added event log parser

src/read_imu_log.php

+<?php
+if (!isset($_GET['file'])){ 
+  echo "<pre>\n";
+  echo "?file=log_file_name&record=record_number&nrecords=number_of_records&filter=filter";
+  echo "</pre>\n";
+  exit (0);
+}
+
+$timeShift = 21600;
+
+$file=$_GET['file'];
+$numRecordsInFile=filesize($file)/64;
+$record=0;
+$nRecords=1;
+/*
+ 1 - NMEA sentence 0 $GPRMC (log type 1)
+ 2 - NMEA sentence 1 $GPGGA (log type 1)
+ 4 - NMEA sentence 2 $GPGSA (log type 1)
+ 8 - NMEA sentence 3 $GPVTG (log type 1)
+16 - IMU (type 0)
+32 - SYNC (type 2)
+64 - ODOMETER (type 3)
+
+*/
+$filter=0x7f;
+
+$type=-1;
+$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=$numRecordsInFile\n";
+  echo "</pre>\n";
+
+
+$log_file=fopen($file,'r');
+$averageIMU=array(
+    "number"=>0,
+    "gyroX"=> 0,
+    "gyroY"=> 0,
+    "gyroZ"=> 0,
+    "accelX"=>0,
+    "accelY"=>0,
+    "accelZ"=>0,
+    "angleX"=>0,
+    "angleY"=>0,
+    "angleZ"=>0,
+    "velocityX"=>0,
+    "velocityY"=>0,
+    "velocityZ"=>0,
+    "temperature"=>0);
+
+imuLogParse($log_file,$record,$nRecords,$filter);
+exit(0);
+
+function imuLogParse($handle,$record,$nSamples,$filter,$tryNumber=10000){
+
+  global $timeShift;
+
+  global $averageIMU;
+  $showAll=($nSamples<=10000);
+  $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";
+  for ($nSample=0;$nSample<$nSamples;$nSample++) {
+    $sample=fread($handle,64);
+    $arr32=unpack('L*',$sample);
+    $type=$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),$time);
+      switch ($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"].
+                             "     [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";
+          break;
+	// Master (Sync) record
+        case 2:
+          $masterTime=(($arr32[3]&0xfffff)/1000000)+$arr32[4];
+          echo "MasterTimeStamp: <b>".($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;
+      }
+    }
+  }
+  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){
+  $sentences=array(
+    0=>"GPRMC",
+    1=>"GPGGA",
+    2=>"GPGSA",
+    3=>"GPVTG"
+   );
+  $formats=array(
+    0=>str_split('nbnbnbnnnnb'),
+    1=>str_split('nnbnbnnnnbnbbb'),
+    2=>str_split('bnnnnnnnnnnnnnnnn'),
+    3=>str_split('nbnbnbnb')
+   );
+//print_r($formats);
+/*
+    'R','M','C','n','b','n','b','n','b','n','n','n','n','b', 0,  0,  0,  0,  0,  0,  0,0,0,0,  0,0,0,0,  0,0,0,0,
+    'G','G','A','n','n','b','n','b','n','n','n','n','b','n','b','b','b', 0,  0,  0,  0,0,0,0,  0,0,0,0,  0,0,0,0,
+    'G','S','A','b','n','n','n','n','n','n','n','n','n','n','n','n','n','n','n','n', 0,0,0,0,  0,0,0,0,  0,0,0,0,
+    'V','T','G','n','b','n','b','n','b','n','b', 0,  0,  0,  0,  0,  0,  0,  0,  0,  0,0,0,0,  0,0,0,0,  0,0,0,0,
+
+*/
+  $arr8= unpack('C*',$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]='';
+    if ($formats[$gps][$i]=='n'){ //nibbles
+      while (true) {
+        $nibble=getNibble($nibbleNumber++,$arr8);
+        if ($nibble==0xf) break;
+        $rslt[$i+1].=chr($nibble+(($nibble>9)?0x20:0x30));
+      }
+    } else { // bytes
+      do {
+       $byte=getNibble($nibbleNumber++,$arr8);
+       $byte+=(getNibble($nibbleNumber++,$arr8)<<4);
+       if (($byte&0x7f)!=0x7f) $rslt[$i+1].=chr($byte&0x7f);
+      } while (($byte&0x80)==0);
+    }
+  }
+  return $rslt;
+}
+function getNibble($n,$arr8){
+ return ($arr8[($n>>1)+1]>>(($n&1)?4:0))&0xf;
+}
+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)
+3    = Latitude of fix
+4    = N or S
+5    = Longitude of fix
+6    = E or W
+7    = Speed over ground in knots
+8    = Track made good in degrees True
+9    = UT date
+10   = Magnetic variation degrees (Easterly var. subtracts from true course)
+11   = E or W
+12   = Checksum
+
+eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
+1    = UTC of Position
+2    = Latitude
+3    = N or S
+4    = Longitude
+5    = E or W
+6    = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
+7    = Number of satellites in use [not those in view]
+8    = Horizontal dilution of position
+9    = Antenna altitude above/below mean sea level (geoid)
+10   = Meters  (Antenna height unit)
+11   = Geoidal separation (Diff. between WGS-84 earth ellipsoid and
+       mean sea level.  -=geoid is below WGS-84 ellipsoid)
+12   = Meters  (Units of geoidal separation)
+13   = Age in seconds since last update from diff. reference station
+14   = Diff. reference station ID#
+15   = Checksum
+
+GPS Satellites in view
+
+eg. $GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74
+    $GPGSV,3,2,11,14,25,170,00,16,57,208,39,18,67,296,40,19,40,246,00*74
+    $GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D
+
+
+    $GPGSV,1,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
+
+
+1    = Total number of messages of this type in this cycle
+2    = Message number
+3    = Total number of SVs in view
+4    = SV PRN number
+5    = Elevation in degrees, 90 maximum
+6    = Azimuth, degrees from true north, 000 to 359
+7    = SNR, 00-99 dB (null when not tracking)
+8-11 = Information about second SV, same as field 4-7
+12-15= Information about third SV, same as field 4-7
+16-19= Information about fourth SV, same as field 4-7
+
+eg3. $GPVTG,t,T,,,s.ss,N,s.ss,K*hh
+1    = Track made good
+2    = Fixed text 'T' indicates that track made good is relative to true north
+3    = not used
+4    = not used
+5    = Speed over ground in knots
+6    = Fixed text 'N' indicates that speed over ground in in knots
+7    = Speed over ground in kilometers/hour
+8    = Fixed text 'K' indicates that speed over ground is in kilometers/hour
+9    = Checksum
+
+// IMU logged data:
+    0x10, // x gyro low
+    0x12, // x gyro high 0.013108 deg/sec
+    0x14, // y gyro low
+    0x16, // y gyro high 0.013108 deg/sec
+    0x18, // z gyro low
+    0x1a, // z gyro high 0.013108 deg/sec
+
+    0x1c, // x accel low
+    0x1e, // x accel high 0.8192 mg
+    0x20, // y accel low
+    0x22, // y accel high
+    0x24, // z accel low
+    0x26, // z accel high
+
+    0x40, // x delta angle low
+    0x42, // x delta angle high +/-179.9891, LSB=0.005493 degree
+    0x44, // y delta angle low
+    0x46, // y delta angle high +/-179.9891, LSB=0.005493 degree
+    0x48, // z delta angle low
+    0x4a, // z delta angle high +/-179.9891, LSB=0.005493 degree
+
+    0x4c, // x delta velocity low
+    0x4e, // x delta velocity high +/-99.998 m/sec, LSB=3.0518mm/sec
+    0x50, // y delta velocity low
+    0x52, // y delta velocity high +/-99.998 m/sec, LSB=3.0518mm/sec
+    0x54, // z delta velocity low
+    0x56, // z delta velocity high +/-99.998 m/sec, LSB=3.0518mm/sec
+
+    0x0e, // temperature 25C+ 0.00565C/LSB
+    0x70, // time m/s [13:8] - minutes, [5:0] seconds
+    0x72, // time d/h [12:8] - day [5:0] - hours
+    0x74,// time y/m  [14:8] year (from 2000), [3:0] - month
+
+
+*/
+}
+function parseIMU ($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]-=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
+  );
+}
+?>