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"); }
}
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);
}
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);
}