From 356da3faa27e0597f709a400d46cb1b755d7ecb3 Mon Sep 17 00:00:00 2001 From: Mehul Goel Date: Thu, 29 Feb 2024 18:33:43 -0500 Subject: [PATCH] Finished parsing continuous Co-authored-by: TiaSinghania --- .../buggy/paths/location-data/inside_curb.ubx | 64 -- .../location-data/inside_curb_clean.json | 1 + .../paths/location-data/inside_curb_clean.ubx | 940 ++++++++++++++++++ .../paths/location-data/outside_curb.ubx | 61 +- .../location-data/outside_curb_clean.json | 1 + .../location-data/outside_curb_clean.ubx | 889 +++++++++++++++++ .../paths/location-data/parse_continuous.py | 79 ++ .../{parse_to_json.py => parse_singular.py} | 248 ++--- 8 files changed, 2035 insertions(+), 248 deletions(-) create mode 100644 rb_ws/src/buggy/paths/location-data/inside_curb_clean.json create mode 100644 rb_ws/src/buggy/paths/location-data/inside_curb_clean.ubx create mode 100644 rb_ws/src/buggy/paths/location-data/outside_curb_clean.json create mode 100644 rb_ws/src/buggy/paths/location-data/outside_curb_clean.ubx create mode 100644 rb_ws/src/buggy/paths/location-data/parse_continuous.py rename rb_ws/src/buggy/paths/location-data/{parse_to_json.py => parse_singular.py} (97%) diff --git a/rb_ws/src/buggy/paths/location-data/inside_curb.ubx b/rb_ws/src/buggy/paths/location-data/inside_curb.ubx index f0be148a..4da27ad4 100644 --- a/rb_ws/src/buggy/paths/location-data/inside_curb.ubx +++ b/rb_ws/src/buggy/paths/location-data/inside_curb.ubx @@ -33,70 +33,6 @@ $GNGGA,214221.20,4026.50321,N,07956.49959,W,4,12,0.56,288.8,M,-34.3,M,,0000*72 $GNRMC,214221.30,A,4026.50321,N,07956.49959,W,0.103,,290224,,,R,V*1D $GNGGA,214221.30,4026.50321,N,07956.49959,W,4,12,0.56,288.8,M,-34.3,M,,0000*73 $GNRMC,214221.40,A,4026.50321,N,07956.49959,W,0.065,,290224,,,R,V*1B -$GNGGA,214221.40,4026.50321,N,07956.49959,W,4,12,0.56,288.8,M,-34.3,M,,0000*74 - b - 4$GNRMC,214221.50,A,4026.50321,N,07956.49958,W,0.029,,290224,,,R,V*13 -$GNGGA,214221.50,4026.50321,N,07956.49958,W,4,12,0.56,288.8,M,-34.3,M,,0000*74 - b - EXT CORE 1.00 (f10c36) 00190000 ROM BASE 0x118B2060 FWVER=HPG 1.13 PROTVER=27.12 MOD=ZED-F9P GPS;GLO;GAL;BDS SBAS;QZSS b   b D        -  - 3           %  F R  S  a     Q  R  S   !  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a/rb_ws/src/buggy/paths/location-data/outside_curb.ubx +++ b/rb_ws/src/buggy/paths/location-data/outside_curb.ubx @@ -31,8 +31,7 @@ $GNRMC,220028.60,A,4026.49840,N,07956.49611,W,0.844,73.92,290224,,,F,V*2C $GNGGA,220028.60,4026.49840,N,07956.49611,W,5,12,0.65,289.0,M,-34.3,M,,0000*75 $GNRMC,220028.70,A,4026.49838,N,07956.49610,W,0.522,77.17,290224,,,F,V*27 $GNGGA,220028.70,4026.49838,N,07956.49610,W,5,12,0.64,289.0,M,-34.3,M,,0000*7B - b - 4$GNRMC,220028.80,A,4026.49839,N,07956.49611,W,0.335,312.63,290224,,,F,V*1B +$GNRMC,220028.80,A,4026.49839,N,07956.49611,W,0.335,312.63,290224,,,F,V*1B $GNGGA,220028.80,4026.49839,N,07956.49611,W,5,12,0.59,289.0,M,-34.3,M,,0000*7A $GNRMC,220028.90,A,4026.49837,N,07956.49610,W,0.142,,290224,,,F,V*0C $GNGGA,220028.90,4026.49837,N,07956.49610,W,5,12,0.59,289.0,M,-34.3,M,,0000*74 @@ -66,55 +65,6 @@ $GNRMC,220030.20,A,4026.49840,N,07956.49614,W,0.034,,290224,,,R,V*1E $GNGGA,220030.20,4026.49840,N,07956.49614,W,4,12,0.59,288.9,M,-34.3,M,,0000*7B 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"  "  "  "  $ $ 0 $ @ $ P $  % 1 1 1 1 - 1 - 1 1 1 1  1 1 1 1 1! 1" 1$ 1% 1' 1 3  3  3  3  4  4  4 s b  @   b  µb D @  4  4  4  5  5  5  5  6  6 6 6  7  7  7 7 7 A A - A - A A - A  A  Q  Q R R R  S S S  d  d  d  d  d d  e e e  e  e e  e e  q q q r r r s s s t t t u  u  u v  v  v w ? @ A B C D J K L M N T U V W X Y Z [ \ ] ^ _ ` a b c d e f g h i j k l  [\ b    b  $GNRMC,220031.10,A,4026.49839,N,07956.49613,W,0.027,,290224,,,R,V*17 -$GNGGA,220031.10,4026.49839,N,07956.49613,W,4,12,0.59,288.9,M,-34.3,M,,0000*70 - b   b  @  -$GNTXT,01,01,00,txbuf alloc*61 - b D @                          , - . / 0 1 2 3 4 5 6 7 8 9 : E F G H I J K L M N O P Q R S T U V W X Y Z [ \ b   * b  $GNRMC,220031.20,A,4026.49839,N,07956.49613,W,0.059,,290224,,,R,V*1D -$GNGGA,220031.20,4026.49839,N,07956.49613,W,4,12,0.57,288.9,M,-34.3,M,,0000*7D - b   b   j- b J # $        -  ) 1 2     % 6 7 8 Q T U V       -            " $ & ( * , . 0 2    0 0 0 0 @ 0 P 0 ` 0 k b    b  $GNRMC,220031.30,A,4026.49839,N,07956.49613,W,0.067,,290224,,,R,V*11 -$GNGGA,220031.30,4026.49839,N,07956.49613,W,4,12,0.57,288.9,M,-34.3,M,,0000*7C - b   b  @  2$GNRMC,220031.40,A,4026.49839,N,07956.49612,W,0.125,,290224,,,R,V*10 -$GNGGA,220031.40,4026.49839,N,07956.49612,W,4,12,0.57,288.9,M,-34.3,M,,0000*7A - b   b   + b   @  - @ - @  @ $ - @  @ q - @  @  @ @  @ @  @ 4 @  @<  @0  @ * P + P $@b P @ TXAc P mt  r@ 6P + - ePu-blox A ePG - www. ePu-blox.c ePom  ePu-blox G ePNSS rece ePiver  eP  eP  eP  eP  eP & P @ T I PZED-F9P  PMw5  P - P  P  P  P  P  P # P ' P + P / P 3 P  PNotice:  Pno data  Psaved! P  P  P  P  P  P P  P b  $GNRMC,220031.50,A,4026.49839,N,07956.49613,W,0.135,,290224,,,R,V*11 $GNGGA,220031.50,4026.49839,N,07956.49613,W,4,12,0.57,289.0,M,-34.3,M,,0000*72 $GNRMC,220031.60,A,4026.49839,N,07956.49612,W,0.187,,290224,,,R,V*1A $GNGGA,220031.60,4026.49839,N,07956.49612,W,4,12,0.57,289.0,M,-34.3,M,,0000*70 @@ -17654,15 +17604,6 @@ $GNGGA,221429.50,4026.44746,N,07956.60420,W,4,12,0.54,295.2,M,-34.3,M,6.5,0000*5 $GNTXT,01,01,00,txbuf alloc*61 $GNRMC,221429.60,A,4026.44742,N,07956.60410,W,3.185,112.04,290224,,,R,V*0A $GNGGA,221429.60,4026.44742,N,07956.60410,W,4,12,0.55,295.2,M,-34.3,M,6.6,0000*5A -$GNGGA,221430.83,,,,,0,00,99.99,,,,,,*75 -$GNRMC,221430.87,V,,,,,,,290224,,,N,V*1F -$GNGGA,221430.87,,,,,0,00,99.99,,,,,,*71 -$GNRMC,221430.97,V,,,,,,,290224,,,N,V*1E -$GNGGA,221430.97,,,,,0,00,99.99,,,,,,*70 -$GNRMC,221431.07,V,,,,,,,290224,,,N,V*16 -$GNGGA,221431.07,,,,,0,00,99.99,,,,,,*78 -$GNRMC,221431.20,V,,,,,,,290224,,,N,V*13 -$GNGGA,221431.20,,,,,0,00,99.99,,,,,,*7D 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+$GNGGA,221525.50,4026.43411,N,07956.54109,W,4,12,0.49,296.4,M,-34.3,M,1.5,0000*50 +$GNGGA,221526.90,4026.43401,N,07956.53976,W,4,12,0.49,296.4,M,-34.3,M,0.9,0000*54 +$GNGGA,221527.40,4026.43399,N,07956.53932,W,4,12,0.49,296.4,M,-34.3,M,0.4,0000*53 diff --git a/rb_ws/src/buggy/paths/location-data/parse_continuous.py b/rb_ws/src/buggy/paths/location-data/parse_continuous.py new file mode 100644 index 00000000..f2e30719 --- /dev/null +++ b/rb_ws/src/buggy/paths/location-data/parse_continuous.py @@ -0,0 +1,79 @@ +import json + +''' +To run this file, make sure to follow the format of all location logs within a folder called loc_logs. +Each file should be of the format {loc_name}_{pixelX}_{pixelY} and contain NMEA information of +GNGGA format with the latitude and longitude. This script will take the information from UConnect +and convert it into a readable json called landmarks.json. + +Additionally, we need an index of all location files wihtin file_pixel.csv. The format shoudl be identical to +loc_logs, in order to reconstruct file names. +''' + + +def cleanupFile(uncleanFileName): + cleanFileName = uncleanFileName.replace(".", "_clean.") + unclean = open(uncleanFileName, "r") + clean = open(cleanFileName, "w") + uncleanFile = unclean.readlines() + counter = 0 + for line in uncleanFile: + if ("GNGGA") in line and counter % 10 == 0: + clean.write(line) + counter += 1 + unclean.close() + clean.close() + return cleanFileName + +#Parses the important data, store it in a dictionary +def parse_line(line) -> dict: + lineDict = dict() + data = line.split(",") + lineDict["time"] = data[1] + lineDict["lat"] = convertDegreeMinute(float(data[2])) + lineDict["lon"] = -1 * convertDegreeMinute(float(data[4])) + lineDict["quality"] = data[6] + lineDict["num_sats"] = data[7] + lineDict["active"] = False + lineDict["key"] = lineDict["time"] + return lineDict + + +def export_as_json(locations_data : [[dict]], filename) -> None: + json_filename = filename.replace(".ubx", ".json") + # print(loc_data) + json_file = json.dumps(locations_data) + f = open(json_filename, "w") + f.write(json_file) + +''' +Converting weird lat/long ddmm.degreeminute format by uconnect +into decimal degrees +''' +def convertDegreeMinute(degreeMinute): + # print(degreeMinute) + print(degreeMinute) + if (degreeMinute > 6000): + print(degreeMinute) + degrees = degreeMinute//100 + minute_degree = degreeMinute % 100 + return (degrees) + minute_degree/60 + + +if __name__ == "__main__": + # TODO: make this dynamic? + name = "/Users/mehulgoel/Documents/RoboBuggy2/rb_ws/src/buggy/paths/location-data/inside_curb.ubx" + cleanFile = cleanupFile(name) + + timestamps_data = [] + file = open(cleanFile, "r") + waypoints = file.readlines() + for line in waypoints: + timestamps_data.append(parse_line(line) ) + + file.close() + export_as_json(timestamps_data, cleanFile) + + + + diff --git a/rb_ws/src/buggy/paths/location-data/parse_to_json.py b/rb_ws/src/buggy/paths/location-data/parse_singular.py similarity index 97% rename from rb_ws/src/buggy/paths/location-data/parse_to_json.py rename to rb_ws/src/buggy/paths/location-data/parse_singular.py index 7ff267fc..5dbcd8b9 100644 --- a/rb_ws/src/buggy/paths/location-data/parse_to_json.py +++ b/rb_ws/src/buggy/paths/location-data/parse_singular.py @@ -1,124 +1,124 @@ -import json - -''' -To run this file, make sure to follow the format of all location logs within a folder called loc_logs. -Each file should be of the format {loc_name}_{pixelX}_{pixelY} and contain NMEA information of -GNGGA format with the latitude and longitude. This script will take the information from UConnect -and convert it into a readable json called landmarks.json. - -Additionally, we need an index of all location files wihtin file_pixel.csv. The format shoudl be identical to -loc_logs, in order to reconstruct file names. -''' - - -coords = [] -#Opens file, assumes said text file is inside loc_logs -def open_file(file_name: str) -> [[str]]: - file_data : [[str]] = [] - with open("loc_logs/" + file_name, "r", encoding="utf-8", errors="ignore") as file: - for line in file: - #Each value in the textfile should be deliminated by a comma - try: - # Attempt to decode and process the line - if ("$GNGGA" in line and "\n" not in line[:-2]): - file_data.append(line[:-1].split(",")) - - except UnicodeDecodeError: - pass - #Handling Unicode Decoding Errors - return file_data - -#Parses the important data, store it in a dictionary -def parse_data(file_data : [[str]], pixel_coord, loc_name) -> dict: - json_data : dict = {} - midpoint_of_file = int(len(file_data)/2) - if("margaret" in loc_name): - print("Reached") - pass - for line in file_data[midpoint_of_file:]: #Iterating past midpoint until first GNGGA - code = line[0] # 5 characters - tells us following line pattern - - """" - GNGGA Format: GNGGA, timestamp, latitude (dd minute degrees), N/S, longitude (dd, minute degrees), E/W, - """ - """ - We are assuming that a line in the middle of the file will be accurate to the position. - This is because at the beginning and the end, we have initialization and other extraneous errors. - This should be an effective way to mitigate these issues - """ - if code == "$GNGGA": #the important one - gps data - time = line[1] #UTC time - - #Removing extaneous case where given code but nothing else - if line[2] == "": - continue - - lat = convertDegreeMinute(float(line[2])) #Latitutde - north_south = line[3] # north or south latitude - lon = -1 * convertDegreeMinute(float(line[4])) #Longitude (negative bc always west) - east_west = line[5] #East or West Longitude - quality = line[6] - num_sats = line[7] - - #THESE FIELDS AREN'T IN THE ERACER TEMPLATE - WILL BREAK? - MAYBE - json_data.update({"pixel": pixel_coord}) - json_data.update({"time": time}) - json_data.update({"quality": quality}) - json_data.update({"num_sats": num_sats}) - - #THESE FIELDS ARE IN ERACER BUT FIRST TWO ARE DUMMY VALS RN - json_data.update({"key": loc_name + "-" + str(time)}) #TODO: FIX THE UNIQUE LOCATION TO BE UNIQUE - json_data.update({"lat": lat}) - json_data.update({"lon": lon}) - json_data.update({"active": False}) - if("margaret" in loc_name): print(json_data) - return json_data#EXIT AFER WE GRAB A SINGULAR WORKING LINE - -def consolidate(locations_data : [[dict]], loc_data : [dict]) -> None: - if (loc_data != None): #Removes any bad files without any valid inputs. - locations_data.append(loc_data) - -def export_as_json(locations_data : [[dict]]) -> None: - # print(loc_data) - json_file = json.dumps(locations_data) - f = open("landmarks.json", "r") - - #TODO: generate a json name using loc_name parameter/ whatever name would be convenient - with open("landmarks.json", "w") as outfile: - outfile.write(json_file) - -''' -Converting weird lat/long ddmm.degreeminute format by uconnect -into decimal degrees -''' -def convertDegreeMinute(degreeMinute): - # print(degreeMinute) - print(degreeMinute) - if (degreeMinute > 6000): - print(degreeMinute) - degrees = degreeMinute//100 - minute_degree = degreeMinute % 100 - return (degrees) + minute_degree/60 - - -if __name__ == "__main__": - filename = "" - file = open("landmarks.json", "w") #Clears landmarks.json - file.close() - locations_data = [] - with open("file_pixel.csv", "r") as file: - loc_data_txt = file.readlines() - for line in loc_data_txt: - name_data = line.split(",") - filename = name_data[0] + "_" + name_data[1] + "_" + name_data[2] + ".txt" - - file_data = open_file(filename) - pixel = (int(name_data[1]), int(name_data[2])) - json_data = parse_data(file_data, pixel, name_data[0]) - consolidate(locations_data, json_data) - print(locations_data) - export_as_json(locations_data) - - - - +import json + +''' +To run this file, make sure to follow the format of all location logs within a folder called loc_logs. +Each file should be of the format {loc_name}_{pixelX}_{pixelY} and contain NMEA information of +GNGGA format with the latitude and longitude. This script will take the information from UConnect +and convert it into a readable json called landmarks.json. + +Additionally, we need an index of all location files wihtin file_pixel.csv. The format shoudl be identical to +loc_logs, in order to reconstruct file names. +''' + + +coords = [] +#Opens file, assumes said text file is inside loc_logs +def open_file(file_name: str) -> [[str]]: + file_data : [[str]] = [] + with open("loc_logs/" + file_name, "r", encoding="utf-8", errors="ignore") as file: + for line in file: + #Each value in the textfile should be deliminated by a comma + try: + # Attempt to decode and process the line + if ("$GNGGA" in line and "\n" not in line[:-2]): + file_data.append(line[:-1].split(",")) + + except UnicodeDecodeError: + pass + #Handling Unicode Decoding Errors + return file_data + +#Parses the important data, store it in a dictionary +def parse_data(file_data : [[str]], pixel_coord, loc_name) -> dict: + json_data : dict = {} + midpoint_of_file = int(len(file_data)/2) + if("margaret" in loc_name): + print("Reached") + pass + for line in file_data[midpoint_of_file:]: #Iterating past midpoint until first GNGGA + code = line[0] # 5 characters - tells us following line pattern + + """" + GNGGA Format: GNGGA, timestamp, latitude (dd minute degrees), N/S, longitude (dd, minute degrees), E/W, + """ + """ + We are assuming that a line in the middle of the file will be accurate to the position. + This is because at the beginning and the end, we have initialization and other extraneous errors. + This should be an effective way to mitigate these issues + """ + if code == "$GNGGA": #the important one - gps data + time = line[1] #UTC time + + #Removing extaneous case where given code but nothing else + if line[2] == "": + continue + + lat = convertDegreeMinute(float(line[2])) #Latitutde + north_south = line[3] # north or south latitude + lon = -1 * convertDegreeMinute(float(line[4])) #Longitude (negative bc always west) + east_west = line[5] #East or West Longitude + quality = line[6] + num_sats = line[7] + + #THESE FIELDS AREN'T IN THE ERACER TEMPLATE - WILL BREAK? - MAYBE + json_data.update({"pixel": pixel_coord}) + json_data.update({"time": time}) + json_data.update({"quality": quality}) + json_data.update({"num_sats": num_sats}) + + #THESE FIELDS ARE IN ERACER BUT FIRST TWO ARE DUMMY VALS RN + json_data.update({"key": loc_name + "-" + str(time)}) #TODO: FIX THE UNIQUE LOCATION TO BE UNIQUE + json_data.update({"lat": lat}) + json_data.update({"lon": lon}) + json_data.update({"active": False}) + if("margaret" in loc_name): print(json_data) + return json_data#EXIT AFER WE GRAB A SINGULAR WORKING LINE + +def consolidate(locations_data : [[dict]], loc_data : [dict]) -> None: + if (loc_data != None): #Removes any bad files without any valid inputs. + locations_data.append(loc_data) + +def export_as_json(locations_data : [[dict]]) -> None: + # print(loc_data) + json_file = json.dumps(locations_data) + f = open("landmarks.json", "r") + + #TODO: generate a json name using loc_name parameter/ whatever name would be convenient + with open("landmarks.json", "w") as outfile: + outfile.write(json_file) + +''' +Converting weird lat/long ddmm.degreeminute format by uconnect +into decimal degrees +''' +def convertDegreeMinute(degreeMinute): + # print(degreeMinute) + print(degreeMinute) + if (degreeMinute > 6000): + print(degreeMinute) + degrees = degreeMinute//100 + minute_degree = degreeMinute % 100 + return (degrees) + minute_degree/60 + + +if __name__ == "__main__": + filename = "" + file = open("landmarks.json", "w") #Clears landmarks.json + file.close() + locations_data = [] + with open("file_pixel.csv", "r") as file: + loc_data_txt = file.readlines() + for line in loc_data_txt: + name_data = line.split(",") + filename = name_data[0] + "_" + name_data[1] + "_" + name_data[2] + ".txt" + + file_data = open_file(filename) + pixel = (int(name_data[1]), int(name_data[2])) + json_data = parse_data(file_data, pixel, name_data[0]) + consolidate(locations_data, json_data) + print(locations_data) + export_as_json(locations_data) + + + +