From b46f136b76d76fa5c84225b95e46f63f034fbe3e Mon Sep 17 00:00:00 2001 From: Poulpe Date: Sat, 25 Apr 2026 20:31:17 +0000 Subject: [PATCH] feat: v2 multi-session parser + timeline range viewer --- tools/parse_usv_nav.py | 257 +++++++++++++++++++++++-------- viewer/index.html | 335 ++++++++++++++++++++++++++++++++--------- 2 files changed, 464 insertions(+), 128 deletions(-) diff --git a/tools/parse_usv_nav.py b/tools/parse_usv_nav.py index 0926d16..0ba4fc7 100644 --- a/tools/parse_usv_nav.py +++ b/tools/parse_usv_nav.py @@ -1,24 +1,39 @@ #!/usr/bin/env python3 -"""Parse USV long-format CSV → track.geojson + points.json""" +"""Parse USV long-format CSV → track.geojson + points.json + manifest.json +v2: multi-session support via --input-dir, retro-compat with --input (single file) +""" import argparse import csv +import glob import json import os import sys from collections import defaultdict +from datetime import datetime, timezone -MAX_SLIDER_POINTS = 5000 +MAX_SLIDER_POINTS = 10000 def parse_args(): - p = argparse.ArgumentParser(description="Parse USV nav CSV") - p.add_argument("--input", required=True, help="CSV navigation log") + p = argparse.ArgumentParser(description="Parse USV nav CSV v2") + g = p.add_mutually_exclusive_group(required=True) + g.add_argument("--input", help="Single CSV navigation log (v1 compat)") + g.add_argument("--input-dir", help="Directory: glob *navigation_log*.csv") p.add_argument("--output", required=True, help="Output directory") return p.parse_args() +def find_csvs(input_dir): + pattern = os.path.join(input_dir, "*navigation_log*.csv") + files = sorted(glob.glob(pattern)) + if not files: + print(f"No navigation_log CSVs found in {input_dir}", file=sys.stderr) + sys.exit(1) + return files + + def load_csv(path): - """Load long-format CSV into {timestamp: {field: value}}""" + """Load long-format CSV → {timestamp: {field: value}}""" rows_by_ts = defaultdict(dict) with open(path, newline="", encoding="utf-8") as f: reader = csv.DictReader(f) @@ -41,13 +56,26 @@ def get_float(d, *keys): return None -def build_points(rows_by_ts): - """Build sorted list of {t, lat, lon, heading} where lat/lon valid.""" - # We need to track last known lat/lon/heading per timestamp cluster. - # Strategy: walk timestamps in order, emit a point each time we see a Lat or Lon update. - # Accumulate state across timestamps. - timestamps = sorted(rows_by_ts.keys()) +def ts_to_ms(ts_str): + """Convert ISO-like timestamp string to epoch ms (UTC).""" + # Try formats: '2026-03-24 09:04:07.123456' or '2026-03-24T09:04:07.123456' + for fmt in ( + "%Y-%m-%dT%H:%M:%S.%f", + "%Y-%m-%dT%H:%M:%S", + "%Y-%m-%d %H:%M:%S.%f", + "%Y-%m-%d %H:%M:%S", + ): + try: + dt = datetime.strptime(ts_str, fmt).replace(tzinfo=timezone.utc) + return int(dt.timestamp() * 1000) + except ValueError: + continue + return None + +def build_points(rows_by_ts, source_name): + """Build sorted list of {t, t_ms, lat, lon, heading, source}.""" + timestamps = sorted(rows_by_ts.keys()) state = {} points = [] @@ -55,7 +83,6 @@ def build_points(rows_by_ts): updates = rows_by_ts[ts] state.update(updates) - # Only emit point if we have both Lat and Lon from this or earlier ts lat = get_float(state, "Lat", "RAW_Lat") lon = get_float(state, "Lon", "RAW_Lon") heading = get_float(state, "Heading", "Yaw") @@ -64,7 +91,6 @@ def build_points(rows_by_ts): continue if lat == 0.0 and lon == 0.0: continue - # GPS_RAW_INT fallback (1e-7 degrees) if abs(lat) < 1 and abs(lon) < 1: raw_lat = get_float(state, "GPS_RAW_INT_lat") raw_lon = get_float(state, "GPS_RAW_INT_lon") @@ -74,87 +100,200 @@ def build_points(rows_by_ts): else: continue - # Only emit if Lat or Lon just updated (reduce duplicate consecutive points) if "Lat" in updates or "Lon" in updates or "RAW_Lat" in updates or "RAW_Lon" in updates: + t_ms = ts_to_ms(ts) points.append({ "t": ts, + "t_ms": t_ms, "lat": round(lat, 8), "lon": round(lon, 8), "heading": round(heading, 2) if heading is not None else None, + "source": source_name, }) return points -def sample_points(points, max_n): - if len(points) <= max_n: +def sample_points_session(points, max_total, n_sessions): + """Sample per session, always keeping first+last point of each session.""" + if not points: return points - step = len(points) / max_n - return [points[int(i * step)] for i in range(max_n)] + quota = max(10, max_total // max(n_sessions, 1)) + if len(points) <= quota: + return points + + step = (len(points) - 2) / max(quota - 2, 1) + sampled = [points[0]] + for i in range(1, quota - 1): + sampled.append(points[min(int(1 + i * step), len(points) - 2)]) + sampled.append(points[-1]) + return sampled -def write_geojson(points, path): - coords = [[p["lon"], p["lat"]] for p in points] - geojson = { - "type": "FeatureCollection", - "features": [{ +def session_bbox(points): + lats = [p["lat"] for p in points] + lons = [p["lon"] for p in points] + return [min(lons), min(lats), max(lons), max(lats)] + + +def write_outputs(all_sessions, output_dir): + """Write track.geojson, points.json, manifest.json.""" + os.makedirs(output_dir, exist_ok=True) + + # Colors for multi-track + COLORS = ["#00b4d8", "#e94560", "#06d6a0", "#ffd166", "#a855f7", "#f97316"] + + # ── track.geojson (MultiLineString per session) ── + features = [] + for i, sess in enumerate(all_sessions): + coords = [[p["lon"], p["lat"]] for p in sess["points"]] + features.append({ "type": "Feature", "geometry": {"type": "LineString", "coordinates": coords}, "properties": { - "start": points[0]["t"] if points else None, - "end": points[-1]["t"] if points else None, - "n_points": len(points), + "source_file": sess["source_file"], + "source_name": sess["source_name"], + "start_iso": sess["t_start"], + "end_iso": sess["t_end"], + "n_points": len(coords), + "color": COLORS[i % len(COLORS)], + "session_index": i, } - }] - } - with open(path, "w") as f: + }) + + geojson = {"type": "FeatureCollection", "features": features} + geo_path = os.path.join(output_dir, "track.geojson") + with open(geo_path, "w") as f: json.dump(geojson, f) - print(f" track.geojson: {len(coords)} coords → {path}") + print(f" track.geojson: {len(features)} sessions → {geo_path}") + + # ── points.json (all sampled, sorted by t_ms) ── + all_points = [] + n_sessions = len(all_sessions) + for sess in all_sessions: + sampled = sample_points_session(sess["points"], MAX_SLIDER_POINTS, n_sessions) + all_points.extend(sampled) + + # Sort by t_ms (sessions may overlap in time) + all_points.sort(key=lambda p: (p["t_ms"] or 0)) + + pts_path = os.path.join(output_dir, "points.json") + with open(pts_path, "w") as f: + json.dump(all_points, f) + print(f" points.json: {len(all_points)} points (sampled) → {pts_path}") + + # ── manifest.json ── + all_lats = [p["lat"] for s in all_sessions for p in s["points"]] + all_lons = [p["lon"] for s in all_sessions for p in s["points"]] + global_bbox = [min(all_lons), min(all_lats), max(all_lons), max(all_lats)] + + all_t_ms = [p["t_ms"] for s in all_sessions for p in s["points"] if p["t_ms"]] + t_min_ms = min(all_t_ms) if all_t_ms else None + t_max_ms = max(all_t_ms) if all_t_ms else None + + sessions_meta = [] + for sess in all_sessions: + sessions_meta.append({ + "file": sess["source_file"], + "source_name": sess["source_name"], + "n_points": sess["n_points_raw"], + "t_start": sess["t_start"], + "t_end": sess["t_end"], + "t_start_ms": sess["t_start_ms"], + "t_end_ms": sess["t_end_ms"], + "bbox": sess["bbox"], + }) + + manifest = { + "generated_at": datetime.now(timezone.utc).isoformat(), + "n_sessions": len(all_sessions), + "sessions": sessions_meta, + "global_bbox": global_bbox, + "t_min": all_sessions[0]["t_start"] if all_sessions else None, + "t_max": all_sessions[-1]["t_end"] if all_sessions else None, + "t_min_ms": t_min_ms, + "t_max_ms": t_max_ms, + "n_points_total_raw": sum(s["n_points_raw"] for s in all_sessions), + "n_points_sampled": len(all_points), + } + + mf_path = os.path.join(output_dir, "manifest.json") + with open(mf_path, "w") as f: + json.dump(manifest, f, indent=2) + print(f" manifest.json → {mf_path}") + + return manifest -def write_points_json(points, path): - with open(path, "w") as f: - json.dump(points, f) - print(f" points.json: {len(points)} points → {path}") +def print_global_stats(manifest, all_sessions): + print(f"\n=== Stats globales ===") + print(f" Sessions: {manifest['n_sessions']}") + print(f" Points bruts: {manifest['n_points_total_raw']}") + print(f" Points sampled: {manifest['n_points_sampled']}") + print(f" t_min: {manifest['t_min']}") + print(f" t_max: {manifest['t_max']}") + bb = manifest["global_bbox"] + print(f" Bbox: lon [{bb[0]:.5f}, {bb[2]:.5f}] lat [{bb[1]:.5f}, {bb[3]:.5f}]") + if manifest["t_min_ms"] and manifest["t_max_ms"]: + dur_s = (manifest["t_max_ms"] - manifest["t_min_ms"]) / 1000 + h, rem = divmod(int(dur_s), 3600) + m, s = divmod(rem, 60) + print(f" Durée totale: {h}h{m:02d}m{s:02d}s") + for i, sess in enumerate(all_sessions): + print(f" Session {i+1}: {sess['source_name']} {sess['n_points_raw']} pts {sess['t_start']} → {sess['t_end']}") -def print_stats(points): +def process_file(path): + source_name = os.path.basename(path) + print(f"\nChargement {source_name} ...") + rows = load_csv(path) + print(f" {len(rows)} timestamps uniques") + points = build_points(rows, source_name) if not points: - print("No valid points found!") - return + print(f" WARNING: aucun point GPS valide dans {source_name}") + return None + + # Filter points without t_ms + points = [p for p in points if p["t_ms"] is not None] lats = [p["lat"] for p in points] lons = [p["lon"] for p in points] - print(f"\n=== Stats ===") - print(f" N points (full): {len(points)}") - print(f" First ts: {points[0]['t']}") - print(f" Last ts: {points[-1]['t']}") - print(f" Bbox lat: {min(lats):.6f} → {max(lats):.6f}") - print(f" Bbox lon: {min(lons):.6f} → {max(lons):.6f}") - headings = [p["heading"] for p in points if p["heading"] is not None] - print(f" Heading data: {'yes' if headings else 'no'} ({len(headings)} values)") + return { + "source_file": path, + "source_name": source_name, + "points": points, + "n_points_raw": len(points), + "t_start": points[0]["t"], + "t_end": points[-1]["t"], + "t_start_ms": points[0]["t_ms"], + "t_end_ms": points[-1]["t_ms"], + "bbox": [min(lons), min(lats), max(lons), max(lats)], + } def main(): args = parse_args() - os.makedirs(args.output, exist_ok=True) - print(f"Loading {args.input} ...") - rows = load_csv(args.input) - print(f" {len(rows)} unique timestamps") + if args.input: + csv_files = [args.input] + else: + csv_files = find_csvs(args.input_dir) - points = build_points(rows) - print_stats(points) + print(f"Fichiers trouvés: {len(csv_files)}") + for f in csv_files: + print(f" {os.path.basename(f)}") - if not points: + all_sessions = [] + for path in csv_files: + sess = process_file(path) + if sess: + all_sessions.append(sess) + + if not all_sessions: + print("Aucune session valide.", file=sys.stderr) sys.exit(1) - write_geojson(points, os.path.join(args.output, "track.geojson")) - - sampled = sample_points(points, MAX_SLIDER_POINTS) - if len(sampled) < len(points): - print(f" Sampled {len(sampled)} points for slider (from {len(points)})") - write_points_json(sampled, os.path.join(args.output, "points.json")) - + manifest = write_outputs(all_sessions, args.output) + print_global_stats(manifest, all_sessions) print("\nDone.") diff --git a/viewer/index.html b/viewer/index.html index 4740ad8..70f59ba 100644 --- a/viewer/index.html +++ b/viewer/index.html @@ -2,59 +2,128 @@ -COSMA — USV Track Viewer +COSMA — USV Multi-Track Viewer v2 +
+
- USV Track - -
Chargement…
+
+ USV Multi-Track v2 + Chargement… + +
+
+ Fenêtre +
+
+
+ — + — +
+
+ Curseur +
+
—
+
+