Merge branch 'develop' of gitlab.kyb.guru:enfo/sentiboard-utils into develop

converters/rtklib2matlab.py

@@ -11,14 +11,22 @@ def print_usage():
     print('  python rtklib2matlab.py [rover.pos]')
     sys.exit(1)
 
-def parseline(line):
-    names = ['week', 'tow', 'ecef_x', 'ecef_y', 'ecef_z', 'Q', 'ns', 'sdx', 'sdy',
-     'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']
-    values = line.split()
+def parseline(line, names):
+
+    values = line.split('|')
     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 handle_name(name):
+    name = name.strip().lower()
+    if '(' in name:
+        name = name[:name.index('(')]
+    name = name.replace('-', '_')
+
+    return name
+
 if __name__ == '__main__':
     import sys
 
@@ -32,6 +40,9 @@ if __name__ == '__main__':
     outfile = os.path.splitext(infile)[0] + '.mat'
     print('Converting %s to to %s' % (infile, outfile))
 
+    names = ['week', 'tow', 'ecef_x', 'ecef_y', 'ecef_z', 'Q', 'ns', 'sdx', 'sdy',
+     'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']
+
     n_lines = 0
     with open(infile, 'rU') as f:
         for line in f:
@@ -46,8 +57,12 @@ if __name__ == '__main__':
         c_line = 0
         for line in f:
             if line.startswith('%'):
+                if 'age' in line:
+                    names = [handle_name(name) for name in line.strip('% ').split('|')]
+                    if names[0] == 'gpst':
+                        names.insert(0, 'week')
                 continue
-            data_line = parseline(line)
+            data_line = parseline(line, names)
             for key, val in data_line.items():
                 try:
                     data[key][c_line] = val

parsers/sensors/stim_parser.py

@@ -178,17 +178,29 @@ class StimParser(object):
                               accl_x, accl_y, accl_z,
                               incl_x, incl_y, incl_z, temp)
                             '''
-        #print package[:20]
 
-        stim_package = StimPackage(pack.tov, pack.toa, pack.tot, pack.timestamp,
+        delta_values = True
+        if delta_values:
+            stim_package = StimPackage(pack.tov, pack.toa, pack.tot, pack.timestamp,
+                                  GX3, GX2, GX1, GY3, GY2, GY1, GZ3, GZ2, GZ1, GS,
+                                  AX3, AX2, AX1, AY3, AY2, AY1, AZ3, AZ2, AZ1, AS,
+                                  IX3, IX2, IX1, IY3, IY2, IY1, IZ3, IZ2, IZ1, IS,
+                                  COUNT, LATENCY, CRC,
+                                  angular_rate=False, incremental_angle=True,
+                                  acceleration=False, incremental_velocity=True,
+                                  incl_acceleration=False, incl_incremental_velocity=True,
+                                  incl_average=False, g_range='10g')
+        else:
+            stim_package = StimPackage(pack.tov, pack.toa, pack.tot, pack.timestamp,
                               GX3, GX2, GX1, GY3, GY2, GY1, GZ3, GZ2, GZ1, GS,
                               AX3, AX2, AX1, AY3, AY2, AY1, AZ3, AZ2, AZ1, AS,
                               IX3, IX2, IX1, IY3, IY2, IY1, IZ3, IZ2, IZ1, IS,
                               COUNT, LATENCY, CRC,
-                              angular_rate=False, incremental_angle=True,
-                              acceleration=False, incremental_velocity=True,
-                              incl_acceleration=False, incl_incremental_velocity=True,
+                              angular_rate=True, incremental_angle=False,
+                              acceleration=True, incremental_velocity=False,
+                              incl_acceleration=True, incl_incremental_velocity=False,
                               incl_average=False, g_range='10g')
+
         return stim_package
 
 
@@ -213,7 +225,7 @@ if __name__ == '__main__':
     try:
         while True:
             package_buf = reader.get_package()
-            
+
             if package_buf == None:
                 break
             try: