Sensor Replay (#717)

* Add primitive logging for Ekf

* Add python script to extract sensor data from ULog

* Add primitive sensor replay

* Add iris_gps data for sensor replay

* Add CI for functional change indication

* Update sensor replay flow data type

* update iris_gps_change indication

* test: Update EKF replay test documentation

Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com>

test/sensor_simulator/createSensorDataFile.py

@@ -0,0 +1,124 @@
+from pyulog import ULog
+import argparse
+import pandas as pd
+import csv
+import convertULogToSensorData as util
+
+path = "/home/kamil/Documents/QGroundControl/Logs/iris_vision.ulg"
+output_path = "/home/kamil/Documents/QGroundControl/Logs/sensor_data_iris_vision.csv"
+
+
+def get_arguments():
+	"""
+	parses the command line arguments
+	:return:
+	"""
+	parser = argparse.ArgumentParser(
+	description='Create a csv file with sensor data values in chronological order from a single'
+			'ulog file.')
+	parser.add_argument('input_file', metavar='file.ulg', help='ULog input file path')
+	parser.add_argument('output_file', metavar='file.ulg', help='csv output file path')
+	return parser.parse_args()
+
+def main() -> None:
+	"""
+	main entry point
+	:return:
+	"""
+	args = get_arguments()
+
+	table = pd.DataFrame()
+
+	try:
+		ulog = ULog(args.input_file)
+	except:
+		print("Could not find ulog file")
+		exit(-1)
+
+	try:
+		imu = util.getImuData(ulog)
+		print("IMU data detected")
+		table = pd.concat([table, imu], ignore_index=True, sort=False)
+	except:
+		print("IMU data not detected")
+
+	try:
+		mag = util.getMagnetometerData(ulog)
+		print("Mag data detected")
+		table = pd.concat([table, mag], ignore_index=True, sort=False)
+	except:
+		print("Mag data not detected")
+
+	try:
+		baro = util.getBarometerData(ulog)
+		print("Baro data detected")
+		table = pd.concat([table, baro], ignore_index=True, sort=False)
+	except:
+		print("Baro data not detected")
+
+	try:
+		gps = util.getGpsData(ulog)
+		print("GPS data detected")
+		table = pd.concat([table, gps], ignore_index=True, sort=False)
+	except:
+		print("GPS data not detected")
+
+	try:
+		airspeed = util.getAirspeedData(ulog)
+		print("Airspeed data detected")
+		table = pd.concat([table, airspeed], ignore_index=True, sort=False)
+	except:
+		print("Airspeed data not detected")
+
+	try:
+		flow = util.getOpticalFlowData(ulog)
+		print("Flow data detected")
+		table = pd.concat([table, flow], ignore_index=True, sort=False)
+	except:
+		print("Flow data not detected")
+
+	try:
+		range = util.getRangeFinderData(ulog)
+		print("Range data detected")
+		table = pd.concat([table, range], ignore_index=True, sort=False)
+	except:
+		print("Range data not detected")
+
+	try:
+		vio = util.getVioData(ulog)
+		print("VIO data detected")
+		table = pd.concat([table, vio], ignore_index=True, sort=False)
+	except:
+		print("VIO data not detected")
+
+	try:
+		land = util.getVehicleLandingStatus(ulog)
+		print("Landing data detected")
+		table = pd.concat([table, land], ignore_index=True, sort=False)
+	except:
+		print("Landing data not detected")
+
+	table = table.sort_values('timestamp', axis=0, ascending=True)
+	table['timestamp'] = table['timestamp'] - table['timestamp'].iloc[0]
+	# remove the first 0.5 seconds of data to be robust against faulty initialized data
+	table = table[table.timestamp > 500000]
+	table.timestamp = table.timestamp - 500000
+
+	try:
+		table.to_csv(args.output_file, index=None, header=None)
+
+		# post processing remove empty cells from csv
+		result = []
+		with open(args.output_file, "r") as in_file:
+			reader = csv.reader(in_file)
+			result = [[item for item in row if item != ''] for row in reader]
+
+		with open(args.output_file, "w") as out_file:
+			csv_writer = csv.writer(out_file)
+			csv_writer.writerows(result)
+	except:
+		print("Could not write to specified output file")
+
+
+if __name__ == '__main__':
+	main()