From 0863d8797206f28b2fb5b76ad5002acc24179ff7 Mon Sep 17 00:00:00 2001
From: Ben Hall <rcmast3r1@gmail.com>
Date: Sun, 17 Mar 2024 20:37:58 -0400
Subject: [PATCH] adding mcap to mat script for temp usage

---
 .gitignore                                    |  1 +
 default.nix                                   |  1 +
 flake.nix                                     |  1 +
 mcap_to_mat.py                                | 37 +++++++++++++++++++
 py_data_acq/py_data_acq/mcap_writer/writer.py |  2 -
 test_mcap.py                                  |  2 +-
 6 files changed, 41 insertions(+), 3 deletions(-)
 create mode 100644 mcap_to_mat.py

diff --git a/.gitignore b/.gitignore
index a770904..ebe6bba 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,4 @@ result
 result/
 .env
 .idea/
+*.mat
\ No newline at end of file
diff --git a/default.nix b/default.nix
index 0dd5e4d..d736b11 100644
--- a/default.nix
+++ b/default.nix
@@ -15,6 +15,7 @@ python311Packages.buildPythonApplication {
   propagatedBuildInputs = [
     python311Packages.cantools
     python311Packages.systemd
+    
     python311Packages.websockets
     python311Packages.pprintpp
     python311Packages.can
diff --git a/flake.nix b/flake.nix
index a82cb94..8a222b9 100644
--- a/flake.nix
+++ b/flake.nix
@@ -93,6 +93,7 @@
           ht_can_pkg
           cmake
           can-utils
+          python311Packages.scipy
         ];
         # Setting up the environment variables you need during
         # development.
diff --git a/mcap_to_mat.py b/mcap_to_mat.py
new file mode 100644
index 0000000..d8db78e
--- /dev/null
+++ b/mcap_to_mat.py
@@ -0,0 +1,37 @@
+import sys
+from pathlib import Path
+from mcap.reader import make_reader
+from mcap_protobuf.reader import read_protobuf_messages
+from mcap_protobuf.decoder import DecoderFactory
+from scipy.io import savemat
+
+def main():
+    with open(sys.argv[1], "rb") as f:
+        reader = make_reader(f, decoder_factories=[DecoderFactory()])
+        topics = []
+        for channel in reader.get_summary().channels:
+            topics.append(reader.get_summary().channels[channel].topic)
+        
+        msgs_lists = []
+        for topic in topics:
+            msgs = []
+            for schema, channel, message, proto_msg in reader.iter_decoded_messages(topics=[topic]):
+                
+                
+                res = [f.name for f in proto_msg.DESCRIPTOR.fields]
+                msg = {}
+                msg["recvd_time"] = message.log_time
+                for name in res:    
+                    msg[name] = getattr(proto_msg, name)
+                msgs.append(msg)
+            msgs_lists.append(msgs)
+        mdict= {}
+        for index, topic in enumerate(topics):
+            mdict[topic] = msgs_lists[index]
+        out_name = Path(sys.argv[1]).stem
+        savemat(out_name+".mat", mdict, long_field_names=True)
+
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/py_data_acq/py_data_acq/mcap_writer/writer.py b/py_data_acq/py_data_acq/mcap_writer/writer.py
index 7842da2..b76c886 100644
--- a/py_data_acq/py_data_acq/mcap_writer/writer.py
+++ b/py_data_acq/py_data_acq/mcap_writer/writer.py
@@ -36,9 +36,7 @@ def __aenter__(self):
     async def __aexit__(self, exc_type: Any, exc_val: Any, traceback: Any):
         super().finish()
         self.writing_file.close()
-    
     async def write_msg(self, msg):
-        
         super().write_message(topic=msg.DESCRIPTOR.name+"_data", message=msg, log_time=int(time.time_ns()), publish_time=int(time.time_ns()))
         self.writing_file.flush()
         return True
diff --git a/test_mcap.py b/test_mcap.py
index 4ac5f66..200b578 100644
--- a/test_mcap.py
+++ b/test_mcap.py
@@ -3,7 +3,7 @@
 from mcap_protobuf.reader import read_protobuf_messages
 
 def main():
-    for msg in read_protobuf_messages("/home/ben/hytech_mcaps/recordings/03_17_2024_01_34_00_fixed.mcap", log_time_order=False):
+    for msg in read_protobuf_messages(sys.argv[1], log_time_order=False):
         print(f"{msg.topic}: {msg.proto_msg}")
 
 if __name__ == "__main__":