PX4 ulog example

examples/python/px4_ulog/README.md

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+<!--[metadata]
+title = "PX4 ulog"
+tags = ["2D", "3D", "map", "drone"]
+description = "Load and visualize a PX4 ulog drone log file"
+-->
+
+
+<!--
+TODO:
+thumbnail = "https://static.rerun.io/air_traffic_data/348dd2def3a55fd0bf481a35a0765eeacfa20b6f/480w.png"
+thumbnail_dimensions = [480, 480]
+#channel = "nightly"
+-->
+
+TODO: complete thse
+
+## Run the code
+
+To run this example, make sure you have Python version at least 3.9, the Rerun repository checked out and the latest SDK installed:
+```bash
+pip install --upgrade rerun-sdk  # install the latest Rerun SDK
+git clone [email protected]:rerun-io/rerun.git  # Clone the repository
+cd rerun
+git checkout latest  # Check out the commit matching the latest SDK release
+```
+Install the necessary libraries specified in the requirements file:
+```bash
+pip install -e examples/python/air_traffic_data
+```
+To experiment with the provided example, simply execute the main Python script:
+```bash
+python -m air_traffic_data
+```
+If you wish to customize it, explore additional features, or save it use the CLI with the `--help` option for guidance:
+```bash
+python -m air_traffic_data --help
+```

examples/python/px4_ulog/px4_ulog.py

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+from __future__ import annotations
+
+import io
+from argparse import ArgumentParser
+from pathlib import Path
+
+import numpy as np
+import requests
+import rerun as rr
+import rerun.blueprint as rrb
+from pyulog import ULog
+from tqdm import tqdm
+
+DATASET_DIR = Path(__file__).parent / "dataset"
+if not DATASET_DIR.exists():
+    DATASET_DIR.mkdir()
+
+ULOG_FILE_PATH = DATASET_DIR / "log_file.ulg"
+
+ULOG_FILE_URL = "https://github.com/foxglove/ulog/raw/refs/heads/main/tests/log_6_2021-7-20-11-41-56.ulg"
+
+
+def download_with_progress(url: str, what: str) -> io.BytesIO:
+    """Download file with tqdm progress bar."""
+    chunk_size = 1024 * 1024
+    resp = requests.get(url, stream=True)
+    total_size = int(resp.headers.get("content-length", 0))
+    with tqdm(
+            desc=f"Downloading {what}…",
+            total=total_size,
+            unit="iB",
+            unit_scale=True,
+            unit_divisor=1024,
+    ) as progress:
+        download_file = io.BytesIO()
+        for data in resp.iter_content(chunk_size):
+            download_file.write(data)
+            progress.update(len(data))
+
+    download_file.seek(0)
+    return download_file
+
+
+def log_initial_parameters(log_file: ULog) -> None:
+    param_table_content = "\n".join([f"| {param} | {value} |" for param, value in log_file.initial_parameters.items()])
+
+    param_text = f"""
+## Initial Parameters
+
+| Parameter | Value |
+|-----------|-------|
+{param_table_content}
+"""
+
+    rr.log("initial_parameters", rr.TextDocument(text=param_text, media_type="text/markdown"), static=True)
+
+
+def log_messages(log_file: ULog) -> None:
+    for msg in log_file.logged_messages:
+        rr.set_time_seconds("timestamp", msg.timestamp / 1e6)
+        rr.log("messages", rr.TextLog(text=msg.message, level=msg.log_level_str()))
+
+
+def log_data(log_file: ULog) -> None:
+    for data in log_file.data_list:
+        name = data.name
+
+        columns = data.data.keys() - {"timestamp"}
+
+        time_columns = [rr.TimeSecondsColumn("timestamp", data.data["timestamp"] / 1e6)]
+
+        if "timestamp_sample" in columns:
+            time_columns.append(rr.TimeSecondsColumn("timestamp_sample", data.data["timestamp_sample"] / 1e6))
+            columns.remove("timestamp_sample")
+
+        all_columns = {}
+        for column in columns:
+            try:
+                col_name, idx = column.split("[")
+                idx = int(idx.strip("]"))
+            except ValueError:
+                col_name = column
+                idx = None
+
+            if idx is None:
+                all_columns[col_name] = data.data[column]
+            else:
+                all_columns.setdefault(col_name, {})[idx] = data.data[column]
+
+        for col_name, col_data in all_columns.items():
+            entity_path = f"{name}/{col_name.replace('.', '/')}"
+
+            if isinstance(col_data, dict):
+                arr = np.vstack([col_data[i] for i in sorted(col_data.keys())]).T
+            else:
+                arr = col_data
+
+            rr.send_columns(entity_path, indexes=time_columns, columns=rr.Scalar.columns(scalar=arr))
+
+        if name == "vehicle_global_position":
+            latlon = np.vstack([data.data["lat"], data.data["lon"]]).T
+            rr.send_columns(name, indexes=time_columns, columns=rr.GeoPoints.columns(positions=latlon))
+        elif name == "vehicle_local_position":
+            pos3d = np.vstack([data.data["x"], data.data["y"], -data.data["z"]]).T
+            pos2d = np.vstack([data.data["x"], data.data["y"]]).T
+            rr.send_columns(
+                f"{name}/pos",
+                indexes=time_columns,
+                columns=[
+                    *rr.Points3D.columns(positions=pos3d),
+                    *rr.Points2D.columns(positions=pos2d),
+                ],
+            )
+
+            v2d = np.vstack([data.data["vx"], data.data["vy"]]).T
+            v3d = np.vstack([data.data["vx"], data.data["vy"], -data.data["vz"]]).T
+            rr.send_columns(
+                f"{name}/vel",
+                indexes=time_columns,
+                columns=[
+                    *rr.Arrows3D.columns(origins=pos3d, vectors=v3d),
+                    *rr.Arrows2D.columns(origins=pos2d, vectors=v2d),
+                ],
+            )
+        elif name == "position_setpoint_triplet":
+            latlon = np.vstack([data.data["next.lat"], data.data["next.lon"]]).T
+            radius = data.data["next.loiter_radius"]
+
+            rr.send_columns(
+                f"{name}/next/latlon",
+                indexes=time_columns,
+                columns=rr.GeoPoints.columns(positions=latlon, radii=radius)
+            )
+
+
+def main() -> None:
+    parser = ArgumentParser(description="Loada and visualize a PX4 ulog file")
+
+    parser.add_argument("--uuid", type=str, help="UUID of log file on `review.px4.io`")
+
+    rr.script_add_args(parser)
+    args = parser.parse_args()
+
+    rr.script_setup(args, "rerun_example_px4_log")
+
+    if args.uuid is not None:
+        # TODO: download
+        file_path = DATASET_DIR / f"{args.uuid}.ulg"
+    else:
+        file_path = ULOG_FILE_PATH
+        if not file_path.exists():
+            ulog_file_data = download_with_progress(ULOG_FILE_URL, "ulog file")
+            file_path.write_bytes(ulog_file_data.read())
+
+    log_file = ULog(str(file_path))
+    log_initial_parameters(log_file)
+    log_messages(log_file)
+    log_data(log_file)
+
+    blueprint = rrb.Vertical(
+        rrb.Horizontal(
+            rrb.Tabs(
+                rrb.Spatial2DView(
+                    name="2D",
+                    overrides={
+                        "vehicle_local_position/pos": [
+                            # TODO: broken because of #8557
+                            rrb.VisibleTimeRange(
+                                "timestamp",
+                                start=rrb.TimeRangeBoundary.infinite(),
+                                end=rrb.TimeRangeBoundary.infinite(),
+                            )
+                        ],
+                    },
+                ),
+                rrb.Spatial3DView(
+                    name="3D",
+                    overrides={
+                        "vehicle_local_position/pos": [
+                            rrb.VisibleTimeRange(
+                                "timestamp",
+                                start=rrb.TimeRangeBoundary.infinite(),
+                                end=rrb.TimeRangeBoundary.infinite(),
+                            )
+                        ],
+                    },
+                ),
+                rrb.MapView(name="Map"),
+            ),
+            rrb.TextLogView(),
+            column_shares=[3, 1],
+        ),
+        rrb.Tabs(*[rrb.TimeSeriesView(origin=data.name) for data in log_file.data_list]),
+    )
+
+    rr.send_blueprint(blueprint, make_active=False, make_default=True)
+
+
+if __name__ == "__main__":
+    main()

examples/python/px4_ulog/pyproject.toml

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+[project]
+name = "px4_ulog"
+version = "0.1.0"
+readme = "README.md"
+dependencies = [
+  "numpy",
+  "pyulog",
+  "requests",
+  "rerun-sdk",
+  "tqdm",
+]
+
+[project.scripts]
+px4_ulog = "px4_ulog:main"
+
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"