfile)
seconds = timestamp.total_seconds()
names = ['sys'] + lookup_stream_names(args.logfile)
column_width = max([len(x) for x in names])
for k, name in enumerate(names):
print(
'%2d' % k, name.rjust(column_width), '%10d | %5d | %5.1fHz' %
(stat.get(k, 0), count[k], count[k] / seconds))
print('\nTotal time', timestamp)
sys.exit()
if args.stream is None:
only_stream = None
else:
only_stream = []
for name in args.stream:
only_stream.append(lookup_stream_id(args.logfile, name))
with LogReader(args.logfile, only_stream_id=only_stream) as log:
for timestamp, stream_id, data in log:
if not args.raw and stream_id != 0:
data = deserialize(data)
if args.times:
print(timestamp, stream_id, data)
elif args.sec:
print(timestamp.total_seconds(), stream_id, data)
else:
sys.stdout.buffer.write(data)
fx = config['robot']['modules'][args.module_name]['init']['fx']
max_depth = config['robot']['modules'][args.module_name]['init'].get(
'max_depth', 10.0)
last_artf = None # reported before debug_rgbd
last_result = None
last_cv_result = None
with LogReader(args.logfile,
only_stream_id=[
artf_stream_id, rgbd_stream_id, result_id, cv_result_id
]) as logreader:
for time, stream, msg_data in logreader:
if args.time_limit_sec is not None and time.total_seconds(
) > args.time_limit_sec:
break
data = deserialize(msg_data)
if stream == rgbd_stream_id:
robot_pose, camera_pose, __rgb, depth = data
# debug_rgbd is stored ONLY when both detectors detect something and it is fused
assert last_result is not None
assert last_cv_result is not None
checked_result = check_results(last_result, last_cv_result)
assert checked_result # the debug rgbd is stored, so there should be a valid report
report = result2report(checked_result, decompress_depth(depth),
fx, robot_pose, camera_pose, max_depth)
if args.verbose:
print(report)
assert last_artf == report, (last_artf, report)
#log_file = r"C:\Users\xkadj\OneDrive\PROJEKTY\Projekt_ROBOTIKA\logs\K2_200204\test-pcan-200204_142841.log"
streams = lookup_stream_names(log_file)
for list_id in range(len(streams)):
if 'can.can' == streams[list_id]: break
with LogReader(log_file, only_stream_id=20) as log:
log_list = []
for timestamp, stream_id, data in log:
sec = timestamp.total_seconds()
stream_id = stream_id
# msg_id = data[2] #hex(data[2])
# msg_len = len(data[-9:-1])
# msg_content = struct.unpack(str(msg_len)+'B', data[-9:-1])
# log_list.append([sec,stream_id,msg_id,msg_len,msg_content,str(data)])
data_des = deserialize(data)
# msg_id = data[2] #hex(data[2])
# msg_len = len(data[-9:-1])
# msg_content = struct.unpack(str(msg_len)+'B', data[-9:-1])
log_list.append(
[stream_id, sec, data_des[0], data_des[1].hex(),
len(data_des[1])])
deserialize(data)
# log = pd.DataFrame(log_list)
#0:00:06.076378 19 [0, 654]
#0:00:06.634475 19 [0, 656]
#0:00:07.176152 19 [0, 654]
#
#0:00:07.575947 20 [36, b'\x00\x00\xfa\x00', 0]
parser.add_argument('--stream', help='stream ID or name', default='can.can')
parser.add_argument('--dbc', help='interpretation of raw data',
choices=['spider', 'eduro'])
args = parser.parse_args()
dbc = {}
if args.dbc == 'spider':
dbc = {
0x200: 'H', # status
0x201: 'HHHH', # wheels
0x202: 'HHHH', # drive status
0x203: 'HHHH', # zero steering
0x204: 'HHBBH' # user input
}
elif args.dbc == 'eduro':
dbc = {
# 0x80: # SYNC, no data
0x181: '<i', # encoders L
0x182: '<i', # encoders R
#0x187, 0x387, 0x487 # compass, acc
0x28A: '<H', # buttons
0x18B: '<H', # battery(V)/100.0
}
stream_id = lookup_stream_id(args.logfile, args.stream)
with LogReader(args.logfile, only_stream_id=stream_id) as log:
for timestamp, stream_id, data in log:
print(timestamp, print_packet(deserialize(data), dbc))
# vim: expandtab sw=4 ts=4
parser.add_argument('--draw', '-d', help="draw result", action='store_true')
parser.add_argument('--index', '-i', help="scan index", type=int)
parser.add_argument('--transporter', help="detect_transporter", action='store_true')
args = parser.parse_args()
filename = args.filename
only_stream = lookup_stream_id(filename, 'lidar.scan')
index = args.index
offset_y = 0
with LogReader(filename, only_stream_id=only_stream) as log:
for ind, row in enumerate(log):
if index is not None and ind < index:
continue
timestamp, stream_id, data = row
scan = deserialize(data)
if args.transporter:
trans = detect_transporter(scan, offset_y)
if trans is None:
print('%d\tNone' % ind)
else:
print('%d\t%.1f\t%.3f' %
(ind, math.degrees(trans[0]), trans[1]))
else:
pairs = scan_split(scan[135:-135], max_diff=20)
if args.verbose:
for f, t in pairs:
print(f, t)
print(scan[135+f:135+t])
pairs = [(f+135, t+135) for f, t in pairs]
parser.add_argument('--dbc',
help='interpretation of raw data',
choices=['spider', 'eduro'])
args = parser.parse_args()
dbc = {}
if args.dbc == 'spider':
dbc = {
0x200: 'H', # status
0x201: 'HHHH', # wheels
0x202: 'HHHH', # drive status
0x203: 'HHHH', # zero steering
0x204: 'HHBBH' # user input
}
elif args.dbc == 'eduro':
dbc = {
# 0x80: # SYNC, no data
0x181: '<i', # encoders L
0x182: '<i', # encoders R
#0x187, 0x387, 0x487 # compass, acc
0x28A: '<H', # buttons
0x18B: '<H', # battery(V)/100.0
}
stream_id = lookup_stream_id(args.logfile, args.stream)
with LogReader(args.logfile, only_stream_id=stream_id) as log:
for timestamp, stream_id, data in log:
print(timestamp, print_packet(deserialize(data), dbc))
# vim: expandtab sw=4 ts=4
def test_array(self):
# USB read returns array('B', [...]), which fails to serialize
arr = array('B', [1, 2, 3])
b_arr = serialize(bytes(arr))
self.assertEqual(deserialize(b_arr), bytes([1, 2, 3]))
