flightdata 0.2.16__tar.gz → 0.2.18__tar.gz

{flightdata-0.2.16/flightdata.egg-info → flightdata-0.2.18}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: flightdata
-Version: 0.2.16
+Version: 0.2.18
 Summary: Module for handling UAV flight log data
 Author-email: Thomas David <thomasdavid0@gmail.com>
 License: GNU GPL v3
@@ -11,13 +11,13 @@ License-File: LICENSE
 Requires-Dist: numpy
 Requires-Dist: pandas
 Requires-Dist: simplejson
-Requires-Dist: pfc-geometry>=0.2.8
+Requires-Dist: pfc-geometry>=0.2.10
 Requires-Dist: json_stream
 Provides-Extra: dev
 Requires-Dist: numpy; extra == "dev"
 Requires-Dist: pandas; extra == "dev"
 Requires-Dist: simplejson; extra == "dev"
-Requires-Dist: pfc-geometry>=0.2.8; extra == "dev"
+Requires-Dist: pfc-geometry>=0.2.9; extra == "dev"
 Requires-Dist: ardupilot-log-reader>=0.3.3; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 

{flightdata-0.2.16 → flightdata-0.2.18}/examples/state_analysis/axes.py

@@ -2,7 +2,7 @@ from flightdata import State, Environment
 from geometry import Transformation, P0, Euldeg, PY, PX, Point, Time
 from flightplotting import plotsec
 import numpy as np
-from flightdata import Coefficients, Environment, Environment, Flow
+from flightdata import Coefficients, Environment, Flow
 from flightdata.model import cold_draft as constants
 import plotly.express as px
 

{flightdata-0.2.16 → flightdata-0.2.18}/flightdata/base/collection.py

@@ -15,6 +15,8 @@ class Collection:
             self.data = data
         elif isinstance(data, self.__class__):
             self.data = data.data
+        elif isinstance(data, self.__class__.VType):
+            self.data = {getattr(data, self.__class__.uid): data}
         elif data is None:
             pass
         else:
@@ -40,6 +42,9 @@ class Collection:
             return self.data[getattr(key, self.__class__.uid)]
         raise ValueError(f"Invalid Key or Indexer {key}")
 
+    def subset(self, keys: list[str]) -> Self:
+        return self.__class__([getattr(self, k) for k in keys])
+
     def __iter__(self) -> Iterable[T]:
         for v in self.data.values():
             yield v
@@ -61,12 +66,19 @@ class Collection:
     def from_dict(cls, vals: dict[str, dict[str, Any]]) -> Self:
         return cls([cls.VType.from_dict(v) for v in vals.values()])
     
-    def add(self, v: Union[T, Self]) -> Self:
+    def add(self, v: Union[T, Self], inplace=True) -> Self:
+        odata = self.data.copy()
         if isinstance(v, self.VType):
-            self.data[getattr(v, self.uid)] = v
+            odata[getattr(v, self.uid)] = v
         elif isinstance(v, self.__class__):
-            self.data = dict(**self.data, **v.data)
-        return v
+            odata = dict(**odata, **v.data)
+        elif isinstance(v, list):
+            odata = dict(**odata, **{getattr(d, self.uid): d for d in v})
+        if inplace:
+            self.data = odata
+            return v
+        else:
+            return self.__class__(odata) 
     
     def concat(self, vs: list[Self]) -> Self:
         coll = self.__class__([])

flightdata-0.2.18/flightdata/base/table.py

@@ -0,0 +1,471 @@
+from __future__ import annotations
+import numpy as np
+import pandas as pd
+import numpy.typing as npt
+from geometry import Base, Time
+from typing import Self, Tuple, Annotated, Literal
+from .constructs import SVar, Constructs
+from numbers import Number
+from time import time
+
+
+class Table:
+    constructs = Constructs(
+        [SVar("time", Time, ["t", "dt"], lambda tab: Time.from_t(tab.t))]
+    )
+
+    def __init__(self, data: pd.DataFrame, fill=True, min_len=1):
+        if len(data) < min_len:
+            raise Exception(
+                f"State constructor length check failed, data length = {len(data)}, min_len = {min_len}"
+            )
+        self.base_cols = [c for c in data.columns if c in self.constructs.cols()]
+        self.label_cols = [c for c in data.columns if c not in self.constructs.cols()]
+
+        self.data = data
+
+        if fill:
+            missing = self.constructs.missing(self.data.columns)
+            for svar in missing:
+                newdata = (
+                    svar.builder(self)
+                    .to_pandas(columns=svar.keys, index=self.data.index)
+                    .loc[:, [key for key in svar.keys if key not in self.data.columns]]
+                )
+
+                self.data = pd.concat([self.data, newdata], axis=1)
+            bcs = self.constructs.cols()
+        else:
+            bcs = self.base_cols
+        if np.any(np.isnan(self.data.loc[:, bcs])):
+            raise ValueError("nan values in data")
+
+    def __getattr__(self, name: str) -> npt.NDArray | Base:
+        if name in self.data.columns:
+            return self.data[name].to_numpy()
+        elif name in self.constructs.data.keys():
+            con = self.constructs.data[name]
+            return con.obj(self.data.loc[:, con.keys])
+        else:
+            raise AttributeError(f"Unknown column or construct {name}")
+
+    def to_csv(self, filename):
+        self.data.to_csv(filename)
+        return filename
+
+    def to_dict(self):
+        return self.data.to_dict(orient="records")
+
+    @classmethod
+    def from_dict(Cls, data):
+        if "data" in data:
+            data = data["data"]
+        return Cls(pd.DataFrame.from_dict(data).set_index("t", drop=False))
+
+    def __len__(self):
+        return len(self.data)
+
+    @property
+    def duration(self):
+        return self.data.index[-1] - self.data.index[0]
+
+    def iloc(self, sli):
+        return self.__class__(self.data.iloc[sli])
+
+    def __getitem__(self, sli):
+        if isinstance(sli, slice):
+            return self.__class__(
+                self.data.loc[
+                    slice(
+                        sli.start if sli.start else self.data.index[0],
+                        sli.stop if sli.stop else self.data.index[-1],
+                        sli.step,
+                    )
+                ]
+            )
+        elif isinstance(sli, Number):
+            if sli < 0:
+                return self.__class__(self.data.iloc[[int(sli)], :])
+
+            return self.__class__(
+                self.data.iloc[
+                    self.data.index.get_indexer(
+                        [sli], method="nearest"
+                    ),
+                    :,
+                ]
+            )
+        else:
+            raise TypeError(f"Expected Number or slice, got {sli.__class__.__name__}")
+
+    def slice_raw_t(self, sli):
+        inds = (
+            self.data.reset_index(names="t2").set_index("t").loc[sli].t2.to_numpy()
+        )  # set_index("t", drop=False).columns
+
+        return self.__class__(self.data.loc[inds])
+
+    def __iter__(self):
+        for ind in list(self.data.index):
+            yield self[ind - self.data.index[0]]
+
+    @classmethod
+    def from_constructs(cls, *args, **kwargs) -> Self:
+        kwargs = dict(
+            **{list(cls.constructs.data.keys())[i]: arg for i, arg in enumerate(args)},
+            **kwargs,
+        )
+
+        df = pd.concat(
+            [
+                x.to_pandas(columns=cls.constructs[key].keys, index=kwargs["time"].t)
+                for key, x in kwargs.items()
+                if x is not None
+            ],
+            axis=1,
+        )
+
+        return cls(df)
+
+    def __repr__(self):
+        return f"{self.__class__.__name__} Table(duration = {self.duration})"
+
+    def copy(self, *args, **kwargs):
+        kwargs = dict(
+            kwargs,
+            **{list(self.constructs.data.keys())[i]: arg for i, arg in enumerate(args)},
+        )  # add the args to the kwargs
+        old_constructs = {
+            key: self.__getattr__(key)
+            for key in self.constructs.existing(self.data.columns).data
+            if not key in kwargs
+        }
+        new_constructs = {
+            key: value
+            for key, value in list(kwargs.items()) + list(old_constructs.items())
+        }
+        return self.__class__.from_constructs(**new_constructs).label(
+            **self.labels.to_dict(orient="list")
+        )
+
+    def append(self, other, timeoption: str = "dt"):
+        if timeoption in ["now", "t"]:
+            t = np.array([time()]) if timeoption == "now" else other.t
+            dt = other.dt
+            dt[0] = t[0] - self.t[-1]
+            new_time = Time(t, dt)
+        elif timeoption == "dt":
+            new_time = Time(other.t + self[-1].t - other[0].t + other[0].dt, other.dt)
+
+        return self.__class__(
+            pd.concat(
+                [self.data, other.copy(new_time).data], axis=0, ignore_index=True
+            ).set_index("t", drop=False)
+        )
+
+    def zero_index(self):
+        data = self.data.copy()
+        return self.__class__(data.set_index(data.index - data.index[0]))
+
+    @classmethod
+    def stack(Cls, sts: list, overlap: int = 1) -> Self:
+        """Stack a list of Tables on top of each other.
+        The overlap is the number of rows to overlap between each st
+        """
+        t0 = sts[0].data.index[0]
+        sts = [st.zero_index() for st in sts]
+        if overlap > 0:
+            offsets = np.cumsum([0] + [s0.data.index[-overlap] for s0 in sts[:-1]])
+            dfs = [st.data.iloc[:-overlap] for st in sts[:-1]] + [sts[-1].data]
+        elif overlap == 0:
+            offsets = np.cumsum([0] + [sec.duration + sec.dt[-1] for sec in sts[:-1]])
+            dfs = [st.data for st in sts]
+        else:
+            raise AttributeError("Overlap must be >= 0")
+
+        for df, offset in zip(dfs, offsets):
+            df.index = np.array(df.index) - df.index[0] + offset
+        combo = pd.concat(dfs)
+        combo.index.name = "t"
+        combo.index = combo.index + t0
+        combo["t"] = combo.index
+
+        return Cls(combo)
+
+    def label(self, **kwargs) -> Self:
+        return self.__class__(self.data.assign(**kwargs))
+
+    @property
+    def label_keys(self):
+        return self.label_cols
+
+    @property
+    def labels(self) -> dict[str, npt.NDArray]:
+        return self.data.loc[:, self.label_cols]
+
+    def remove_labels(self) -> Self:
+        return self.__class__(self.data.drop(self.label_keys, axis=1, errors="ignore"))
+
+    @staticmethod
+    def labselect(
+        data: pd.DataFrame, test: str = None, offset=False, **kwargs
+    ) -> pd.DataFrame:
+        """Select rows from a dataframe based on the values in the kwargs
+        in kwargs, keys are column names and values are the values to select
+        if test is not None, it is a string that is a pandas string method .
+        if offset is True the row after the last selected row for each kwarg is included.
+        """
+        sel = np.full(len(data), True)
+        for k, v in kwargs.items():
+            if test:
+                sel = getattr(data[k].str, test)(v)
+            else:
+                sel = sel & (data[k] == v)
+        if offset:
+            return data.loc[sel + (sel.astype(int).diff() == -1)]
+        else:
+            return data.loc[sel]
+
+    def get_label_id(self, test: str = None, **kwargs) -> int | float:
+        dfo = Table.labselect(self.unique_labels(), test, **kwargs)
+        return dfo.index[0] if len(dfo) > 0 else list(dfo.index)
+
+    def get_subset_df(
+        self, test: str | None = None, offset: bool = True, **kwargs
+    ) -> pd.DataFrame:
+        return Table.labselect(self.data, test, offset, **kwargs)
+
+    def get_label_subset(self, min_len=1, test: str | None = None, **kwargs) -> Self:
+        return self.__class__(self.get_subset_df(test, **kwargs), min_len=min_len)
+
+    def get_label_len(self, test: str = None, offset=False, **kwargs) -> int:
+        try:
+            return len(self.get_subset_df(test, offset, **kwargs))
+        except Exception:
+            return 0
+
+    def unique_labels(self, cols=None) -> pd.DataFrame:
+        if cols is None:
+            cols = self.label_cols
+        elif isinstance(cols, str):
+            cols = [cols]
+        return (
+            self.data.loc[:, cols]
+            .reset_index(drop=True)
+            .drop_duplicates()
+            .reset_index(drop=True)
+        )
+
+    def shift_label(self, offset: int, min_len=None, test=None, **kwargs) -> Self:
+        """Shift the end of a label forwards or backwards by offset rows
+        Do not allow a label to be reduced to less than min_len"""
+        if min_len is None:
+            min_len = 1
+        ranges = self.label_ranges()
+
+        i = self.get_label_id(test, **kwargs)
+        labels: pd.DataFrame = self.labels.copy()
+        labcols = [labels.columns.get_loc(c) for c in kwargs.keys()]
+        if offset > 0 and i < len(ranges):
+            offset = min(offset, ranges.iloc[i + 1, -1] - min_len)
+            if offset > 0:
+                labels.iloc[
+                    ranges.iloc[i + 1].start : ranges.iloc[i + 1].start + offset,
+                    labcols,
+                ] = pd.Series(kwargs)
+        elif offset < 0:
+            offset = max(offset, -ranges.iloc[i, -1] + min_len)
+            if offset < 0:
+                labels.iloc[
+                    ranges.iloc[i].end + offset : ranges.iloc[i].end + 1, labcols
+                ] = ranges.iloc[i + 1].loc[kwargs.keys()]
+        return self.label(**labels.to_dict(orient="list"))
+
+    @classmethod
+    def shift_multi(
+        Cls, steps: int, tb1: Self, tb2: Self, min_len=1
+    ) -> Tuple[Self, Self]:
+        """Take datapoints off the start of tb2 and add to the end tb1"""
+        # if (steps>0 and len(tb2)-min_len<steps) or (steps<0 and min_len - len(tb1) > steps):
+        #    raise ValueError(f'Cannot Squash a Table to less than {min_len} datapoints')
+        tj = Cls.stack([tb1, tb2]).shift_label(
+            steps, min_len, **dict(tb1.labels.iloc[0])
+        )
+
+        return Cls(tj.get_subset_df(**dict(tb1.labels.iloc[0]))), Cls(
+            tj.get_subset_df(**dict(tb2.labels.iloc[0]))
+        )
+
+    def shift_label_ratio(self, ratio: float, min_len=None, **kwargs) -> Self:
+        """shift a label within its allowable bounds, with a ratio of
+        1 representing the maximum allowabe movement forwards or backwards
+        without squashing a label"""
+        ranges = self.label_ranges()
+        i = self.get_label_id(**kwargs)
+        if ratio > 0:
+            limit = ranges.iloc[i + 1, -1] - 2
+        else:
+            limit = ranges.iloc[i, -1] - 2
+
+        return self.shift_label(int(limit * ratio), min_len, **kwargs)
+
+    def shift_labels_ratios(self, ratios: list[float], min_len: int) -> Self:
+        assert len(ratios) == len(self.unique_labels()) - 1
+        res = self
+        for lab, ratio in zip(
+            [r[1] for r in self.unique_labels()[:-1].iterrows()], ratios
+        ):
+            res = res.shift_label_ratio(ratio, min_len, **lab)
+        return res
+
+    def label_range(self, t=False, **kwargs) -> tuple[int]:
+        """Get the first and last index of a label.
+        If t is True this gives the time, if False it gives the index"""
+        labs = self.get_subset_df(**kwargs)
+        if not t:
+            return self.data.index.get_indexer([labs.index[0]])[
+                0
+            ], self.data.index.get_indexer([labs.index[-1]])[0]
+        else:
+            return labs.index[0], labs.index[-1]
+
+    def label_ranges(self, cols: list[str] = None, t=False) -> pd.DataFrame:
+        """get the first and last index for each unique label"""
+        if cols is None:
+            cols = self.label_cols
+        df: pd.DataFrame = self.unique_labels(cols)
+        res = []
+        for row in df.iterrows():
+            res.append(list(self.label_range(t=t, **row[1].to_dict())))
+        df = pd.concat([df, pd.DataFrame(res, columns=["start", "end"])], axis=1)
+        df["length"] = df.end - df.start
+        return df
+
+    def single_labels(self) -> list[str]:
+        return ["_".join(r[1]) for r in self.data.loc[:, self.label_cols].iterrows()]
+
+    def label_lens(self) -> dict[str, int]:
+        return {k: len(v) for k, v in self.split_labels().items()}
+
+    def extract_single_label(self, lab) -> Self:
+        labs = np.array(self.single_labels())
+        return self.__class__(self.data[labs == lab])
+
+    def split_labels(self, cols: list[str] | str = None) -> dict[str, Self]:
+        """Split into multiple tables based on the labels"""
+        res = {}
+        for label in self.unique_labels(cols).iterrows():
+            ld = label[1].to_dict()
+            res["_".join(ld.values())] = self.get_label_subset(**ld)
+        return res
+
+    def cumulative_labels(self, *cols) -> Self:
+        """Return a string concatenation of the requested labels. append an indexer to the end
+        of the string for repeat descrete groups of the same label."""
+        cols = self.label_cols if len(cols) == 0 else cols
+        labs = self.data.loc[:, cols].stack().groupby(level=0).apply("_".join)
+
+        changes = labs.shift() != labs
+        new_labels = labs.loc[changes]
+        uls = []
+        for i, nl in enumerate(new_labels):
+            uls.append(sum(new_labels.iloc[:i] == nl))
+
+        df = pd.DataFrame(labs).assign(indexer=np.array(uls)[changes.cumsum() - 1])
+        strdf = df.copy()
+        strdf["indexer"] = strdf["indexer"].astype(int).astype(str)
+        strdf = strdf.stack().groupby(level=0).apply("_".join)
+        return strdf.values
+
+    def str_replace_label(self, **kwargs: dict[str, npt.NDArray[np.str_]]) -> Self:
+        """perform a string replace for labels"""
+        dfo = self.data.copy()
+        for k, v in kwargs.items():
+            for rep in v:
+                dfo[k] = dfo[k].str.replace(*rep)
+        return self.__class__(dfo)
+
+    @staticmethod
+    def copy_labels(
+        template: Self,
+        flown: Self,
+        path: Annotated[npt.NDArray[np.integer], Literal["N", 2]] = None,
+        min_len=0,
+    ) -> Self:
+        """Copy the labels from template to flown along the index warping path
+        If path is None, the labels are copied directly from the template to the flown
+        min_len prevents the labels from being shortened to less than min_len rows,
+        even if the label dows not exist in the warping path the order of labels in template
+        will be preserved.
+        """
+
+        flown = flown.remove_labels()
+
+        if not path:
+            return flown.__class__(
+                pd.concat(
+                    [
+                        flown.data.reset_index(drop=True),
+                        template.data.loc[:, template.label_cols].reset_index(
+                            drop=True
+                        ),
+                    ],
+                    axis=1,
+                ).set_index("t", drop=False)
+            )
+        else:
+            mans = (
+                pd.DataFrame(path, columns=["template", "flight"])
+                .set_index("template")
+                .join(template.data.reset_index(drop=True).loc[:, template.label_cols])
+                .groupby(["flight"])
+                .last()
+                .reset_index()
+                .set_index("flight")
+            )
+
+            st: Self = flown.__class__(flown.data).label(**mans.to_dict(orient="list"))
+
+            if min_len > 0:
+                unique_labels = template.unique_labels()
+
+                for i, row in unique_labels.iterrows():
+                    lens = st.label_lens()
+                    labels = st.labels.copy()
+
+                    def get_len(_i: int):
+                        key = "_".join(list(unique_labels.iloc[_i].to_dict().values()))
+                        return lens[key] if key in lens else 0
+
+                    def get_range(_i: int):
+                        return st.label_range(**unique_labels.iloc[_i].to_dict())
+
+                    if get_len(i) < min_len:
+                        max_bck = get_len(i - 1) - min_len if i > 0 else 0
+                        max_fwd = (
+                            get_len(i + 1) - min_len
+                            if i < len(unique_labels) - 1
+                            else 0
+                        )
+
+                        if max_bck + max_fwd + get_len(i) < min_len:
+                            raise Exception(
+                                f"{row.iloc[0]},{row.iloc[1]} too short and cannot shorten adjacent labels further"
+                            )
+                        else:
+                            _extend = int(np.ceil((min_len - get_len(i)) / 2))
+                            ebck = min(max_bck, int(np.floor(_extend)))
+                            efwd = min(max_fwd, int(np.floor(_extend)) + 1)
+
+                            if ebck > 0:
+                                rng = get_range(i - 1)
+                                labels.iloc[rng[1] - ebck : rng[1] + 1] = (
+                                    unique_labels.iloc[i]
+                                )
+                            if efwd > 0:
+                                rng = get_range(i + 1)
+                                labels.iloc[rng[0] : rng[0] + efwd + 1] = (
+                                    unique_labels.iloc[i]
+                                )
+                            st = st.label(**labels.to_dict(orient="list"))
+            return st

{flightdata-0.2.16 → flightdata-0.2.18}/flightdata/flight/fields.py

@@ -57,7 +57,8 @@ class Fields:
             #raise AttributeError(f'Field {name} not found')
 
     def get_fields(self, names: list[str]) -> list[Field]:
-        _l = lambda v: [v] if isinstance(v, Field) else v
+        def _l(v):
+            return [v] if isinstance(v, Field) else v
         return list(chain(*[_l(getattr(self, n)) for n in names]))
     
     def get_cols(self, names: list[str]) -> list[str]:
@@ -80,6 +81,11 @@ fields = Fields([
         Field('gps_latitude', 'latitude, degrees'),
         Field('gps_longitude', 'longitude, degrees'),
         Field('gps_altitude', 'altitude, meters'),
+        Field('gps_satellites', 'number of satellites'),
+        Field('gps_hdop', 'number precision'),
+        Field('pos_latitude', 'latitude, degrees'),
+        Field('pos_longitude', 'longitude, degrees'),
+        Field('pos_altitude', 'altitude, meters'),
         Field('attitude_roll', 'roll angle, radians'),
         Field('attitude_pitch', 'pitch angle, radians'),
         Field('attitude_yaw', 'yaw angle, radians'),