added event log parser

<?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

  );

}

?>