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Fixes problems surfaced during Plotly 4 to 6 transition #426

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Merged
ryancdougherty merged 4 commits into from
Aug 3, 2026
Merged

Fixes problems surfaced during Plotly 4 to 6 transition #426

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4154d6c
Transition deprecated Scattermapbox plots to more general Scattermap …
ryancdougherty Jul 31, 2026
94d02fc
Simplify start, stop time index case handling.
ryancdougherty Jul 31, 2026
289033d
Ignore *venv/ as well.
ryancdougherty Jul 31, 2026
3e660a4
Extend file index test coverage.
ryancdougherty Jul 31, 2026
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ build/

# Python files.
venv*/
*venv/
*.pyc

# IDE project settings.
Expand Down
90 changes: 60 additions & 30 deletions python/fusion_engine_client/analysis/analyzer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,37 @@ def _data_to_table(col_titles: List[str], values: List[List[Any]], row_major: bo
return table_html.replace('\n', '')


def _build_map_style(mapbox_token: Optional[str]):
"""!
@brief Build a `layout.map.style` value for a MapLibre-based Scattermap figure.

If a Mapbox access token is available, pull Mapbox satellite tiles via a custom raster style spec (the mechanism
MapLibre-based maps use in place of the old `layout.mapbox.accesstoken` field, which no longer exists). Otherwise,
fall back to Plotly's built-in token-free `satellite-streets` style, which serves ESRI World Imagery aerial tiles
(max zoom 16, lower resolution than Mapbox) with OpenMapTiles street labels drawn on top.
"""
if not mapbox_token:
return 'satellite-streets'

return {
'version': 8,
'sources': {
'mapbox-satellite': {
'type': 'raster',
'tiles': [
f'https://api.mapbox.com/v4/mapbox.satellite/{{z}}/{{x}}/{{y}}@2x.jpg90'
f'?access_token={mapbox_token}'
],
'tileSize': 256,
'attribution': '© Mapbox',
},
},
'layers': [
{'id': 'mapbox-satellite-layer', 'type': 'raster', 'source': 'mapbox-satellite'},
],
}


_page_template = '''\
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
Expand Down Expand Up @@ -1159,9 +1190,9 @@ def plot_map(self, mapbox_token, reference: Optional[ReferenceData] = None):
mapbox_token = self.get_mapbox_token(mapbox_token)
if mapbox_token is None or mapbox_token == "":
self.logger.info('*' * 80 + '\n\n' +
'Mapbox token not specified. Disabling satellite imagery. For satellite imagery,\n'
'please provide a Mapbox token using --mapbox-token or by setting the\n'
'MAPBOX_ACCESS_TOKEN environment variable.' +
'Mapbox token not specified. Falling back to lower-resolution free satellite\n'
'imagery. For high-resolution imagery, please provide a Mapbox token using\n'
'--mapbox-token or by setting the MAPBOX_ACCESS_TOKEN environment variable.' +
'\n\n' + '*' * 80)
self._mapbox_token_missing = True
mapbox_token = None
Expand Down Expand Up @@ -1244,28 +1275,28 @@ def _plot_data(name, selected_idx, flags, source_id, lla_deg, customdata_all, ma

if np.any(is_nav_engine):
idx = is_nav_engine
map_data.append(go.Scattermapbox(lat=lla_deg[0, idx], lon=lla_deg[1, idx], name=name,
customdata=[customdata_all[i] for i in np.nonzero(idx)[0]],
hovertemplate=_with_bold_name(hovertemplate, name),
legendgroup=legendgroup, visible=visible, **style))
map_data.append(go.Scattermap(lat=lla_deg[0, idx], lon=lla_deg[1, idx], name=name,
customdata=[customdata_all[i] for i in np.nonzero(idx)[0]],
hovertemplate=_with_bold_name(hovertemplate, name),
legendgroup=legendgroup, visible=visible, **style))
indices_by_engine['Nav Engine'].append(len(map_data) - 1)

if np.any(is_gnss_rx):
idx = is_gnss_rx
style['marker']['opacity'] = 0.5
style['marker']['size'] = 5
gnss_name = name + ' (Receiver Solution)'
map_data.append(go.Scattermapbox(lat=lla_deg[0, idx], lon=lla_deg[1, idx],
name=gnss_name,
customdata=[customdata_all[i] for i in np.nonzero(idx)[0]],
hovertemplate=_with_bold_name(hovertemplate, gnss_name),
legendgroup=legendgroup, visible=visible, **style))
map_data.append(go.Scattermap(lat=lla_deg[0, idx], lon=lla_deg[1, idx],
name=gnss_name,
customdata=[customdata_all[i] for i in np.nonzero(idx)[0]],
hovertemplate=_with_bold_name(hovertemplate, gnss_name),
legendgroup=legendgroup, visible=visible, **style))
indices_by_engine['Receiver Solution'].append(len(map_data) - 1)

else:
# If there's no data, draw a dummy trace so it shows up in the legend anyway.
map_data.append(go.Scattermapbox(lat=[np.nan], lon=[np.nan], name=name, legendgroup=legendgroup,
visible='legendonly', **style))
map_data.append(go.Scattermap(lat=[np.nan], lon=[np.nan], name=name, legendgroup=legendgroup,
visible='legendonly', **style))
indices_by_engine['Nav Engine'].append(len(map_data) - 1)

# Read the pose data.
Expand Down Expand Up @@ -1340,7 +1371,7 @@ def _plot_data(name, selected_idx, flags, source_id, lla_deg, customdata_all, ma

# Add reference/truth data to the map, if available, restricted to the time range covered by the pose data.
# Built as a separate list and prepended below (rather than appended to map_data directly) so the reference
# is drawn first -- Scattermapbox layers later traces on top, and we want the pose data on top of the
# is drawn first -- Scattermap layers later traces on top, and we want the pose data on top of the
# reference, not the other way around.
ref_traces = []
if reference is not None and (reference.is_stationary or overall_gps_t_min is not None):
Expand Down Expand Up @@ -1381,12 +1412,12 @@ def _plot_data(name, selected_idx, flags, source_id, lla_deg, customdata_all, ma
trace_customdata = None
else:
trace_customdata = [ref_customdata[i] for i in np.nonzero(idx)[0]]
ref_traces.append(go.Scattermapbox(lat=ref_lla_deg[0, idx], lon=ref_lla_deg[1, idx],
name=name, mode='markers',
marker={'size': 8, 'color': color},
showlegend=True, legendgroup='ref',
customdata=trace_customdata,
hovertemplate=_with_bold_name(ref_hovertemplate, name)))
ref_traces.append(go.Scattermap(lat=ref_lla_deg[0, idx], lon=ref_lla_deg[1, idx],
name=name, mode='markers',
marker={'size': 8, 'color': color},
showlegend=True, legendgroup='ref',
customdata=trace_customdata,
hovertemplate=_with_bold_name(ref_hovertemplate, name)))

if ref_traces:
# Shift the pose traces' button indices to account for the reference traces now being inserted ahead of
Expand All @@ -1400,8 +1431,8 @@ def _plot_data(name, selected_idx, flags, source_id, lla_deg, customdata_all, ma
# Create the map.
title = 'Vehicle Trajectory'
if mapbox_token is None:
title += '<br>For satellite imagery, please provide a Mapbox token using --mapbox-token or by setting ' \
'MAPBOX_ACCESS_TOKEN.'
title += '<br>For higher-resolution satellite imagery, please provide a Mapbox token using ' \
'--mapbox-token or by setting MAPBOX_ACCESS_TOKEN.'

layout = go.Layout(
autosize=True,
Expand All @@ -1412,16 +1443,15 @@ def _plot_data(name, selected_idx, flags, source_id, lla_deg, customdata_all, ma
title=dict(text=title, x=0, xanchor='left', xref='paper'),
# Reduce padding around the map, leaving enough space for the title.
margin=dict(l=16, r=16, t=70, b=8),
mapbox=dict(
accesstoken=mapbox_token,
map=dict(
bearing=0,
center=dict(
lat=lla_deg[0, 0],
lon=lla_deg[1, 0],
),
pitch=0,
zoom=18,
style='open-street-map' if mapbox_token is None else 'satellite-streets',
style=_build_map_style(mapbox_token),
),
)

Expand Down Expand Up @@ -1464,7 +1494,7 @@ def _plot_data(name, selected_idx, flags, source_id, lla_deg, customdata_all, ma
# shrink after the time scale renders.
#
# The map itself starts hidden (`visibility:hidden`, which still reserves its final layout space, unlike
# `display:none`) -- even with the container correctly sized up front, Plotly's own WebGL/mapbox-gl
# `display:none`) -- even with the container correctly sized up front, Plotly's own WebGL/MapLibre
# rendering doesn't necessarily catch up to a resize() call within the same paint, so revealing it right
# away can still show one frame at the wrong (window-sized) dimensions overlapping the slider. It's
# revealed by JS (plotly_map_time_slider.js) once Plotly itself reports the post-resize redraw is done.
Expand Down Expand Up @@ -3418,9 +3448,9 @@ def generate_index(self, reference: Optional[ReferenceData] = None, auto_open: b
if self._mapbox_token_missing:
self.summary += """\n
<p style="color: red">
Warning: Mapbox token not specified. Generated map using Open Street Maps
street data. For satellite imagery, please request a free access token from
https://account.mapbox.com/access-tokens, then provide the token by
Warning: Mapbox token not specified. Generated map using free, lower-resolution
satellite imagery. For high-resolution imagery, please request a free access
token from https://account.mapbox.com/access-tokens, then provide the token by
specifying --mapbox-token or setting the MAPBOX_ACCESS_TOKEN environment
variable.
</p>
Expand Down
51 changes: 28 additions & 23 deletions python/fusion_engine_client/parsers/file_index.py
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Expand Up @@ -384,35 +384,40 @@ def get_time_range(self, start: Union[Timestamp, float] = None, stop: Union[Time
raise IndexError(f'No P1 timestamps present in index. Cannot apply time bounds. '
f'[start={start}, stop={stop}]')
else:
# Note: The index stores only the integer part of the timestamp.

# If self._data['time'] ends _before_ `start``, use 0 as start_idx. If self._data['time'] ends _after_
# `end`, use len(self._data['time']) as end_idx.
with np.errstate(invalid='ignore'):
start_idx = find_first(self._data['time'] >= np.floor(start)) if start is not None else 0
end_idx = find_first(self._data['time'] >= stop) if stop is not None else len(self._data)

# Corner case: if all messages with timestamps are >= stop (i.e., the log starts after the stop time), if
# there are some messages at the start of the log that do not have timestamps, find_first() will include
# them but we don't want that. For example, if stop is 4 and we have:
# {nan, 6, 7, 8}
# we expect end_idx = -1 (i.e., nothing in range), not end_idx = 1 (i.e., include the nan message).
nan_idx = np.isnan(self._data['time'])
if end_idx >= 1 and np.all(nan_idx[:end_idx]):
end_idx = -1

# Note: start_idx or end_idx == -1 indicates there was no data in the time range.
# Both bounds are intentionally over-inclusive: the index stores only the integer part of each timestamp, so
# floor `start` to avoid dropping a message whose true time is in range. `stop` needs no adjustment.
#
# nan entries (no P1Time) never satisfy `>=`, so find_first() either lands on a timestamped entry or returns
# -1. Treat -1 as len(self._data): an empty range for `start`, or the end of the data for `stop`.
def _first_at_or_after(time_sec: float) -> int:
with np.errstate(invalid='ignore'):
idx = find_first(self._data['time'] >= time_sec)
return len(self._data) if idx < 0 else idx

# Messages without P1Time are in range while the surrounding P1 time is in range, so an omitted bound takes
# in the initial/final block of them at that end of the log. Keep this consistent with @ref
# TimeRange.is_in_range(), which is used to read a log with no index.
start_idx = _first_at_or_after(np.floor(start)) if start is not None else 0
end_idx = _first_at_or_after(stop) if stop is not None else len(self._data)

# With `start` omitted the range begins at index 0, which may cover an initial block of messages without
# P1Time. If it covers _nothing else_, no timestamped data is in range, so the range is empty: stop=4 over
# {nan, nan, 6, 7, 8} must yield nothing, not end_idx == 2. Note that is_in_range() would return the two
# leading messages; this is our one intentional deviation.
is_nan = np.isnan(self._data['time'])
if stop is not None and np.all(is_nan[start_idx:end_idx]):
end_idx = start_idx

idx = np.full_like(self._data['time'], False, dtype=bool)
if start_idx >= 0 and end_idx >= 0:
idx[start_idx:end_idx] = True
idx[start_idx:end_idx] = True

if hint in ('all_nans', 'remove_nans'):
if hint == 'all_nans':
idx[nan_idx] = True
idx[is_nan] = True
elif hint == 'remove_nans':
idx[nan_idx] = False
idx[is_nan] = False
elif hint != 'include_nans':
raise ValueError('Unrecognized control hint.')
raise ValueError(f'Unrecognized control hint: "{hint}".')

return FileIndex(data=self._data[idx], t0=self.t0)

Expand Down
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