Source code for cli.ouster_telemetry

#!/usr/bin/python3

import argparse
import os
import sys
import time
from dataclasses import dataclass
import pandas as pd
import socket
import json


@dataclass
class OusterTelemetry:
    """Represents the telemetry data of the ouster sensor."""
    input_current_ma: int
    input_voltage_mv: int
    internal_temperature_deg_c: int


class OusterTelemetryRecorder:
    """
    Records the telemetry data of the ouster sensor.
    Use the method record_telemetry() to start recording.

    Attributes:
        host: IP address or hostname of the ouster sensor
        port: Port of the ouster sensor
        interval: Interval in seconds to record the telemetry data
        output: Path to the output file
    """

    def __init__(self, host: str, port: int, interval: int, output: str):
        self.sock = create_ouster_client(host, port)
        self.host = host
        self.interval = interval
        self.output = output

    def get_current_sensor_telemetry(self) -> OusterTelemetry:
        """Gets the telemetry data from the sensor."""
        # read telemetry data from Ouster LiDAR
        self.sock.sendall(b"get_telemetry\n")
        data = self.sock.recv(512)
        # decode data and parse json to OusterTelemetry object
        data = json.loads(data.decode("utf-8"))
        return OusterTelemetry(
            input_current_ma=data["input_current_ma"],
            input_voltage_mv=data["input_voltage_mv"],
            internal_temperature_deg_c=data["internal_temperature_deg_c"],
        )

    def prepare_telemetry_csv(self) -> None:
        """Prepares the csv file for recording the telemetry data."""
        # Initialize DataFrame
        df = pd.DataFrame(columns=["input_current_ma", "input_voltage_mv", "internal_temperature_deg_c"])
        df.index.name = "elapsed_time_s"

        # Check if the output file already exists
        if os.path.exists(self.output):
            user_response = input(f"The file already exists: {self.output}\nDo you want to overwrite it? (y/n): ")
            if user_response.lower() != "y":
                print("Recording aborted. Existing file was not overwritten.")
                self.sock.close()
                sys.exit(0)

        # write csv header
        df.to_csv(self.output)

    def record_telemetry(self) -> None:
        """Records the telemetry data from the sensor continuously."""
        self.prepare_telemetry_csv()
        # keep track of number of records for elapsed time (index)
        num_records = 0
        # record telemetry data
        while True:
            elapsed_time = num_records * self.interval
            telemetry = self.get_current_sensor_telemetry()
            print(
                f"Current temperature of Ouster LiDAR: {telemetry.internal_temperature_deg_c} °C after {time.strftime('%M:%S', time.gmtime(elapsed_time))} minutes")
            # Append telemetry data to csv with elapsed time as index (name)
            pd.Series(vars(telemetry), name=elapsed_time).to_frame().T.to_csv(self.output, mode='a', header=False)
            # wait for specified interval before recording next data point
            num_records += 1
            time.sleep(self.interval)


def create_ouster_client(host: str, port: int) -> socket.socket:
    """Creates a socket connection to the ouster sensor."""
    try:
        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        sock.connect((host, port))
    except socket.error as socket_err:
        print(f"Socket connection error: {socket_err}")
        sys.exit(1)
    return sock


def get_args() -> argparse.Namespace:
    """Gets the command line arguments."""
    parser = argparse.ArgumentParser()
    parser.add_argument("--host", type=str, required=True, help="IP address or hostname of the ouster sensor")
    parser.add_argument("--port", type=int, required=True, help="Port of the ouster sensor")
    parser.add_argument("--interval", type=int, required=True, help="Interval in seconds to record the telemetry data")
    parser.add_argument("--output", type=str, required=True, help="Path to the output file")

    return parser.parse_args()


if __name__ == "__main__":
    args = get_args()
    recorder = OusterTelemetryRecorder(
        host=args.host,
        port=args.port,
        interval=args.interval,
        output=args.output,
    )
    try:
        recorder.record_telemetry()
    except KeyboardInterrupt:
        print("\nRecording ended.")
    except Exception as err:
        print(f"Unexpected error: {str(err)}")
    finally:
        recorder.sock.close()
        print("Socket closed.")
        sys.exit(0)