| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "KvhFile.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | |||
| 13 | #include "internal/NodeManager.hpp" | ||
| 14 | namespace nm = NAV::NodeManager; | ||
| 15 | #include "internal/FlowManager.hpp" | ||
| 16 | |||
| 17 | #include "util/Vendor/KVH/KvhUtilities.hpp" | ||
| 18 | |||
| 19 | #include "NodeData/IMU/KvhObs.hpp" | ||
| 20 | |||
| 21 | 112 | NAV::KvhFile::KvhFile() | |
| 22 |
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112 | : Imu(typeStatic()), _sensor(typeStatic()) |
| 23 | { | ||
| 24 | LOG_TRACE("{}: called", name); | ||
| 25 | |||
| 26 | 112 | _hasConfig = true; | |
| 27 | 112 | _guiConfigDefaultWindowSize = { 380, 70 }; | |
| 28 | |||
| 29 |
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336 | nm::CreateOutputPin(this, "KvhObs", Pin::Type::Flow, { NAV::KvhObs::type() }, &KvhFile::pollData); |
| 30 |
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224 | nm::CreateOutputPin(this, "Header Columns", Pin::Type::Object, { "std::vector<std::string>" }, &_headerColumns); |
| 31 | 224 | } | |
| 32 | |||
| 33 | 224 | NAV::KvhFile::~KvhFile() | |
| 34 | { | ||
| 35 | LOG_TRACE("{}: called", nameId()); | ||
| 36 | 224 | } | |
| 37 | |||
| 38 | 336 | std::string NAV::KvhFile::typeStatic() | |
| 39 | { | ||
| 40 |
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672 | return "KvhFile"; |
| 41 | } | ||
| 42 | |||
| 43 | ✗ | std::string NAV::KvhFile::type() const | |
| 44 | { | ||
| 45 | ✗ | return typeStatic(); | |
| 46 | } | ||
| 47 | |||
| 48 | 112 | std::string NAV::KvhFile::category() | |
| 49 | { | ||
| 50 |
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224 | return "Data Provider"; |
| 51 | } | ||
| 52 | |||
| 53 | ✗ | void NAV::KvhFile::guiConfig() | |
| 54 | { | ||
| 55 | ✗ | if (auto res = FileReader::guiConfig(".csv,.*", { ".csv" }, size_t(id), nameId())) | |
| 56 | { | ||
| 57 | ✗ | LOG_DEBUG("{}: Path changed to {}", nameId(), _path); | |
| 58 | ✗ | flow::ApplyChanges(); | |
| 59 | ✗ | if (res == FileReader::PATH_CHANGED) | |
| 60 | { | ||
| 61 | ✗ | doReinitialize(); | |
| 62 | } | ||
| 63 | else | ||
| 64 | { | ||
| 65 | ✗ | doDeinitialize(); | |
| 66 | } | ||
| 67 | } | ||
| 68 | |||
| 69 | ✗ | Imu::guiConfig(); | |
| 70 | |||
| 71 | ✗ | if (_fileType == FileType::ASCII) | |
| 72 | { | ||
| 73 | // Header info | ||
| 74 | ✗ | if (ImGui::BeginTable(fmt::format("##VectorNavHeaders ({})", id.AsPointer()).c_str(), 2, | |
| 75 | ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg)) | ||
| 76 | { | ||
| 77 | ✗ | ImGui::TableSetupColumn("Basic", ImGuiTableColumnFlags_WidthFixed); | |
| 78 | ✗ | ImGui::TableSetupColumn("IMU", ImGuiTableColumnFlags_WidthFixed); | |
| 79 | ✗ | ImGui::TableHeadersRow(); | |
| 80 | |||
| 81 | ✗ | auto TextColoredIfExists = [this](int index, const char* displayText, const char* searchText, bool alwaysNormal = false) { | |
| 82 | ✗ | ImGui::TableSetColumnIndex(index); | |
| 83 | ✗ | if (alwaysNormal || std::ranges::find(_headerColumns, searchText) != _headerColumns.end()) | |
| 84 | { | ||
| 85 | ✗ | ImGui::TextUnformatted(displayText); | |
| 86 | } | ||
| 87 | else | ||
| 88 | { | ||
| 89 | ✗ | ImGui::TextDisabled("%s", displayText); | |
| 90 | } | ||
| 91 | ✗ | }; | |
| 92 | |||
| 93 | ✗ | ImGui::TableNextRow(); | |
| 94 | ✗ | TextColoredIfExists(0, "GpsTime", "GpsToW [s]"); | |
| 95 | ✗ | TextColoredIfExists(1, "UnCompMag", "UnCompMagX [Gauss]"); | |
| 96 | ✗ | ImGui::TableNextRow(); | |
| 97 | ✗ | TextColoredIfExists(0, "TimeStartup", "TimeStartup [ns]"); | |
| 98 | ✗ | TextColoredIfExists(1, "UnCompAcc", "UnCompAccX [m/s^2]"); | |
| 99 | ✗ | ImGui::TableNextRow(); | |
| 100 | ✗ | TextColoredIfExists(0, "Temperature", "Temperature [Celsius]"); | |
| 101 | ✗ | TextColoredIfExists(1, "UnCompGyro", "UnCompGyroX [rad/s]"); | |
| 102 | ✗ | ImGui::TableNextRow(); | |
| 103 | ✗ | TextColoredIfExists(0, "Status", "Status"); | |
| 104 | ✗ | ImGui::TableNextRow(); | |
| 105 | ✗ | TextColoredIfExists(0, "SequenceNumber", "SequenceNumber"); | |
| 106 | |||
| 107 | ✗ | ImGui::EndTable(); | |
| 108 | } | ||
| 109 | } | ||
| 110 | ✗ | else if (_fileType == FileType::BINARY) | |
| 111 | { | ||
| 112 | ✗ | ImGui::TextUnformatted("Binary file"); | |
| 113 | } | ||
| 114 | ✗ | } | |
| 115 | |||
| 116 | ✗ | [[nodiscard]] json NAV::KvhFile::save() const | |
| 117 | { | ||
| 118 | LOG_TRACE("{}: called", nameId()); | ||
| 119 | |||
| 120 | ✗ | json j; | |
| 121 | |||
| 122 | ✗ | j["FileReader"] = FileReader::save(); | |
| 123 | ✗ | j["Imu"] = Imu::save(); | |
| 124 | |||
| 125 | ✗ | return j; | |
| 126 | ✗ | } | |
| 127 | |||
| 128 | ✗ | void NAV::KvhFile::restore(json const& j) | |
| 129 | { | ||
| 130 | LOG_TRACE("{}: called", nameId()); | ||
| 131 | |||
| 132 | ✗ | if (j.contains("FileReader")) | |
| 133 | { | ||
| 134 | ✗ | FileReader::restore(j.at("FileReader")); | |
| 135 | } | ||
| 136 | ✗ | if (j.contains("Imu")) | |
| 137 | { | ||
| 138 | ✗ | Imu::restore(j.at("Imu")); | |
| 139 | } | ||
| 140 | ✗ | } | |
| 141 | |||
| 142 | ✗ | bool NAV::KvhFile::initialize() | |
| 143 | { | ||
| 144 | LOG_TRACE("{}: called", nameId()); | ||
| 145 | |||
| 146 | ✗ | return FileReader::initialize(); | |
| 147 | } | ||
| 148 | |||
| 149 | ✗ | void NAV::KvhFile::deinitialize() | |
| 150 | { | ||
| 151 | LOG_TRACE("{}: called", nameId()); | ||
| 152 | |||
| 153 | ✗ | FileReader::deinitialize(); | |
| 154 | ✗ | } | |
| 155 | |||
| 156 | ✗ | bool NAV::KvhFile::resetNode() | |
| 157 | { | ||
| 158 | ✗ | FileReader::resetReader(); | |
| 159 | |||
| 160 | ✗ | return true; | |
| 161 | } | ||
| 162 | |||
| 163 | ✗ | std::shared_ptr<const NAV::NodeData> NAV::KvhFile::pollData() | |
| 164 | { | ||
| 165 | ✗ | std::shared_ptr<KvhObs> obs = nullptr; | |
| 166 | |||
| 167 | ✗ | if (_fileType == FileType::BINARY) | |
| 168 | { | ||
| 169 | ✗ | uint8_t i = 0; | |
| 170 | ✗ | std::unique_ptr<uart::protocol::Packet> packet = nullptr; | |
| 171 | ✗ | while (!eof() && read(reinterpret_cast<char*>(&i), 1)) | |
| 172 | { | ||
| 173 | ✗ | packet = _sensor.findPacket(i); | |
| 174 | |||
| 175 | ✗ | if (packet != nullptr) | |
| 176 | { | ||
| 177 | ✗ | break; | |
| 178 | } | ||
| 179 | } | ||
| 180 | |||
| 181 | ✗ | if (!packet) | |
| 182 | { | ||
| 183 | ✗ | return nullptr; | |
| 184 | } | ||
| 185 | |||
| 186 | ✗ | obs = std::make_shared<KvhObs>(_imuPos, *packet); | |
| 187 | |||
| 188 | // Check if package is empty | ||
| 189 | ✗ | if (obs->raw.getRawDataLength() == 0) | |
| 190 | { | ||
| 191 | ✗ | return nullptr; | |
| 192 | } | ||
| 193 | |||
| 194 | ✗ | vendor::kvh::decryptKvhObs(obs); | |
| 195 | ✗ | } | |
| 196 | ✗ | else if (_fileType == FileType::ASCII) | |
| 197 | { | ||
| 198 | ✗ | obs = std::make_shared<KvhObs>(_imuPos); | |
| 199 | |||
| 200 | // Read line | ||
| 201 | ✗ | std::string line; | |
| 202 | ✗ | getline(line); | |
| 203 | // Remove any starting non text characters | ||
| 204 | ✗ | line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); })); | |
| 205 | |||
| 206 | ✗ | if (line.empty()) | |
| 207 | { | ||
| 208 | ✗ | return nullptr; | |
| 209 | } | ||
| 210 | |||
| 211 | // Convert line into stream | ||
| 212 | ✗ | std::stringstream lineStream(line); | |
| 213 | ✗ | std::string cell; | |
| 214 | |||
| 215 | ✗ | std::optional<uint16_t> gpsCycle = 0; | |
| 216 | ✗ | std::optional<uint16_t> gpsWeek; | |
| 217 | ✗ | std::optional<long double> gpsToW; | |
| 218 | ✗ | std::optional<double> magX; | |
| 219 | ✗ | std::optional<double> magY; | |
| 220 | ✗ | std::optional<double> magZ; | |
| 221 | ✗ | std::optional<double> accelX; | |
| 222 | ✗ | std::optional<double> accelY; | |
| 223 | ✗ | std::optional<double> accelZ; | |
| 224 | ✗ | std::optional<double> gyroX; | |
| 225 | ✗ | std::optional<double> gyroY; | |
| 226 | ✗ | std::optional<double> gyroZ; | |
| 227 | |||
| 228 | // Split line at comma | ||
| 229 | ✗ | for (const auto& column : _headerColumns) | |
| 230 | { | ||
| 231 | ✗ | if (std::getline(lineStream, cell, ',')) | |
| 232 | { | ||
| 233 | // Remove any trailing non text characters | ||
| 234 | ✗ | cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end()); | |
| 235 | ✗ | if (cell.empty()) | |
| 236 | { | ||
| 237 | ✗ | continue; | |
| 238 | } | ||
| 239 | |||
| 240 | ✗ | if (column == "GpsCycle") | |
| 241 | { | ||
| 242 | ✗ | gpsCycle = static_cast<uint16_t>(std::stoul(cell)); | |
| 243 | } | ||
| 244 | ✗ | else if (column == "GpsWeek") | |
| 245 | { | ||
| 246 | ✗ | gpsWeek = static_cast<uint16_t>(std::stoul(cell)); | |
| 247 | } | ||
| 248 | ✗ | else if (column == "GpsToW [s]") | |
| 249 | { | ||
| 250 | ✗ | gpsToW = std::stold(cell); | |
| 251 | } | ||
| 252 | ✗ | else if (column == "TimeStartup [ns]") | |
| 253 | { | ||
| 254 | ✗ | obs->timeSinceStartup.emplace(std::stoull(cell)); | |
| 255 | } | ||
| 256 | ✗ | else if (column == "MagX [Gauss]") | |
| 257 | { | ||
| 258 | ✗ | magX = std::stod(cell); | |
| 259 | } | ||
| 260 | ✗ | else if (column == "MagY [Gauss]") | |
| 261 | { | ||
| 262 | ✗ | magY = std::stod(cell); | |
| 263 | } | ||
| 264 | ✗ | else if (column == "MagZ [Gauss]") | |
| 265 | { | ||
| 266 | ✗ | magZ = std::stod(cell); | |
| 267 | } | ||
| 268 | ✗ | else if (column == "AccX [m/s^2]") | |
| 269 | { | ||
| 270 | ✗ | accelX = std::stod(cell); | |
| 271 | } | ||
| 272 | ✗ | else if (column == "AccY [m/s^2]") | |
| 273 | { | ||
| 274 | ✗ | accelY = std::stod(cell); | |
| 275 | } | ||
| 276 | ✗ | else if (column == "AccZ [m/s^2]") | |
| 277 | { | ||
| 278 | ✗ | accelZ = std::stod(cell); | |
| 279 | } | ||
| 280 | ✗ | else if (column == "GyroX [rad/s]") | |
| 281 | { | ||
| 282 | ✗ | gyroX = std::stod(cell); | |
| 283 | } | ||
| 284 | ✗ | else if (column == "GyroY [rad/s]") | |
| 285 | { | ||
| 286 | ✗ | gyroY = std::stod(cell); | |
| 287 | } | ||
| 288 | ✗ | else if (column == "GyroZ [rad/s]") | |
| 289 | { | ||
| 290 | ✗ | gyroZ = std::stod(cell); | |
| 291 | } | ||
| 292 | ✗ | else if (column == "Temperature [Celsius]") | |
| 293 | { | ||
| 294 | ✗ | obs->temperature.emplace(std::stod(cell)); | |
| 295 | } | ||
| 296 | ✗ | else if (column == "Status") | |
| 297 | { | ||
| 298 | ✗ | obs->status = std::bitset<8>{ cell }; | |
| 299 | } | ||
| 300 | ✗ | else if (column == "SequenceNumber") | |
| 301 | { | ||
| 302 | ✗ | obs->sequenceNumber = static_cast<uint8_t>(std::stoul(cell)); | |
| 303 | } | ||
| 304 | } | ||
| 305 | } | ||
| 306 | |||
| 307 | ✗ | if (!gpsCycle || !gpsWeek || !gpsToW) | |
| 308 | { | ||
| 309 | ✗ | LOG_ERROR("{}: Fields 'GpsCycle', 'GpsWeek', 'GpsToW [s]' are needed.", nameId()); | |
| 310 | ✗ | return nullptr; | |
| 311 | } | ||
| 312 | ✗ | if (!accelX || !accelY || !accelZ) | |
| 313 | { | ||
| 314 | ✗ | LOG_ERROR("{}: Fields 'AccX [m/s^2]', 'AccY [m/s^2]', 'AccZ [m/s^2]' are needed.", nameId()); | |
| 315 | ✗ | return nullptr; | |
| 316 | } | ||
| 317 | ✗ | if (!gyroX || !gyroY || !gyroZ) | |
| 318 | { | ||
| 319 | ✗ | LOG_ERROR("{}: Fields 'GyroX [rad/s]', 'GyroY [rad/s]', 'GyroZ [rad/s]' are needed.", nameId()); | |
| 320 | ✗ | return nullptr; | |
| 321 | } | ||
| 322 | ✗ | obs->insTime = InsTime(gpsCycle.value(), gpsWeek.value(), gpsToW.value()); | |
| 323 | ✗ | obs->p_acceleration = { accelX.value(), accelY.value(), accelZ.value() }; | |
| 324 | ✗ | obs->p_angularRate = { gyroX.value(), gyroY.value(), gyroZ.value() }; | |
| 325 | |||
| 326 | ✗ | if (magX && magY && magZ) | |
| 327 | { | ||
| 328 | ✗ | obs->p_magneticField.emplace(magX.value(), magY.value(), magZ.value()); | |
| 329 | } | ||
| 330 | ✗ | } | |
| 331 | |||
| 332 | LOG_DATA("DATA({}): {}, {}, {}, {}, {}", name, obs->sequenceNumber, obs->temperature.value(), | ||
| 333 | obs->p_acceleration.x(), obs->p_acceleration.y(), obs->p_acceleration.z()); | ||
| 334 | |||
| 335 | // Check if a packet was skipped | ||
| 336 | ✗ | if (callbacksEnabled) | |
| 337 | { | ||
| 338 | ✗ | if (_prevSequenceNumber == UINT8_MAX) | |
| 339 | { | ||
| 340 | ✗ | _prevSequenceNumber = obs->sequenceNumber; | |
| 341 | } | ||
| 342 | ✗ | if (obs->sequenceNumber != 0 && (obs->sequenceNumber < _prevSequenceNumber || obs->sequenceNumber > _prevSequenceNumber + 2)) | |
| 343 | { | ||
| 344 | ✗ | LOG_WARN("{}: Sequence Number changed from {} to {}", name, _prevSequenceNumber, obs->sequenceNumber); | |
| 345 | } | ||
| 346 | ✗ | _prevSequenceNumber = obs->sequenceNumber; | |
| 347 | } | ||
| 348 | |||
| 349 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_KVH_OBS, obs); | |
| 350 | ✗ | return obs; | |
| 351 | ✗ | } | |
| 352 | |||
| 353 | ✗ | NAV::FileReader::FileType NAV::KvhFile::determineFileType() | |
| 354 | { | ||
| 355 | LOG_TRACE("called for {}", name); | ||
| 356 | |||
| 357 | ✗ | auto filestream = std::ifstream(getFilepath()); | |
| 358 | ✗ | if (filestream.good()) | |
| 359 | { | ||
| 360 | union | ||
| 361 | { | ||
| 362 | std::array<char, 4> buffer; | ||
| 363 | uint32_t ui32; | ||
| 364 | ✗ | } un{}; | |
| 365 | |||
| 366 | ✗ | if (filestream.readsome(un.buffer.data(), sizeof(uint32_t)) == sizeof(uint32_t)) | |
| 367 | { | ||
| 368 | ✗ | un.ui32 = uart::stoh(un.ui32, vendor::kvh::KvhUartSensor::ENDIANNESS); | |
| 369 | ✗ | if (un.ui32 == vendor::kvh::KvhUartSensor::HEADER_FMT_A | |
| 370 | ✗ | || un.ui32 == vendor::kvh::KvhUartSensor::HEADER_FMT_B | |
| 371 | ✗ | || un.ui32 == vendor::kvh::KvhUartSensor::HEADER_FMT_C | |
| 372 | ✗ | || un.ui32 == vendor::kvh::KvhUartSensor::HEADER_FMT_XBIT | |
| 373 | ✗ | || un.ui32 == vendor::kvh::KvhUartSensor::HEADER_FMT_XBIT2) | |
| 374 | { | ||
| 375 | ✗ | return FileType::BINARY; | |
| 376 | } | ||
| 377 | } | ||
| 378 | |||
| 379 | ✗ | filestream.seekg(0, std::ios_base::beg); | |
| 380 | ✗ | std::string line; | |
| 381 | ✗ | std::getline(filestream, line); | |
| 382 | ✗ | filestream.close(); | |
| 383 | |||
| 384 | ✗ | auto n = std::ranges::count(line, ','); | |
| 385 | |||
| 386 | ✗ | if (n >= 3) | |
| 387 | { | ||
| 388 | ✗ | return FileType::ASCII; | |
| 389 | } | ||
| 390 | |||
| 391 | ✗ | LOG_ERROR("{} could not determine file type", name); | |
| 392 | ✗ | return FileType::NONE; | |
| 393 | ✗ | } | |
| 394 | |||
| 395 | ✗ | LOG_ERROR("{} could not open file {}", name, getFilepath()); | |
| 396 | ✗ | return FileType::NONE; | |
| 397 | ✗ | } | |
| 398 |