Merge branch 'develop' into 'master'

image: gcc-cpplint-cmake-gcov

build:

  stage: build

  script: 

    - make -C parsers tests -j 4

  artifacts:

    paths:

      - parsers/build/sentiboard_utils_test

  cache:

    paths:

      - parsers/build/

lint:

  stage: build

  script:

    - make -C parsers lint

test:

  stage: test

  script:

    - ./parsers/build/sentiboard_utils_test

coverage:

  stage: test

  script:

    - make -C parsers coverage

  coverage: '/lines[.: ]*\d+.\d+%/'

  artifacts:

    paths:

      - parsers/build_coverage/sentiboard_utils_test

      - parsers/coverage/

  cache:

    paths:

      - parsers/build_coverage/

      - parsers/coverage/

branch-coverage:

  stage: test

  script:

    - make -C parsers coverage

  coverage: '/branches[.: ]*\d+.\d+%/'

  artifacts:

    paths:

      - parsers/build_coverage/sentiboard_utils_test

      - parsers/coverage/

  cache:

    paths:

      - parsers/build_coverage/

      - parsers/coverage/

Sentiboard Utils

================

Status

------

[![build status](https://kyb.guru/gitlab/enfo/sentiboard-utils/badges/master/pipeline.svg)](https://kyb.guru/gitlab/enfo/sentiboard-utils/commits/master)

 Lines: [![coverage report](https://kyb.guru/gitlab/enfo/sentiboard-utils/badges/master/coverage.svg?job=coverage)](https://kyb.guru/gitlab/enfo/sentiboard-utils/commits/master)

 Branches: [![coverage report](https://kyb.guru/gitlab/enfo/sentiboard-utils/badges/master/coverage.svg?job=branch-coverage)](https://kyb.guru/gitlab/enfo/sentiboard-utils/commits/master)

Usage

=====

Note that the UART connector is pin-equal to the RS-232 connector, except that

the CTS and RTS pins are not connected.

# -*- coding: utf-8 -*-

"""

Created on Fri May  4 21:08:58 2018

@author: Enfenion

"""

import argparse

import os

import rtk

import datetime

kml_start='''<?xml version="1.0" encoding="UTF-8"?>

<kml xmlns="http://www.opengis.net/kml/2.2">

  <Document>

    <name>Paths</name>

    <description>Examples of paths. Note that the tessellate tag is by default

      set to 0. If you want to create tessellated lines, they must be authored

      (or edited) directly in KML.</description>

    <Style id="yellowLineGreenPoly">

      <LineStyle>

        <color>7f00ffff</color>

        <width>4</width>

      </LineStyle>

      <PolyStyle>

        <color>7f00ff00</color>

      </PolyStyle>

    </Style>

    <Placemark>

      <name>Absolute Extruded</name>

      <description>Transparent green wall with yellow outlines</description>

      <styleUrl>#yellowLineGreenPoly</styleUrl>

      <LineString>

        <extrude>1</extrude>

        <tessellate>1</tessellate>

        <altitudeMode>absolute</altitudeMode>

        <coordinates>

'''

kml_end='''        </coordinates>

      </LineString>

    </Placemark>

  </Document>

</kml>

'''

kml2_start='''<?xml version="1.0" encoding="UTF-8"?>

<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">

<Document>

	<name>UAV-icons.kml</name>

	<Style id="sn_airports">

		<IconStyle>

			<color>ffffaa00</color>

			<scale>1.2</scale>

			<Icon>

				<href>http://maps.google.com/mapfiles/kml/shapes/airports.png</href>

			</Icon>

			<hotSpot x="0.5" y="0" xunits="fraction" yunits="fraction"/>

		</IconStyle>

		<ListStyle>

		</ListStyle>

		<LineStyle>

			<color>99ffaa00</color>

			<width>6</width>

		</LineStyle>

	</Style>

	<StyleMap id="msn_airports">

		<Pair>

			<key>normal</key>

			<styleUrl>#sn_airports</styleUrl>

		</Pair>

		<Pair>

			<key>highlight</key>

			<styleUrl>#sh_airports</styleUrl>

		</Pair>

	</StyleMap>

	<Style id="sh_airports">

		<IconStyle>

			<color>ffffaa00</color>

			<scale>1.4</scale>

			<Icon>

				<href>http://maps.google.com/mapfiles/kml/shapes/airports.png</href>

			</Icon>

			<hotSpot x="0.5" y="0" xunits="fraction" yunits="fraction"/>

		</IconStyle>

		<ListStyle>

		</ListStyle>

		<LineStyle>

			<color>99ffaa00</color>

			<width>8</width>

		</LineStyle>

	</Style>

	<Placemark>

		<name>UAV</name>

		<styleUrl>#msn_airports</styleUrl>

		<gx:Track>

			<altitudeMode>relativeToGround</altitudeMode>

'''

kml2_end='''		</gx:Track>

	</Placemark>

</Document>

</kml>

'''

def create_kml(data, destname, interval):

    lats, lons, alts = data['latitude'], data['longitude'], data['height']

    gpsweek, gpsseconds = data['week'], data['gpst']

    mode=2

    leapseconds = 0

    last = datetime.datetime(1980, 1, 6, 0, 0, 0)

    with open(destname, 'w') as f:

        if mode == 1:

            f.write(kml_start)

            for ix in range(len(lats)):

                f.write('%.9f,%.9f,%.2f\n' % (lons[ix], lats[ix], alts[ix]))

            f.write(kml_end)

        else:

            f.write(kml2_start)

            for ix in range(len(lats)):

                d = rtk.weeksecondstoutc(gpsweek[ix],gpsseconds[ix],leapseconds)

                if (d - last).total_seconds() < interval:

                    continue

                last = d

                f.write('<when>%s</when>\n' % d.strftime("%Y-%m-%dT%H:%M:%SZ"))

                f.write('<gx:coord>')

                f.write('%.9f,%.9f,%.2f' % (lons[ix], lats[ix], alts[ix]))

                f.write('</gx:coord>\n')

            f.write(kml2_end)

    print('Stored .kml to %s' % destname)

if __name__ == '__main__':

    parser = argparse.ArgumentParser(description='Convert an RTK .pos-file to a .kml for Google Earth')

    parser.add_argument('pos', help='RTK .pos-file')

    parser.add_argument('--output', '-O', dest='dest', help='Optional destination file (default *.kml)')

    parser.add_argument('--interval', '-d', dest='interval', type=float, help='Interval between each data point', default=1)

    args = parser.parse_args()

    filename = args.pos

    if args.dest:

        destname = args.dest

    else:

        destname = os.path.splitext(filename)[0] + '.kml'

    data, names = rtk.parse_file(filename)

    create_kml(data, destname, args.interval)

# -*- coding: utf-8 -*-

"""

Created on Fri May  4 21:44:51 2018

@author: Enfenion

"""

import re

import datetime

def weeksecondstoutc(gpsweek,gpsseconds,leapseconds):

    epoch = datetime.datetime(1980, 1, 6, 0, 0, 0)

    elapsed = datetime.timedelta(days=(gpsweek * 7), seconds=(gpsseconds + leapseconds))

    return epoch + elapsed

def split_line(line):

    if '|' in line:

        return line.split('|')

    if '\t' in line:

        return line.split('\t')

    return re.sub(' +', ' ', line).split(' ')

def parseline(line, names):

    values = split_line(line)

    converters = [int] + [float]*4 + [int]*2 + [float]*8

    conv_vals = [c(v) for c, v in zip(converters, values) ]

    return dict(zip(names, conv_vals))

def count_lines(f):

    n_lines = 0

    for line in f:

        if line.startswith('%'):

            continue

        n_lines += 1

    f.seek(0)

    return n_lines

def handle_name(name):

    name = name.strip().lower()

    if '(' in name:

        name = name[:name.index('(')]

    name = name.replace('-', '_')

    return name

def extract_data(f, n_lines):

    names = ['week', 'tow', 'ecef_x', 'ecef_y', 'ecef_z', 'Q', 'ns',

             'sdx', 'sdy', 'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']

    ref_pos = None

    tmpbuf = [0] * n_lines

    print('Found %d lines' % n_lines)

    data = {}

    c_line = 0

    for line in f:

        if line.startswith('%'):

            if 'age' in line:

                names = [handle_name(name) for name in split_line(line.strip('% '))]

                if names[0] == 'gpst':

                    names.insert(0, 'week')

            if 'ref pos' in line:

                data_start = line.index(':', 1)

                ref_pos = [float(p) for p in split_line(line[data_start+1:].strip())]

            continue

        data_line = parseline(line, names)

        for key, val in data_line.items():

            try:

                data[key][c_line] = val

            except KeyError:

                data[key] = list(tmpbuf)

                data[key][c_line] = val

        c_line += 1

    f.seek(0)

    return data, names, ref_pos

def parse_file(infile):

    ref_pos = None

    with open(infile, 'rU') as f:

        n_lines = count_lines(f)

        data, names, ref_pos = extract_data(f, n_lines)

    if 'ecef_x' in names:

        try:

            from pymap3d import ecef2geodetic

            print('Adding latlon')

            lat, lon, height = ecef2geodetic(data['ecef_x'], data['ecef_y'], data['ecef_z'])

            data['latitude'] = lat

            data['longitude'] = lon

            data['height'] = height

            names += ['latitude', 'longitude', 'height']

        except ImportError:

            print('Install pymap3d to automatically add enu solution')

    if 'latitude' in names and ref_pos is not None:

        try:

            from pymap3d import geodetic2enu

            print('Adding enu')

            east, north, up = geodetic2enu(data['latitude'], data['longitude'], data['height'], *ref_pos)

            data['e_baseline'] = east

            data['n_baseline'] = north

            data['u_baseline'] = up

            names += ['e_baseline', 'n_baseline', 'u_baseline']

        except ImportError:

            print('Install pymap3d to automatically add enu solution')

    elif 'e_baseline' in names:

        try:

            from pymap3d import enu2geodetic

            print('Adding latlon')

            lat, lon, height = enu2geodetic(data['e_baseline'], data['n_baseline'], data['u_baseline'], *ref_pos)

            data['latitude'] = lat

            data['longitude'] = lon

            data['height'] = height

            names += ['latitude', 'longitude', 'height']

        except ImportError:

            print('Install pymap3d to automatically add enu solution')

    return data, names

 No newline at end of file