def CreateMISB(self):
''' Create MISB Video '''
''' Only tested using DJI Data '''
# Create ProgressBar
self.iface.messageBar().clearWidgets()
progressMessageBar = self.iface.messageBar().createMessage("Creating video packets...")
progress = QProgressBar()
progress.setAlignment(Qt.AlignLeft | Qt.AlignVCenter)
progressMessageBar.layout().addWidget(progress)
self.iface.messageBar().pushWidget(progressMessageBar, QGis.Info)
QApplication.setOverrideCursor(Qt.WaitCursor)
QApplication.processEvents()
HFOV = self.sp_hfov.value()
#VFOV = self.sp_vfov.value()
index = self.cmb_telemetry.currentIndex()
out_record = self.cmb_telemetry.itemData(index)
rowCount = self.GetRows(out_record)
progress.setMaximum(rowCount)
d = {}
with open(out_record) as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
date_start = datetime.strptime(row["CUSTOM.updateTime"], '%Y/%m/%d %H:%M:%S.%f')
break
with open(out_record) as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
for k in row:
stripK = k.strip()
stripV = row[k].strip()
d[stripK] = stripV
# We create the klv file for every moment
sizeTotal = 0
bufferData = b''
cnt = 0
for k, v in d.items():
try:
if k == "CUSTOM.updateTime":
# We prevent it from failing in the exact times that don't have milliseconds
try:
date_end = datetime.strptime(v, '%Y/%m/%d %H:%M:%S.%f')
except:
date_end = datetime.strptime(v, '%Y/%m/%d %H:%M:%S')
_bytes = datetime_to_bytes(date_end)
_len = int_to_bytes(len(_bytes))
_bytes = _key2 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Platform Heading Angle
if k == "OSD.yaw":
OSD_yaw = float(v)
_bytes = float_to_bytes(round(OSD_yaw, 4), _domain5, _range5)
_len = int_to_bytes(len(_bytes))
_bytes = _key5 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Platform Pitch Angle
if k == "OSD.pitch":
OSD_pitch = 0.0
_bytes = float_to_bytes(round(OSD_pitch, 4), _domain6, _range6)
_len = int_to_bytes(len(_bytes))
_bytes = _key6 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Platform Roll Angle
if k == "OSD.roll":
OSD_roll = 0.0
_bytes = float_to_bytes(round(OSD_roll, 4), _domain7, _range7)
_len = int_to_bytes(len(_bytes))
_bytes = _key7 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Latitude
if k == "OSD.latitude":
OSD_latitude = float(v)
_bytes = float_to_bytes(round(OSD_latitude, 4), _domain13, _range13)
_len = int_to_bytes(len(_bytes))
_bytes = _key13 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Longitude
if k == "OSD.longitude":
OSD_longitude = float(v)
_bytes = float_to_bytes(OSD_longitude, _domain14, _range14)
_len = int_to_bytes(len(_bytes))
_bytes = _key14 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor True Altitude
if k == "OSD.altitude [m]":
OSD_altitude = float(v)
_bytes = float_to_bytes(round(OSD_altitude, 4), _domain15, _range15)
_len = int_to_bytes(len(_bytes))
_bytes = _key15 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Ellipsoid Height
if k == "OSD.height [m]":
OSD_height = float(v)
_bytes = float_to_bytes(round(OSD_height, 4), _domain75, _range75)
_len = int_to_bytes(len(_bytes))
_bytes = _key75 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Relative Azimuth Angle
if k == "GIMBAL.yaw":
#GIMBAL_yaw = float(v)
GIMBAL_yaw = 0.0
_bytes = float_to_bytes(round(GIMBAL_yaw, 4), _domain18, _range18)
_len = int_to_bytes(len(_bytes))
_bytes = _key18 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Relative Elevation Angle
if k == "GIMBAL.pitch":
GIMBAL_pitch = float(v)
_bytes = float_to_bytes(round(GIMBAL_pitch, 4), _domain19, _range19)
_len = int_to_bytes(len(_bytes))
_bytes = _key19 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Relative Roll Angle
if k == "GIMBAL.roll":
GIMBAL_roll = 0.0
_bytes = float_to_bytes(round(GIMBAL_roll, 4), _domain20, _range20)
_len = int_to_bytes(len(_bytes))
_bytes = _key20 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
except Exception:
print("Multiplexer error")
continue
try:
# Diference time
td = date_end - date_start
end_path = self.klv_folder + "/%.1f.klv" % (round(td.total_seconds(), 1))
# CheckSum
v = abs(hash(end_path)) % (10 ** 4)
_bytes = int_to_bytes(v, 4)
_len = int_to_bytes(len(_bytes))
_bytes = _key1 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Horizontal Field of View
v = self.sp_hfov.value()
_bytes = float_to_bytes(float(v), _domain16, _range16)
_len = int_to_bytes(len(_bytes))
_bytes = _key16 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Sensor Vertical Field of View
v = self.sp_vfov.value()
_bytes = float_to_bytes(float(v), _domain17, _range17)
_len = int_to_bytes(len(_bytes))
_bytes = _key17 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# TODO : Check these calculations
# Slant Range
anlge = 180 + (OSD_pitch + GIMBAL_pitch)
slantRange = abs(OSD_altitude / (cos(radians(anlge))))
_bytes = float_to_bytes(round(slantRange, 4), _domain21, _range21)
_len = int_to_bytes(len(_bytes))
_bytes = _key21 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Target Width
# targetWidth = 0.0
targetWidth = 2.0 * slantRange * tan(radians(HFOV / 2.0))
_bytes = float_to_bytes(round(targetWidth, 4), _domain22, _range22)
_len = int_to_bytes(len(_bytes))
_bytes = _key22 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Frame Center Latitude
angle = 90 + (OSD_pitch + GIMBAL_pitch)
tgHzDist = OSD_altitude * tan(radians(angle))
r_earth = 6371008.8
dy = tgHzDist * cos(radians(OSD_yaw))
framecenterlatitude = OSD_latitude + (dy / r_earth) * (180 / pi)
_bytes = float_to_bytes(round(framecenterlatitude, 4), _domain23, _range23)
_len = int_to_bytes(len(_bytes))
_bytes = _key23 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Frame Center Longitude
dx = tgHzDist * sin(radians(OSD_yaw))
framecenterlongitude = OSD_longitude + (dx / r_earth) * (180 / pi) / cos(OSD_latitude * pi/180)
_bytes = float_to_bytes(round(framecenterlongitude, 4), _domain24, _range24)
_len = int_to_bytes(len(_bytes))
_bytes = _key24 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Frame Center Elevation
frameCenterElevation = 0.0
_bytes = float_to_bytes(frameCenterElevation, _domain25, _range25)
_len = int_to_bytes(len(_bytes))
_bytes = _key25 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# TODO : If we save the corners in the klv have a overflow
# # CALCULATE CORNERS COORDINATES
# sensor = (OSD_longitude, OSD_latitude, OSD_altitude)
# frameCenter = (destPoint[0], destPoint[1], frameCenterElevation)
# FOV = (VFOV, HFOV)
# others = (OSD_yaw, GIMBAL_yaw, targetWidth, slantRange)
# cornerPointUL, cornerPointUR, cornerPointLR, cornerPointLL = CornerEstimationWithoutOffsets(sensor=sensor, frameCenter=frameCenter, FOV=FOV, others=others)
#
# # Corner Latitude Point 1 (Full)
# _bytes = float_to_bytes(round(cornerPointUL[0],4), _domain82, _range82)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key82 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Longitude Point 1 (Full)
# _bytes = float_to_bytes(round(cornerPointUL[1],4), _domain83, _range83)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key83 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Latitude Point 2 (Full)
# _bytes = float_to_bytes(round(cornerPointUR[0],4), _domain84, _range84)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key84 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Longitude Point 2 (Full)
# _bytes = float_to_bytes(round(cornerPointUR[1],4), _domain85, _range85)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key85 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Latitude Point 3 (Full)
# _bytes = float_to_bytes(round(cornerPointLR[0],4), _domain86, _range86)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key86 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Longitude Point 3 (Full)
# _bytes = float_to_bytes(round(cornerPointLR[1],4), _domain87, _range87)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key87 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Latitude Point 4 (Full)
# _bytes = float_to_bytes(round(cornerPointLL[0],4), _domain88, _range88)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key88 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
#
# # Corner Longitude Point 4 (Full)
# _bytes = float_to_bytes(round(cornerPointLL[1],4), _domain89, _range89)
# _len = int_to_bytes(len(_bytes))
# _bytes = _key89 + _len + _bytes
# sizeTotal += len(_bytes)
# bufferData += _bytes
# Platform Pitch Angle (Full)
_bytes = float_to_bytes(round(OSD_pitch, 4), _domain90, _range90)
_len = int_to_bytes(len(_bytes))
_bytes = _key90 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# Platform Roll Angle (Full)
_bytes = float_to_bytes(round(OSD_roll, 4), _domain91, _range91)
_len = int_to_bytes(len(_bytes))
_bytes = _key91 + _len + _bytes
sizeTotal += len(_bytes)
bufferData += _bytes
# set packet header
writeData = cle
writeData += int_to_bytes(sizeTotal)
writeData += bufferData
# Write packet
f_write = open(end_path, "wb+")
f_write.write(writeData)
f_write.close()
cnt += 1
progress.setValue(cnt)
except Exception as e:
print("Multiplexer error : " + str(e))
QApplication.restoreOverrideCursor()
QApplication.processEvents()
progress.setValue(rowCount)
self.iface.messageBar().clearWidgets()
# We add it to the manager
_, name = os.path.split(self.video_file)
self.parent.AddFileRowToManager(name, self.video_file, islocal=True, klv_folder=self.klv_folder)
# Close dialog
self.close()
return
def CreateMISB(self):
""" Create MISB Video """
""" Only tested using DJI Data """
# Create ProgressBar
self.iface.messageBar().clearWidgets()
progressMessageBar = self.iface.messageBar().createMessage(
"Creating video packets...")
progress = QProgressBar()
progress.setAlignment(Qt.AlignLeft | Qt.AlignVCenter)
progressMessageBar.layout().addWidget(progress)
self.iface.messageBar().pushWidget(progressMessageBar, QGis.Info)
QApplication.setOverrideCursor(Qt.WaitCursor)
QApplication.processEvents()
HFOV = self.sp_hfov.value()
VFOV = self.sp_vfov.value()
index = self.cmb_telemetry.currentIndex()
out_record = self.cmb_telemetry.itemData(index)
rowCount = self.GetRows(out_record)
progress.setMaximum(rowCount)
d = {}
with open(out_record, encoding=encoding) as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
date_start = datetime.strptime(row["CUSTOM.updateTime"],
"%Y/%m/%d %H:%M:%S.%f")
break
with open(out_record, encoding=encoding) as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
for k in row:
stripK = k.strip()
stripV = row[k].strip()
d[stripK] = stripV
# We create the klv file for every moment
bufferData = b""
cnt = 0
for k, v in d.items():
try:
if k == "CUSTOM.updateTime":
# We prevent it from failing in the exact times
# that don't have milliseconds
try:
date_end = datetime.strptime(
v, "%Y/%m/%d %H:%M:%S.%f")
except Exception:
date_end = datetime.strptime(
v, "%Y/%m/%d %H:%M:%S")
_bytes = bytes(
PrecisionTimeStamp(
datetime_to_bytes(date_end)))
bufferData += _bytes
# Platform Heading Angle
if k == "OSD.yaw":
OSD_yaw = float(v)
if OSD_yaw < 0:
OSD_yaw = OSD_yaw + 360
_bytes = bytes(PlatformHeadingAngle(OSD_yaw))
bufferData += _bytes
# Platform Pitch Angle
if k == "OSD.pitch":
OSD_pitch = float(v)
_bytes = bytes(PlatformPitchAngle(OSD_pitch))
bufferData += _bytes
# Platform Roll Angle
if k == "OSD.roll":
OSD_roll = float(v)
_bytes = bytes(PlatformRollAngle(OSD_roll))
bufferData += _bytes
# Sensor Latitude
if k == "OSD.latitude":
OSD_latitude = float(v)
_bytes = bytes(SensorLatitude(OSD_latitude))
bufferData += _bytes
# Sensor Longitude
if k == "OSD.longitude":
OSD_longitude = float(v)
_bytes = bytes(SensorLongitude(OSD_longitude))
bufferData += _bytes
# Sensor True Altitude
if k == "OSD.altitude [m]":
OSD_altitude = float(v)
_bytes = bytes(SensorTrueAltitude(OSD_altitude))
bufferData += _bytes
# Sensor Ellipsoid Height
if k == "OSD.height [m]":
OSD_height = float(v)
_bytes = bytes(
SensorEllipsoidHeightConversion(OSD_height))
bufferData += _bytes
# Sensor Relative Azimuth Angle
if k == "GIMBAL.yaw":
# GIMBAL_yaw = float(v)
GIMBAL_yaw = 0.0
_bytes = bytes(
SensorRelativeAzimuthAngle(GIMBAL_yaw))
bufferData += _bytes
# Sensor Relative Elevation Angle
if k == "GIMBAL.pitch":
GIMBAL_pitch = float(v)
_bytes = bytes(
SensorRelativeElevationAngle(GIMBAL_pitch))
bufferData += _bytes
# Sensor Relative Roll Angle
if k == "GIMBAL.roll":
GIMBAL_roll = float(v)
_bytes = bytes(
SensorRelativeRollAngle(GIMBAL_roll))
bufferData += _bytes
except Exception as e:
qgsu.showUserAndLogMessage(
QCoreApplication.translate(
"Multiplexor", "Multiplexer error") + e,
onlyLog=True,
)
continue
try:
# Diference time
td = date_end - date_start
end_path = self.klv_folder + "/%.1f.klv" % (round(
td.total_seconds(), 1))
# CheckSum
v = abs(hash(end_path)) % (10**4)
_bytes = bytes(Checksum(v))
bufferData += _bytes
# Sensor Horizontal Field of View
v = self.sp_hfov.value()
_bytes = bytes(SensorHorizontalFieldOfView(float(v)))
bufferData += _bytes
# Sensor Vertical Field of View
v = self.sp_vfov.value()
_bytes = bytes(SensorVerticalFieldOfView(float(v)))
bufferData += _bytes
# TODO : Check these calculations
# Slant Range
anlge = 180 + (OSD_pitch + GIMBAL_pitch)
slantRange = abs(OSD_altitude / (cos(radians(anlge))))
_bytes = bytes(SlantRange(slantRange))
bufferData += _bytes
# Target Width
# targetWidth = 0.0
targetWidth = 2.0 * slantRange * tan(radians(HFOV / 2.0))
try:
_bytes = bytes(TargetWidth(targetWidth))
except Exception:
_bytes = bytes(TargetWidth(0.0))
bufferData += _bytes
# Frame Center Latitude
angle = 90 + (OSD_pitch + GIMBAL_pitch)
tgHzDist = OSD_altitude * tan(radians(angle))
dy = tgHzDist * cos(radians(OSD_yaw))
framecenterlatitude = OSD_latitude + degrees(
(dy / EARTH_MEAN_RADIUS))
_bytes = bytes(FrameCenterLatitude(framecenterlatitude))
bufferData += _bytes
# Frame Center Longitude
dx = tgHzDist * sin(radians(OSD_yaw))
framecenterlongitude = OSD_longitude + degrees(
(dx / EARTH_MEAN_RADIUS)) / cos(radians(OSD_latitude))
_bytes = bytes(FrameCenterLongitude(framecenterlongitude))
bufferData += _bytes
# Frame Center Elevation
frameCenterElevation = 0.0
_bytes = bytes(FrameCenterElevation(frameCenterElevation))
bufferData += _bytes
# CALCULATE CORNERS COORDINATES
# FIXME : If we add this values, the klv parse has a overflow
# Probably the packets is not created correctly
# sensor = (OSD_longitude, OSD_latitude, OSD_altitude)
# frameCenter = (framecenterlongitude, framecenterlatitude, frameCenterElevation)
# FOV = (VFOV, HFOV)
# others = (OSD_yaw, GIMBAL_yaw, targetWidth, slantRange)
# cornerPointUL, cornerPointUR, cornerPointLR, cornerPointLL = CornerEstimationWithoutOffsets(sensor=sensor, frameCenter=frameCenter, FOV=FOV, others=others)
#
# # Corner Latitude Point 1 (Full) CornerLatitudePoint1Full
# _bytes = bytes(CornerLatitudePoint1Full(cornerPointUL[0]))
# bufferData += _bytes
#
# # Corner Longitude Point 1 (Full)
# _bytes = bytes(CornerLongitudePoint1Full(cornerPointUL[1]))
# bufferData += _bytes
#
# # Corner Latitude Point 2 (Full)
# _bytes = bytes(CornerLatitudePoint2Full(cornerPointUR[0]))
# bufferData += _bytes
#
# # Corner Longitude Point 2 (Full)
# _bytes = bytes(CornerLongitudePoint2Full(cornerPointUR[1]))
# bufferData += _bytes
#
# # Corner Latitude Point 3 (Full)
# _bytes = bytes(CornerLatitudePoint3Full(cornerPointLR[0]))
# bufferData += _bytes
#
# # Corner Longitude Point 3 (Full)
# _bytes = bytes(CornerLongitudePoint3Full(cornerPointLR[1]))
# bufferData += _bytes
#
# # Corner Latitude Point 4 (Full)
# _bytes = bytes(CornerLatitudePoint4Full(cornerPointLL[0]))
# bufferData += _bytes
#
# # Corner Longitude Point 4 (Full)
# _bytes = bytes(CornerLongitudePoint4Full(cornerPointLL[1]))
# bufferData += _bytes
# Platform Pitch Angle (Full)
_bytes = bytes(PlatformPitchAngleFull(OSD_pitch))
bufferData += _bytes
# Platform Roll Angle (Full)
_bytes = bytes(PlatformRollAngleFull(OSD_roll))
bufferData += _bytes
# set packet header
writeData = UASLocalMetadataSet
sizeTotal = len(bufferData)
writeData += int_to_bytes(sizeTotal)
writeData += bufferData
# Write packet
f_write = open(end_path, "wb+")
f_write.write(writeData)
f_write.close()
cnt += 1
progress.setValue(cnt)
except Exception as e:
qgsu.showUserAndLogMessage(
QCoreApplication.translate(
"Multiplexor", "Multiplexer error") + str(e),
onlyLog=True,
)
QApplication.restoreOverrideCursor()
QApplication.processEvents()
progress.setValue(rowCount)
self.iface.messageBar().clearWidgets()
# We add it to the manager
_, name = os.path.split(self.video_file)
self.parent.AddFileRowToManager(name,
self.video_file,
islocal=True,
klv_folder=self.klv_folder)
# Close dialog
self.close()
return