diff --git a/python/fusion_engine_client/analysis/analyzer.py b/python/fusion_engine_client/analysis/analyzer.py index c43987b3..8ecb2832 100755 --- a/python/fusion_engine_client/analysis/analyzer.py +++ b/python/fusion_engine_client/analysis/analyzer.py @@ -307,35 +307,28 @@ def _calc_stats(input): text = ['P1: %.3f sec
%s' % (p, self._gps_sec_to_string(g)) for p, g in zip(p1_time, gps_time)] figure.add_trace(go.Scattergl(x=time, y=np.full_like(time, 1), name='P1/GPS Time', text=text, - hoverlabel={'namelength': -1}, mode='markers', marker={'color': 'blue'}), 1, 1) figure.add_trace(go.Scattergl(x=time, y=dp1_time, name='P1 Time Interval', text=text, - hoverlabel={'namelength': -1}, mode='markers', marker={'color': 'red'}), 2, 1) if dp1_stats is not None: figure.add_trace(go.Scattergl(x=time, y=dp1_stats['max'], name='P1 Time Interval (Max)', - hoverlabel={'namelength': -1}, mode='markers', marker={'symbol': 'triangle-up-open'}), 2, 1) figure.add_trace(go.Scattergl(x=time, y=dp1_stats['min'], name='P1 Time Interval (Min)', - hoverlabel={'namelength': -1}, mode='markers', marker={'symbol': 'triangle-down-open'}), 2, 1) figure.add_trace(go.Scattergl(x=time, y=dgps_time, name='GPS Time Interval', text=text, - hoverlabel={'namelength': -1}, mode='markers', marker={'color': 'green'}), 2, 1) if dgps_stats is not None: figure.add_trace(go.Scattergl(x=time, y=dgps_stats['max'], name='GPS Time Interval (Max)', - hoverlabel={'namelength': -1}, mode='markers', marker={'symbol': 'triangle-up-open'}), 2, 1) figure.add_trace(go.Scattergl(x=time, y=dgps_stats['min'], name='GPS Time Interval (Min)', - hoverlabel={'namelength': -1}, mode='markers', marker={'symbol': 'triangle-down-open'}), 2, 1) @@ -363,7 +356,6 @@ def _calc_stats(input): text = ['System: %.3f sec' % t for t in system_time_sec] figure.add_trace(go.Scattergl(x=time, y=np.full_like(time, 2), name='System Time', text=text, - hoverlabel={'namelength': -1}, mode='markers', marker={'color': 'purple'}), 1, 1) @@ -423,8 +415,7 @@ def plot_latency(self): text = ['P1: %.3f sec
%s' % (p, g) for p, g in zip(p1_time, latency_sec)] figure.add_trace(go.Scattergl(x=time, y=latency_sec, name='Pose Message Latency', text=text, - hoverlabel={'namelength': -1}, - mode='markers', marker={'color': 'blue'}), + mode='markers', marker={'color': 'blue'}), 1, 1) figure.update_layout(title_text='NOTE: Latency assumes the host system clock is synced to GPS time. ' @@ -526,16 +517,13 @@ def plot_reset_timing(self): text = ["System Time: %.3f sec" % (t + self.system_t0) for t in time] figure.add_trace(go.Scattergl(x=time, y=dt_reset_to_valid, text=text, - name='Command -> Valid', hoverlabel={'namelength': -1}, - mode='markers'), + name='Command -> Valid', mode='markers'), 1, 1) figure.add_trace(go.Scattergl(x=time, y=dt_reset_to_invalid, text=text, - name='Command -> Invalid', hoverlabel={'namelength': -1}, - mode='markers'), + name='Command -> Invalid', mode='markers'), 1, 1) figure.add_trace(go.Scattergl(x=time, y=dt_invalid_to_valid, text=text, - name='Invalid -> Valid', hoverlabel={'namelength': -1}, - mode='markers'), + name='Invalid -> Valid', mode='markers'), 1, 1) if len(unstarted_resets) > 0: @@ -543,8 +531,7 @@ def plot_reset_timing(self): time = time[idx] text = ["System Time: %.3f sec" % (t + self.system_t0) for t in time] figure.add_trace(go.Scattergl(x=time, y=np.zeros_like(time), text=text, - name='Unstarted Resets', hoverlabel={'namelength': -1}, - mode='markers'), + name='Unstarted Resets', mode='markers'), 1, 1) self._add_figure(name="reset_timing", figure=figure, title="Reset Recovery Timing") @@ -649,6 +636,9 @@ def plot_pose(self): figure.add_trace(go.Scattergl(x=time, y=pose_data.velocity_body_mps[2, :], name='Z', legendgroup='z', mode='lines', line={'color': 'blue'}), 1, 3) + figure.add_trace(go.Scattergl(x=time, y=np.linalg.norm(pose_data.velocity_body_mps, axis=0), name='3D', + mode='lines', line={'color': 'orange', 'dash': 'dash'}), + 1, 3) figure.add_trace(go.Scattergl(x=time, y=pose_data.velocity_std_body_mps[0, :], name='X', legendgroup='x', showlegend=False, mode='lines', line={'color': 'red'}), @@ -702,15 +692,15 @@ def plot_calibration(self): # Plot calibration stage and completion percentages. figure.add_trace(go.Scattergl(x=time, y=cal_data.gyro_bias_percent_complete, text=text, - name='Gyro Bias Completion', hoverlabel={'namelength': -1}, + name='Gyro Bias Completion', mode='lines', line={'color': 'red'}), 1, 1) figure.add_trace(go.Scattergl(x=time, y=cal_data.accel_bias_percent_complete, text=text, - name='Accel Bias Completion', hoverlabel={'namelength': -1}, + name='Accel Bias Completion', mode='lines', line={'color': 'green'}), 1, 1) figure.add_trace(go.Scattergl(x=time, y=cal_data.mounting_angle_percent_complete, text=text, - name='Mounting Angle Completion', hoverlabel={'namelength': -1}, + name='Mounting Angle Completion', mode='lines', line={'color': 'blue'}), 1, 1) @@ -730,35 +720,35 @@ def plot_calibration(self): 2, 1) figure.add_trace(go.Scattergl(x=time, y=cal_data.ypr_std_dev_deg[0, :], name='Yaw Std Dev', legendgroup='y', - text=text, mode='lines', line={'color': 'red'}, hoverlabel={'namelength': -1}), + text=text, mode='lines', line={'color': 'red'}), 3, 1) figure.add_trace(go.Scattergl(x=time, y=cal_data.ypr_std_dev_deg[1, :], name='Pitch Std Dev', legendgroup='p', - text=text, mode='lines', line={'color': 'green'}, hoverlabel={'namelength': -1}), + text=text, mode='lines', line={'color': 'green'}), 3, 1) figure.add_trace(go.Scattergl(x=time, y=cal_data.ypr_std_dev_deg[2, :], name='Roll Std Dev', legendgroup='r', - text=text, mode='lines', line={'color': 'blue'}, hoverlabel={'namelength': -1}), + text=text, mode='lines', line={'color': 'blue'}), 3, 1) thresh_time = time[np.array((0, -1))] figure.add_trace(go.Scattergl(x=thresh_time, y=[cal_data.mounting_angle_max_std_dev_deg[0]] * 2, - name='Max Yaw Std Dev', legendgroup='y', hoverlabel={'namelength': -1}, + name='Max Yaw Std Dev', legendgroup='y', mode='lines', line={'color': 'red', 'dash': 'dash'}), 3, 1) figure.add_trace(go.Scattergl(x=thresh_time, y=[cal_data.mounting_angle_max_std_dev_deg[1]] * 2, - name='Max Pitch Std Dev', legendgroup='p', hoverlabel={'namelength': -1}, + name='Max Pitch Std Dev', legendgroup='p', text=text, mode='lines', line={'color': 'green', 'dash': 'dash'}), 3, 1) figure.add_trace(go.Scattergl(x=thresh_time, y=[cal_data.mounting_angle_max_std_dev_deg[2]] * 2, - name='Max Roll Std Dev', legendgroup='r', hoverlabel={'namelength': -1}, + name='Max Roll Std Dev', legendgroup='r', text=text, mode='lines', line={'color': 'blue', 'dash': 'dash'}), 3, 1) # Plot travel distance. figure.add_trace(go.Scattergl(x=time, y=cal_data.travel_distance_m, name='Travel Distance', text=text, - mode='lines', line={'color': 'blue'}, hoverlabel={'namelength': -1}), + mode='lines', line={'color': 'blue'}), 4, 1) figure.add_trace(go.Scattergl(x=thresh_time, y=[cal_data.min_travel_distance_m] * 2, - name='Min Travel Distance', text=text, hoverlabel={'namelength': -1}, + name='Min Travel Distance', text=text, mode='lines', line={'color': 'black', 'dash': 'dash'}), 4, 1) @@ -781,22 +771,40 @@ def plot_solution_type(self): # Setup the figure. figure = make_subplots(rows=1, cols=1, print_grid=False, shared_xaxes=True, subplot_titles=['Solution Type']) - + figure['layout'].update(showlegend=True, modebar_add=['v1hovermode']) figure['layout']['xaxis'].update(title=self.p1_time_label) figure['layout']['yaxis1'].update(title="Solution Type", ticktext=['%s (%d)' % (e.name, e.value) for e in SolutionType], tickvals=[e.value for e in SolutionType]) - time = pose_data.p1_time - float(self.t0) + all_time = pose_data.p1_time - float(self.t0) + is_gnss_rx = (pose_data.flags & PoseMessage.FLAG_RECEIVER_SOLUTION) != 0 + is_nav_engine = ~is_gnss_rx - text = ["Time: %.3f sec (%.3f sec)" % (t, t + float(self.t0)) for t in time] - figure.add_trace(go.Scattergl(x=time, y=pose_data.solution_type, text=text, mode='markers'), 1, 1) + # Plot nav engine solutions. + if np.any(is_nav_engine): + idx = is_nav_engine + time = all_time[idx] + text = ["Time: %.3f sec (%.3f sec)" % (t, t + float(self.t0)) for t in time] + figure.add_trace(go.Scattergl(x=time, y=pose_data.solution_type[idx], text=text, name='Nav Engine', + mode='markers'), + 1, 1) + + # Plot GNSS receiver solutions, if any. + if np.any(is_gnss_rx): + idx = is_gnss_rx + time = all_time[idx] + text = ["Time: %.3f sec (%.3f sec)" % (t, t + float(self.t0)) for t in time] + figure.add_trace(go.Scattergl(x=time, y=pose_data.solution_type[idx], text=text, + name='Receiver Solution', + mode='markers', marker={'color': 'red', 'symbol': 'diamond-open'}), + 1, 1) self._add_figure(name="solution_type", figure=figure, title="Solution Type") def plot_stationary_status(self): """! - @brief Plot the staionary status over time. + @brief Plot the stationary status over time. """ if self.output_dir is None: return @@ -810,7 +818,8 @@ def plot_stationary_status(self): return # Set up the figure. - figure = make_subplots(rows=1, cols=1, print_grid=False, shared_xaxes=True, subplot_titles=['Stationary Status']) + figure = make_subplots(rows=1, cols=1, print_grid=False, shared_xaxes=True, + subplot_titles=['Stationary Status']) figure['layout']['xaxis'].update(title=self.p1_time_label) figure['layout']['yaxis1'].update(title="Stationary Status", @@ -886,8 +895,7 @@ def _plot_displacement(self, source, time, solution_type, displacement_enu_m, st # Plot the data. max_3d_diff_m = [0.0] def _plot_data(name, idx, marker_style=None): - style = {'mode': 'markers', 'marker': {'size': 8}, 'showlegend': True, 'legendgroup': name, - 'hoverlabel': {'namelength': -1}} + style = {'mode': 'markers', 'marker': {'size': 8}, 'showlegend': True, 'legendgroup': name} if marker_style is not None: style['marker'].update(marker_style) @@ -1059,8 +1067,9 @@ def plot_map(self, mapbox_token): # Add data to the map. map_data = [] + indices_by_engine = defaultdict(list) - def _plot_data(name, idx, source_id, marker_style=None): + def _plot_data(name, selected_idx, flags, source_id, marker_style=None): style = {'mode': 'markers', 'marker': {'size': 8}, 'showlegend': True} if marker_style is not None: style['marker'].update(marker_style) @@ -1069,17 +1078,36 @@ def _plot_data(name, idx, source_id, marker_style=None): legendgroup = None if len(self.source_ids) == 1 else source_id visible = None if source_id == min(self.source_ids) else 'legendonly' - if np.any(idx): - text = ["Time: %.3f sec (%.3f sec)
Std (ENU): (%.2f, %.2f, %.2f) m" % - (t, t + float(self.t0), std[0], std[1], std[2]) - for t, std in zip(time[idx], std_enu_m[:, idx].T)] - map_data.append(go.Scattermapbox(lat=lla_deg[0, idx], lon=lla_deg[1, idx], name=name, text=text, - legendgroup=legendgroup, visible=visible, **style)) + if np.any(selected_idx): + is_nav_engine = np.logical_and(selected_idx, flags & PoseMessage.FLAG_RECEIVER_SOLUTION == 0) + is_gnss_rx = np.logical_and(selected_idx, flags & PoseMessage.FLAG_RECEIVER_SOLUTION != 0) + + if np.any(is_nav_engine): + idx = is_nav_engine + text = ["Time: %.3f sec (%.3f sec)
Std (ENU): (%.2f, %.2f, %.2f) m" % + (t, t + float(self.t0), std[0], std[1], std[2]) + for t, std in zip(time[idx], std_enu_m[:, idx].T)] + map_data.append(go.Scattermapbox(lat=lla_deg[0, idx], lon=lla_deg[1, idx], name=name, text=text, + legendgroup=legendgroup, visible=visible, **style)) + indices_by_engine['Nav Engine'].append(len(map_data) - 1) + + if np.any(is_gnss_rx): + idx = is_gnss_rx + text = ["Time: %.3f sec (%.3f sec)
Std (ENU): (%.2f, %.2f, %.2f) m" % + (t, t + float(self.t0), std[0], std[1], std[2]) + for t, std in zip(time[idx], std_enu_m[:, idx].T)] + style['marker']['opacity'] = 0.5 + style['marker']['size'] = 5 + map_data.append(go.Scattermapbox(lat=lla_deg[0, idx], lon=lla_deg[1, idx], + name=name + ' (Receiver Solution)', text=text, + legendgroup=legendgroup, visible=visible, **style)) + indices_by_engine['Receiver Solution'].append(len(map_data) - 1) else: # If there's no data, draw a dummy trace so it shows up in the legend anyway. map_data.append(go.Scattermapbox(lat=[np.nan], lon=[np.nan], name=name, legendgroup=legendgroup, visible='legendonly', **style)) + indices_by_engine['Nav Engine'].append(len(map_data) - 1) # Read the pose data. for source_id in self.source_ids: @@ -1098,6 +1126,7 @@ def _plot_data(name, idx, source_id, marker_style=None): time = pose_data.p1_time[valid_idx] - float(self.t0) solution_type = pose_data.solution_type[valid_idx] + flags = pose_data.flags[valid_idx] lla_deg = pose_data.lla_deg[:, valid_idx] std_enu_m = pose_data.position_std_enu_m[:, valid_idx] @@ -1106,7 +1135,8 @@ def _plot_data(name, idx, source_id, marker_style=None): name = info.name + ' [source_id=' + str(source_id) + ']' else: name = info.name - _plot_data(name, solution_type == type, source_id, marker_style=info.style) + _plot_data(name=name, selected_idx=solution_type == type, flags=flags, source_id=source_id, + marker_style=info.style) # Create the map. title = 'Vehicle Trajectory' @@ -1134,6 +1164,25 @@ def _plot_data(name, idx, source_id, marker_style=None): figure = go.Figure(data=map_data, layout=layout) figure['layout'].update(showlegend=True) + # Add quality selection buttons. + num_traces = len(figure.data) + buttons = [dict(label='All', method='restyle', args=['visible', [True] * num_traces])] + for name, indices in sorted(indices_by_engine.items()): + if len(indices) == 0: + continue + visible = np.full((num_traces,), False) + visible[indices] = True + buttons.append(dict(label=name, method='restyle', args=['visible', visible])) + figure['layout']['updatemenus'] = [{ + 'type': 'buttons', + 'direction': 'left', + 'buttons': buttons, + 'x': 0.0, + 'xanchor': 'left', + 'y': 1.1, + 'yanchor': 'top' + }] + self._add_figure(name="map", figure=figure, title="Vehicle Trajectory (Map)", config={'scrollZoom': True}) def plot_gnss_skyplot(self, decimate=True): @@ -1218,7 +1267,7 @@ def plot_gnss_skyplot(self, decimate=True): text = ['P1: %.1f sec
(Az, El): (%.2f, %.2f) deg
C/N0: %.1f dB-Hz' % (t, a, e, c) for t, a, e, c in zip(p1_time, az_deg, el_deg, max_cn0_dbhz)] figure.add_trace(go.Scatterpolargl(r=el_deg, theta=(90 - az_deg), text=text, - name=name_str, hoverinfo='name+text', hoverlabel={'namelength': -1}, + name=name_str, hoverinfo='name+text', mode='markers', marker=color_by_sv_format[-1])) indices_by_system[system].append(len(figure.data) - 1) @@ -1296,8 +1345,7 @@ def plot_gnss_cn0(self): text = ['P1: %.1f sec' % t for t in p1_time] time = p1_time - float(self.t0) - figure.add_trace(go.Scattergl(x=time, y=cn0_dbhz, text=text, - name=name, hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=cn0_dbhz, text=text, name=name, mode='markers', marker={'color': color_by_prn[signal.get_prn()]}), 1, 1) indices_by_signal_type[signal.signal_type].append(len(figure.data) - 1) @@ -1370,7 +1418,7 @@ def plot_gnss_azimuth_elevation(self): color = color_by_prn[sv_id.get_prn()] text = ["P1: %.3f sec" % (t + float(self.t0)) for t in time] figure.add_trace(go.Scattergl(x=time, y=az_deg, text=text, - name=name, hoverlabel={'namelength': -1}, + name=name, mode='markers', marker={'color': color, 'symbol': 'circle', 'size': 8}, showlegend=True, @@ -1378,7 +1426,7 @@ def plot_gnss_azimuth_elevation(self): 1, 1) indices_by_system[system].append(len(figure.data) - 1) figure.add_trace(go.Scattergl(x=time, y=el_deg, text=text, - name=name, hoverlabel={'namelength': -1}, + name=name, mode='markers', marker={'color': color, 'symbol': 'circle', 'size': 8}, showlegend=False, @@ -1487,27 +1535,22 @@ def _count_selected(selected_p1_times, return_nonzero_time=False): # Plot the signal counts. time = data.p1_time - float(self.t0) text = ["P1: %.3f sec" % (t + float(self.t0)) for t in time] - figure.add_trace(go.Scattergl(x=time, y=num_svs, text=text, - name=f'# SVs', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=num_svs, text=text, name=f'# SVs', mode='lines', line={'color': 'black', 'dash': 'dash'}), 5, 1) if have_gnss_signals_message: - figure.add_trace(go.Scattergl(x=time, y=num_signals, text=text, - name=f'# Signals', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=num_signals, text=text, name=f'# Signals', mode='lines', line={'color': 'gray', 'dash': 'dash'}), 5, 1) - figure.add_trace(go.Scattergl(x=time, y=num_used_svs, text=text, - name=f'# Used SVs', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=num_used_svs, text=text, name=f'# Used SVs', mode='lines', line={'color': 'green'}), 5, 1) if have_gnss_signals_message: - figure.add_trace(go.Scattergl(x=time, y=num_used_signals, text=text, - name=f'# Used Signals', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=num_used_signals, text=text, name=f'# Used Signals', mode='lines', line={'color': 'red'}), 5, 1) - figure.add_trace(go.Scattergl(x=time, y=num_fixed_signals, text=text, - name=f'# Fixed Signals', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=num_fixed_signals, text=text, name=f'# Fixed Signals', mode='lines', line={'color': 'orange'}), 5, 1) @@ -1622,7 +1665,7 @@ def _count_selected(selected_p1_times, return_nonzero_time=False): customdata=np.vstack((status_flags[idx], cn0_dbhz[idx], elev_deg[idx])), - name=name, hoverlabel={'namelength': -1}, + name=name, showlegend=False, legendgroup=int(signal_hash), mode='markers', marker=cond['marker']), 1, 1) @@ -1808,8 +1851,7 @@ def plot_dop(self): text = ['P1: %.1f sec' % t for t in data.p1_time] time = data.p1_time - float(self.t0) - figure.add_trace(go.Scattergl(x=time, y=dop, text=text, - name=name, hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=dop, text=text, name=name, mode='markers', marker={'color': color_by_dop[name]}), 1, 1) @@ -2099,8 +2141,7 @@ def _get_time_source(meas_type, data): if nav_engine_speed_mps is not None: time = nav_engine_p1_time - float(self.t0) text = ["P1: %.3f sec" % t for t in nav_engine_p1_time] - figure.add_trace(go.Scattergl(x=time, y=nav_engine_speed_mps, text=text, - name=nav_engine_speed_name, hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=nav_engine_speed_mps, text=text, name=nav_engine_speed_name, mode='lines', line={'color': 'black', 'dash': 'dash'}), 1, 1) @@ -2112,24 +2153,17 @@ def _plot_trace(time, data, name, color, text, style=None): style.setdefault('line', {}).setdefault('color', color) if type == 'tick': - figure.add_trace(go.Scattergl(x=time, y=data, text=text, - name=name, hoverlabel={'namelength': -1}, - legendgroup=name, - **style), + figure.add_trace(go.Scattergl(x=time, y=data, text=text, name=name, legendgroup=name, **style), 1, 1) dt_sec = np.diff(time) ticks_per_sec = np.diff(data) / dt_sec - figure.add_trace(go.Scattergl(x=time[1:], y=ticks_per_sec, text=text, - name=name, hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time[1:], y=ticks_per_sec, text=text, name=name, legendgroup=name, showlegend=False, **style), 2, 1) else: - figure.add_trace(go.Scattergl(x=time, y=data, text=text, - name=name, hoverlabel={'namelength': -1}, - legendgroup=name, - **style), + figure.add_trace(go.Scattergl(x=time, y=data, text=text, name=name, legendgroup=name, **style), 1, 1) def _plot_wheel_data(data, time_source, is_raw=False, show_gear=False, style=None): @@ -2168,14 +2202,13 @@ def _plot_wheel_data(data, time_source, is_raw=False, show_gear=False, style=Non name='Rear Right Wheel' + name_suffix, color='purple', style=style) if show_gear: - figure.add_trace(go.Scattergl(x=time, y=data.gear[idx], text=text, - name='Gear (Wheel Data)', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=data.gear[idx], text=text, name='Gear (Wheel Data)', mode='markers', marker={'color': 'red'}), gear_y_axis, 1) name = "Wheel Interval" + name_suffix color = 'blue' if is_raw else 'red' - figure.add_trace(go.Scattergl(x=time[1:], y=np.diff(time), name=name, hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time[1:], y=np.diff(time), name=name, mode='markers', marker={'color': color}), interval_y_axis, 1) @@ -2209,14 +2242,13 @@ def _plot_vehicle_data(data, time_source, is_raw=False, show_gear=False, style=N name='Speed Measurement' + name_suffix, color='orange', style=style) if show_gear: - figure.add_trace(go.Scattergl(x=time, y=data.gear[idx], text=text, - name='Gear (Vehicle Data)', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time, y=data.gear[idx], text=text, name='Gear (Vehicle Data)', mode='markers', marker={'color': 'orange'}), gear_y_axis, 1) name = "Vehicle Interval" + name_suffix color = 'blue' if is_raw else 'red' - figure.add_trace(go.Scattergl(x=time[1:], y=np.diff(time), name=name, hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time[1:], y=np.diff(time), name=name, mode='markers', marker={'color': color}), interval_y_axis, 1) @@ -2302,7 +2334,7 @@ def _plot_imu_data(self, message_cls, filename, figure_title): showlegend=False, mode='lines', line={'color': 'blue'}), 2, 1) - figure.add_trace(go.Scattergl(x=time[1:], y=np.diff(time), name='Interval', hoverlabel={'namelength': -1}, + figure.add_trace(go.Scattergl(x=time[1:], y=np.diff(time), name='Interval', mode='markers', marker={'color': 'red'}), 3, 1) @@ -3099,6 +3131,8 @@ def _add_figure(self, name, figure=None, title=None, config=None, inject_js: str raise ValueError('Plot name cannot be index.') if figure is not None: + figure.update_traces(hoverlabel_namelength=-1) + path = os.path.join(self.output_dir, self.prefix + name + '.html') self.logger.info('Creating %s...' % path) diff --git a/python/fusion_engine_client/messages/solution.py b/python/fusion_engine_client/messages/solution.py index 0bb8ecc2..785f1329 100644 --- a/python/fusion_engine_client/messages/solution.py +++ b/python/fusion_engine_client/messages/solution.py @@ -20,6 +20,7 @@ class PoseMessage(MessagePayload): INVALID_UNDULATION = -32768 FLAG_STATIONARY = 0x1 + FLAG_RECEIVER_SOLUTION = 0x2 _STRUCT = struct.Struct('