def get_driver(use_ftdi=False,
port=SERIAL_PORT,
baud=SERIAL_BAUD,
file=False,
rtscts=False):
"""
Get a driver based on configuration options
Parameters
----------
use_ftdi : bool
For serial driver, use the pyftdi driver, otherwise use the pyserial driver.
port : string
Serial port to read.
baud : int
Serial port baud rate to set.
"""
try:
if use_ftdi:
return PyFTDIDriver(baud)
if file:
return FileDriver(open(port, 'rb'))
# HACK - if we are on OSX and the device appears to be a CDC device, open as a binary file
for each in serial.tools.list_ports.comports():
if port == each[0] and sys.platform == "darwin":
if each[1].startswith("Gadget Serial") or each[1].startswith(
"Piksi"):
print("Opening a file driver")
return CdcDriver(open(port, 'w+b', 0))
return PySerialDriver(port, baud, rtscts=rtscts)
# if finding the driver fails we should exit with a return code
# currently sbp's py serial driver raises SystemExit, so we trap it
# here
except SystemExit:
sys.exit(1)
def main():
args = get_args()
open_args = 'rb' if args.format == 'bin' else 'r'
with open(args.file, open_args) as fd:
if args.format == 'json':
iterator = JSONLogIterator(fd)
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write)
else:
raise Exception(
"Usage Error: Unknown input format. Valid input formats for -f arg are bin and json."
)
msg_class = None
for my_id, my_class in _SBP_TABLE.iteritems():
if my_class.__name__ == args.type or (args.id
and my_id == int(args.id)):
print("Extracing class {} with msg_id {}".format(
my_class, my_id))
msg_class = my_class
assert msg_class is not None, "Invalid message type specified"
with open(msg_class.__name__ + "_" + args.outfile, 'w+') as outfile:
conv = MsgExtractor(outfile,
msg_class,
metadata=(args.format == 'json'))
if args.format == 'json':
iterator = iterator.next()
while True:
try:
(msg, data) = iterator.next()
if isinstance(msg, msg_class):
conv._callback(msg, data)
except StopIteration:
break
def main():
# First, we start up an SBP driver reading from STDInput
first = True
args = get_args()
with open(args.file, 'r') as fd:
if args.format == 'json':
iterator = JSONLogIterator(fd)
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write)
else:
raise ("unkonwn format")
with open(args.outfile, 'w+') as outfile:
conv = Extractor(outfile)
if args.format == 'json':
iterator = iterator.next()
while True:
try:
(msg, data) = iterator.next()
if first:
first = False
if isinstance(msg, MsgCommandResp):
conv._callback(msg)
except StopIteration:
break
df = pd.read_csv(open(args.outfile, 'r'))
fig = plt.figure(figsize=[20, 10])
plt.plot(df["tow (ms)"], df['acc_x'])
plt.legend(['acc_x'])
fig.savefig('acc.png')
def main():
# First, we start up an SBP driver reading from STDInput
first = True
args = get_args()
with open(args.file, 'r') as fd:
if args.format == 'json':
iterator = JSONLogIterator(fd)
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write)
else:
raise ("unkonwn format")
with open(args.type + "_" + args.outfile, 'w+') as outfile:
conv = MsgExtractor(outfile, args.type)
if args.format == 'json':
iterator = iterator.next()
while True:
try:
(msg, data) = iterator.next()
if first:
first = False
if isinstance(msg, eval(args.type)):
conv._callback(msg)
except StopIteration:
break
def main():
args = get_args()
open_args = 'rb' if args.format == 'bin' else 'r'
with open(args.file, open_args) as fd:
if args.format == 'json':
iterator = JSONLogIterator(fd)
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write)
else:
raise Exception(
"Usage Error: Unknown input format. Valid input formats for -f arg are bin and json."
)
msg_class = None
with open(args.outfile, 'wb') as outfile:
conv = MsgInjector(outfile,
msg_class,
metadata=(args.format == 'json'))
if args.format == 'json':
iterator = iterator.next()
while True:
try:
(msg, data) = iterator.next()
if msg.msg_type == SBP_MSG_IMU_RAW:
conv.imu_raw_callback(msg, data)
else:
conv.any_callback(msg, data)
except StopIteration:
break
def test_log():
"""
Abstract interface won't work
"""
log_datafile = "./data/serial_link_log_20141125-150750_test2.log.dat"
with LogIterator(FileDriver(log_datafile)) as log:
with pytest.raises(NotImplementedError) as exc_info:
for delta, timestamp, msg in log.next():
pass
assert exc_info.value.message == "next() not implemented!"
def test_pickle_log_missing():
"""
Remove a key from the dispatch and make sure that the iterator
chokes.
"""
log_datafile = "./data/serial_link_log_20141125-150750_test2.log.dat"
new_table = _SBP_TABLE.copy()
new_table.pop(SBP_MSG_PRINT, None)
d = lambda msg: dispatch(msg, table=new_table)
with PickleLogIterator(FileDriver(log_datafile), dispatcher=d) as log:
with pytest.raises(InvalidSBPMessageType) as exc_info:
for delta, timestamp, msg in log.next():
pass
assert str(exc_info.value).find("No message found for msg_type id 16*")
def test_json_log():
"""
JSON log iterator sanity tests.
"""
log_datafile = "./data/serial_link_log_20150310-115522-test.log.dat"
count = 0
with warnings.catch_warnings(record=True) as w:
with JSONLogIterator(FileDriver(log_datafile)) as log:
for delta, timestamp, msg in log.next():
assert type(delta) == int
assert type(timestamp) == int
assert isinstance(msg, SBP) or issubclass(type(msg), SBP)
count += 1
warnings.simplefilter("always")
assert len(w) == 0
assert count == 2650
def main():
tow = []
hacc = []
plt.xlabel('TOW - Time of Week')
plt.ylabel('Horizontal Acceleration')
swiftBinary = open('28-220741.sbp', 'rb')
filestream = FileDriver(swiftBinary)
with Handler(Framer(filestream.read, None, verbose=True), autostart=True) as src:
try:
for msg, meta in src.filter(SBP_MSG_POS_LLH_GNSS):
tow.append(msg.tow)
hacc.append(msg.h_accuracy)
except KeyboardInterrupt:
pass
plt.plot(tow, hacc)
plt.xlim(min(tow), max(tow))
plt.ylim(min(hacc), max(hacc))
plt.show()
def test_pickle_log():
"""
pickle log iterator sanity tests.
"""
log_datafile = "./data/serial_link_log_20141125-150750_test2.log.dat"
count = 0
with PickleLogIterator(FileDriver(log_datafile)) as log:
with warnings.catch_warnings(record=True) as w:
for delta, timestamp, msg in log.next():
assert type(delta) == int
assert type(timestamp) == int
assert isinstance(msg, SBP)
count += 1
warnings.simplefilter("always")
# Check for warnings.
assert len(w) == 1
assert issubclass(w[0].category, RuntimeWarning)
assert "SBP payload deserialization error! 0x18" in w[0].message
assert count == 1111
def main():
# open a file, iterate through it,
# do something when particular message type is found
args = get_args()
with open(args.file, 'r') as fd:
if args.format == 'json':
iterator = JSONLogIterator(fd).next()
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write)
else:
raise ("unknown format: possible formats are bin and json")
conv = EventExtractor()
while True:
try:
(msg, data) = iterator.next()
if isinstance(msg, MsgExtEvent):
conv._event_callback(msg)
except StopIteration:
break
def main():
args = get_args()
open_args = 'rb' if args.format == 'bin' else 'r'
json = False
with open(args.file, open_args) as fd:
if args.format == 'json':
json = True
iterator = JSONLogIterator(fd, conventional=True)
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write, dispatcher=None)
else:
raise Exception(
"Usage Error: Unknown input format. Valid input formats for -f arg are bin and json."
)
msg_class = None
msg_id = None
for my_id, my_class in _SBP_TABLE.items():
if my_class.__name__ == args.type or (args.id
and my_id == int(args.id)):
msg_class = my_class
msg_id = my_id
assert msg_class is not None, "Invalid message type specified"
outfile = msg_class.__name__
if args.outfile:
outfile += "_" + args.outfile
outfile += ".csv"
print("Extracing class {} with msg_id {} to csv file {}".format(
msg_class, msg_id, outfile))
with open(outfile, 'w+') as outfp:
conv = MsgExtractor(outfp, msg_class, metadata=json)
while True:
try:
msg, data = iterator.__next__()
if msg.msg_type == msg_id:
conv._callback(msg, data)
if msg is None:
break
except StopIteration:
break
def main():
# First, we start up an SBP driver reading from STDInput
first = True
args = get_args()
outfile_str = ""
with open(args.file, 'r') as fd:
if args.format == 'json':
iterator = JSONLogIterator(fd)
elif args.format == 'bin':
driver = FileDriver(fd)
iterator = Framer(driver.read, driver.write)
else:
raise ("unkonwn format")
outfile_str = args.outfile + args.file + "imu.csv"
with open(outfile_str, 'w') as outfile:
conv = MagExtractor(outfile)
if args.format == 'json':
iterator = iterator.next()
while True:
try:
(msg, data) = iterator.next()
if first:
first = False
if isinstance(msg, MsgImuRaw):
conv.mag_callback(msg)
except StopIteration:
break
df = pd.read_csv(open(outfile_str, 'r'))
fig = plt.figure(figsize=[20, 10])
fig = plt.figure(figsize=[20, 10])
plt.subplot(3, 1, 1)
plt.plot(df["tow (ms)"], df["tow (ms)"].diff())
plt.ylabel(['tow period (milliseconds)'])
ax = plt.subplot(3, 1, 2)
df["tow (ms)"].diff().hist(ax=ax)
fig.savefig(args.file + '.png')
help='Type of message to interpolate.')
parser.add_argument('-d',
'--debouncetime',
type=int,
default=[1000],
nargs=1,
help='Specify the debounce time for trigger in ms.')
args = parser.parse_args()
return args
if __name__ == '__main__':
args = get_args()
if args.type[0] == 'MsgBaselineNED' or args.type[
0] == 'MsgPosECEF' or args.type[0] == 'MsgPosLLH' or args.type[
0] == 'MsgBaselineECEF':
if args.filename[0]:
infile = open(args.filename[0], 'r')
if args.binary:
driver = FileDriver(infile)
iterator = Framer(driver.read, driver.write, True)
else:
iterator = JSONLogIterator(infile).next()
a, b, c, d, e, f, g, h = collect_positions(iterator, args.type[0],
args.debouncetime[0])
display_data(a, b, c, d, e, f, g, h, args.type[0], args.outfile[0])
else:
print("Please provide a filename argument")
else:
print("Incorrect Message Type!!")