Пример #1
0
    void BufferedLdcPacket::parseSweeps()
    {
        //read the values from the payload
        uint8 channelMask    = m_payload.read_uint8(PAYLOAD_OFFSET_CHANNEL_MASK);
        uint8 sampleRate    = m_payload.read_uint8(PAYLOAD_OFFSET_SAMPLE_RATE);
        uint8 dataType        = m_payload.read_uint8(PAYLOAD_OFFSET_DATA_TYPE);
        uint16 tick            = m_payload.read_uint16(PAYLOAD_OFFSET_TICK);

        //set the data type of the packet
        m_dataType = static_cast<WirelessTypes::DataType>(dataType);

        //build the ChannelMask from the channel mask
        ChannelMask channels(channelMask);

        //calculate the size of a single sweep
        m_sweepSize = channels.count() * WirelessTypes::dataTypeSize(m_dataType);

        //if the sweep size is 0 (no channels active)
        if(m_sweepSize == 0)
        {
            //we only want to insert 1 sweep
            m_numSweeps = 1;
        }
        else
        {
            //calculate the number of sweeps in this packet
            m_numSweeps = (m_payload.size() - PAYLOAD_OFFSET_CHANNEL_DATA) / m_sweepSize;
        }

        //if we still have no sweeps, there was an error in the packet
        if(m_numSweeps == 0) { throw Error("Invalid Packet"); }

        //build the full nanosecond resolution timestamp from the seconds and nanoseconds values read above
        uint64 receivedTime = Timestamp::timeNow().nanoseconds();

        //create a SampleRate object from the sampleRate byte
        SampleRate currentRate = SampleUtils::convertToSampleRate(sampleRate);

        //get the value to increment the timestamp by for each sweep (the timestamp from the packet only applies to the first sweep)
        const uint64 TS_INCREMENT = currentRate.samplePeriod().getNanoseconds();

        //there are multiple sweeps in this packet (buffered)
        for(uint32 sweepItr = 0; sweepItr < m_numSweeps; sweepItr++)
        {
            //build a sweep to add
            DataSweep sweep;
            sweep.samplingType(DataSweep::samplingType_NonSync_Buffered);
            sweep.frequency(m_frequency);
            sweep.tick(tick++);
            sweep.nodeAddress(m_nodeAddress);
            sweep.sampleRate(currentRate);

            //calculate the timestamp to use for this sweep (last sweep gets PC timestamp, count backwards for the other sweeps)
            sweep.timestamp(Timestamp(receivedTime - (TS_INCREMENT * (m_numSweeps - (sweepItr + 1)))));

            //get this sweep's node and base rssi values
            sweep.nodeRssi(m_nodeRSSI);
            sweep.baseRssi(m_baseRSSI);

            //cals applied if the data type is float
            sweep.calApplied(m_dataType == WirelessTypes::dataType_float32);
        
            ChannelData chData;

            //the index of the channel data
            int chDataIndex = 0;

            uint8 lastActiveCh = channels.lastChEnabled();

            //loop through all the channels
            for(uint8 chItr = 1; chItr <= lastActiveCh; ++chItr)
            {    
                //if the current channel is enabled
                if(channels.enabled(chItr))
                {
                    //insert the data point into the ChannelData object for the wireless channel
                    addDataPoint(chData, (chItr), chDataIndex, sweepItr, wirelessChannelFromChNum(chItr));

                    chDataIndex++;
                }
            }

            //add the channel data to the sweep
            sweep.data(chData);

            //add the sweep to the container of sweeps
            addSweep(sweep);
        }
    }
    void AsyncDigitalAnalogPacket::parseSweeps()
    {
        const uint32 TS_OFFSET_LEN = 2;    //timestamp offset is always 2 bytes
        const uint32 DIGITAL_LEN = 2;        //digital data is always 2 bytes

        //read the values from the payload
        uint16 channelMask        = m_payload.read_uint16(PAYLOAD_OFFSET_CHANNEL_MASK);
        uint8 dataType            = m_payload.read_uint8(PAYLOAD_OFFSET_DATA_TYPE);
        uint16 tick                = m_payload.read_uint16(PAYLOAD_OFFSET_TICK);
        uint64 timestampSeconds    = m_payload.read_uint32(PAYLOAD_OFFSET_TS_SEC);        //the timestamp (UTC) seconds part
        uint64 timestampNanos    = m_payload.read_uint32(PAYLOAD_OFFSET_TS_NANOSEC);    //the timestamp (UTC) nanoseconds part

        //build the full nanosecond resolution timestamp from the seconds and nanoseconds values read above
        uint64 packetTimestamp = (timestampSeconds * TimeSpan::NANOSECONDS_PER_SECOND) + timestampNanos;

        //build the ChannelMask from the channel mask
        ChannelMask channels(channelMask);

        //set the data type of the packet
        m_dataType = static_cast<WirelessTypes::DataType>(dataType);

        //create a sample rate for this data
        static const SampleRate digitalRate = SampleRate::Event();

        std::size_t payloadLen = m_payload.size();
        uint16 sweepItr = 0;

        //find the offset into the payload to get the data
        uint32 byteItr = PAYLOAD_OFFSET_CHANNEL_DATA;

        //while there is still more data for us to read
        while(byteItr < payloadLen)
        {
            //build a sweep to add
            DataSweep sweep;
            sweep.samplingType(DataSweep::samplingType_AsyncDigitalAnalog);
            sweep.frequency(m_frequency);
            sweep.tick(tick++);
            sweep.nodeAddress(m_nodeAddress);
            sweep.sampleRate(digitalRate);

            //get this sweep's timestamp offset
            uint64 timeOffset = m_payload.read_uint16(byteItr);
            byteItr += TS_OFFSET_LEN;

            //get this sweep's digital data value
            uint16 digitalData = m_payload.read_uint16(byteItr);
            byteItr += DIGITAL_LEN;

            //build this sweep's timestamp
            sweep.timestamp(Timestamp(packetTimestamp + ((timeOffset * TimeSpan::NANOSECONDS_PER_SECOND) / 32768) ));            

            //get this sweep's node and base rssi values
            sweep.nodeRssi(m_nodeRSSI);
            sweep.baseRssi(m_baseRSSI);
            sweep.calApplied(m_dataType == WirelessTypes::dataType_float32);

            //the digital data is represented as the same structure as a channel mask (16 values, 1 or 0)
            ChannelMask digitalDataMask(digitalData);

            ChannelData chData;

            uint8 lastActiveCh = channels.lastChEnabled();

            //loop through all the channels
            for(uint8 chItr = 1; chItr <= lastActiveCh; ++chItr)
            {
                //if the current channel is enabled
                if(channels.enabled(chItr))
                {
                    //if the digital value is enabled (active) for this channel
                    if(digitalDataMask.enabled(chItr))
                    {
                        //create a WirelessDataPoint from the analog data
                        WirelessDataPoint analogPoint = createAnalogDataPoint(chItr, byteItr);

                        //move the byteItr forward for the amount of bytes we read
                        byteItr += WirelessTypes::dataTypeSize(m_dataType);

                        //add the point to the ChannelData vector
                        chData.push_back(analogPoint);
                    }
                }
            }

            //add the channel data to the sweep
            sweep.data(chData);

            //add the sweep to the container of sweeps
            addSweep(sweep);

            //moving on to the next sweep in the packet
            sweepItr++;
        }

        //if we didn't add any sweeps, there was an error in the packet
        if(sweepItr == 0) { throw Error("Invalid Packet"); }
    }
Пример #3
0
    void DiagnosticPacket::parseSweeps()
    {
        DataBuffer payload(m_payload);
        m_numSweeps = 1;

        //build the 1 sweep that we need to add
        DataSweep sweep;
        sweep.samplingType(DataSweep::samplingType_Diagnostic);
        sweep.frequency(m_frequency);
        sweep.nodeAddress(m_nodeAddress);

        //the data itself is the beacon timestamp. 
        //use this for the current PC time
        sweep.timestamp(Timestamp::timeNow());

        //get this sweep's node and base rssi values
        sweep.nodeRssi(m_nodeRSSI);
        sweep.baseRssi(m_baseRSSI);

        sweep.calApplied(true);

        //get the packet interval (in seconds)
        uint16 packetInterval = payload.read_uint16();

        sweep.tick(payload.read_uint16());
        sweep.sampleRate(SampleRate::Seconds(packetInterval));

        size_t numInfoItemBytes = payload.size() - 4;
        size_t infoByteCounter = 0;

        ChannelData chData;

        //iterate over all of the info bytes
        while(infoByteCounter < numInfoItemBytes)
        {
            uint8 infoLen = payload.read_uint8();

            uint8 infoId = payload.read_uint8();

            addDataPoint(chData, payload, infoLen - 1, infoId);

            infoByteCounter += (infoLen + 1);
        }

        //add the channel data to the sweep
        sweep.data(chData);

        //add the sweep to the container of sweeps
        addSweep(sweep);
    }
Пример #4
0
	void HclSmartBearing_RawPacket::parseSweeps_baseBoard()
	{
		typedef WirelessChannel WC;
		static const uint16 PAYLOAD_OFFSET_MAG_CONVERSION = 13;

		//read the values from the payload
		uint8 sensorErrorMask	= m_payload.read_uint8(PAYLOAD_OFFSET_ERROR_MASK);
		uint8 sampleRate		= m_payload.read_uint8(PAYLOAD_OFFSET_SAMPLE_RATE);
		uint16 tick				= m_payload.read_uint16(PAYLOAD_OFFSET_TICK);
		uint64 timestampSeconds	= m_payload.read_uint32(PAYLOAD_OFFSET_TS_SEC);		//the timestamp (UTC) seconds part
		uint64 timestampNanos	= m_payload.read_uint32(PAYLOAD_OFFSET_TS_NANOSEC);	//the timestamp (UTC) nanoseconds part
		m_magConversionVal		= static_cast<float>(m_payload.read_uint16(PAYLOAD_OFFSET_MAG_CONVERSION));

		//build the full nanosecond resolution timestamp from the seconds and nanoseconds values read above
		uint64 realTimestamp = (timestampSeconds * TimeSpan::NANOSECONDS_PER_SECOND) + timestampNanos;

		//create a SampleRate object from the sampleRate byte
		SampleRate currentRate = SampleUtils::convertToSampleRate(sampleRate);

		//build the single sweep
		DataSweep sweep;
		sweep.samplingType(DataSweep::samplingType_SyncSampling);
		sweep.frequency(m_frequency);
		sweep.tick(tick);
		sweep.nodeAddress(m_nodeAddress);
		sweep.sampleRate(currentRate);
		sweep.timestamp(Timestamp(realTimestamp));
		sweep.nodeRssi(m_nodeRSSI);
		sweep.baseRssi(m_baseRSSI);

		static const uint16 DATA_START = 15;

		ChannelData chData;
		chData.reserve(28);
		chData.emplace_back(WC::channel_error_code, 0, valueType_uint8, anyType(sensorErrorMask));	//Error Mask (not actually in payload)
		chData.emplace_back(WC::channel_hcl_rawBase_mag1_x, 1, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 0)));	//Mag 1 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag1_y, 2, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 2)));	//Mag 1 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag1_z, 3, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 4)));	//Mag 1 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag2_x, 4, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 6)));	//Mag 2 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag2_y, 5, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 8)));	//Mag 2 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag2_z, 6, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 10)));	//Mag 2 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag3_x, 7, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 12)));	//Mag 3 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag3_y, 8, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 14)));	//Mag 3 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag3_z, 9, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 16)));	//Mag 3 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag4_x, 10, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 18)));	//Mag 4 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag4_y, 11, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 20)));	//Mag 4 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag4_z, 12, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 22)));	//Mag 4 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag5_x, 13, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 24)));	//Mag 5 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag5_y, 14, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 26)));	//Mag 5 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag5_z, 15, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 28)));	//Mag 5 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag6_x, 16, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 30)));	//Mag 6 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag6_y, 17, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 32)));	//Mag 6 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag6_z, 18, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 34)));	//Mag 6 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag7_x, 19, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 36)));	//Mag 7 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag7_y, 20, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 38)));	//Mag 7 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag7_z, 21, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 40)));	//Mag 7 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_mag8_x, 22, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 42)));	//Mag 8 - X
		chData.emplace_back(WC::channel_hcl_rawBase_mag8_y, 23, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 44)));	//Mag 8 - Y
		chData.emplace_back(WC::channel_hcl_rawBase_mag8_z, 24, valueType_float, getMagChValue(m_payload.read_uint16(DATA_START + 46)));	//Mag 8 - Z
		chData.emplace_back(WC::channel_hcl_rawBase_gyro_x, 25, valueType_float, anyType(m_payload.read_float(DATA_START + 48)));			//Gyro - X
		chData.emplace_back(WC::channel_hcl_rawBase_gyro_y, 26, valueType_float, anyType(m_payload.read_float(DATA_START + 52)));			//Gyro - Y
		chData.emplace_back(WC::channel_hcl_rawBase_gyro_z, 27, valueType_float, anyType(m_payload.read_float(DATA_START + 56)));			//Gyro - Z

		//add all of the channel data to the sweep
		sweep.data(chData);

		//add the sweep to the container of sweeps
		addSweep(sweep);
	}
    void HclSmartBearing_CalPacket::parseSweeps()
    {
        typedef WirelessChannel WC;

        //read the values from the payload
        uint8 sensorErrorMask = m_payload.read_uint8(PAYLOAD_OFFSET_ERROR_MASK);
        uint8 sampleRate = m_payload.read_uint8(PAYLOAD_OFFSET_SAMPLE_RATE);
        uint16 tick = m_payload.read_uint16(PAYLOAD_OFFSET_TICK);
        uint64 timestampSeconds = m_payload.read_uint32(PAYLOAD_OFFSET_TS_SEC);      //the timestamp (UTC) seconds part
        uint64 timestampNanos = m_payload.read_uint32(PAYLOAD_OFFSET_TS_NANOSEC);    //the timestamp (UTC) nanoseconds part

        //build the full nanosecond resolution timestamp from the seconds and nanoseconds values read above
        uint64 realTimestamp = (timestampSeconds * TimeSpan::NANOSECONDS_PER_SECOND) + timestampNanos;

        //create a SampleRate object from the sampleRate byte
        SampleRate currentRate = SampleUtils::convertToSampleRate(sampleRate);

        //build the single sweep
        DataSweep sweep;
        sweep.samplingType(DataSweep::samplingType_SyncSampling);
        sweep.frequency(m_frequency);
        sweep.tick(tick);
        sweep.nodeAddress(m_nodeAddress);
        sweep.sampleRate(currentRate);
        sweep.timestamp(Timestamp(realTimestamp));
        sweep.nodeRssi(m_nodeRSSI);
        sweep.baseRssi(m_baseRSSI);
        sweep.calApplied(true);

        static const uint16 DATA_START = 13;

        ChannelData chData;
        chData.reserve(12);
        chData.emplace_back(WC::channel_error_code, 0, valueType_uint8, anyType(sensorErrorMask));    //Error Mask (not actually in payload)
        chData.emplace_back(WC::channel_hcl_axialLoadX, 1, valueType_int16, anyType(m_payload.read_int16(DATA_START + 0)));
        chData.emplace_back(WC::channel_hcl_axialLoadY, 2, valueType_int16, anyType(m_payload.read_int16(DATA_START + 2)));
        chData.emplace_back(WC::channel_hcl_axialLoadZ, 3, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 4)) * 10));
        chData.emplace_back(WC::channel_hcl_bendingMomentFlap, 4, valueType_int16, anyType(m_payload.read_int16(DATA_START + 6)));
        chData.emplace_back(WC::channel_hcl_bendingMomentLag, 5, valueType_int16, anyType(m_payload.read_int16(DATA_START + 8)));
        chData.emplace_back(WC::channel_hcl_bendingMomentPitch, 6, valueType_int16, anyType(m_payload.read_int16(DATA_START + 10)));
        chData.emplace_back(WC::channel_hcl_motionFlap_mag, 7, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 12) / 1000.0)));
        chData.emplace_back(WC::channel_hcl_motionLag_mag, 8, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 14) / 1000.0)));
        chData.emplace_back(WC::channel_hcl_motionPitch_mag, 9, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 16) / 1000.0)));
        chData.emplace_back(WC::channel_hcl_motionFlap_inertial, 10, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 18) / 1000.0)));
        chData.emplace_back(WC::channel_hcl_motionLag_inertial, 11, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 20) / 1000.0)));
        chData.emplace_back(WC::channel_hcl_motionPitch_inertial, 12, valueType_float, anyType(static_cast<float>(m_payload.read_int16(DATA_START + 22) / 1000.0)));
        chData.emplace_back(WC::channel_hcl_cockingStiffness_mag, 13, valueType_int16, anyType(m_payload.read_int16(DATA_START + 24)));
        chData.emplace_back(WC::channel_hcl_cockingStiffness_inertial, 14, valueType_int16, anyType(m_payload.read_int16(DATA_START + 26)));
        chData.emplace_back(WC::channel_hcl_temperature, 15, valueType_int16, anyType(static_cast<int16>(m_payload.read_int8(DATA_START + 28))));

        //add all of the channel data to the sweep
        sweep.data(chData);

        //add the sweep to the container of sweeps
        addSweep(sweep);
    }