rfbeam 0.3.4 → 0.4.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/.rubocop.yml

@@ -2,10 +2,16 @@ inherit_from:
   - node_modules/@prettier/plugin-ruby/rubocop.yml
 
 AllCops:
-  TargetRubyVersion: 2.6
+  TargetRubyVersion: 3.2
 
 Layout/LineLength:
   Max: 120
 
+Metrics/ModuleLength:
+  Enabled: false
+
+Metrics/MethodLength:
+  Max: 20
+
 Documentation:
   Enabled: false

data/CHANGELOG.md

@@ -1,6 +1,16 @@
+## [0.4.0] - 2023-4-4
+
+- rough CLI implementation
+- Streaming rfft data, with plot output
+
+## [0.3.5] - 2023-4-1
+
+- Updated Radar parameter accessors
+- Added parameter setter arg validation and errors
+
 ## [0.3.4] - 2023-3-28
 
- - Added a formatted option to pdat
+- Added a formatted option to pdat
 
 ## [0.3.2] - 2023-3-28
 

data/Gemfile

@@ -10,3 +10,13 @@ gem "rake", "~> 13.0"
 gem "minitest", "~> 5.0"
 
 gem "rubocop", "~> 1.21"
+
+gem "tty-table", "~> 0.12.0"
+
+gem "tty-spinner", "~> 0.9.3"
+
+gem "unicode_plot", "~> 0.0.5"
+
+gem "tty-logger", "~> 0.6.0"
+
+gem "tty-screen", "~> 0.8.1"

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    rfbeam (0.3.4)
+    rfbeam (0.4.0)
       activesupport (~> 6.1.0)
       rubyserial (~> 0.6.0)
       thor (~> 1.2.1)
@@ -17,6 +17,7 @@ GEM
       zeitwerk (~> 2.3)
     ast (2.4.2)
     concurrent-ruby (1.1.10)
+    enumerable-statistics (2.0.7)
     ffi (1.15.5)
     i18n (1.12.0)
       concurrent-ruby (~> 1.0)
@@ -25,6 +26,8 @@ GEM
     parallel (1.22.1)
     parser (3.1.3.0)
       ast (~> 2.4.1)
+    pastel (0.8.0)
+      tty-color (~> 0.5)
     rainbow (3.1.1)
     rake (13.0.6)
     regexp_parser (2.6.1)
@@ -44,10 +47,29 @@ GEM
     ruby-progressbar (1.11.0)
     rubyserial (0.6.0)
       ffi (~> 1.9, >= 1.9.3)
+    strings (0.2.1)
+      strings-ansi (~> 0.2)
+      unicode-display_width (>= 1.5, < 3.0)
+      unicode_utils (~> 1.4)
+    strings-ansi (0.2.0)
     thor (1.2.1)
+    tty-color (0.6.0)
+    tty-cursor (0.7.1)
+    tty-logger (0.6.0)
+      pastel (~> 0.8)
+    tty-screen (0.8.1)
+    tty-spinner (0.9.3)
+      tty-cursor (~> 0.7)
+    tty-table (0.12.0)
+      pastel (~> 0.8)
+      strings (~> 0.2.0)
+      tty-screen (~> 0.8)
     tzinfo (2.0.5)
       concurrent-ruby (~> 1.0)
     unicode-display_width (2.3.0)
+    unicode_plot (0.0.5)
+      enumerable-statistics (>= 2.0.1)
+    unicode_utils (1.4.0)
     zeitwerk (2.6.6)
 
 PLATFORMS
@@ -59,6 +81,11 @@ DEPENDENCIES
   rake (~> 13.0)
   rfbeam!
   rubocop (~> 1.21)
+  tty-logger (~> 0.6.0)
+  tty-screen (~> 0.8.1)
+  tty-spinner (~> 0.9.3)
+  tty-table (~> 0.12.0)
+  unicode_plot (~> 0.0.5)
 
 BUNDLED WITH
    2.4.10

data/README.md

@@ -1,7 +1,11 @@
 # Rfbeam
 
-RfBeam is a simple, high-level interface to the RFBeam radar modules.
-The user can read and set the radar parameters and fetch raw or processed data frames from the sensor.
+![Gem](https://img.shields.io/gem/v/rfbeam?color=green&label=version)
+![Ruby](https://img.shields.io/static/v1?message=Ruby&color=red&logo=Ruby&logoColor=FFFFFF&label=v3.2.1)
+![Ruby](https://img.shields.io/gitlab/license/robcarruthers/rfbeam?color=orange)
+
+RfBeam is a simple, high-level interface for the RFBeam radar modules.
+The user can query process and raw detection data and set the radar parameters for the sensor.
 
 At this stage it only works on Linux and Mac with the K-LD7 module.
 
@@ -63,28 +67,29 @@ Returns a formatted String of all parameter settings. The only way to read param
 
     radar.config
 
-    Software Version: K-LD7_APP-RFB-0103
-    Base Frequency: Middle
-    Max Speed: 25km/h
-    Max Range: 10m
-    Threshold offset: 30db
-    Tracking Filter Type: standard
-    Vibration Suppression: 2 , (0-16, 0 = No Suppression, 16 = High Suppression)
-    Minimum Detection Distance: 0 , (0 - 100% of range setting)
-    Maximum Detection Distance: 50 , (0 - 100% of range setting)
-    Minimum Detection Angle: -90° , (-90° - 90°)
-    Maximum Detection Angle: 90° , (0 - 100% of range setting)
-    Maximum Detection Speed: 0 , (0 - 100% of speed setting)
-    Maximum Detection Speed: 100 , (0 - 100% of speed setting)
-    Detection Direction: 2Range Threshold: 10%, (0 - 100% of range setting)
-    Angle Threshold: 0°, (-90° - 90°)
-    Speed Threshold: 50%, (0 - 100% of speed setting)
-    Digital output 1: Direction
-    Digital output 2: Angle
-    Digital output 3: Range
-    Hold time: 1sec
-    Micro Detection Retrigger: Off
-    Micro Detection Sensitivity: 4 (0 - 9, 0 = Min, 9 = Max)
+    Software Version: K-LD7_APP-RFB-0103          
+    Base Frequency: Low                           
+    Maximum Speed: 100km/h                        
+    Maximum Range: 100m                           
+    Threshold Offset: 30db                        
+    Tracking Filter Type: Long Visibility         
+    Vibration Suppression: 16
+    Minimum Detection Distance: 0%
+    Maximum Detection Distance: 100%
+    Minimum Detection Angle: -10°
+    Maximum Detection Angle: 90°
+    Minimum Detection Speed: 0%
+    Maximum Detection Speed: 100%
+    Detection Direction: Both
+    Range Threshold: 10%
+    Angle Threshold: 0°
+    Speed Threshold: 50%
+    Digital Output 1: Direction
+    Digital Output 2: Angle
+    Digital Output 3: Range
+    Hold Time: 1s
+    Micro Detection Trigger: Off
+    Micro Detection Sensativity: 4
 
 ## Parameter setters
 

data/exe/rfbeam

@@ -0,0 +1,5 @@
+#!/usr/bin/env ruby
+
+require 'rfbeam'
+
+RfBeam::CLI.start(ARGV)

data/lib/rfbeam/cli.rb

@@ -0,0 +1,130 @@
+# rubocop:disable all
+require 'thor'
+require 'rfbeam'
+require 'tty-table'
+require 'tty-logger'
+require 'tty-spinner'
+require 'io/console'
+require 'unicode_plot'
+
+module RfBeam
+  class CLI < Thor
+  
+    attr_accessor :radar, :logger
+
+    desc 'list', 'List available radar modules'
+    def list
+      devices = RfBeam.connected
+      @logger.warning 'No Radar modules found.' unless devices.count.positive?
+
+      table = TTY::Table.new( header: ['id', 'Path', 'Version'])
+
+      devices.each.with_index do |path, index|
+        table << ["R#{index}", path, @radar.sw_version]
+      end
+      puts table.render(:ascii)
+    end
+
+    desc 'config <radar_id>', 'Shows the parameter setting for the Radar module'
+    def config(radar_id)
+      init_radar(radar_id)
+      puts @radar.config
+    end
+
+    desc 'set_param <radar_id> <key> <value>', 'Set radar parameters, see readme for keys'
+    def set_param(radar_id, param, value)
+      return logger.warning("Invalid param: '#{param}'") unless RfBeam::K_ld7::RADAR_PARAMETERS.include?(param.to_sym)
+
+      init_radar radar_id
+      @radar.send("#{param}=", value.to_i)
+      logger.success "Set #{@radar.formatted_parameter(param.to_sym)}"
+    end
+
+    desc 'ddat <radar_id>', 'stream any valid detections, stop stream with q and enter'
+    option :stream, type: :boolean, aliases: '-s', desc: "Stream the data from the device"
+    def ddat(radar_id)
+      init_radar radar_id
+      
+      if options[:stream]
+        Thread.new { monitor_keypress }
+        spinner = TTY::Spinner.new("[:spinner] :title ", format: :bouncing_ball)
+        loop do
+          break if @stop_streaming
+            spinner.spin
+            data = @radar.ddat
+            spinner.update title: "Searching... #{data}"
+            spinner.success @radar.tdat if data[2] == 1
+        end
+        spinner.stop
+        puts "\nTask Quit."
+      else
+          puts "\n#{@radar.ddat}"
+      end
+
+    end
+
+    desc 'pdat <radar_id>', 'Display Tracked Targets'
+    def pdat(radar_id)
+      init_radar radar_id
+      puts @radar.pdat
+    end
+
+    desc "rfft <radar_id>", "Display the dopplar radar data as a plot"
+    option :stream, type: :boolean, aliases: '-s', desc: "Stream the data from the device"
+    option :period, type: :numeric, aliases: '-p', default: 0.5, desc: "Update period (in seconds) for the streaming data"
+    def rfft(radar_id)
+      init_radar(radar_id)
+
+      if options[:stream]
+        streamer = RfBeam::KLD7::Streamer.new(@radar)
+        streamer.rfft
+      else
+        plot = rfft_plot(@radar)
+        p plot.render
+      end
+    end
+
+    private
+
+    def init_radar(id)
+      devices = RfBeam.connected
+      @logger = TTY::Logger.new
+      return @logger.warning 'No Radar modules found.' unless devices.count.positive?
+
+      @radar = RfBeam::K_ld7.new(devices[id.to_i])
+    end
+
+    def plot_data(data)
+      { x: Array(-128...128), series1: data.shift(256).map { |value| value / 100 }, series2: data.shift(256).map { |value| value.to_i / 100 } }
+    end
+
+    def monitor_keypress
+      loop do
+        key = STDIN.getch
+        if key.downcase == 'q'
+          @stop_streaming = true
+          break
+        end
+      end
+    end
+
+    def rfft_plot(radar)
+      speed = radar.max_speed
+      speed_label = radar.formatted_parameter(:max_speed)
+      xlim = [speed - speed * 2, speed]
+      data = plot_data(radar.rfft)
+      plot = UnicodePlot.lineplot(
+        data[:x],
+        data[:series1],
+        name: 'IF1/2 Averaged',
+        title: 'Raw FFT',
+        height: 25,
+        width: 120,
+        xlabel: "Speed (km/h), #{speed_label}",
+        ylabel: 'Signal (db)', xlim: [-128, 128],
+        ylim: [0, 100])
+      UnicodePlot.lineplot!(plot, data[:x], data[:series2], name: "Threshold")
+      plot
+    end
+  end
+end

data/lib/rfbeam/kld7/constants.rb

@@ -11,7 +11,7 @@ module RfBeam
       3 => 'Invalid RPST version',
       4 => 'Uart error (parity, framing, noise)',
       5 => 'Sensor busy',
-      6 => 'Timeout error',
+      6 => 'Timeout error'
     }.freeze
 
     # The response delay was determined empirically and may need adjusting with baude rate
@@ -27,59 +27,39 @@ module RfBeam
       angle: %w[Left Right],
       direction: %w[Receding Approaching],
       range: %w[Far Near],
-      speed: %w[Low High],
-  }.freeze
-    
-    # GRPS - Parameter structure, used to map return values to readable strings
-    PARAMETER_STRUCTURE = {
-      base_frequency: ['Low', 'Middle', 'High'],
-      max_speed: ['12.5km/h', '25km/h', '50km/h', '100km/h'],
-      max_range: %w[5m 10m 30m 100m],
-      threshold_offset: '10db - 60db',
-      tracking_filter_type: ['standard', 'Fast Detection', 'Long Visibility'],
-      vibration_suppression: '0-16, 0 = No Suppression, 16 = High Suppression',
-      min_detection_distance: '0 - 100% of range setting',      
-      max_detection_distance: '0 - 100% of range setting',
-      min_detection_angle: '-90° - 90°',
-      max_detection_angle: '-90° - 90°',
-      min_detection_speed: '0 - 100% of speed setting',
-      max_detection_speed: '0 - 100% of speed setting',
-      detection_direction: %w[receding approaching both],
-      range_threshold: '0 - 100% of range setting',
-      angle_threshold: '-90° - 90°',
-      speed_threshold: '0 - 100% of speed setting',
-      digital_output_1: %w[Direction Angle Range Speed Micro],
-      digital_output_2: %w[Direction Angle Range Speed Micro],
-      digital_output_3: %w[Direction Angle Range Speed Micro],
-      hold_time: '1 - 7200s',
-      micro_detection_trigger: %w[Off Retrigger],
-      micro_detection_sensitivity: '0 - 9, 0 = Min, 9 = Max'
+      speed: %w[Low High]
+    }.freeze
+
+    Param = Data.define(:name, :grps_index, :description, :default, :units, :values) do |_param|
+      def initialize(name:, grps_index:, description: nil, default: nil, units: nil, values: [])
+        super(name:, grps_index:, description:, default:, units:, values:)
+      end
+    end
+
+    RADAR_PARAMETERS = {
+      sw_version: Param.new(name: 'Software Version', grps_index: 2, default: 'K-LD7_APP-RFB-XXXX'),
+      base_frequency: Param.new( name: 'Base Frequency', grps_index: 3, description: '0 = Low, 1 = Middle, 2 = High', default: 1, values: ['Low', 'Middle', 'High'] ),
+      max_speed: Param.new( name: 'Maximum Speed', grps_index: 4, description: '0 = 12km/h, 1 = 25km/h, 2 = 50km/h, 3 = 100km/h', default: 1, units: 'km/h', values: ['12.5', '25', '50', '100'] ),
+      max_range: Param.new( name: 'Maximum Range', grps_index: 5, description: '0 = 5m, 1 = 10m, 2 = 30m, 3 = 100m', default: 1, values: %w[5m 10m 30m 100m] ),
+      threshold_offset: Param.new( name: 'Threshold Offset', grps_index: 6, description: '10db - 60db', default: 30, units: 'db' ),
+      tracking_filter: Param.new( name: 'Tracking Filter Type', grps_index: 7, description: '0 = Standard, 2 = Fast Detection, 3 = Long Visibility', default: 0, values: ['standard', 'Fast Detection', 'Long Visibility'] ),
+      vibration_suppression: Param.new( name: 'Vibration Suppression', grps_index: 8, description: '0-16, 0 = No Suppression, 16 = High Suppression', default: 2 ),
+      min_detection_distance: Param.new( name: 'Minimum Detection Distance', grps_index: 9, description: '0 - 100% of range setting', default: 0, units: '%' ),
+      max_detection_distance: Param.new( name: 'Maximum Detection Distance', grps_index: 10, description: '0 - 100% of range setting', default: 50, units: '%' ),
+      min_detection_angle: Param.new( name: 'Minimum Detection Angle', grps_index: 11, description: '-90° - 90°', default: -90, units: '°' ),
+      max_detection_angle: Param.new( name: 'Maximum Detection Angle', grps_index: 12, description: '-90° - 90°', default: 90, units: '°' ),
+      min_detection_speed: Param.new( name: 'Minimum Detection Speed', grps_index: 13, description: '0 - 100% of speed setting', default: 0, units: '%' ),
+      max_detection_speed: Param.new( name: 'Maximum Detection Speed', grps_index: 14, description: '0 - 100% of speed setting', default: 100, units: '%' ),
+      detection_direction: Param.new( name: 'Detection Direction', grps_index: 15, description: '0 = Receding, 1 = Approaching, 2 = Both', default: 2, values: %w[Receding Approaching Both] ),
+      range_threshold: Param.new( name: 'Range Threshold', grps_index: 16, description: '0 - 100% of range setting', default: 10, units: '%' ),
+      angle_threshold: Param.new( name: 'Angle Threshold', grps_index: 17, description: '-90° - 90°', default: 0, units: '°' ),
+      speed_threshold: Param.new( name: 'Speed Threshold', grps_index: 18, description: '0 - 100% of speed setting', default: 50, units: '%' ),
+      digital_output1: Param.new( name: 'Digital Output 1', grps_index: 19, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection', default: 0, values: %w[Direction Angle Range Speed Micro] ),
+      digital_output2: Param.new( name: 'Digital Output 2', grps_index: 20, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection', default: 1, values: %w[Direction Angle Range Speed Micro] ),
+      digital_output3: Param.new( name: 'Digital Output 3', grps_index: 21, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection', default: 2, values: %w[Direction Angle Range Speed Micro] ),
+      hold_time: Param.new( name: 'Hold Time', grps_index: 22, description: '1 - 7200s', default: 1, units: 's' ),
+      micro_detection_retrigger: Param.new( name: 'Micro Detection Trigger', grps_index: 23, description: '0 = Off, 1 = Retrigger', default: 0, values: %w[Off Retrigger] ),
+      micro_detection_sensativity: Param.new( name: 'Micro Detection Sensativity', grps_index: 24, description: '0 - 9, 0 = Min, 9 = Max', default: 4 )
   }.freeze
-    
-    # PARAMETERS = {
-    #   sw_version: { grps_index: 2, default: 'K-LD7_APP-RFB-XXXX' },
-    #   base_frequency: { grps_index: 3, description: '0 = Low, 1 = Middle, 2 = High', default: '1 - Middle', values: ['Low', 'Middle', 'High'] },
-    #   max_speed: { grps_index: 4, description: '0 = 12km/h, 1 = 25km/h, 2 = 50km/h, 3 = 100km/h, default: 1', values: ['12.5km/h', '25km/h', '50km/h', '100km/h'] },
-    #   max_range: { grps_index: 5, description: '0 = 5m, 1 = 10m, 2 = 30m, 3 = 100m, default: 1', values: %w[5m 10m 30m 100m] },
-    #   threshold_offset: { grps_index: 6, description: '10db - 60db, default: 30', values: '10db - 60db' },
-    #   tracking_filter_type: { grps_index: 7, description: '0 = Standard, 2 = Fast Detection, 3 = Long Visibility, default: 0', values: ['standard', 'Fast Detection', 'Long Visibility'] },
-    #   vibration_suppression: { grps_index: 8, description: '0-16, 0 = No Suppression, 16 = High Suppression, default: 2' },
-    #   min_detection_distance: { grps_index: 3, description: '0 - 100% of range setting, default: 0' },
-    #   max_detection_distance: { grps_index: 10, description: '0 - 100% of range setting, default: 50' },
-    #   min_detection_angle: { grps_index: 11, description: '-90° - 90°, default: -90' },
-    #   max_detection_angle: { grps_index: 12, description: '-90° - 90°, default: 90' },
-    #   min_detection_speed: { grps_index: 13, description: '0 - 100% of speed setting, default: 0' },
-    #   max_detection_speed: { grps_index: 14, description: '0 - 100% of speed setting, default: 100' },
-    #   detection_direction: { grps_index: 15, description: '0 = Receding, 1 = Approaching, 2 = Both, default: 2', values: %w[receding approaching both] },
-    #   range_threshold: { grps_index: 16, description: '0 - 100% of range setting, default: 10', values: '0 - 100% of range setting' },
-    #   angle_threshold: { grps_index: 17, description: '-90° - 90°, default: 0' },
-    #   speed_threshold: { grps_index: 18, description: '0 - 100% of speed setting, default: 50' },
-    #   digital_output_1: { grps_index: 19, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default: 0', values: %w[Direction Angle Range Speed Micro] },
-    #   digital_output_2: { grps_index: 20, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default: 1', values: %w[Direction Angle Range Speed Micro] },
-    #   digital_output_3: { grps_index: 21, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default: 2', values: %w[Direction Angle Range Speed Micro] },
-    #   hold_time: { grps_index: 22, description: '1 - 7200s, default: 1', values: '1 - 7200s' },
-    #   micro_detection_trigger: { grps_index: 23, description: '0 = Off, 1 = Retrigger, default: 0' },
-    #   micro_detection_sensitivity: { grps_index: 24, description: '0 - 9, 0 = Min, 9 = Max, default: 4' }'
-    # }
   end
 end

data/lib/rfbeam/kld7/radar_messages.rb

@@ -0,0 +1,94 @@
+require 'csv'
+
+module RfBeam
+  module KLD7
+    def detection?
+      data = ddat
+      (data[2] == 1)
+    end
+
+    def rfft
+      request_frame_data(:rfft)
+
+      resp = read(1032).unpack('a4LS256S256')
+      resp.shift 2
+      resp
+    end
+    
+    def pdat(formatted: false)
+      request_frame_data(:pdat)      
+      resp = read(102).unpack('a4LSssSSssSSssSSssSSssSSssSSssSSssSSssSSssS')
+      return resp unless formatted
+
+      target_count = resp[1].to_i / 8
+      return [] unless target_count > 0
+
+      resp.shift 2
+      resp.compact
+      detected_raw_targets = []
+      target_count.times { detected_raw_targets << format_raw_target_data(resp.shift(4)) }
+      detected_raw_targets
+    end
+
+    def tdat
+      request_frame_data(:tdat)
+
+      sleep 0.1
+      resp = read(16).unpack('a4LSssS')
+      return { dist: resp[2], speed: resp[3], angle: resp[4], mag: resp[5] } unless resp[1].zero?
+    end
+
+    def ddat
+      request_frame_data(:ddat)
+      flags = %w[Low High]
+      array = read(14).unpack('a4LC6')
+      { label: array[0],
+      detection: DETECTION_FLAGS[:detection][array[2]],
+      micro_detection: DETECTION_FLAGS[:micro_detection][array[3]],
+      angle: DETECTION_FLAGS[:angle][array[4]],
+      direction: DETECTION_FLAGS[:direction][array[5]],
+      range: DETECTION_FLAGS[:range][array[6]],
+      speed: DETECTION_FLAGS[:speed][array[7]]
+    }
+    end
+    
+    # Get the radar parameter structure
+    def grps
+      command = ['GRPS', 0]
+      write command.pack('a4L')
+      check_response
+      read(50).unpack('a4LA19C8c2C4cCCCCSCC')
+    end
+
+    def config
+      data = grps
+      output = "\n"
+      RADAR_PARAMETERS.keys.each do |key|
+        output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index])
+      end
+      output
+    end
+    
+    def formatted_parameter(param, value = nil)
+      param = RADAR_PARAMETERS[param]
+      if value.nil?
+        data = grps
+        value = data[param.grps_index]
+      end
+      param_str_value = param.values.empty? ? value.to_s : param.values[value]
+      "#{param.name}: #{param_str_value}#{param.units}\n"
+    end
+
+    private
+
+    def format_raw_target_data(array)
+        { dist: array.shift, speed: array.shift, angle: array.shift, mag: array.shift }
+    end
+
+    def request_frame_data(type)
+      command = ['GNFD', 4, FRAME_DATA_TYPES[type]]
+      write command.pack('a4LL')
+      check_response
+    end
+  end
+end