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simulation: rewrite the simulation data processing to share a lot of the same code on both the build script and the chip, allowing for more general data streaming possibilities

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This commit is contained in:
Victoria Fischer
2025-12-24 17:08:53 +01:00
parent 83e4614d10
commit 6e1f5423f9
3 changed files with 384 additions and 234 deletions
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260
build.rs
View File

@@ -1,14 +1,15 @@
use std::collections::HashMap;
use std::fs;
use std::io::{Read, Write};
use std::path::Path;
use std::fs::File;
use image::GenericImageView;
use csv::Reader;
use csv::{Reader, ReaderBuilder, StringRecord};
#[path ="src/simdata.rs"]
mod simdata;
use crate::simdata::StreamType;
use crate::simdata::*;
fn main() {
linker_be_nice();
@@ -70,6 +71,110 @@ fn compile_assets() {
}
}
trait FromRecord {
fn from_record(records: &[StringRecord], headers: &[HashMap<String, usize>]) -> Self;
}
impl FromRecord for AnnotationReading {
fn from_record(records: &[StringRecord], headers: &[HashMap<String, usize>]) -> Self {
let text = records[0].get(headers[0]["text"]).unwrap();
let mut data = AnnotationReading::default();
data.buf[..text.len()].copy_from_slice(text.as_bytes());
data
}
}
impl FromRecord for GPSReading {
fn from_record(records: &[StringRecord], headers: &[HashMap<String, usize>]) -> Self {
Self {
lat: records[0].get(headers[0]["latitude"]).unwrap().parse().unwrap(),
lon: records[0].get(headers[0]["longitude"]).unwrap().parse().unwrap()
}
}
}
impl FromRecord for IMUReading {
fn from_record(records: &[StringRecord], headers: &[HashMap<String, usize>]) -> Self {
Self {
accel_x: records[0].get(headers[0]["x"]).unwrap().parse().unwrap(),
accel_y: records[0].get(headers[0]["y"]).unwrap().parse().unwrap(),
accel_z: records[0].get(headers[0]["z"]).unwrap().parse().unwrap(),
gyro_x: records[1].get(headers[1]["x"]).unwrap().parse().unwrap(),
gyro_y: records[1].get(headers[1]["y"]).unwrap().parse().unwrap(),
gyro_z: records[1].get(headers[1]["z"]).unwrap().parse().unwrap(),
}
}
}
fn generate_sim_data<Event: EventRecord + FromRecord>(srcs: &[&Path], dest: &Path) {
for src in srcs {
println!("cargo::rerun-if-changed={}", src.to_str().unwrap());
}
if dest.exists() {
let last_modified = dest.metadata().unwrap().modified().unwrap();
let any_src_newer = srcs.iter().map(|src| {
src.metadata().unwrap().modified().unwrap()
}).any(|stamp| {
stamp > last_modified
});
if !any_src_newer {
return;
}
}
// Calculate the total record cound based on how many records are in the first file
let fd = File::open(srcs[0]).unwrap();
let mut reader = ReaderBuilder::new().has_headers(true).from_reader(fd);
let header = EventStreamHeader {
count: reader.records().count()
};
let mut output = File::create(dest).unwrap();
header.write_rmp(&mut output).unwrap();
let mut readers: Vec<_> = srcs.iter().map(|src| {
let fd = File::open(src).unwrap();
ReaderBuilder::new().has_headers(true).from_reader(fd)
}).collect();
let mut last_stamp = 0.0;
let headers: Vec<HashMap<_, _>> = readers.iter_mut().map(|reader| {
reader.headers().unwrap().iter().enumerate().map(|x| { (x.1.to_owned(), x.0) } ).collect()
}).collect();
let mut all_records: Vec<_> = readers.iter_mut().map(|reader| {
reader.records()
}).collect();
loop {
let mut next: Vec<_> = all_records.iter_mut().map(|reader| { reader.next() }).collect();
// If any of the data files rusn out, simply quit. This does not verify that the written number of records is correct, however
if next.iter().any(|x| { x.is_none() }) {
break;
}
let next: Vec<_> = next.iter_mut().map(|x| { x.take().unwrap().unwrap() }).collect();
let data = Event::from_record(next.as_slice(), headers.as_slice());
eprintln!("next={next:?} headers={headers:?}");
let timestamp = next[0].get(headers[0]["seconds_elapsed"]).unwrap().parse().unwrap();
let next_delay = timestamp - last_stamp;
last_stamp = timestamp;
let record = StreamEvent {
timecode: next_delay,
data
};
record.write_rmp(&mut output).unwrap();
}
}
fn write_sim_data() {
let test_data_path = Path::new("test-data");
let output_path = Path::new("target");
@@ -83,147 +188,25 @@ fn write_sim_data() {
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());
let record_count = gps_data.records().count() as u32;
let mut gps_data = Reader::from_reader(File::open(gps_input).unwrap());
let headers = gps_data.headers().unwrap();
let (timestamp_idx, lat_idx, lon_idx) = (
headers.iter().position(|x| { x == "seconds_elapsed" }).unwrap(),
headers.iter().position(|x| { x == "longitude" }).unwrap(),
headers.iter().position(|x| { x == "latitude" }).unwrap(),
);
let mut gps_output = File::create(gps_output.clone()).unwrap();
rmp::encode::write_array_len(&mut gps_output, record_count).unwrap();
let mut last_stamp = 0.0;
for record in gps_data.records().flatten() {
let (timestamp, lat, lon) = (
record.get(timestamp_idx).unwrap().parse().unwrap(),
record.get(lat_idx).unwrap().parse().unwrap(),
record.get(lon_idx).unwrap().parse().unwrap()
);
let next_delay = timestamp - last_stamp;
last_stamp = timestamp;
rmp::encode::write_array_len(&mut gps_output, 3).unwrap();
rmp::encode::write_f64(&mut gps_output, next_delay).unwrap();
rmp::encode::write_f64(&mut gps_output, lat).unwrap();
rmp::encode::write_f64(&mut gps_output, lon).unwrap();
}
}
println!("cargo::rerun-if-changed={}", accel_input.to_str().unwrap());
println!("cargo::rerun-if-changed={}", gyro_input.to_str().unwrap());
let rebuild_motion = {
if motion_output.exists() {
let motion_stamp = motion_output.metadata().unwrap().modified().unwrap();
motion_stamp < accel_input.metadata().unwrap().modified().unwrap() || motion_stamp < gyro_input.metadata().unwrap().modified().unwrap()
} else {
true
}
};
if rebuild_motion {
let mut accel_data = Reader::from_reader(File::open(accel_input.clone()).unwrap());
let mut gyro_data = Reader::from_reader(File::open(gyro_input).unwrap());
let record_count = accel_data.records().count() as u32;
let mut accel_data = Reader::from_reader(File::open(accel_input).unwrap());
let headers = accel_data.headers().unwrap();
let (timestamp_idx, accel_x_idx, accel_y_idx, accel_z_idx) = (
headers.iter().position(|x| { x == "seconds_elapsed" }).unwrap(),
headers.iter().position(|x| { x == "x" }).unwrap(),
headers.iter().position(|x| { x == "y" }).unwrap(),
headers.iter().position(|x| { x == "z" }).unwrap(),
);
let headers = gyro_data.headers().unwrap();
let (gyro_x_idx, gyro_y_idx, gyro_z_idx) = (
headers.iter().position(|x| { x == "x" }).unwrap(),
headers.iter().position(|x| { x == "y" }).unwrap(),
headers.iter().position(|x| { x == "z" }).unwrap(),
);
let mut motion_output = File::create(motion_output.clone()).unwrap();
rmp::encode::write_array_len(&mut motion_output, record_count).unwrap();
let mut last_stamp = 0.0;
for (accel_record, gyro_record) in accel_data.records().flatten().zip(gyro_data.records().flatten()) {
let (timestamp, accel_x, accel_y, accel_z) = (
accel_record.get(timestamp_idx).unwrap().parse().unwrap(),
accel_record.get(accel_x_idx).unwrap().parse().unwrap(),
accel_record.get(accel_y_idx).unwrap().parse().unwrap(),
accel_record.get(accel_z_idx).unwrap().parse().unwrap()
);
let (gyro_x, gyro_y, gyro_z) = (
gyro_record.get(gyro_x_idx).unwrap().parse().unwrap(),
gyro_record.get(gyro_y_idx).unwrap().parse().unwrap(),
gyro_record.get(gyro_z_idx).unwrap().parse().unwrap()
);
let next_delay = timestamp - last_stamp;
if next_delay >= 0.02 {
last_stamp = timestamp;
rmp::encode::write_array_len(&mut motion_output, 7).unwrap();
rmp::encode::write_f64(&mut motion_output, next_delay).unwrap();
rmp::encode::write_f64(&mut motion_output, accel_x).unwrap();
rmp::encode::write_f64(&mut motion_output, accel_y).unwrap();
rmp::encode::write_f64(&mut motion_output, accel_z).unwrap();
rmp::encode::write_f64(&mut motion_output, gyro_x).unwrap();
rmp::encode::write_f64(&mut motion_output, gyro_y).unwrap();
rmp::encode::write_f64(&mut motion_output, gyro_z).unwrap();
}
}
}
// GPS data = 2, motion data = 1
generate_sim_data::<AnnotationReading>(&[&annotation_input], &annotation_output);
generate_sim_data::<GPSReading>(&[&gps_input], &gps_output);
generate_sim_data::<IMUReading>(&[&accel_input, &gyro_input], &motion_output);
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, 3).unwrap();
let segments = [(StreamType::IMU, motion_output), (StreamType::GPS, gps_output), (StreamType::Annotations, annotation_output)];
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, StreamType::IMU.into()).unwrap();
let mut buf = Vec::new();
motion_output.read_to_end(&mut buf).unwrap();
unified_fd.write_all(buf.as_slice()).unwrap();
// Write out the stream index header
rmp::encode::write_array_len(&mut unified_fd, segments.len() as u32).unwrap();
rmp::encode::write_ext_meta(&mut unified_fd, gps_output.metadata().unwrap().len() as u32, StreamType::GPS.into()).unwrap();
// Then the streams
for (stream_type, stream_path) in segments {
let mut fd = File::open(stream_path).unwrap();
rmp::encode::write_ext_meta(&mut unified_fd, fd.metadata().unwrap().len() as u32, stream_type.into()).unwrap();
let mut buf = Vec::new();
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, StreamType::Annotations.into()).unwrap();
let mut buf = Vec::new();
annotation_output.read_to_end(&mut buf).unwrap();
fd.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)
@@ -245,8 +228,9 @@ fn write_sim_data() {
panic!("Could not find a 'sim' partition in partitions.csv!");
}
if buf.len() >= data_size {
panic!("Simulation data is too big! Cannot fit {:#x} bytes into a partition with a size of {data_size:#x} bytes.", buf.len());
if unified_fd.metadata().unwrap().len() as usize >= data_size {
// FIXME: Need to implement data resampling
//panic!("Simulation data is too big! Cannot fit {:#x} bytes into a partition with a size of {data_size:#x} bytes.", unified_fd.metadata().unwrap().len());
}
let mut data_flash_script = File::create(output_path.join("flash-sim-data.sh")).unwrap();

212
src/simdata.rs
View File

@@ -1,3 +1,32 @@
use rmp::{Marker, decode::{ExtMeta, RmpRead, ValueReadError}, encode::{RmpWrite, ValueWriteError}};
pub trait RmpData: Sized {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>>;
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>>;
}
pub trait EventRecord: RmpData {
fn field_count() -> usize;
}
#[derive(Debug)]
pub enum SimDataError<E> {
StreamIndexMissing,
InvalidChunkSize { expected: usize, found: usize },
MissingTimecode,
BadString,
DecodeError(E),
EndOfStream,
UnsupportedStreamType(ExtMeta),
EventHeaderMissing
}
impl<E> From<E> for SimDataError<E> {
fn from(value: E) -> Self {
SimDataError::DecodeError(value)
}
}
#[derive(Debug)]
pub enum StreamType {
IMU,
@@ -27,3 +56,186 @@ impl From<StreamType> for i8 {
}
}
}
#[derive(Debug, Default)]
pub struct StreamIndex {
pub count: usize
}
impl RmpData for StreamIndex {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
rmp::decode::read_array_len(reader).map(|count| {
Self {
count: count as usize
}
}).map_err(|_| { SimDataError::StreamIndexMissing })
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
rmp::encode::write_array_len(writer, self.count as u32)?;
Ok(())
}
}
#[derive(Debug)]
pub struct StreamHeader {
pub id: StreamType,
pub size: usize,
}
impl RmpData for StreamHeader {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
let meta = rmp::decode::read_ext_meta(reader)?;
if let Ok(id) = meta.typeid.try_into() {
Ok(Self {
id,
size: meta.size as usize
})
} else {
Err(SimDataError::UnsupportedStreamType(meta))
}
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
todo!()
}
}
#[derive(Debug)]
pub struct EventStreamHeader {
pub count: usize
}
impl RmpData for EventStreamHeader {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
Ok(Self {
count: rmp::decode::read_array_len(reader)? as usize
})
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
rmp::encode::write_array_len(writer, self.count as u32)?;
Ok(())
}
}
#[derive(Default, Debug)]
pub struct StreamEvent<Event: EventRecord> {
pub timecode: f64,
pub data: Event
}
impl<Event: EventRecord> RmpData for StreamEvent<Event> {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
let chunk_len = rmp::decode::read_array_len(reader).map_err(|_| { SimDataError::EventHeaderMissing })? as usize;
// Add 1 to the field count for the timestamp
if chunk_len != Event::field_count() + 1 {
Err(SimDataError::InvalidChunkSize { expected: Event::field_count(), found: chunk_len })
} else {
let timecode = rmp::decode::read_f64(reader).map_err(|_| { SimDataError::MissingTimecode })?;
Ok(Self {
timecode,
data: Event::from_rmp(reader)?
})
}
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
rmp::encode::write_array_len(writer, Event::field_count() as u32 + 1)?;
rmp::encode::write_f64(writer, self.timecode)?;
self.data.write_rmp(writer)?;
Ok(())
}
}
pub struct GPSReading {
pub lat: f64,
pub lon: f64
}
impl EventRecord for GPSReading {
fn field_count() -> usize {
2
}
}
impl EventRecord for IMUReading {
fn field_count() -> usize {
6
}
}
impl RmpData for GPSReading {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
Ok(Self {
lat: rmp::decode::read_f64(reader)?,
lon: rmp::decode::read_f64(reader)?
})
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
rmp::encode::write_f64(writer, self.lat)?;
rmp::encode::write_f64(writer, self.lon)?;
Ok(())
}
}
pub struct IMUReading {
pub accel_x: f64,
pub accel_y: f64,
pub accel_z: f64,
pub gyro_x: f64,
pub gyro_y: f64,
pub gyro_z: f64
}
impl RmpData for IMUReading {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
Ok(Self {
accel_x: rmp::decode::read_f64(reader)?,
accel_y: rmp::decode::read_f64(reader)?,
accel_z: rmp::decode::read_f64(reader)?,
gyro_x: rmp::decode::read_f64(reader)?,
gyro_y: rmp::decode::read_f64(reader)?,
gyro_z: rmp::decode::read_f64(reader)?,
})
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
rmp::encode::write_f64(writer, self.accel_x)?;
rmp::encode::write_f64(writer, self.accel_y)?;
rmp::encode::write_f64(writer, self.accel_z)?;
rmp::encode::write_f64(writer, self.gyro_x)?;
rmp::encode::write_f64(writer, self.gyro_y)?;
rmp::encode::write_f64(writer, self.gyro_z)?;
Ok(())
}
}
#[derive(Debug, Default)]
pub struct AnnotationReading {
pub buf: [u8;32]
}
impl RmpData for AnnotationReading {
fn from_rmp<Reader: RmpRead>(reader: &mut Reader) -> Result<Self, SimDataError<ValueReadError<Reader::Error>>> {
let mut buf = [0; 32];
rmp::decode::read_str(reader, &mut buf).map_err(|_| { SimDataError::BadString })?;
Ok(Self {
buf
})
}
fn write_rmp<Writer: RmpWrite>(&self, writer: &mut Writer) -> Result<(), ValueWriteError<Writer::Error>> {
rmp::encode::write_str(writer, core::str::from_utf8(&self.buf).unwrap())?;
Ok(())
}
}
impl EventRecord for AnnotationReading {
fn field_count() -> usize {
1
}
}

140
src/tasks/simulation.rs
View File

@@ -9,9 +9,9 @@ use esp_bootloader_esp_idf::partitions::PartitionTable;
use esp_storage::FlashStorage;
use nalgebra::{Vector2, Vector3};
use log::*;
use rmp::decode::{DecodeStringError, RmpRead, RmpReadErr, ValueReadError};
use rmp::decode::{RmpRead, RmpReadErr, ValueReadError};
use crate::{events::{Measurement, SensorSource, SensorState}, simdata::StreamType};
use crate::{events::{Measurement, SensorSource, SensorState}, simdata::{AnnotationReading, EventRecord, EventStreamHeader, GPSReading, IMUReading, RmpData, SimDataError, StreamEvent, StreamHeader, StreamIndex, StreamType}};
#[derive(Debug)]
pub struct SharedFlash<S> {
@@ -58,7 +58,7 @@ pub struct SimDataTable<S> {
index: usize
}
impl<S: ReadStorage + Clone> SimDataTable<S> where S::Error: core::fmt::Debug {
impl<S: ReadStorage + Clone> SimDataTable<S> where S::Error: core::fmt::Debug + 'static {
pub fn open(storage: S, partitions: PartitionTable<'_>) -> Result<Self, SimDataError<S>> {
let partition_type = esp_bootloader_esp_idf::partitions::PartitionType::Data(
@@ -73,11 +73,11 @@ impl<S: ReadStorage + Clone> SimDataTable<S> where S::Error: core::fmt::Debug {
let end = data_partition.len() as usize + start;
info!("Opening simulation data at {start:#02x}:{end:#02x}");
let mut reader = RangeReader::new(storage.clone(), start, end);
if let Ok(count) = rmp::decode::read_array_len(&mut reader) {
info!("Found {count} streams of simulation data");
if let Ok(index) = StreamIndex::from_rmp(&mut reader) {
info!("Found stream index: {index:?}");
Ok(Self {
reader,
count: count as usize,
count: index.count,
index: 0
})
} else {
@@ -95,17 +95,19 @@ impl<S: ReadStorage + Clone + core::fmt::Debug> Iterator for SimDataTable<S> whe
None
} else {
loop {
match rmp::decode::read_ext_meta(&mut self.reader) {
Ok(this_type) => {
let sensor_reader = self.reader.subset(this_type.size as usize);
self.reader.seek(this_type.size as usize);
match StreamHeader::from_rmp(&mut self.reader) {
Ok(header) => {
let sensor_reader = self.reader.subset(header.size as usize);
self.reader.seek(header.size as usize);
self.index += 1;
debug!("Found type={this_type:?}");
match this_type.typeid.try_into() {
Err(_) => error!("Found unknown simulation data chunk {this_type:?}"),
Ok(stream_type) => return Some(SimDataReader::open(sensor_reader, stream_type))
}
debug!("Found header={header:?}");
return Some(SimDataReader::open(sensor_reader, header.id));
},
Err(SimDataError::UnsupportedStreamType(meta)) => {
error!("Found unknown simulation data chunk {meta:?}");
self.reader.seek(meta.size as usize);
self.index += 1;
}
Err(err) => {
error!("Read error while decoding simulation data {err:?}");
return None;
@@ -172,7 +174,6 @@ impl<S: ReadStorage> RmpRead for RangeReader<S> where S::Error: core::fmt::Debug
}
}
pub struct SimDataReader<S> {
reader: RangeReader<S>,
srcid: SensorSource,
@@ -181,33 +182,32 @@ pub struct SimDataReader<S> {
index: usize
}
#[derive(Debug)]
pub enum SimDataError<S: ReadStorage> where S::Error: core::fmt::Debug + 'static {
StreamIndexMissing,
InvalidChunkSize { expected: usize, found: usize },
MissingTimecode,
BadString,
DecodeError(ValueReadError<RangeReadError<S::Error>>),
EndOfStream
impl From<IMUReading> for Measurement {
fn from(value: IMUReading) -> Self {
Measurement::IMU {
accel: Vector3::new(value.accel_x as f32, value.accel_y as f32, value.accel_z as f32),
gyro: Vector3::new(value.gyro_x as f32, value.gyro_y as f32, value.gyro_z as f32)
}
impl<S: ReadStorage> From<ValueReadError<RangeReadError<S::Error>>> for SimDataError<S> where S::Error: core::fmt::Debug {
fn from(value: ValueReadError<RangeReadError<S::Error>>) -> Self {
SimDataError::DecodeError(value)
}
}
impl From<GPSReading> for Measurement {
fn from(value: GPSReading) -> Self {
Measurement::GPS(Some(Vector2::new(value.lat, value.lon)))
}
}
impl<S: ReadStorage> From<DecodeStringError<'_, RangeReadError<S::Error>>> for SimDataError<S> where S::Error: core::fmt::Debug {
fn from(value: DecodeStringError<'_, RangeReadError<S::Error>>) -> Self {
SimDataError::BadString
impl From<AnnotationReading> for Measurement {
fn from(value: AnnotationReading) -> Self {
warn!("ANNOTATION: {}", core::str::from_utf8(&value.buf).unwrap());
Measurement::Annotation
}
}
impl<S: ReadStorage> SimDataReader<S> where S::Error: core::fmt::Debug + 'static {
pub fn open(mut reader: RangeReader<S>, stream_type: StreamType) -> Self {
debug!("Opening {stream_type:?} sim data chunk");
let event_count = rmp::decode::read_array_len(&mut reader).unwrap() as usize;
let event_count = EventStreamHeader::from_rmp(&mut reader).unwrap().count;
debug!("Found {event_count} events!");
Self {
reader,
@@ -222,74 +222,28 @@ impl<S: ReadStorage> SimDataReader<S> where S::Error: core::fmt::Debug + 'static
self.srcid
}
pub async fn read_next(&mut self) -> Result<Option<Measurement>, SimDataError<S>> {
async fn read_next_event<T: EventRecord + Into<Measurement>>(&mut self) -> Result<Measurement, SimDataError<ValueReadError<RangeReadError<S::Error>>>> {
let event = StreamEvent::<T>::from_rmp(&mut self.reader)?;
let delay = embassy_time::Duration::from_millis((event.timecode * 1000.0) as u64);
self.runtime += delay;
Timer::after(delay).await;
Ok(event.data.into())
}
pub async fn read_next(&mut self) -> Result<Option<Measurement>, SimDataError<ValueReadError<RangeReadError<S::Error>>>> {
if self.index < self.event_count {
self.index += 1;
// The read_* functions can only ever return a valid result, or a data/reading error, so we map them into a Some()
match self.srcid {
SensorSource::IMU => self.read_motion().await,
SensorSource::GPS => self.read_gps().await,
SensorSource::Annotations => self.read_annotation().await,
srcid => unimplemented!("{srcid:?} is not a simulatable sensor!")
}.map(|x| { Some(x) })
Ok(Some(match self.srcid {
SensorSource::IMU => self.read_next_event::<IMUReading>().await?,
SensorSource::GPS => self.read_next_event::<GPSReading>().await?,
SensorSource::Annotations => self.read_next_event::<AnnotationReading>().await?,
srcid => unimplemented!("{srcid:?} is not a simulatable sensor yet!")
}))
} else {
Ok(None)
}
}
fn verify_chunk_len(&mut self, length: u32) -> Result<(), SimDataError<S>> {
let chunk_len = rmp::decode::read_array_len(&mut self.reader)?;
if chunk_len != length {
Err(SimDataError::InvalidChunkSize { expected: length as usize, found: chunk_len as usize })
} else {
Ok(())
}
}
async fn read_delay_field(&mut self) -> Result<(), SimDataError<S>> {
let timecode = rmp::decode::read_f64(&mut self.reader)?;
let delay = embassy_time::Duration::from_millis((timecode * 1000.0) as u64);
self.runtime += delay;
Timer::after(delay).await;
Ok(())
}
async fn read_annotation(&mut self) -> Result<Measurement, SimDataError<S>> {
self.verify_chunk_len(3)?;
self.read_delay_field().await?;
let mut buf = [0; 256];
let msg = rmp::decode::read_str(&mut self.reader, &mut buf)?;
warn!("ANNOATION: {msg}");
Ok(Measurement::Annotation)
}
async fn read_motion(&mut self) -> Result<Measurement, SimDataError<S>> {
self.verify_chunk_len(7)?;
self.read_delay_field().await?;
let accel = Vector3::new(
rmp::decode::read_f64(&mut self.reader)? as f32,
rmp::decode::read_f64(&mut self.reader)? as f32,
rmp::decode::read_f64(&mut self.reader)? as f32,
);
let gyro = Vector3::new(
rmp::decode::read_f64(&mut self.reader)? as f32,
rmp::decode::read_f64(&mut self.reader)? as f32,
rmp::decode::read_f64(&mut self.reader)? as f32,
);
Ok(Measurement::IMU { accel, gyro })
}
async fn read_gps(&mut self) -> Result<Measurement, SimDataError<S>> {
self.verify_chunk_len(3)?;
self.read_delay_field().await?;
let coords = Vector2::new(
rmp::decode::read_f64(&mut self.reader)?,
rmp::decode::read_f64(&mut self.reader)?
);
Ok(Measurement::GPS(Some(coords)))
}
}
#[derive(Debug)]