ARKSML Loader

Loader and parser for ARKSML files using the built in XML parser.

Use

Parsing Raw Annotations

import { ArksmlLoader } from '@gov.nasa.jpl.honeycomb/arksml-loader';

const loader = new ArksmlLoader();
loader.parsers = {
    'CustomAnnotation': node => {
        // ... parse node to object ...
    }
};
loader
    .load('.../path/to/file.arksml')
    .then(result => {

        // ... parsed arksml ...

    });

Parsing Annotations into Frame Data

import { ArksmlLoader } from '@gov.nasa.jpl.honeycomb/arksml-loader';

const loader = new ArksmlLoader();
loader.outputFrames = true;
loader.parsers = {
    'CustomAnnotation': node => {
        // ... parse node to object ...
    }
};
loader
    .load('.../path/to/file.arksml')
    .then(result => {

        // ... parsed arksml ...

    });

API

Functions

ParserFunction

ParserFunction( element : XMLElement ) : Object

parsePosition

parsePosition( node : XMLElement ) : { x : Number, y : Number, z : Number }

Parses a node with 2 or 3 numbers.

parseQuaternion

parseQuaternion( node : XMLElement ) : { x : Number, y : Number, z : Number, w : Number }

Parses a node with 4 numbers.

parseRMCSite

parseRMCSite( node : XMLElement ) : { rmcSite : Number }

Parses a node with <RMC_Site> and <RMC_Drive> children.

parseRectangle

parseRectangle(
	node : XMLElement
) : { position : Object, angle : Number, halfWidth : Number, halfHeight : Number }

Parses a node.

parseTriangle

parseTriangle( node : XMLElement ) : { points : Array<Object> }

Parses a node.

parseCircle

parseCircle( node : XMLElement ) : { position : Object, radius : Number }

Parses a node.

parseKeepZone

parseKeepZone(
	node : XMLElement
) : { shape : Object, shapeType : String, keepZoneType : 'in' | out }

Parses a node.

parseNavGoal

parseNavGoal( node : XMLElement ) : { position : Object, radius : Number }

Parse a node.

parseArmTarget

parseArmTarget( node : XMLElement ) : { position : Object, quaternion : Object, name : String }

Parse a node.

parseRoverState

parseRoverState( node : XMLElement ) : Object<String, Number>

Parse the entire rover state out of an XML node and return an object with key being the name and value being the html content For example, 0.000000 {'ARM_NAMED_TARGET_3_POSE_FULL_Z': 0.0}

parseImageAcquire

parseImageAcquire(
	node : XMLElement
) : { camera : String, position : Object, quaternion : Object, roverState : Object }

Parse an ImageAcquire block from an XML node

<ImageAcquire Camera="NAVR">
          <RMC_Site>1</RMC_Site>
          <RMC_Drive>0</RMC_Drive>
          <Position>0.000000 0.000000 0.000000</Position>
          <Quaternion>0.000000 -0.000000 0.000000 1.000000</Quaternion>
          <RoverState>...</RoverState>
</ImageAcquire>

AnnotationData

type

type : String

The name embedded in the ARKSML file.

ArksmlResult

name

name : String

The name embedded in the ARKSML file.

spans

spans : Array<{ startTime : Number, endtime : Number, annotations : Array<AnnotationData> }>

List of annotation spans within the file.

events

events : Array<{ time : Number, annotations : Array<AnnotationData> }>

List event annotation data.

ArksmlFramesResult

name

name : String

The name embedded in the ARKSML file.

frames

frames : Array<{ time : Number, state : { annotations : Array<AnnotationData> } }>

The array of annotations converted to frames. A new frame is inserted every time the list of relevant annotations change. This includes events.

events

events : Array<{ time : Number, annotations : Array<AnnotationData> }>

List event annotation data.

ArksmlLoader

Extendable class for loading and parsing ARKSML files.

parsers

parsers : Object

Dictionary of parsers. By default ArmTarget, Target, KeepZone, NavGoal, and ImageAcquire tags are parsed.

outputFrames

outputFrames : Boolean = false

Whether or not to return the data as a set of frames in an array of the form

[{
    time,
    state: {
        annotations: [...]
    }
}, ...]

eventDuration

eventDuration : Numbar = 5.0

What the minimum duration for events should be when converting to frames.

minimumDuration

minimumDuration : Numbar = 5.0

The minimum duration of any given annotation in the file. If an annotaiton is shorter than this then it is extended from its startTime to this time.

fetchOptions

fetchOptions : Object = { credentials: 'same-origin' }

Fetch options for loading the file.

constructor

constructor( parsers : Object<String, ParserFunction> = {} ) : void

Takes a dictionary of parser functions for parsing annotation tags. The parser functions are keyed based on the name of the annotation tag it should parse.

load

load( url : String ) : Promise<ArksmlResult | ArksmlFramesResult>

Loads and parses the ARKSML file. The promise resolves with the returned data from the parse function.

parse

parse( str : String ) : RKSMLResult

Parses the contents of the given ARKSML and returns an object describing the telemetry.

preprocessFrames

preprocessFrames(
	rawSpans : Array<{ startTime : Number, endtime : Number, annotations : Array<AnnotationData> }>, 
	rawEvents : Array<{ time : Number, annotations : Array<AnnotationData> }>, 
	name : String
) : void

Overrideable function called when we need to preprocess spans and events