rfbeam 0.3.4 → 0.4.0
Sign up to get free protection for your applications and to get access to all the features.
- checksums.yaml +4 -4
- data/.rubocop.yml +7 -1
- data/CHANGELOG.md +11 -1
- data/Gemfile +10 -0
- data/Gemfile.lock +28 -1
- data/README.md +29 -24
- data/exe/rfbeam +5 -0
- data/lib/rfbeam/cli.rb +130 -0
- data/lib/rfbeam/kld7/constants.rb +34 -54
- data/lib/rfbeam/kld7/radar_messages.rb +94 -0
- data/lib/rfbeam/kld7/radar_parameters.rb +399 -0
- data/lib/rfbeam/kld7/{connection.rb → serial_connection.rb} +0 -2
- data/lib/rfbeam/kld7/streamer.rb +75 -0
- data/lib/rfbeam/version.rb +1 -1
- data/lib/rfbeam.rb +7 -4
- data/output.csv +257 -0
- metadata +11 -6
- data/lib/rfbeam/kld7/app_commands.rb +0 -201
- data/lib/rfbeam/kld7/app_messages.rb +0 -100
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
---
|
2
2
|
SHA256:
|
3
|
-
metadata.gz:
|
4
|
-
data.tar.gz:
|
3
|
+
metadata.gz: 19f39170dee64099fe6806a345393beff434035df70fe525fa31b361468cac9e
|
4
|
+
data.tar.gz: 622aba1c5ab9f85fdb8cadf90f10339344306db39ab9299b2ef8b437d228d82d
|
5
5
|
SHA512:
|
6
|
-
metadata.gz:
|
7
|
-
data.tar.gz:
|
6
|
+
metadata.gz: 57bd136ef560a32dab06e08c841b44e6e1b192525d9d3d44db1a88885c0b30b9b9b28ab28b1f408d628e191195373a012d31405ae24372fa4efd76ecbb3af46c
|
7
|
+
data.tar.gz: 5dc08c9c71c511e210a4c30599248bb5be53f1ccd7373af73edeb1ff35043dc76b90235bf46de93b9b755123af598225d6b96f06f6c0c5ab89bf4d1bc2e81d57
|
data/.rubocop.yml
CHANGED
@@ -2,10 +2,16 @@ inherit_from:
|
|
2
2
|
- node_modules/@prettier/plugin-ruby/rubocop.yml
|
3
3
|
|
4
4
|
AllCops:
|
5
|
-
TargetRubyVersion: 2
|
5
|
+
TargetRubyVersion: 3.2
|
6
6
|
|
7
7
|
Layout/LineLength:
|
8
8
|
Max: 120
|
9
9
|
|
10
|
+
Metrics/ModuleLength:
|
11
|
+
Enabled: false
|
12
|
+
|
13
|
+
Metrics/MethodLength:
|
14
|
+
Max: 20
|
15
|
+
|
10
16
|
Documentation:
|
11
17
|
Enabled: false
|
data/CHANGELOG.md
CHANGED
@@ -1,6 +1,16 @@
|
|
1
|
+
## [0.4.0] - 2023-4-4
|
2
|
+
|
3
|
+
- rough CLI implementation
|
4
|
+
- Streaming rfft data, with plot output
|
5
|
+
|
6
|
+
## [0.3.5] - 2023-4-1
|
7
|
+
|
8
|
+
- Updated Radar parameter accessors
|
9
|
+
- Added parameter setter arg validation and errors
|
10
|
+
|
1
11
|
## [0.3.4] - 2023-3-28
|
2
12
|
|
3
|
-
|
13
|
+
- Added a formatted option to pdat
|
4
14
|
|
5
15
|
## [0.3.2] - 2023-3-28
|
6
16
|
|
data/Gemfile
CHANGED
@@ -10,3 +10,13 @@ gem "rake", "~> 13.0"
|
|
10
10
|
gem "minitest", "~> 5.0"
|
11
11
|
|
12
12
|
gem "rubocop", "~> 1.21"
|
13
|
+
|
14
|
+
gem "tty-table", "~> 0.12.0"
|
15
|
+
|
16
|
+
gem "tty-spinner", "~> 0.9.3"
|
17
|
+
|
18
|
+
gem "unicode_plot", "~> 0.0.5"
|
19
|
+
|
20
|
+
gem "tty-logger", "~> 0.6.0"
|
21
|
+
|
22
|
+
gem "tty-screen", "~> 0.8.1"
|
data/Gemfile.lock
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
PATH
|
2
2
|
remote: .
|
3
3
|
specs:
|
4
|
-
rfbeam (0.
|
4
|
+
rfbeam (0.4.0)
|
5
5
|
activesupport (~> 6.1.0)
|
6
6
|
rubyserial (~> 0.6.0)
|
7
7
|
thor (~> 1.2.1)
|
@@ -17,6 +17,7 @@ GEM
|
|
17
17
|
zeitwerk (~> 2.3)
|
18
18
|
ast (2.4.2)
|
19
19
|
concurrent-ruby (1.1.10)
|
20
|
+
enumerable-statistics (2.0.7)
|
20
21
|
ffi (1.15.5)
|
21
22
|
i18n (1.12.0)
|
22
23
|
concurrent-ruby (~> 1.0)
|
@@ -25,6 +26,8 @@ GEM
|
|
25
26
|
parallel (1.22.1)
|
26
27
|
parser (3.1.3.0)
|
27
28
|
ast (~> 2.4.1)
|
29
|
+
pastel (0.8.0)
|
30
|
+
tty-color (~> 0.5)
|
28
31
|
rainbow (3.1.1)
|
29
32
|
rake (13.0.6)
|
30
33
|
regexp_parser (2.6.1)
|
@@ -44,10 +47,29 @@ GEM
|
|
44
47
|
ruby-progressbar (1.11.0)
|
45
48
|
rubyserial (0.6.0)
|
46
49
|
ffi (~> 1.9, >= 1.9.3)
|
50
|
+
strings (0.2.1)
|
51
|
+
strings-ansi (~> 0.2)
|
52
|
+
unicode-display_width (>= 1.5, < 3.0)
|
53
|
+
unicode_utils (~> 1.4)
|
54
|
+
strings-ansi (0.2.0)
|
47
55
|
thor (1.2.1)
|
56
|
+
tty-color (0.6.0)
|
57
|
+
tty-cursor (0.7.1)
|
58
|
+
tty-logger (0.6.0)
|
59
|
+
pastel (~> 0.8)
|
60
|
+
tty-screen (0.8.1)
|
61
|
+
tty-spinner (0.9.3)
|
62
|
+
tty-cursor (~> 0.7)
|
63
|
+
tty-table (0.12.0)
|
64
|
+
pastel (~> 0.8)
|
65
|
+
strings (~> 0.2.0)
|
66
|
+
tty-screen (~> 0.8)
|
48
67
|
tzinfo (2.0.5)
|
49
68
|
concurrent-ruby (~> 1.0)
|
50
69
|
unicode-display_width (2.3.0)
|
70
|
+
unicode_plot (0.0.5)
|
71
|
+
enumerable-statistics (>= 2.0.1)
|
72
|
+
unicode_utils (1.4.0)
|
51
73
|
zeitwerk (2.6.6)
|
52
74
|
|
53
75
|
PLATFORMS
|
@@ -59,6 +81,11 @@ DEPENDENCIES
|
|
59
81
|
rake (~> 13.0)
|
60
82
|
rfbeam!
|
61
83
|
rubocop (~> 1.21)
|
84
|
+
tty-logger (~> 0.6.0)
|
85
|
+
tty-screen (~> 0.8.1)
|
86
|
+
tty-spinner (~> 0.9.3)
|
87
|
+
tty-table (~> 0.12.0)
|
88
|
+
unicode_plot (~> 0.0.5)
|
62
89
|
|
63
90
|
BUNDLED WITH
|
64
91
|
2.4.10
|
data/README.md
CHANGED
@@ -1,7 +1,11 @@
|
|
1
1
|
# Rfbeam
|
2
2
|
|
3
|
-
|
4
|
-
|
3
|
+
![Gem](https://img.shields.io/gem/v/rfbeam?color=green&label=version)
|
4
|
+
![Ruby](https://img.shields.io/static/v1?message=Ruby&color=red&logo=Ruby&logoColor=FFFFFF&label=v3.2.1)
|
5
|
+
![Ruby](https://img.shields.io/gitlab/license/robcarruthers/rfbeam?color=orange)
|
6
|
+
|
7
|
+
RfBeam is a simple, high-level interface for the RFBeam radar modules.
|
8
|
+
The user can query process and raw detection data and set the radar parameters for the sensor.
|
5
9
|
|
6
10
|
At this stage it only works on Linux and Mac with the K-LD7 module.
|
7
11
|
|
@@ -63,28 +67,29 @@ Returns a formatted String of all parameter settings. The only way to read param
|
|
63
67
|
|
64
68
|
radar.config
|
65
69
|
|
66
|
-
Software Version: K-LD7_APP-RFB-0103
|
67
|
-
Base Frequency:
|
68
|
-
|
69
|
-
|
70
|
-
Threshold
|
71
|
-
Tracking Filter Type:
|
72
|
-
Vibration Suppression:
|
73
|
-
Minimum Detection Distance: 0
|
74
|
-
Maximum Detection Distance:
|
75
|
-
Minimum Detection Angle: -
|
76
|
-
Maximum Detection Angle: 90°
|
77
|
-
|
78
|
-
Maximum Detection Speed: 100
|
79
|
-
Detection Direction:
|
80
|
-
|
81
|
-
|
82
|
-
|
83
|
-
Digital
|
84
|
-
Digital
|
85
|
-
|
86
|
-
|
87
|
-
Micro Detection
|
70
|
+
Software Version: K-LD7_APP-RFB-0103
|
71
|
+
Base Frequency: Low
|
72
|
+
Maximum Speed: 100km/h
|
73
|
+
Maximum Range: 100m
|
74
|
+
Threshold Offset: 30db
|
75
|
+
Tracking Filter Type: Long Visibility
|
76
|
+
Vibration Suppression: 16
|
77
|
+
Minimum Detection Distance: 0%
|
78
|
+
Maximum Detection Distance: 100%
|
79
|
+
Minimum Detection Angle: -10°
|
80
|
+
Maximum Detection Angle: 90°
|
81
|
+
Minimum Detection Speed: 0%
|
82
|
+
Maximum Detection Speed: 100%
|
83
|
+
Detection Direction: Both
|
84
|
+
Range Threshold: 10%
|
85
|
+
Angle Threshold: 0°
|
86
|
+
Speed Threshold: 50%
|
87
|
+
Digital Output 1: Direction
|
88
|
+
Digital Output 2: Angle
|
89
|
+
Digital Output 3: Range
|
90
|
+
Hold Time: 1s
|
91
|
+
Micro Detection Trigger: Off
|
92
|
+
Micro Detection Sensativity: 4
|
88
93
|
|
89
94
|
## Parameter setters
|
90
95
|
|
data/exe/rfbeam
ADDED
data/lib/rfbeam/cli.rb
ADDED
@@ -0,0 +1,130 @@
|
|
1
|
+
# rubocop:disable all
|
2
|
+
require 'thor'
|
3
|
+
require 'rfbeam'
|
4
|
+
require 'tty-table'
|
5
|
+
require 'tty-logger'
|
6
|
+
require 'tty-spinner'
|
7
|
+
require 'io/console'
|
8
|
+
require 'unicode_plot'
|
9
|
+
|
10
|
+
module RfBeam
|
11
|
+
class CLI < Thor
|
12
|
+
|
13
|
+
attr_accessor :radar, :logger
|
14
|
+
|
15
|
+
desc 'list', 'List available radar modules'
|
16
|
+
def list
|
17
|
+
devices = RfBeam.connected
|
18
|
+
@logger.warning 'No Radar modules found.' unless devices.count.positive?
|
19
|
+
|
20
|
+
table = TTY::Table.new( header: ['id', 'Path', 'Version'])
|
21
|
+
|
22
|
+
devices.each.with_index do |path, index|
|
23
|
+
table << ["R#{index}", path, @radar.sw_version]
|
24
|
+
end
|
25
|
+
puts table.render(:ascii)
|
26
|
+
end
|
27
|
+
|
28
|
+
desc 'config <radar_id>', 'Shows the parameter setting for the Radar module'
|
29
|
+
def config(radar_id)
|
30
|
+
init_radar(radar_id)
|
31
|
+
puts @radar.config
|
32
|
+
end
|
33
|
+
|
34
|
+
desc 'set_param <radar_id> <key> <value>', 'Set radar parameters, see readme for keys'
|
35
|
+
def set_param(radar_id, param, value)
|
36
|
+
return logger.warning("Invalid param: '#{param}'") unless RfBeam::K_ld7::RADAR_PARAMETERS.include?(param.to_sym)
|
37
|
+
|
38
|
+
init_radar radar_id
|
39
|
+
@radar.send("#{param}=", value.to_i)
|
40
|
+
logger.success "Set #{@radar.formatted_parameter(param.to_sym)}"
|
41
|
+
end
|
42
|
+
|
43
|
+
desc 'ddat <radar_id>', 'stream any valid detections, stop stream with q and enter'
|
44
|
+
option :stream, type: :boolean, aliases: '-s', desc: "Stream the data from the device"
|
45
|
+
def ddat(radar_id)
|
46
|
+
init_radar radar_id
|
47
|
+
|
48
|
+
if options[:stream]
|
49
|
+
Thread.new { monitor_keypress }
|
50
|
+
spinner = TTY::Spinner.new("[:spinner] :title ", format: :bouncing_ball)
|
51
|
+
loop do
|
52
|
+
break if @stop_streaming
|
53
|
+
spinner.spin
|
54
|
+
data = @radar.ddat
|
55
|
+
spinner.update title: "Searching... #{data}"
|
56
|
+
spinner.success @radar.tdat if data[2] == 1
|
57
|
+
end
|
58
|
+
spinner.stop
|
59
|
+
puts "\nTask Quit."
|
60
|
+
else
|
61
|
+
puts "\n#{@radar.ddat}"
|
62
|
+
end
|
63
|
+
|
64
|
+
end
|
65
|
+
|
66
|
+
desc 'pdat <radar_id>', 'Display Tracked Targets'
|
67
|
+
def pdat(radar_id)
|
68
|
+
init_radar radar_id
|
69
|
+
puts @radar.pdat
|
70
|
+
end
|
71
|
+
|
72
|
+
desc "rfft <radar_id>", "Display the dopplar radar data as a plot"
|
73
|
+
option :stream, type: :boolean, aliases: '-s', desc: "Stream the data from the device"
|
74
|
+
option :period, type: :numeric, aliases: '-p', default: 0.5, desc: "Update period (in seconds) for the streaming data"
|
75
|
+
def rfft(radar_id)
|
76
|
+
init_radar(radar_id)
|
77
|
+
|
78
|
+
if options[:stream]
|
79
|
+
streamer = RfBeam::KLD7::Streamer.new(@radar)
|
80
|
+
streamer.rfft
|
81
|
+
else
|
82
|
+
plot = rfft_plot(@radar)
|
83
|
+
p plot.render
|
84
|
+
end
|
85
|
+
end
|
86
|
+
|
87
|
+
private
|
88
|
+
|
89
|
+
def init_radar(id)
|
90
|
+
devices = RfBeam.connected
|
91
|
+
@logger = TTY::Logger.new
|
92
|
+
return @logger.warning 'No Radar modules found.' unless devices.count.positive?
|
93
|
+
|
94
|
+
@radar = RfBeam::K_ld7.new(devices[id.to_i])
|
95
|
+
end
|
96
|
+
|
97
|
+
def plot_data(data)
|
98
|
+
{ x: Array(-128...128), series1: data.shift(256).map { |value| value / 100 }, series2: data.shift(256).map { |value| value.to_i / 100 } }
|
99
|
+
end
|
100
|
+
|
101
|
+
def monitor_keypress
|
102
|
+
loop do
|
103
|
+
key = STDIN.getch
|
104
|
+
if key.downcase == 'q'
|
105
|
+
@stop_streaming = true
|
106
|
+
break
|
107
|
+
end
|
108
|
+
end
|
109
|
+
end
|
110
|
+
|
111
|
+
def rfft_plot(radar)
|
112
|
+
speed = radar.max_speed
|
113
|
+
speed_label = radar.formatted_parameter(:max_speed)
|
114
|
+
xlim = [speed - speed * 2, speed]
|
115
|
+
data = plot_data(radar.rfft)
|
116
|
+
plot = UnicodePlot.lineplot(
|
117
|
+
data[:x],
|
118
|
+
data[:series1],
|
119
|
+
name: 'IF1/2 Averaged',
|
120
|
+
title: 'Raw FFT',
|
121
|
+
height: 25,
|
122
|
+
width: 120,
|
123
|
+
xlabel: "Speed (km/h), #{speed_label}",
|
124
|
+
ylabel: 'Signal (db)', xlim: [-128, 128],
|
125
|
+
ylim: [0, 100])
|
126
|
+
UnicodePlot.lineplot!(plot, data[:x], data[:series2], name: "Threshold")
|
127
|
+
plot
|
128
|
+
end
|
129
|
+
end
|
130
|
+
end
|
@@ -11,7 +11,7 @@ module RfBeam
|
|
11
11
|
3 => 'Invalid RPST version',
|
12
12
|
4 => 'Uart error (parity, framing, noise)',
|
13
13
|
5 => 'Sensor busy',
|
14
|
-
6 => 'Timeout error'
|
14
|
+
6 => 'Timeout error'
|
15
15
|
}.freeze
|
16
16
|
|
17
17
|
# The response delay was determined empirically and may need adjusting with baude rate
|
@@ -27,59 +27,39 @@ module RfBeam
|
|
27
27
|
angle: %w[Left Right],
|
28
28
|
direction: %w[Receding Approaching],
|
29
29
|
range: %w[Far Near],
|
30
|
-
speed: %w[Low High]
|
31
|
-
|
32
|
-
|
33
|
-
|
34
|
-
|
35
|
-
|
36
|
-
|
37
|
-
|
38
|
-
|
39
|
-
|
40
|
-
|
41
|
-
|
42
|
-
|
43
|
-
|
44
|
-
|
45
|
-
|
46
|
-
|
47
|
-
|
48
|
-
|
49
|
-
|
50
|
-
|
51
|
-
|
52
|
-
|
53
|
-
|
54
|
-
|
55
|
-
|
56
|
-
|
30
|
+
speed: %w[Low High]
|
31
|
+
}.freeze
|
32
|
+
|
33
|
+
Param = Data.define(:name, :grps_index, :description, :default, :units, :values) do |_param|
|
34
|
+
def initialize(name:, grps_index:, description: nil, default: nil, units: nil, values: [])
|
35
|
+
super(name:, grps_index:, description:, default:, units:, values:)
|
36
|
+
end
|
37
|
+
end
|
38
|
+
|
39
|
+
RADAR_PARAMETERS = {
|
40
|
+
sw_version: Param.new(name: 'Software Version', grps_index: 2, default: 'K-LD7_APP-RFB-XXXX'),
|
41
|
+
base_frequency: Param.new( name: 'Base Frequency', grps_index: 3, description: '0 = Low, 1 = Middle, 2 = High', default: 1, values: ['Low', 'Middle', 'High'] ),
|
42
|
+
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'] ),
|
43
|
+
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] ),
|
44
|
+
threshold_offset: Param.new( name: 'Threshold Offset', grps_index: 6, description: '10db - 60db', default: 30, units: 'db' ),
|
45
|
+
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'] ),
|
46
|
+
vibration_suppression: Param.new( name: 'Vibration Suppression', grps_index: 8, description: '0-16, 0 = No Suppression, 16 = High Suppression', default: 2 ),
|
47
|
+
min_detection_distance: Param.new( name: 'Minimum Detection Distance', grps_index: 9, description: '0 - 100% of range setting', default: 0, units: '%' ),
|
48
|
+
max_detection_distance: Param.new( name: 'Maximum Detection Distance', grps_index: 10, description: '0 - 100% of range setting', default: 50, units: '%' ),
|
49
|
+
min_detection_angle: Param.new( name: 'Minimum Detection Angle', grps_index: 11, description: '-90° - 90°', default: -90, units: '°' ),
|
50
|
+
max_detection_angle: Param.new( name: 'Maximum Detection Angle', grps_index: 12, description: '-90° - 90°', default: 90, units: '°' ),
|
51
|
+
min_detection_speed: Param.new( name: 'Minimum Detection Speed', grps_index: 13, description: '0 - 100% of speed setting', default: 0, units: '%' ),
|
52
|
+
max_detection_speed: Param.new( name: 'Maximum Detection Speed', grps_index: 14, description: '0 - 100% of speed setting', default: 100, units: '%' ),
|
53
|
+
detection_direction: Param.new( name: 'Detection Direction', grps_index: 15, description: '0 = Receding, 1 = Approaching, 2 = Both', default: 2, values: %w[Receding Approaching Both] ),
|
54
|
+
range_threshold: Param.new( name: 'Range Threshold', grps_index: 16, description: '0 - 100% of range setting', default: 10, units: '%' ),
|
55
|
+
angle_threshold: Param.new( name: 'Angle Threshold', grps_index: 17, description: '-90° - 90°', default: 0, units: '°' ),
|
56
|
+
speed_threshold: Param.new( name: 'Speed Threshold', grps_index: 18, description: '0 - 100% of speed setting', default: 50, units: '%' ),
|
57
|
+
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] ),
|
58
|
+
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] ),
|
59
|
+
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] ),
|
60
|
+
hold_time: Param.new( name: 'Hold Time', grps_index: 22, description: '1 - 7200s', default: 1, units: 's' ),
|
61
|
+
micro_detection_retrigger: Param.new( name: 'Micro Detection Trigger', grps_index: 23, description: '0 = Off, 1 = Retrigger', default: 0, values: %w[Off Retrigger] ),
|
62
|
+
micro_detection_sensativity: Param.new( name: 'Micro Detection Sensativity', grps_index: 24, description: '0 - 9, 0 = Min, 9 = Max', default: 4 )
|
57
63
|
}.freeze
|
58
|
-
|
59
|
-
# PARAMETERS = {
|
60
|
-
# sw_version: { grps_index: 2, default: 'K-LD7_APP-RFB-XXXX' },
|
61
|
-
# base_frequency: { grps_index: 3, description: '0 = Low, 1 = Middle, 2 = High', default: '1 - Middle', values: ['Low', 'Middle', 'High'] },
|
62
|
-
# 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'] },
|
63
|
-
# max_range: { grps_index: 5, description: '0 = 5m, 1 = 10m, 2 = 30m, 3 = 100m, default: 1', values: %w[5m 10m 30m 100m] },
|
64
|
-
# threshold_offset: { grps_index: 6, description: '10db - 60db, default: 30', values: '10db - 60db' },
|
65
|
-
# tracking_filter_type: { grps_index: 7, description: '0 = Standard, 2 = Fast Detection, 3 = Long Visibility, default: 0', values: ['standard', 'Fast Detection', 'Long Visibility'] },
|
66
|
-
# vibration_suppression: { grps_index: 8, description: '0-16, 0 = No Suppression, 16 = High Suppression, default: 2' },
|
67
|
-
# min_detection_distance: { grps_index: 3, description: '0 - 100% of range setting, default: 0' },
|
68
|
-
# max_detection_distance: { grps_index: 10, description: '0 - 100% of range setting, default: 50' },
|
69
|
-
# min_detection_angle: { grps_index: 11, description: '-90° - 90°, default: -90' },
|
70
|
-
# max_detection_angle: { grps_index: 12, description: '-90° - 90°, default: 90' },
|
71
|
-
# min_detection_speed: { grps_index: 13, description: '0 - 100% of speed setting, default: 0' },
|
72
|
-
# max_detection_speed: { grps_index: 14, description: '0 - 100% of speed setting, default: 100' },
|
73
|
-
# detection_direction: { grps_index: 15, description: '0 = Receding, 1 = Approaching, 2 = Both, default: 2', values: %w[receding approaching both] },
|
74
|
-
# range_threshold: { grps_index: 16, description: '0 - 100% of range setting, default: 10', values: '0 - 100% of range setting' },
|
75
|
-
# angle_threshold: { grps_index: 17, description: '-90° - 90°, default: 0' },
|
76
|
-
# speed_threshold: { grps_index: 18, description: '0 - 100% of speed setting, default: 50' },
|
77
|
-
# 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] },
|
78
|
-
# 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] },
|
79
|
-
# 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] },
|
80
|
-
# hold_time: { grps_index: 22, description: '1 - 7200s, default: 1', values: '1 - 7200s' },
|
81
|
-
# micro_detection_trigger: { grps_index: 23, description: '0 = Off, 1 = Retrigger, default: 0' },
|
82
|
-
# micro_detection_sensitivity: { grps_index: 24, description: '0 - 9, 0 = Min, 9 = Max, default: 4' }'
|
83
|
-
# }
|
84
64
|
end
|
85
65
|
end
|
@@ -0,0 +1,94 @@
|
|
1
|
+
require 'csv'
|
2
|
+
|
3
|
+
module RfBeam
|
4
|
+
module KLD7
|
5
|
+
def detection?
|
6
|
+
data = ddat
|
7
|
+
(data[2] == 1)
|
8
|
+
end
|
9
|
+
|
10
|
+
def rfft
|
11
|
+
request_frame_data(:rfft)
|
12
|
+
|
13
|
+
resp = read(1032).unpack('a4LS256S256')
|
14
|
+
resp.shift 2
|
15
|
+
resp
|
16
|
+
end
|
17
|
+
|
18
|
+
def pdat(formatted: false)
|
19
|
+
request_frame_data(:pdat)
|
20
|
+
resp = read(102).unpack('a4LSssSSssSSssSSssSSssSSssSSssSSssSSssSSssS')
|
21
|
+
return resp unless formatted
|
22
|
+
|
23
|
+
target_count = resp[1].to_i / 8
|
24
|
+
return [] unless target_count > 0
|
25
|
+
|
26
|
+
resp.shift 2
|
27
|
+
resp.compact
|
28
|
+
detected_raw_targets = []
|
29
|
+
target_count.times { detected_raw_targets << format_raw_target_data(resp.shift(4)) }
|
30
|
+
detected_raw_targets
|
31
|
+
end
|
32
|
+
|
33
|
+
def tdat
|
34
|
+
request_frame_data(:tdat)
|
35
|
+
|
36
|
+
sleep 0.1
|
37
|
+
resp = read(16).unpack('a4LSssS')
|
38
|
+
return { dist: resp[2], speed: resp[3], angle: resp[4], mag: resp[5] } unless resp[1].zero?
|
39
|
+
end
|
40
|
+
|
41
|
+
def ddat
|
42
|
+
request_frame_data(:ddat)
|
43
|
+
flags = %w[Low High]
|
44
|
+
array = read(14).unpack('a4LC6')
|
45
|
+
{ label: array[0],
|
46
|
+
detection: DETECTION_FLAGS[:detection][array[2]],
|
47
|
+
micro_detection: DETECTION_FLAGS[:micro_detection][array[3]],
|
48
|
+
angle: DETECTION_FLAGS[:angle][array[4]],
|
49
|
+
direction: DETECTION_FLAGS[:direction][array[5]],
|
50
|
+
range: DETECTION_FLAGS[:range][array[6]],
|
51
|
+
speed: DETECTION_FLAGS[:speed][array[7]]
|
52
|
+
}
|
53
|
+
end
|
54
|
+
|
55
|
+
# Get the radar parameter structure
|
56
|
+
def grps
|
57
|
+
command = ['GRPS', 0]
|
58
|
+
write command.pack('a4L')
|
59
|
+
check_response
|
60
|
+
read(50).unpack('a4LA19C8c2C4cCCCCSCC')
|
61
|
+
end
|
62
|
+
|
63
|
+
def config
|
64
|
+
data = grps
|
65
|
+
output = "\n"
|
66
|
+
RADAR_PARAMETERS.keys.each do |key|
|
67
|
+
output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index])
|
68
|
+
end
|
69
|
+
output
|
70
|
+
end
|
71
|
+
|
72
|
+
def formatted_parameter(param, value = nil)
|
73
|
+
param = RADAR_PARAMETERS[param]
|
74
|
+
if value.nil?
|
75
|
+
data = grps
|
76
|
+
value = data[param.grps_index]
|
77
|
+
end
|
78
|
+
param_str_value = param.values.empty? ? value.to_s : param.values[value]
|
79
|
+
"#{param.name}: #{param_str_value}#{param.units}\n"
|
80
|
+
end
|
81
|
+
|
82
|
+
private
|
83
|
+
|
84
|
+
def format_raw_target_data(array)
|
85
|
+
{ dist: array.shift, speed: array.shift, angle: array.shift, mag: array.shift }
|
86
|
+
end
|
87
|
+
|
88
|
+
def request_frame_data(type)
|
89
|
+
command = ['GNFD', 4, FRAME_DATA_TYPES[type]]
|
90
|
+
write command.pack('a4LL')
|
91
|
+
check_response
|
92
|
+
end
|
93
|
+
end
|
94
|
+
end
|