Provide utilities for convenient plotting of channels
Implement a set of utilities (along with basic examples) to
make it so that we can readily make plots of individual channels
from logfiles (or live on the robot).
Change-Id: Ic648c9ccb9dcb73419dc2c8c4c395fdea0536110
diff --git a/frc971/wpilib/imu_plot_utils.ts b/frc971/wpilib/imu_plot_utils.ts
new file mode 100644
index 0000000..4e6c371
--- /dev/null
+++ b/frc971/wpilib/imu_plot_utils.ts
@@ -0,0 +1,34 @@
+// This script provides a basic utility for de-batching the IMUValues
+// message. See imu_plotter.ts for usage.
+import * as configuration from 'org_frc971/aos/configuration_generated';
+import * as imu from 'org_frc971/frc971/wpilib/imu_batch_generated';
+import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
+import {Table} from 'org_frc971/aos/network/www/reflection';
+import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
+
+import Schema = configuration.reflection.Schema;
+import IMUValuesBatch = imu.frc971.IMUValuesBatch;
+import IMUValues = imu.frc971.IMUValues;
+
+export class ImuMessageHandler extends MessageHandler {
+ constructor(private readonly schema: Schema) {
+ super(schema);
+ }
+ addMessage(data: Uint8Array, time: number): void {
+ const batch = IMUValuesBatch.getRootAsIMUValuesBatch(
+ new ByteBuffer(data) as unknown as flatbuffers.ByteBuffer);
+ for (let ii = 0; ii < batch.readingsLength(); ++ii) {
+ const message = batch.readings(ii);
+ const table = Table.getNamedTable(
+ message.bb as unknown as ByteBuffer, this.schema, 'frc971.IMUValues',
+ message.bb_pos);
+ if (this.parser.readScalar(table, "monotonic_timestamp_ns") == null) {
+ console.log('Ignoring unpopulated IMU values: ');
+ console.log(this.parser.toObject(table));
+ continue;
+ }
+ this.messages.push(new TimestampedMessage(
+ table, message.monotonicTimestampNs().toFloat64() * 1e-9));
+ }
+ }
+}