Added binary_message_decode.py file read support.

python/examples/binary_message_decode.py

@@ -19,7 +19,7 @@
 if __name__ == "__main__":
     parser = ArgumentParser(description="""\
 Decode and print the contents of one or more FusionEngine messages contained
-in a binary string. For example:
+in a binary string or file. For example:
 
 > python3 binary_message_decode.py \\
   2e31 0000 0acf ee8f 0200 ca32 0000 0000 0400 0000 0000 0000 ff0f 0001
@@ -31,12 +31,16 @@
   Source: 0
   CRC: 0x8feecf0a
 Payload: Reset Request [mask=0x01000fff]
+
+or
+
+> python3 binary_message_decode.py my_file.p1log
 """)
     parser.add_argument('-v', '--verbose', action='count', default=0,
                         help="Print verbose/trace debugging messages.")
     parser.add_argument('contents', nargs='+',
-                        help="Binary FusionEngine message contents, specified as a hex string. All spaces will be "
-                             "ignored.")
+                        help="Binary FusionEngine message contents, specified as a hex string, or the path to a binary "
+                             "file to be read. All spaces in the hex string will be ignored.")
     options = parser.parse_args()
 
     # Configure logging.
@@ -54,13 +58,17 @@
     logger = logging.getLogger('point_one.fusion_engine')
 
     # Concatenate all hex characters and convert to bytes.
-    byte_str_array = [b if len(b) % 2 == 0 else f'0{b}' for b in options.contents]
-    contents_str = ''.join(byte_str_array).replace(' ', '')
-    if len(contents_str) % 2 != 0:
-        logger.error("Error: Contents must contain an even number of hex characters.")
-        sys.exit(1)
+    if len(options.contents) == 1 and os.path.exists(options.contents[0]):
+        with open(options.contents[0], 'rb') as f:
+            contents = f.read()
+    else:
+        byte_str_array = [b if len(b) % 2 == 0 else f'0{b}' for b in options.contents]
+        contents_str = ''.join(byte_str_array).replace(' ', '')
+        if len(contents_str) % 2 != 0:
+            logger.error("Error: Contents must contain an even number of hex characters.")
+            sys.exit(1)
 
-    contents = bytes.fromhex(contents_str)
+        contents = bytes.fromhex(contents_str)
 
     # Decode the incoming data and print the contents of any complete messages.
     decoder = FusionEngineDecoder(warn_on_error=FusionEngineDecoder.WarnOnError.ALL, warn_on_unrecognized=True)

python/fusion_engine_client/analysis/analyzer.py

@@ -867,16 +867,16 @@ def plot_stationary_position_error(self, truth_lla_deg):
         @param truth_lla_deg The truth LLA location (in degrees/meters).
         """
         truth_ecef_m = np.array(geodetic2ecef(*truth_lla_deg, deg=True))
-        return self._plot_pose_displacement(title='Position Error', center_ecef_m=truth_ecef_m)
+        return self._plot_pose_displacement(title='Position Error', reference=truth_ecef_m)
 
     def plot_pose_displacement(self):
         """!
-        @brief Generate a topocentric (top-down) plot of position displacement, as well as plot of displacement over
-               time.
+        @brief Generate a topocentric (top-down) plot of position displacement vs the median position, as well as plot
+               of displacement over time.
         """
-        return self._plot_pose_displacement()
+        return self._plot_pose_displacement(reference='median')
 
-    def _plot_pose_displacement(self, title='Pose Displacement', center_ecef_m=None):
+    def _plot_pose_displacement(self, title='Pose Displacement', reference=None):
         if self.output_dir is None:
             return None
 
@@ -903,16 +903,30 @@ def _plot_pose_displacement(self, title='Pose Displacement', center_ecef_m=None)
         # case there are one or two huge outliers).
         position_ecef_m = np.array(geodetic2ecef(lat=lla_deg[0, :], lon=lla_deg[1, :], alt=lla_deg[2, :], deg=True))
 
-        if center_ecef_m is None:
-            center_ecef_m = np.median(position_ecef_m, axis=1)
+        if reference is None:
+            reference = 'median'
+
+        if isinstance(reference, str):
+            if reference == 'first':
+                reference_ecef_m = position_ecef_m[:, 0]
+                title_suffix = ' From First Position'
+            elif reference == 'median':
+                reference_ecef_m = position_ecef_m[:, 0]
+                title_suffix = ' From Median Position'
+            else:
+                raise ValueError('Unrecognized reference specifier.')
+        else:
+            reference_ecef_m = reference
+            title_suffix = ''
 
-        displacement_ecef_m = position_ecef_m - center_ecef_m.reshape(3, 1)
+        displacement_ecef_m = position_ecef_m - reference_ecef_m.reshape(3, 1)
         c_enu_ecef = get_enu_rotation_matrix(*lla_deg[0:2, 0], deg=True)
         displacement_enu_m = c_enu_ecef.dot(displacement_ecef_m)
 
         axis_title = 'Error' if title == 'Position Error' else 'Displacement'
 
-        self._plot_displacement(source=title, title=axis_title, time=time, solution_type=solution_type,
+        self._plot_displacement(source=f'{title}{title_suffix}', title=axis_title,
+                                time=time, solution_type=solution_type,
                                 displacement_enu_m=displacement_enu_m, std_enu_m=std_enu_m)
 
         return displacement_enu_m