35 lines
837 B
Julia
35 lines
837 B
Julia
include("packages/TLV.jl")
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#const DATA_DIR = "/data/Data/181283340_06_06_2022_HIGHWAY"
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const DATA_DIR = "/data/Data/166543251_10_27_2021_OVAL"
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@time points_east, points_north = TLV.cache("serialization.jld2"; force=false) do
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east = []
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north = []
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function callback(header, msg)
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pma = msg["s_Data"]["s_PMA_LocalizationPose"]
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pose = pma["s_PoseLocation"]
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push!(east, pose["e_l_east"])
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push!(north, pose["e_l_north"])
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return false
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end
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topics = TLV.log_create_reader_config(
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[
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# ["UC_SYSTEM", "GPS_DATA_SERVICE"]
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# ["UC_SYSTEM", "PERCEIVED_ROAD_GEOMETRY"]
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["UC_LOC_OUT", "LOC_ASSOCIATED_ROAD_GEOMETRY"]
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]
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)
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TLV.log_read(DATA_DIR, topics, callback)
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return east, north
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end
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using Plots
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display(scatter(points_east, points_north; title="Oval Track",
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legend=false, mc=:blue, ms=.05))
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readline()
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#gui()
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