build: add annotations to event stream packages

build.rs

@@ -71,11 +71,38 @@ fn write_sim_data() {
     let gps_input = test_data_path.join("LocationGps.csv");
     let gyro_input = test_data_path.join("GyroscopeUncalibrated.csv");
     let accel_input = test_data_path.join("AccelerometerUncalibrated.csv");
+    let annotation_input = test_data_path.join("Annotation.csv");
 
     let gps_output = output_path.join("gps_test_data.msgpack");
     let motion_output = output_path.join("motion_test_data.msgpack");
+    let annotation_output = output_path.join("annotations.msgpack");
     let unified_output = output_path.join("unified.msgpack");
 
+    {
+        let mut annotation_data = Reader::from_reader(File::open(annotation_input.clone()).unwrap());
+        let record_count = annotation_data.records().count() as u32;
+        let mut annotation_data = Reader::from_reader(File::open(annotation_input).unwrap());
+        let headers = annotation_data.headers().unwrap();
+        let (timestamp_idx, text_idx) = (
+            headers.iter().position(|x| { x == "seconds_elapsed" }).unwrap(),
+            headers.iter().position(|x| { x == "text" }).unwrap(),
+        );
+        let mut annotation_output = File::create(annotation_output.clone()).unwrap();
+        rmp::encode::write_array_len(&mut annotation_output, record_count).unwrap();
+        let mut last_stamp = 0.0;
+        for record in annotation_data.records().flatten() {
+            let (timestamp, text) = (
+                record.get(timestamp_idx).unwrap().parse().unwrap(),
+                record.get(text_idx).unwrap()
+            );
+            let next_delay = timestamp - last_stamp;
+            last_stamp = timestamp;
+            rmp::encode::write_array_len(&mut annotation_output, 3).unwrap();
+            rmp::encode::write_f64(&mut annotation_output, next_delay).unwrap();
+            rmp::encode::write_str(&mut annotation_output, text).unwrap();
+        }
+    }
+
     println!("cargo::rerun-if-changed={}", gps_input.to_str().unwrap());
     if !gps_output.exists() || gps_output.metadata().unwrap().modified().unwrap() < gps_input.metadata().unwrap().modified().unwrap() {
         let mut gps_data = Reader::from_reader(File::open(gps_input.clone()).unwrap());
@@ -173,10 +200,11 @@ fn write_sim_data() {
     let mut unified_fd = File::create(unified_output.clone()).unwrap();
 
     // Write out the stream index, which will be 2 (motion + gps)
-    rmp::encode::write_array_len(&mut unified_fd, 2).unwrap();
+    rmp::encode::write_array_len(&mut unified_fd, 3).unwrap();
 
     let mut motion_output = File::open(motion_output).unwrap();
     let mut gps_output = File::open(gps_output).unwrap();
+    let mut annotation_output = File::open(annotation_output).unwrap();
     rmp::encode::write_ext_meta(&mut unified_fd, motion_output.metadata().unwrap().len() as u32, 1).unwrap();
     let mut buf = Vec::new();
     motion_output.read_to_end(&mut buf).unwrap();
@@ -187,6 +215,11 @@ fn write_sim_data() {
     gps_output.read_to_end(&mut buf).unwrap();
     unified_fd.write_all(buf.as_slice()).unwrap();
 
+    rmp::encode::write_ext_meta(&mut unified_fd, annotation_output.metadata().unwrap().len() as u32, 3).unwrap();
+    let mut buf = Vec::new();
+    annotation_output.read_to_end(&mut buf).unwrap();
+    unified_fd.write_all(buf.as_slice()).unwrap();
+
     let mut partitions = Reader::from_reader(File::open("partitions.csv").unwrap());
     let mut data_offset = 0x9000; // Assumes default bootloader size (0x7000) plus partition table (0x2000)
     let mut data_size = 0;