Commit 5dc78a30 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
Browse files

read imu log interface

parent 9a7461bc

src/Makefile

+2 −0
Original line number Diff line number Diff line
@@ -14,6 +14,7 @@ SRCS = nmea2exif.c log_imu.c 
OBJS =      nmea2exif.o

PHPSCRIPTS= start_gps_compass.php

PHPWEB=     logger_launcher.php imu_setup.php read_imu_log.php

WEB=        read_imu_log.html read_imu_log.js



CFLAGS   += -Wall -I$(STAGING_DIR_HOST)/usr/include-uapi

LDLIBS   += -lm
@@ -33,6 +34,7 @@ install: $(PROGS) 
	$(INSTALL) -m $(INSTMODE) -o $(INSTOWNER) -g $(INSTGROUP) $(PROGS) $(DESTDIR)$(BINDIR)

	$(INSTALL) -m $(INSTMODE) -o $(INSTOWNER) -g $(INSTGROUP) $(PHPSCRIPTS) $(DESTDIR)$(BINDIR)

	$(INSTALL) -o $(INSTOWNER) -m $(INSTDOCS) $(PHPWEB)  $(DESTDIR)$(WWW_PAGES)

	$(INSTALL) -o $(INSTOWNER) -m $(INSTDOCS) $(WEB)  $(DESTDIR)$(WWW_PAGES)

	$(INSTALL) $(OWN)-d $(DESTDIR)$(VARHTML)

	$(LN) -sf $(VARHTML) $(DESTDIR)$(WWW_PAGES)var

	$(INSTALL) $(OWN)-d $(DESTDIR)$(CONFDIR)

src/read_imu_log.html

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+69 −0
Original line number Diff line number Diff line 
<!doctype html>

<html lang="en">

  <head>

    <meta charset="utf-8"/>

    <meta name="author" content="?"/>

    <script src="read_imu_log.js"></script>

    <style>

    #results td{

      padding:0px 10px;

    }

    #results{

      font-size:14px;

    }

    

    #controls{

      background: rgba(100,200,100,0.5);

      padding: 10px;

    }

    </style>

  </head>

  <body>

    <table id='controls'>

    <tr>

      <td>

        <table>

        <tr>

          <td>Filename: <input type='text' id='file' value='/home/root/imu.log' style='width:200px;' onchange='getRqStr()'></td>

        </tr>

        <tr>

          <td colspan=''>Record filter:&nbsp;

            <span title='External device'>EXT

              <input id='filter_6' type='checkbox' checked onchange='getRqStr()'>

            </span>&nbsp;&nbsp;

            <span title='Image trigger signal'>IMG

              <input id='filter_5' type='checkbox' checked onchange='getRqStr()'>

            </span>&nbsp;&nbsp;

            <span title='IMU'>IMU

              <input id='filter_4' type='checkbox' checked onchange='getRqStr()'>

            </span>&nbsp;&nbsp;

            <span title='GPS'>GPS

              <input id='filter_3' type='checkbox' checked onchange='getRqStr()'>

              <input id='filter_2' type='checkbox' checked onchange='getRqStr()'>

              <input id='filter_1' type='checkbox' checked onchange='getRqStr()'>

              <input id='filter_0' type='checkbox' checked onchange='getRqStr()'>

            </span>

          </td>

        </tr>

        <tr>

          <td>

            <table>

            <tr>

              <td>Begin</td><td><input id='start' type='text' value='0' style='width:100px;text-align:right;' onchange='getRqStr()'></td>

            </tr>

            <tr>

              <td>End</td><td><input id='end' type='text' value='5000' style='width:100px;text-align:right;' onchange='getRqStr()'></td>

            </tr>

            </table>

          </td>

        </tr>

        <tr>

          <td><button onclick='show()'>Show</button>&nbsp;&nbsp;<span id='csvlink'></span></td>

        </tr>

        </table>

      </td>

    </tr>

    </table>

    <div id='results'></div>

  </body>

</html>

src/read_imu_log.js

0 → 100644
+171 −0
Original line number Diff line number Diff line 
function init(){

  console.log("init");

}



function show(){

  console.log("show");

    

  report("status: waiting for response");

  

  var rqstr = getRqStr();

  

  var request = new XMLHttpRequest();

  request.open('GET', rqstr, true);



  request.onreadystatechange = function() {

    if (this.readyState == 4 && this.status == 200) {      

      var resp = this.responseText;

      report("status: parsing response");

      clearInterval(loading_interval);

      parse_response(resp);

      report("<a href='"+rqstr+"'>Download in CSV format</a>");

    }

  };

  

  request.onerror = function() {

    // There was a connection error of some sort

  };

  

  loading_interval = setInterval(loading,100);

  request.send();

}



function getRqStr(){

  var filename = document.getElementById("file").value;

  

  var filter = 0;

  for(var i=0;i<7;i++){

    bit = (document.getElementById("filter_"+i).checked)?1:0;

    filter += (bit<<i);

  }

  

  var start = document.getElementById("start").value;

  var end = document.getElementById("end").value;

  

  var n = end - start;

  

  if (n<0) {

    console.log("Error: Begin > End");

    n = 1;

  }

  

  var rqstr = "read_imu_log.php?file="+filename+"&record="+start+"&nrecords="+n+"&filter="+filter;

  

  report("");

  setTimeout(function(){

    report("<a href='"+rqstr+"'>Download in CSV format</a>");

  },100);

  

  return rqstr;

}



function parse_response(csv){  

  var t = CSVToArray(csv,",");

  

  var result = "";

  

  for(var i=0;i<t.length;i++){

    if (t[i].length>0){

      result += "<tr>";

      for(var j=0;j<t[i].length;j++){

        result += "<td>"+t[i][j]+"</td>";

      }      result += "</tr>";



    }

  }

  document.getElementById("results").innerHTML = "<table>"+result+"</table>";

}



function report(msg){

  document.getElementById("csvlink").innerHTML = msg;

}



var loading_interval;



function loading(){

  console.log("loading");

}



//http://stackoverflow.com/questions/1293147/javascript-code-to-parse-csv-data

function CSVToArray( strData, strDelimiter ){

    // Check to see if the delimiter is defined. If not,

    // then default to comma.

    strDelimiter = (strDelimiter || ",");



    // Create a regular expression to parse the CSV values.

    var objPattern = new RegExp(

        (

            // Delimiters.

            "(\\" + strDelimiter + "|\\r?\\n|\\r|^)" +



            // Quoted fields.

            "(?:\"([^\"]*(?:\"\"[^\"]*)*)\"|" +



            // Standard fields.

            "([^\"\\" + strDelimiter + "\\r\\n]*))"

        ),

        "gi"

        );





    // Create an array to hold our data. Give the array

    // a default empty first row.

    var arrData = [[]];



    // Create an array to hold our individual pattern

    // matching groups.

    var arrMatches = null;





    // Keep looping over the regular expression matches

    // until we can no longer find a match.

    while (arrMatches = objPattern.exec( strData )){



        // Get the delimiter that was found.

        var strMatchedDelimiter = arrMatches[ 1 ];



        // Check to see if the given delimiter has a length

        // (is not the start of string) and if it matches

        // field delimiter. If id does not, then we know

        // that this delimiter is a row delimiter.

        if (

            strMatchedDelimiter.length &&

            strMatchedDelimiter !== strDelimiter

            ){



            // Since we have reached a new row of data,

            // add an empty row to our data array.

            arrData.push( [] );



        }



        var strMatchedValue;



        // Now that we have our delimiter out of the way,

        // let's check to see which kind of value we

        // captured (quoted or unquoted).

        if (arrMatches[ 2 ]){



            // We found a quoted value. When we capture

            // this value, unescape any double quotes.

            strMatchedValue = arrMatches[ 2 ].replace(

                new RegExp( "\"\"", "g" ),

                "\""

                );



        } else {



            // We found a non-quoted value.

            strMatchedValue = arrMatches[ 3 ];



        }





        // Now that we have our value string, let's add

        // it to the data array.

        arrData[ arrData.length - 1 ].push( strMatchedValue );

    }



    // Return the parsed data.

    return( arrData );

}
 
 No newline at end of file

src/read_imu_log.php

+145 −114
Original line number Diff line number Diff line 
<?php

if (!isset($_GET['file'])){ 



if (isset($_GET['file'])){

  if (is_file($_GET['file'])){

    $file = $_GET['file'];

    $numRecordsInFile=filesize($file)/64;

  }else{

    echo "File not found";

    die(0);  

  }

}else{

  echo "<pre>\n";

  echo "?file=log_file_name&record=record_number&nrecords=number_of_records&filter=filter";

  echo "</pre>\n";

  exit (0);

  echo <<<TEXT

  Usage: <b>http://address/read_imu_log.php?file=..&record=..&nrecords=..&filter=..</b>

      * <b>file</b> - absolute path to file

      * <b>record</b> - starting record index, default = 0

      * <b>nrecords</b> - number of records to parse, default = 5000

      * <b>filter</b> - filter out types of displayed records:

          0x10 - display imu records only

          0x20 - display image records only

          0x40 - display external trigger records only

        for gps records:

          0x01 - display NMEA GPRMC records (have coordinates)

          0x02 - display NMEA GPGGA records (have coordinates)

          0x04 - display NMEA GPGSA records

          0x08 - display NMEA GPVTG records,

        default = 0x7f (display everything)   

TEXT;

  die(0);

}



//$timeShift = 21600; // 6 hrs

$timeShift = 0; // 6 hrs

if (isset($_GET['record']))   $record = $_GET['record']+0;

else                          $record=0;



$file=$_GET['file'];

$numRecordsInFile=filesize($file)/64;

$record=0;

$nRecords=1;

if ($record>($numRecordsInFile-1)) $record=$numRecordsInFile-1;



if (isset($_GET['nrecords'])) $nRecords = $_GET['nrecords']+0;

else{

  if ($numRecordsInFile>5000)

    $nRecords=5000;

  else

    $nRecords=$numRecordsInFile;

}



if ($nRecords>($numRecordsInFile-$record)) $nRecords= $numRecordsInFile-$record;





if (isset($_GET['filter'])) $filter= intval($_GET['filter'],0);

else                        $filter= 0x7f;

/*

 1 - NMEA sentence 0 $GPRMC (log type 1)

 2 - NMEA sentence 1 $GPGGA (log type 1)
@@ -21,25 +55,22 @@ $nRecords=1; 
16 - IMU (type 0)

32 - SYNC (type 2)

64 - ODOMETER (type 3)



*/

$filter=0x7f;



//$timeShift = 21600; // 6 hrs

$timeShift = 0; // 0 hrs



$type=-1;

$gpsType=-1;

if (isset($_GET['record']))   $record=    $_GET['record']+0;

if (isset($_GET['nrecords'])) $nRecords=  $_GET['nrecords']+0;

if (isset($_GET['filter']))   $filter=    $_GET['filter']+0;



if ($record>($numRecordsInFile-1)) $record=$numRecordsInFile-1;

if ($nRecords>($numRecordsInFile-$record)) $nRecords= $numRecordsInFile-$record;



  echo "<pre>\n";

  echo "Number of samples in file=$numRecordsInFile\n";

  echo "</pre>\n";



echo "Filename,$file\n";

echo "Found Records,$numRecordsInFile\n";

echo "Record filter,0x".dechex($filter)."\n";

echo "Start index,$record\n";

echo "End index,".($record+$nRecords)."\n\n";



$log_file=fopen($file,'r');



$averageIMU=array(

    "number"=>0,

    "gyroX"=> 0,
@@ -56,97 +87,94 @@ $averageIMU=array( 
    "velocityZ"=>0,

    "temperature"=>0);



$imuFieldOrder = array(

    "gyroX",

    "gyroY",

    "gyroZ",

    "accelX",

    "accelY",

    "accelZ",

    "angleX",

    "angleY",

    "angleZ",

    "velocityX",

    "velocityY",

    "velocityZ",

    "temperature"

);

    

imuLogParse($log_file,$record,$nRecords,$filter);

exit(0);



die(0);



function imuLogParse($handle,$record,$nSamples,$filter,$tryNumber=10000){



  global $timeShift;



  global $averageIMU;

  global $imuFieldOrder;

  

  $showAll=($nSamples<=100000);

  

  $gpsFilter= $filter&0xf;

  

  $typeFilter=(($gpsFilter!=0)?2:0) | ((($filter&0x10)!=0)?1:0) | ((($filter&0x20)!=0)?4:0) | ((($filter&0x20)!=0)?8:0);

  

  fseek($handle,64*$record,SEEK_SET);

  echo "<pre>\n";

//  echo "filter=$filter, gpsFilter=$gpsFilter, typeFilter=$typeFilter, record=$record, nSamples=$nSamples\n";

  

  echo "Index,Timestamp,Type,".implode(",",$imuFieldOrder).",non-IMU data\n";

  

  for ($nSample=0;$nSample<$nSamples;$nSample++) {

  

    $sample=fread($handle,64);

    $arr32=unpack('L*',$sample);

    

    $time=(($arr32[1]&0xfffff)/1000000)+$arr32[2];

    $type=$arr32[1]>>24;

    $gps=($type==1)?($arr32[3]&0x3):0xf; // any if it is not GPS sample

    

    if ((((1<<$type)&$typeFilter)!=0) && (($type!=1) || (((1<<$gps)&$gpsFilter)!=0))) {

      //$arr8=unpack('C*',$sample);

      $time=(($arr32[1]&0xfffff)/1000000)+$arr32[2];

  if ($showAll) printf("%8d %f: ",($record+$nSample),$time);

    

      if ($showAll) printf("%8d,%f,$type,",($record+$nSample),$time);

      

      switch ($type) {

        // IMU record

        case 0:

//          print_r($arr32);

//           if ($showAll) {

//             for ($i=2;$i<16;$i++) {

//               printf(" %9d",$arr32[$i+1]);

//             }

//             echo "\n";

//              printf("%8d %f: ",($record+$nSample),$time);

//             for ($i=2;$i<16;$i++) {

//               printf(" %9x",0xffffffff&$arr32[$i+1]);

//             }

//             echo "\n";

//           }



          $imuSample=parseIMU($arr32);

          

	  //if ($showAll) print_r($imuSample);

	  if ($showAll) echo " [angleX]=>".$imuSample["angleX"]."     [angleY]=>".$imuSample["angleY"]."     [angleZ]=>".$imuSample["angleZ"].

          echo implode(",",$imuSample)."\n";

          

          /*

          echo " [angleX]=>".$imuSample["angleX"]."     [angleY]=>".$imuSample["angleY"]."     [angleZ]=>".$imuSample["angleZ"].

                             "     [gyroX] =>".$imuSample["gyroX"] ."      [gyroY]=>".$imuSample["gyroY"] ."      [gyroZ]=>".$imuSample["gyroZ"].

                             "     [accelX] =>".$imuSample["accelX"] ."      [accelY]=>".$imuSample["accelY"] ."      [accelZ]=>".$imuSample["accelZ"].

                             "     [velocityX] =>".$imuSample["velocityX"] ."      [velocityY]=>".$imuSample["velocityY"] ."      [velocityZ]=>".$imuSample["velocityZ"].

                             "     [temperature]=>".$imuSample["temperature"]."\n";



          $averageIMU["number"]++;

          foreach ($imuSample as $key=>$value) $averageIMU[$key]+=$value;



	  $avg_x = $averageIMU["angleX"]/$averageIMU["number"];

	  $avg_y = $averageIMU["angleY"]/$averageIMU["number"];

	  $avg_z = $averageIMU["angleZ"]/$averageIMU["number"];



	  //echo $avg_x." ".$avg_y." ".$avg_z."\n";

	  



          */

          break;

          

        // GPS record

        case 1:

        

          $nmeaArray=parseGPS($sample);

          $nmeaString='$';

          for ($i=0; $i<count($nmeaArray);$i++) {

            $nmeaString.=$nmeaArray[$i];

            if ($i < (count($nmeaArray)-1))$nmeaString.=',';

          }

          echo "GPS (NMEA): ".$nmeaString."\n";

          $nmeaString = '$'.implode(",",$nmeaArray);

          

          echo ",,,,,,,,,,,,,\"GPS (NMEA): ".$nmeaString."\"\n";

          break;

          

        // Master (Sync) record

        case 2:

          $masterTime=(($arr32[3]&0xfffff)/1000000)+$arr32[4];

          $subchannel = ($arr32[3] >> 24);

          echo "Subchannel: <b>".$subchannel."</b> MasterTimeStamp: <b>".($masterTime+$timeShift)."</b> TimeStamp: <b>".($time+$timeShift)."</b>   MasterTimeStamp(precise): 0x".dechex($arr32[4])."+".dechex($arr32[3])." TimeStamp(precise): 0x".dechex($arr32[2])."+".dechex($arr32[1])." $masterTime - ".gmdate(DATE_RFC850,$masterTime)." [local timestamp - ".gmdate(DATE_RFC850,$time)."]\n";

          echo ",,,,,,,,,,,,,\"Subchannel: <b>".$subchannel."</b> MasterTimeStamp: <b>".($masterTime+$timeShift)."</b> TimeStamp: <b>".($time+$timeShift)."</b>   MasterTimeStamp(precise): 0x".dechex($arr32[4])."+".dechex($arr32[3])." TimeStamp(precise): 0x".dechex($arr32[2])."+".dechex($arr32[1])." $masterTime - ".gmdate(DATE_RFC850,$masterTime)." [local timestamp - ".gmdate(DATE_RFC850,$time)."]\"\n";

          break;

          

        // Show hex data

        case 3: print_r($arr32);

          break;

      }

    }

  }

  if ($averageIMU['number']>0) {

		foreach ( $averageIMU as $key => $value )

			if ($key != 'number')

				$averageIMU [$key] /= $averageIMU ['number'];

		print_r ( $averageIMU );

		echo "</pre>\n";

		echo "<table>\n";

		foreach ( $averageIMU as $key => $value )

			echo "<tr><td>$key</td><td>$value</td></tr>\n";

		echo "</table>\n";

  }

}



function parseGPS($sample){
@@ -174,7 +202,7 @@ function parseGPS($sample){ 
  $type=$arr8[4];

  $nibbleNumber=16; // starting with 0;

  $gps=getNibble($nibbleNumber++,$arr8);

//echo "gps=$gps\n";



  $rslt=array(0=>$sentences[$gps]);

  for ($i=0;$i<count($formats[$gps]);$i++){

    $rslt[$i+1]='';
@@ -194,11 +222,44 @@ function parseGPS($sample){ 
  }

  return $rslt;

}



function getNibble($n,$arr8){

 return ($arr8[($n>>1)+1]>>(($n&1)?4:0))&0xf;

}

function parseNMEA($sent,$data){



function parseIMU ($arr32){

  $gyroScale=0.013108/65536;      // deg/sec

  $accelScale=0.8192/65536;       // mg

  $angleScale= 0.005493/65536;    // degrees

  $velocityScale=0.0030518/65536; // m/sec

  //$angleScale= 0.005493;      //degrees

  //$velocityScale=0.0030518;   //m/sec

  $temperatureScale=0.00565;      // C/LSB

  $t=($arr32[15] & 0xffff);

  if ($t>=32768) $t-=65536;

  

  for ($i=3;$i<15;$i++) if ((($arr32[$i] & 0x80000000)!=0) && ($arr32[$i] > 0)) $arr32[$i]-=0x100000000;

  

  return array(

    "gyroX"=> $arr32[ 3]*$gyroScale,

    "gyroY"=> $arr32[ 4]*$gyroScale,

    "gyroZ"=> $arr32[ 5]*$gyroScale,

    "accelX"=>$arr32[ 6]*$accelScale,

    "accelY"=>$arr32[ 7]*$accelScale,

    "accelZ"=>$arr32[ 8]*$accelScale,

    "angleX"=>$arr32[ 9]*$angleScale,

    "angleY"=>$arr32[10]*$angleScale,

    "angleZ"=>$arr32[11]*$angleScale,

    "velocityX"=>$arr32[12]*$velocityScale,

    "velocityY"=>$arr32[13]*$velocityScale,

    "velocityZ"=>$arr32[14]*$velocityScale,

    "temperature"=>$t*$temperatureScale+25

  );

}



/*

function parseNMEA($sent,$data){



eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh

1    = UTC of position fix

2    = Data status (V=navigation receiver warning)
@@ -297,37 +358,7 @@ eg3. $GPVTG,t,T,,,s.ss,N,s.ss,K*hh 
    0x72, // time d/h [12:8] - day [5:0] - hours

    0x74,// time y/m  [14:8] year (from 2000), [3:0] - month





*/

}

function parseIMU ($arr32){

  $gyroScale=0.013108/65536;       // deg/sec

  $accelScale=0.8192/65536;       // mg

  $angleScale= 0.005493/65536;    //degrees

  $velocityScale=0.0030518/65536; //m/sec

//  $angleScale= 0.005493;    //degrees

//  $velocityScale=0.0030518; //m/sec

  $temperatureScale=0.00565; // C/LSB

  $t=($arr32[15] & 0xffff);

  if ($t>=32768) $t-=65536;

  for ($i=3;$i<15;$i++) if ((($arr32[$i] & 0x80000000)!=0) && ($arr32[$i] > 0)) $arr32[$i]-=0x100000000;

*/



  return array(

    "gyroX"=> $arr32[ 3]*$gyroScale,

    "gyroY"=> $arr32[ 4]*$gyroScale,

    "gyroZ"=> $arr32[ 5]*$gyroScale,

    "accelX"=>$arr32[ 6]*$accelScale,

    "accelY"=>$arr32[ 7]*$accelScale,

    "accelZ"=>$arr32[ 8]*$accelScale,

    "angleX"=>$arr32[ 9]*$angleScale,

    "angleY"=>$arr32[10]*$angleScale,

    "angleZ"=>$arr32[11]*$angleScale,

    "velocityX"=>$arr32[12]*$velocityScale,

    "velocityY"=>$arr32[13]*$velocityScale,

    "velocityZ"=>$arr32[14]*$velocityScale,

    "temperature"=>$t*$temperatureScale+25

//    "temperature"=>$t

// date/time

  );

}

?>