Add a fix to deal with nan values.

Problem: JSONSchema does not support nan values.

Solution: Convert nan values to null.

This commit also populates the sequence field with a message counter
in the MCAP writer.

actions/ulog_ingestion/src/tests/test_utils.py

@@ -23,7 +23,7 @@ def test_create_mcap_file_from_ulog(tmp_path):
         print(data_object.name)
         utils.create_per_topic_mcap_from_ulog(output_path_per_topic_mcap,
                                               data_object,
-                                              schema_registry_dict)
+                                              schema_registry_dict[data_object.name])
 
     assert output_path_per_topic_mcap.exists()
 

actions/ulog_ingestion/src/ulog_ingestion/__main__.py

@@ -125,6 +125,7 @@ def process_data(
     message_count = len(ulog_data_object.data["timestamp"])
 
     json_schema_topic = utils.create_json_schema(ulog_message_format_object[topic_name].fields)
+
     schema_checksum = utils.compute_checksum(json_schema_topic)
 
     # Create Topic Record
@@ -183,6 +184,8 @@ def process_data(
             version=1,
         )
     )
+    relative_file_name = ulog_file_path.split(input_dir)[1][1:]
+    print(f"https://app-beta.roboto.ai/visualize/{utils.generate_config(file_record.file_id, relative_file_name)}")
     return
 
 

actions/ulog_ingestion/src/ulog_ingestion/utils.py

@@ -2,9 +2,11 @@
 import json
 import os
 import tempfile
+import math
 from mcap.writer import Writer
 from typing import Dict, List, Tuple, Any
 from roboto.domain import topics
+import base64
 
 # Mapping from message definition types to JSON schema types
 TYPE_MAPPING = {
@@ -116,6 +118,7 @@ def parse_values_to_json(values: List[Tuple[str, str, Any]]) -> Dict[str, Any]:
     array_values = {}
 
     for field_name, field_type, field_value in values:
+
         if "[" in field_name:
             array_name = field_name.split("[")[0]
             array_values.setdefault(array_name, []).append(
@@ -139,6 +142,9 @@ def convert_value(field_type: str, value: Any) -> Any:
     Returns:
     - The converted value in its appropriate JSON type.
     """
+    if math.isnan(value):
+        return None
+
     json_type = TYPE_MAPPING.get(field_type, "string")
     if json_type == "integer":
         return int(value)
@@ -214,10 +220,19 @@ def create_message_path_records(topic: Any, field_data: Any) -> None:
             print(
                 f"Adding field: {field.field_name}, type: {field.type_str}, canonical: {canonical_data_type}"
             )
-
     return
 
 
+def generate_config(file_id, relative_path):
+    viz_config = {
+        "version": "v1",
+        "files": [{"fileId": file_id, "relativePath": relative_path}],
+    }
+    return base64.urlsafe_b64encode(json.dumps(viz_config).encode("utf-8")).decode(
+        "utf-8"
+    )
+
+
 def create_per_topic_mcap_from_ulog(
     output_path_per_topic_mcap: Any, d: str, json_schema_topic: Any
 ) -> None:
@@ -236,7 +251,6 @@ def create_per_topic_mcap_from_ulog(
     with open(output_path_per_topic_mcap, "wb") as stream:
         writer = Writer(stream)
         writer.start()
-
         schema_id = writer.register_schema(
             name=d.name,
             encoding="jsonschema",
@@ -253,13 +267,15 @@ def create_per_topic_mcap_from_ulog(
             values = list()
             for f in d.field_data:
                 values.append((f.field_name, f.type_str, d.data[f.field_name][i]))
+
             json_msg_instance = parse_values_to_json(values)
 
             timestamp_ns = int(d.data["timestamp"][i] * 1000)
 
             writer.add_message(
                 channel_id=channel_id,
                 log_time=timestamp_ns,
+                sequence=i,
                 data=json.dumps(json_msg_instance).encode("utf-8"),
                 publish_time=timestamp_ns,
             )