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updating streaming

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ggw
2026-05-08 17:08:07 -05:00
parent 2b5ade4bec
commit 5937f9ac3b
4 changed files with 115 additions and 313 deletions
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code/l452_code/packet_parser_serial.py
+8 -93
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@@ -4,85 +4,7 @@ from scipy import signal
import time
import serial
def arr_sizes(s):
if s[-1:] != b']' or b'[' not in s:
return 1
v = int(s[s.rindex(b'[') + 1:-1])
return v
def get_type_list(ser):
ser.write(b'?')
types = []
for i in range(13):
line = ser.readline().strip(b'\n').strip(b'\r')
if line != b'':
L = line.split(b" ")
types.append({'type_name' : L[0],
'type_code' : int(L[1]),
'size' : int(L[2]),
'elements' : []
})
i = 3
while i < len(L):
types[-1]['elements'].append({'type_name' : L[i], 'name' : L[i + 1], 'offset' : int(L[i + 2]), 'n_elements' : arr_sizes(L[i + 1]), 'size' : int(L[i + 3]) * arr_sizes(L[i + 1])})
i += 4
return types
def my_filter(arr):
inds = np.where(np.abs(np.diff(arr)) > 0.005)[0]
for ind in inds:
prev_ind = ind - 1
while prev_ind in inds:
prev_ind -= 1
next_ind = ind + 1
while next_ind in inds:
next_ind += 1
arr[ind] = 0.5 * arr[prev_ind] + 0.5 * arr[next_ind]
return arr
accs = []
gyros = []
def process_imu(d, t):
global accs
global gyros
for e in t['elements']:
block = d[e['offset']:e['offset'] + e['size']]
element_size = int(len(block) / e['n_elements'])
if e['name'] == b'data[141]':
for i in range(20):
reading = block[1 + 7 * i : 8 + 7 * i]
#print(reading)
imu_reading_type = reading[0] >> 3
imu_reading_tag_cnt = (reading[0] >> 1) & 3
data = np.array([int.from_bytes(reading[2 * i + 1 : 2 * i + 3], byteorder = 'little', signed = True) for i in range(3)])
if imu_reading_type == 1:
gyros.append(250 / (1<<16) * data)
elif imu_reading_type == 2:
accs.append(4 / (1<<16) * data)
else:
assert False
if len(gyros) > 400:
gyros = gyros[-400:]
if len(accs) > 400:
accs = accs[-400:]
fig, axs = plt.subplots(2)
g = np.array(gyros)
a = np.array(accs)
axs[0].set_ylabel("dps")
axs[0].plot(g[:,0])
axs[0].plot(g[:,1])
axs[0].plot(g[:,2])
axs[1].set_ylabel("g")
axs[1].plot(a[:,0])
axs[1].plot(a[:,1])
axs[1].plot(a[:,2])
plt.savefig("acc_gyro.png")
plt.close()
from packet_parser_helpers import *
def update_with_data(ser, types):
@@ -93,19 +15,7 @@ def update_with_data(ser, types):
ser.write(b'r')
size = int.from_bytes(ser.read(4), byteorder = 'little', signed = False)
cons = ser.read(size)
index = 0
while (index < size):
packet_type = cons[index]
t = [t for t in types if t['type_code'] == packet_type][0]
print(index, packet_type, t['type_name'])
d = cons[index + 1 : index + 1 + t['size']]
if t['type_name'] == b'packet_imu':
pass
#process_imu(d, t)
if t['type_name'] == b'packet_msg':
print(d)
index += 1 + t['size']
read_and_process(types, cons, size)
# if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
# chunked = [(2.4 / (1<<24)) * int.from_bytes(block[i:i + element_size], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
# adcs += chunked
@@ -153,8 +63,13 @@ def main():
ser = serial.Serial(port = '/dev/ttyACM1', timeout = 0.5)
ser.flush()
ser.reset_input_buffer()
ser.write(b'?')
lines = []
for i in range(13):
lines.append(ser.readline().strip(b'\n').strip(b'\r'))
types = get_type_list(ser)
types = get_type_list(lines)
# ser.write(b'1')
# ser.write(b'3')