diff --git a/tools/log-converter/log_converter.py b/tools/log-converter/log_converter.py
index 9e24f77eb6e015dfcfea0e6086c822c54a9c5728..50a2b7076d2bcd1ebfbb6e07e9e6613ea44fba48 100644
--- a/tools/log-converter/log_converter.py
+++ b/tools/log-converter/log_converter.py
@@ -5,14 +5,17 @@ import click
import polars as pl
NAS_CALIBRATE_STATE = 1
-FLYING_FMM_STATE = 10
+MAIN_FLYING_FMM_STATE = 10
+PAYLOAD_FLYING_FMM_STATE = 9
SECONDS_BEFORE_FLYING = 15
@click.command()
@click.argument("path", type=click.Path(exists=True))
@click.option("--output", type=click.Path(), default=".")
-def main(path: Path, output: Path):
+@click.option("--origin-main", "origin", flag_value="main", default=True)
+@click.option("--origin-payload", "origin", flag_value="payload")
+def main(path: Path, output: Path, origin: str):
"""
Convert the logs found in the given path to a format compliant with ARPIST.
"""
@@ -21,27 +24,39 @@ def main(path: Path, output: Path):
nas_state_path = None
reference_values_path = None
fmm_status_path = None
+ gps_path = None
for p, _, fn in os.walk(path):
for f in fn:
- if f == "main_Main_NASControllerStatus.csv":
- nas_controller_status_path = os.path.join(p, f)
- elif f == "main_Main_FlightModeManagerStatus.csv":
- fmm_status_path = os.path.join(p, f)
- elif f == "main_Boardcore_NASState.csv":
- nas_state_path = os.path.join(p, f)
- elif f == "main_Boardcore_ReferenceValues.csv":
+ if origin == "main":
+ if f == "main_Main_NASControllerStatus.csv":
+ nas_controller_status_path = os.path.join(p, f)
+ elif f == "main_Main_FlightModeManagerStatus.csv":
+ fmm_status_path = os.path.join(p, f)
+ elif f == "main_Boardcore_NASState.csv":
+ nas_state_path = os.path.join(p, f)
+ elif origin == "payload":
+ if f == "payload_Payload_NASControllerStatus.csv":
+ nas_controller_status_path = os.path.join(p, f)
+ elif f == "payload_Payload_FlightModeManagerStatus.csv":
+ fmm_status_path = os.path.join(p, f)
+ elif f == "payload_Boardcore_NASState.csv":
+ nas_state_path = os.path.join(p, f)
+ elif f == "payload_Boardcore_UBXGPSData.csv":
+ gps_path = os.path.join(p, f)
+ if f == "main_Boardcore_ReferenceValues.csv":
reference_values_path = os.path.join(p, f)
- if not all(
- [
- nas_controller_status_path,
- nas_state_path,
- reference_values_path,
- fmm_status_path,
- ]
- ):
- raise ValueError("Not all files were found in the given path.")
+ if nas_controller_status_path is None:
+ raise FileNotFoundError("NAS controller status file not found")
+ if nas_state_path is None:
+ raise FileNotFoundError("NAS state file not found")
+ if reference_values_path is None:
+ raise FileNotFoundError("Reference values file not found")
+ if fmm_status_path is None:
+ raise FileNotFoundError("FMM status file not found")
+ if origin == "payload" and gps_path is None:
+ raise FileNotFoundError("GPS data file not found")
nas_controller_status = pl.read_csv(nas_controller_status_path)
nas_state = pl.read_csv(nas_state_path)
@@ -77,11 +92,37 @@ def main(path: Path, output: Path):
pl.from_epoch(pl.col("timestamp"), time_unit="us"), "state"
)
- # find the min and max timestamp
- # min_ts = min(
- # reference_values.select("timestamp").min().item(0, 0),
- # (nas_state.select("timestamp").min().item(0, 0)),
- # )
+ # find stop timestamp based on last state of the fmm plus 10 seconds
+ stop_ts = fmm_status.select(pl.col("timestamp") + pl.duration(seconds=2))[-1, 0]
+
+ # filter the reference values and nas state dataframes
+ reference_values = reference_values.filter(pl.col("timestamp") <= stop_ts)
+ nas_state = nas_state.filter(pl.col("timestamp") <= stop_ts)
+
+ # apply correction to the reference values if payload origin
+ if origin == "payload":
+ gps_data = pl.read_csv(gps_path, infer_schema_length=10000)
+ gps_data = gps_data.select(
+ pl.from_epoch(pl.col("gpsTimestamp"), time_unit="us").alias("timestamp"),
+ "latitude",
+ "longitude",
+ )
+ new_reference_values = []
+ for row in reference_values.rows():
+ timestamp = row[0]
+ (lat, lon) = (
+ gps_data.filter(pl.col("timestamp") < timestamp)
+ .tail(1)
+ .to_numpy()[0, 1:]
+ )
+ new_reference_values.append(
+ [timestamp, lat, lon, row[3] + 1.5] # altitude is corrected
+ )
+ reference_values = pl.DataFrame(
+ new_reference_values, schema=reference_values.schema, orient="row"
+ )
+
+ # find max timestamp
max_ts = max(
reference_values.select("timestamp").max().item(0, 0),
(nas_state.select("timestamp").max().item(0, 0)),
@@ -105,7 +146,10 @@ def main(path: Path, output: Path):
)
# filter from 15 seconds before flying
- start_ts = fmm_status.filter(pl.col("state") == FLYING_FMM_STATE).select(
+ flying_fmm_state = (
+ MAIN_FLYING_FMM_STATE if origin == "main" else PAYLOAD_FLYING_FMM_STATE
+ )
+ start_ts = fmm_status.filter(pl.col("state") == flying_fmm_state).select(
"timestamp"
)[0, 0] - pl.duration(seconds=SECONDS_BEFORE_FLYING)
reference_values = reference_values.filter(pl.col("timestamp") >= start_ts)
diff --git a/tools/log-converter/pyproject.toml b/tools/log-converter/pyproject.toml
index e3c42ba2659d66692871b958e92296a95ad24126..a13734d7320fae194d1080b010ad246229480aff 100644
--- a/tools/log-converter/pyproject.toml
+++ b/tools/log-converter/pyproject.toml
@@ -4,7 +4,11 @@ version = "0.1.0"
description = "Add your description here"
readme = "README.md"
requires-python = ">=3.12"
-dependencies = ["click>=8.1.7", "polars>=1.8.2"]
+dependencies = [
+ "click>=8.1.7",
+ "numpy>=2.1.1",
+ "polars>=1.8.2",
+]
[project.scripts]
log-converter = "log_converter:main"
diff --git a/tools/log-converter/uv.lock b/tools/log-converter/uv.lock
index 6a88285cabfe42553c618b34c8c8930cf3afff3a..d9de18bbd203295cc820ae6596582f7626cac219 100644
--- a/tools/log-converter/uv.lock
+++ b/tools/log-converter/uv.lock
@@ -28,15 +28,53 @@ version = "0.1.0"
source = { virtual = "." }
dependencies = [
{ name = "click" },
+ { name = "numpy" },
{ name = "polars" },
]
[package.metadata]
requires-dist = [
{ name = "click", specifier = ">=8.1.7" },
+ { name = "numpy", specifier = ">=2.1.1" },
{ name = "polars", specifier = ">=1.8.2" },
]
+[[package]]
+name = "numpy"
+version = "2.1.1"
+source = { registry = "https://pypi.org/simple" }
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