rfbeam 0.3.5 → 0.4.1
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- checksums.yaml +4 -4
- data/.rubocop.yml +5 -4
- data/.streerc +2 -0
- data/CHANGELOG.md +5 -0
- data/Gemfile +14 -0
- data/Gemfile.lock +33 -1
- data/exe/rfbeam +5 -0
- data/lib/rfbeam/cli.rb +85 -0
- data/lib/rfbeam/kld7/cli_formatter.rb +41 -0
- data/lib/rfbeam/kld7/cli_output.rb +127 -0
- data/lib/rfbeam/kld7/constants.rb +156 -32
- data/lib/rfbeam/kld7/radar_messages.rb +50 -30
- data/lib/rfbeam/kld7/radar_parameters.rb +17 -8
- data/lib/rfbeam/kld7/serial_connection.rb +1 -1
- data/lib/rfbeam/version.rb +1 -1
- data/lib/rfbeam.rb +4 -1
- data/output.csv +257 -0
- metadata +10 -3
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
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---
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SHA256:
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-
metadata.gz:
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-
data.tar.gz:
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3
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+
metadata.gz: 7edface1b941c801c5842d40d396f8343461271f10a7c381346338e415b074e9
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4
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+
data.tar.gz: 02bf778dc66bb874da0323867beeb350d5a69e8bb8aa3986c140a88370ae4d94
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5
5
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SHA512:
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6
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-
metadata.gz:
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-
data.tar.gz:
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6
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+
metadata.gz: 0d4cac38cff0bcc30df6501bc42c2cfcc054df8df5d94b486489d1b123d44afce4d5fc49f42e14efbb66813caa12aca4e6d7c67dcdd4c6c9438dfaf698591a51
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7
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+
data.tar.gz: ee253b692da85a7504a0de62353fca8d060d1618d9b265f0afd28b32416892fc5754eb57db09af996d8b2fe766a96b84fa6b49d8d7cd4f3675d8ec338cc1e9d0
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data/.rubocop.yml
CHANGED
@@ -1,17 +1,18 @@
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1
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-
inherit_from:
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- node_modules/@prettier/plugin-ruby/rubocop.yml
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-
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1
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AllCops:
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2
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TargetRubyVersion: 3.2
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3
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Layout/LineLength:
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Max: 120
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+
AutoCorrect: true
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Metrics/ModuleLength:
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Enabled: false
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Metrics/MethodLength:
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Max:
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Max: 20
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Metrics/ClassLength:
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Enabled: false
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Documentation:
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Enabled: false
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data/.streerc
ADDED
data/CHANGELOG.md
CHANGED
data/Gemfile
CHANGED
@@ -10,3 +10,17 @@ gem "rake", "~> 13.0"
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gem "minitest", "~> 5.0"
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gem "rubocop", "~> 1.21"
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gem "tty-table", "~> 0.12.0"
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gem "tty-spinner", "~> 0.9.3"
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gem "unicode_plot", "~> 0.0.5"
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gem "tty-logger", "~> 0.6.0"
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gem "tty-screen", "~> 0.8.1"
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gem "tty-option", "~> 0.2.0"
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gem "tty-command", "~> 0.10.1"
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data/Gemfile.lock
CHANGED
@@ -1,7 +1,7 @@
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1
1
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PATH
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2
2
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remote: .
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specs:
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4
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-
rfbeam (0.
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4
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+
rfbeam (0.4.1)
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5
5
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activesupport (~> 6.1.0)
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rubyserial (~> 0.6.0)
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thor (~> 1.2.1)
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@@ -17,6 +17,7 @@ GEM
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zeitwerk (~> 2.3)
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ast (2.4.2)
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concurrent-ruby (1.1.10)
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+
enumerable-statistics (2.0.7)
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ffi (1.15.5)
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i18n (1.12.0)
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concurrent-ruby (~> 1.0)
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@@ -25,6 +26,8 @@ GEM
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parallel (1.22.1)
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parser (3.1.3.0)
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ast (~> 2.4.1)
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pastel (0.8.0)
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tty-color (~> 0.5)
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rainbow (3.1.1)
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rake (13.0.6)
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regexp_parser (2.6.1)
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ruby-progressbar (1.11.0)
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rubyserial (0.6.0)
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ffi (~> 1.9, >= 1.9.3)
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strings (0.2.1)
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strings-ansi (~> 0.2)
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unicode-display_width (>= 1.5, < 3.0)
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unicode_utils (~> 1.4)
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strings-ansi (0.2.0)
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thor (1.2.1)
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tty-color (0.6.0)
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tty-command (0.10.1)
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pastel (~> 0.8)
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+
tty-cursor (0.7.1)
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tty-logger (0.6.0)
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pastel (~> 0.8)
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tty-option (0.2.0)
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tty-screen (0.8.1)
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+
tty-spinner (0.9.3)
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tty-cursor (~> 0.7)
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tty-table (0.12.0)
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pastel (~> 0.8)
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strings (~> 0.2.0)
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tty-screen (~> 0.8)
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tzinfo (2.0.5)
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concurrent-ruby (~> 1.0)
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unicode-display_width (2.3.0)
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unicode_plot (0.0.5)
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enumerable-statistics (>= 2.0.1)
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unicode_utils (1.4.0)
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zeitwerk (2.6.6)
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PLATFORMS
|
@@ -59,6 +84,13 @@ DEPENDENCIES
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84
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rake (~> 13.0)
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60
85
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rfbeam!
|
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rubocop (~> 1.21)
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+
tty-command (~> 0.10.1)
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+
tty-logger (~> 0.6.0)
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tty-option (~> 0.2.0)
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tty-screen (~> 0.8.1)
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tty-spinner (~> 0.9.3)
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tty-table (~> 0.12.0)
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unicode_plot (~> 0.0.5)
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BUNDLED WITH
|
64
96
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2.4.10
|
data/exe/rfbeam
ADDED
data/lib/rfbeam/cli.rb
ADDED
@@ -0,0 +1,85 @@
|
|
1
|
+
require 'thor'
|
2
|
+
require 'rfbeam'
|
3
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+
require 'tty-table'
|
4
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+
require 'tty-logger'
|
5
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+
require 'tty-spinner'
|
6
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+
require 'io/console'
|
7
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+
require 'unicode_plot'
|
8
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+
|
9
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+
module RfBeam
|
10
|
+
class CLI < Thor
|
11
|
+
attr_accessor :radar, :logger
|
12
|
+
|
13
|
+
desc 'list', 'List available radar modules'
|
14
|
+
def list
|
15
|
+
logger = TTY::Logger.new
|
16
|
+
devices = RfBeam.connected
|
17
|
+
logger.warning 'No Radar modules found.' unless devices.count.positive?
|
18
|
+
|
19
|
+
table = TTY::Table.new(header: %w[id Path Version])
|
20
|
+
|
21
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+
devices.each.with_index { |path, index| table << ["#{index}", path, radar(index).sw_version] }
|
22
|
+
puts table.render(:ascii)
|
23
|
+
end
|
24
|
+
|
25
|
+
desc 'config <radar_id>', 'Shows the parameter setting for the Radar module'
|
26
|
+
def config(radar_id)
|
27
|
+
puts radar(radar_id).config
|
28
|
+
end
|
29
|
+
|
30
|
+
desc 'reset <radar_id>', 'Shows the parameter setting for the Radar module'
|
31
|
+
def reset(radar_id)
|
32
|
+
@logger.success 'Radar reset to factory defaults' if radar(radar_id).reset
|
33
|
+
end
|
34
|
+
|
35
|
+
desc 'set_param <radar_id> <key> <value>', 'Set radar parameters, see readme for keys'
|
36
|
+
def set_param(radar_id, param, value)
|
37
|
+
return @logger.warn("Invalid param: '#{param}'") unless RfBeam::K_ld7::RADAR_PARAMETERS.include?(param.to_sym)
|
38
|
+
|
39
|
+
r = radar(radar_id)
|
40
|
+
r.send("#{param}=", value.to_i)
|
41
|
+
@logger.success r.formatted_parameter(param.to_sym)
|
42
|
+
end
|
43
|
+
|
44
|
+
desc 'ddat <radar_id>', 'stream any valid detections, stop stream with q and enter'
|
45
|
+
option :stream, type: :boolean, aliases: '-s', desc: 'Stream the data from the device'
|
46
|
+
def ddat(radar_id)
|
47
|
+
cli = RfBeam::KLD7::CliOutput.new(radar_id)
|
48
|
+
cli.display(:ddat, stream: options[:stream])
|
49
|
+
end
|
50
|
+
|
51
|
+
desc 'pdat <radar_id>', 'Display Tracked Targets'
|
52
|
+
def pdat(radar_id)
|
53
|
+
cli = RfBeam::KLD7::CliOutput.new(radar_id)
|
54
|
+
cli.display(:pdat, stream: options[:stream])
|
55
|
+
end
|
56
|
+
|
57
|
+
desc 'rfft <radar_id>', 'Display the dopplar radar data as a plot'
|
58
|
+
option :stream, type: :boolean, aliases: '-s', desc: 'Stream the data from the device'
|
59
|
+
option :raw, type: :boolean, aliases: '-r', desc: 'Display raw data'
|
60
|
+
def rfft(radar_id)
|
61
|
+
plotter = RfBeam::KLD7::CliOutput.new(radar_id)
|
62
|
+
if options[:raw]
|
63
|
+
print radar(radar_id).rfft
|
64
|
+
else
|
65
|
+
plotter.plot(:rfft, stream: options[:stream])
|
66
|
+
end
|
67
|
+
end
|
68
|
+
|
69
|
+
desc 'tdat <radar_id>', 'Display tracked target data'
|
70
|
+
def tdat(radar_id)
|
71
|
+
cli = RfBeam::KLD7::CliOutput.new(radar_id)
|
72
|
+
cli.display(:tdat, stream: options[:stream])
|
73
|
+
end
|
74
|
+
|
75
|
+
private
|
76
|
+
|
77
|
+
def radar(id)
|
78
|
+
devices = RfBeam.connected
|
79
|
+
@logger = TTY::Logger.new
|
80
|
+
return @logger.warning 'No Radar modules found.' unless devices.count.positive?
|
81
|
+
|
82
|
+
RfBeam::K_ld7.new(devices[id.to_i])
|
83
|
+
end
|
84
|
+
end
|
85
|
+
end
|
@@ -0,0 +1,41 @@
|
|
1
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+
require 'tty-table'
|
2
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+
|
3
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+
module RfBeam
|
4
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+
module KLD7
|
5
|
+
class CliFormatter
|
6
|
+
def tdat(data)
|
7
|
+
{ dist: data[2], speed: data[3], angle: data[4], mag: data[5] }
|
8
|
+
end
|
9
|
+
|
10
|
+
def pdat_table(data)
|
11
|
+
table = TTY::Table.new header: ['index', 'dist (M)', 'speed (Km/h)', 'angle (°)', 'mag (db)']
|
12
|
+
count = data[1] / 8
|
13
|
+
data.shift(2)
|
14
|
+
count.times.with_index do |index|
|
15
|
+
values = data.shift(4).map { |value| value.to_f / 100.0 }
|
16
|
+
table << [index, values].flatten
|
17
|
+
end
|
18
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+
table
|
19
|
+
end
|
20
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+
|
21
|
+
def ddat(data)
|
22
|
+
if data[2] == 1
|
23
|
+
labels = ['Detection', 'Micro Detection', 'Angle', 'Direction', 'Range', 'Speed']
|
24
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+
labels
|
25
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+
.map
|
26
|
+
.with_index { |label, index| "#{label}: #{DETECTION_FLAGS[to_symbol(label)][data[index + 2]]}" }
|
27
|
+
.join("\n")
|
28
|
+
else
|
29
|
+
'DDAT: No Detection'
|
30
|
+
end
|
31
|
+
end
|
32
|
+
|
33
|
+
private
|
34
|
+
|
35
|
+
def to_symbol(string)
|
36
|
+
modified_string = string.gsub(' ', '_').downcase
|
37
|
+
modified_string.to_sym
|
38
|
+
end
|
39
|
+
end
|
40
|
+
end
|
41
|
+
end
|
@@ -0,0 +1,127 @@
|
|
1
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+
require 'unicode_plot'
|
2
|
+
require 'io/console'
|
3
|
+
require 'stringio'
|
4
|
+
require 'tty-screen'
|
5
|
+
require 'tty-logger'
|
6
|
+
|
7
|
+
module RfBeam
|
8
|
+
module KLD7
|
9
|
+
class CliOutput
|
10
|
+
attr_reader :radar
|
11
|
+
|
12
|
+
def initialize(radar_id)
|
13
|
+
devices = RfBeam.connected
|
14
|
+
return TTY::Logger.new.warning 'No Radar modules found.' unless devices.count.positive?
|
15
|
+
|
16
|
+
@radar = RfBeam::K_ld7.new(devices[radar_id.to_i])
|
17
|
+
end
|
18
|
+
|
19
|
+
def display(type, stream: false)
|
20
|
+
send("display_#{type}", stream)
|
21
|
+
end
|
22
|
+
|
23
|
+
def plot(type, stream: false)
|
24
|
+
stream ? stream_plot(type) : display_plot(type)
|
25
|
+
end
|
26
|
+
|
27
|
+
def display_plot(type)
|
28
|
+
out = StringIO.new
|
29
|
+
def out.tty?
|
30
|
+
true
|
31
|
+
end
|
32
|
+
out.truncate(0)
|
33
|
+
|
34
|
+
plot = send("#{type}_plot")
|
35
|
+
plot.render(out)
|
36
|
+
|
37
|
+
lines = out.string.lines
|
38
|
+
lines.each { |line| $stdout.print "\r#{line}" }
|
39
|
+
$stdout.print "\e[0J"
|
40
|
+
$stdout.flush
|
41
|
+
|
42
|
+
if @streaming
|
43
|
+
n = lines.count
|
44
|
+
$stdout.print "\e[#{n}F"
|
45
|
+
end
|
46
|
+
end
|
47
|
+
|
48
|
+
def stream_plot(type)
|
49
|
+
@streaming = true
|
50
|
+
Thread.new { monitor_keypress }
|
51
|
+
|
52
|
+
loop do
|
53
|
+
display_plot(type)
|
54
|
+
break unless @streaming
|
55
|
+
end
|
56
|
+
end
|
57
|
+
|
58
|
+
private
|
59
|
+
|
60
|
+
def monitor_keypress
|
61
|
+
loop do
|
62
|
+
key = STDIN.getch
|
63
|
+
if key.downcase == 'q'
|
64
|
+
@streaming = false
|
65
|
+
break
|
66
|
+
end
|
67
|
+
end
|
68
|
+
end
|
69
|
+
|
70
|
+
def rfft_plot_data(data)
|
71
|
+
{
|
72
|
+
x: Array(-128...128),
|
73
|
+
series1: data.shift(256).map { |value| value / 100 },
|
74
|
+
series2: data.shift(256).map { |value| value.to_i / 100 }
|
75
|
+
}
|
76
|
+
end
|
77
|
+
|
78
|
+
def display_ddat(stream)
|
79
|
+
if stream
|
80
|
+
@streaming = true
|
81
|
+
Thread.new { monitor_keypress }
|
82
|
+
spinner = TTY::Spinner.new('[:spinner] :title ', format: :bouncing_ball)
|
83
|
+
logger = TTY::Logger.new
|
84
|
+
loop do
|
85
|
+
break unless @streaming
|
86
|
+
spinner.spin
|
87
|
+
data = @radar.ddat
|
88
|
+
spinner.update title: "Searching... #{data[:detection_str]}"
|
89
|
+
logger.success "#{@radar.tdat}" if data[:detection]
|
90
|
+
end
|
91
|
+
else
|
92
|
+
puts RfBeam::KLD7::CliFormatter.new.ddat(@radar.ddat)
|
93
|
+
end
|
94
|
+
end
|
95
|
+
|
96
|
+
def display_tdat(stream)
|
97
|
+
puts RfBeam::KLD7::CliFormatter.new.tdat(@radar.tdat)
|
98
|
+
end
|
99
|
+
|
100
|
+
def display_pdat(stream)
|
101
|
+
table = RfBeam::KLD7::CliFormatter.new.pdat_table(@radar.pdat)
|
102
|
+
puts "\n Detected Raw Targets"
|
103
|
+
puts table.render(:unicode, alignment: :center)
|
104
|
+
end
|
105
|
+
|
106
|
+
def rfft_plot
|
107
|
+
width = TTY::Screen.width * 0.65
|
108
|
+
data = rfft_plot_data(@radar.rfft)
|
109
|
+
plot =
|
110
|
+
UnicodePlot.lineplot(
|
111
|
+
data[:x],
|
112
|
+
data[:series1],
|
113
|
+
name: 'IF1/2 Averaged',
|
114
|
+
title: 'Raw FFT',
|
115
|
+
height: 25,
|
116
|
+
width: width,
|
117
|
+
xlabel: 'Speed (km/h)',
|
118
|
+
ylabel: 'Signal (db)',
|
119
|
+
xlim: [-128, 128],
|
120
|
+
ylim: [0, 100]
|
121
|
+
)
|
122
|
+
UnicodePlot.lineplot!(plot, data[:x], data[:series2], name: 'Threshold')
|
123
|
+
plot
|
124
|
+
end
|
125
|
+
end
|
126
|
+
end
|
127
|
+
end
|
@@ -14,52 +14,176 @@ module RfBeam
|
|
14
14
|
6 => 'Timeout error'
|
15
15
|
}.freeze
|
16
16
|
|
17
|
-
#
|
18
|
-
|
17
|
+
# Delays are determined empirically and may need adjusting with baude rate
|
18
|
+
RESPONSE_DELAY = 0.05
|
19
|
+
MEASUREMENT_DELAY = 0.15
|
19
20
|
|
20
21
|
# 'GNFD' command types
|
21
22
|
FRAME_DATA_TYPES = { disabled: 0x00, radc: 0x01, rfft: 0x02, pdat: 0x04, tdat: 0x08, ddat: 0x10, done: 0x20 }.freeze
|
22
23
|
|
23
24
|
# The angle, direction, range and speed flags are only valid if the detection flag is 1.
|
24
25
|
DETECTION_FLAGS = {
|
25
|
-
detection: ['No
|
26
|
-
micro_detection: ['No
|
26
|
+
detection: ['No', 'Yes'],
|
27
|
+
micro_detection: ['No', 'Yes'],
|
27
28
|
angle: %w[Left Right],
|
28
29
|
direction: %w[Receding Approaching],
|
29
30
|
range: %w[Far Near],
|
30
31
|
speed: %w[Low High]
|
31
32
|
}.freeze
|
32
|
-
|
33
|
-
Param =
|
34
|
-
|
35
|
-
|
33
|
+
|
34
|
+
Param =
|
35
|
+
Data.define(:name, :grps_index, :description, :default, :units, :values) do |_param|
|
36
|
+
def initialize(name:, grps_index:, description: nil, default: nil, units: nil, values: [])
|
37
|
+
super(name:, grps_index:, description:, default:, units:, values:)
|
38
|
+
end
|
36
39
|
end
|
37
|
-
end
|
38
40
|
|
39
41
|
RADAR_PARAMETERS = {
|
40
42
|
sw_version: Param.new(name: 'Software Version', grps_index: 2, default: 'K-LD7_APP-RFB-XXXX'),
|
41
|
-
base_frequency:
|
42
|
-
|
43
|
-
|
44
|
-
|
45
|
-
|
46
|
-
|
47
|
-
|
48
|
-
|
49
|
-
|
50
|
-
|
51
|
-
|
52
|
-
|
53
|
-
|
54
|
-
|
55
|
-
|
56
|
-
|
57
|
-
|
58
|
-
|
59
|
-
|
60
|
-
|
61
|
-
|
62
|
-
|
63
|
-
|
43
|
+
base_frequency:
|
44
|
+
Param.new(
|
45
|
+
name: 'Base Frequency',
|
46
|
+
grps_index: 3,
|
47
|
+
description: '0 = Low, 1 = Middle, 2 = High',
|
48
|
+
default: 1,
|
49
|
+
values: %w[Low Middle High]
|
50
|
+
),
|
51
|
+
max_speed:
|
52
|
+
Param.new(
|
53
|
+
name: 'Maximum Speed',
|
54
|
+
grps_index: 4,
|
55
|
+
description: '0 = 12km/h, 1 = 25km/h, 2 = 50km/h, 3 = 100km/h',
|
56
|
+
default: 1,
|
57
|
+
units: 'km/h',
|
58
|
+
values: %w[12.5 25 50 100]
|
59
|
+
),
|
60
|
+
max_range:
|
61
|
+
Param.new(
|
62
|
+
name: 'Maximum Range',
|
63
|
+
grps_index: 5,
|
64
|
+
description: '0 = 5m, 1 = 10m, 2 = 30m, 3 = 100m',
|
65
|
+
default: 1,
|
66
|
+
values: %w[5m 10m 30m 100m]
|
67
|
+
),
|
68
|
+
threshold_offset:
|
69
|
+
Param.new(name: 'Threshold Offset', grps_index: 6, description: '10db - 60db', default: 30, units: 'db'),
|
70
|
+
tracking_filter:
|
71
|
+
Param.new(
|
72
|
+
name: 'Tracking Filter Type',
|
73
|
+
grps_index: 7,
|
74
|
+
description: '0 = Standard, 2 = Fast Detection, 3 = Long Visibility',
|
75
|
+
default: 0,
|
76
|
+
values: ['standard', 'Fast Detection', 'Long Visibility']
|
77
|
+
),
|
78
|
+
vibration_suppression:
|
79
|
+
Param.new(
|
80
|
+
name: 'Vibration Suppression',
|
81
|
+
grps_index: 8,
|
82
|
+
description: '0-16, 0 = No Suppression, 16 = High Suppression',
|
83
|
+
default: 2
|
84
|
+
),
|
85
|
+
min_detection_distance:
|
86
|
+
Param.new(
|
87
|
+
name: 'Minimum Detection Distance',
|
88
|
+
grps_index: 9,
|
89
|
+
description: '0 - 100% of range setting',
|
90
|
+
default: 0,
|
91
|
+
units: '%'
|
92
|
+
),
|
93
|
+
max_detection_distance:
|
94
|
+
Param.new(
|
95
|
+
name: 'Maximum Detection Distance',
|
96
|
+
grps_index: 10,
|
97
|
+
description: '0 - 100% of range setting',
|
98
|
+
default: 50,
|
99
|
+
units: '%'
|
100
|
+
),
|
101
|
+
min_detection_angle:
|
102
|
+
Param.new(name: 'Minimum Detection Angle', grps_index: 11, description: '-90° - 90°', default: -90, units: '°'),
|
103
|
+
max_detection_angle:
|
104
|
+
Param.new(name: 'Maximum Detection Angle', grps_index: 12, description: '-90° - 90°', default: 90, units: '°'),
|
105
|
+
min_detection_speed:
|
106
|
+
Param.new(
|
107
|
+
name: 'Minimum Detection Speed',
|
108
|
+
grps_index: 13,
|
109
|
+
description: '0 - 100% of speed setting',
|
110
|
+
default: 0,
|
111
|
+
units: '%'
|
112
|
+
),
|
113
|
+
max_detection_speed:
|
114
|
+
Param.new(
|
115
|
+
name: 'Maximum Detection Speed',
|
116
|
+
grps_index: 14,
|
117
|
+
description: '0 - 100% of speed setting',
|
118
|
+
default: 100,
|
119
|
+
units: '%'
|
120
|
+
),
|
121
|
+
detection_direction:
|
122
|
+
Param.new(
|
123
|
+
name: 'Detection Direction',
|
124
|
+
grps_index: 15,
|
125
|
+
description: '0 = Receding, 1 = Approaching, 2 = Both',
|
126
|
+
default: 2,
|
127
|
+
values: %w[Receding Approaching Both]
|
128
|
+
),
|
129
|
+
range_threshold:
|
130
|
+
Param.new(
|
131
|
+
name: 'Range Threshold',
|
132
|
+
grps_index: 16,
|
133
|
+
description: '0 - 100% of range setting',
|
134
|
+
default: 10,
|
135
|
+
units: '%'
|
136
|
+
),
|
137
|
+
angle_threshold:
|
138
|
+
Param.new(name: 'Angle Threshold', grps_index: 17, description: '-90° - 90°', default: 0, units: '°'),
|
139
|
+
speed_threshold:
|
140
|
+
Param.new(
|
141
|
+
name: 'Speed Threshold',
|
142
|
+
grps_index: 18,
|
143
|
+
description: '0 - 100% of speed setting',
|
144
|
+
default: 50,
|
145
|
+
units: '%'
|
146
|
+
),
|
147
|
+
digital_output1:
|
148
|
+
Param.new(
|
149
|
+
name: 'Digital Output 1',
|
150
|
+
grps_index: 19,
|
151
|
+
description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection',
|
152
|
+
default: 0,
|
153
|
+
values: %w[Direction Angle Range Speed Micro]
|
154
|
+
),
|
155
|
+
digital_output2:
|
156
|
+
Param.new(
|
157
|
+
name: 'Digital Output 2',
|
158
|
+
grps_index: 20,
|
159
|
+
description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection',
|
160
|
+
default: 1,
|
161
|
+
values: %w[Direction Angle Range Speed Micro]
|
162
|
+
),
|
163
|
+
digital_output3:
|
164
|
+
Param.new(
|
165
|
+
name: 'Digital Output 3',
|
166
|
+
grps_index: 21,
|
167
|
+
description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection',
|
168
|
+
default: 2,
|
169
|
+
values: %w[Direction Angle Range Speed Micro]
|
170
|
+
),
|
171
|
+
hold_time: Param.new(name: 'Hold Time', grps_index: 22, description: '1 - 7200s', default: 1, units: 's'),
|
172
|
+
micro_detection_retrigger:
|
173
|
+
Param.new(
|
174
|
+
name: 'Micro Detection Trigger',
|
175
|
+
grps_index: 23,
|
176
|
+
description: '0 = Off, 1 = Retrigger',
|
177
|
+
default: 0,
|
178
|
+
values: %w[Off Retrigger]
|
179
|
+
),
|
180
|
+
micro_detection_sensativity:
|
181
|
+
Param.new(
|
182
|
+
name: 'Micro Detection Sensativity',
|
183
|
+
grps_index: 24,
|
184
|
+
description: '0 - 9, 0 = Min, 9 = Max',
|
185
|
+
default: 4
|
186
|
+
)
|
187
|
+
}.freeze
|
64
188
|
end
|
65
189
|
end
|
@@ -1,13 +1,35 @@
|
|
1
|
+
require 'csv'
|
2
|
+
|
1
3
|
module RfBeam
|
2
4
|
module KLD7
|
3
5
|
def detection?
|
4
6
|
data = ddat
|
5
7
|
(data[2] == 1)
|
6
8
|
end
|
7
|
-
|
9
|
+
|
10
|
+
def rfft
|
11
|
+
request_frame_data(:rfft)
|
12
|
+
sleep MEASUREMENT_DELAY
|
13
|
+
data = read(1032).unpack('a4LS256S256')
|
14
|
+
header, length = data.shift(2)
|
15
|
+
raise Error, "RFFT header response, header=#{header}" unless header == 'RFFT'
|
16
|
+
raise Error, "RFFT payload length, length=#{length}" unless length == 1024
|
17
|
+
|
18
|
+
data
|
19
|
+
end
|
20
|
+
|
21
|
+
def reset
|
22
|
+
command = ['RFSE', 0]
|
23
|
+
write command.pack('a4L')
|
24
|
+
check_response
|
25
|
+
end
|
26
|
+
alias rfse reset
|
27
|
+
|
8
28
|
def pdat(formatted: false)
|
9
|
-
request_frame_data(:pdat)
|
29
|
+
request_frame_data(:pdat)
|
10
30
|
resp = read(102).unpack('a4LSssSSssSSssSSssSSssSSssSSssSSssSSssSSssS')
|
31
|
+
raise Error, "PDAT response = #{resp[0]}" unless resp[0] == 'PDAT'
|
32
|
+
|
11
33
|
return resp unless formatted
|
12
34
|
|
13
35
|
target_count = resp[1].to_i / 8
|
@@ -22,29 +44,21 @@ module RfBeam
|
|
22
44
|
|
23
45
|
def tdat
|
24
46
|
request_frame_data(:tdat)
|
47
|
+
sleep MEASUREMENT_DELAY
|
25
48
|
|
26
|
-
sleep 0.1
|
27
49
|
resp = read(16).unpack('a4LSssS')
|
28
|
-
|
50
|
+
raise Error, "TDAT response = #{resp[0]}" unless resp[0] == 'TDAT'
|
51
|
+
|
52
|
+
resp
|
29
53
|
end
|
30
54
|
|
31
55
|
def ddat
|
32
56
|
request_frame_data(:ddat)
|
57
|
+
sleep MEASUREMENT_DELAY
|
33
58
|
|
34
|
-
read(14).unpack('a4LC6')
|
35
|
-
|
36
|
-
|
37
|
-
def config
|
38
|
-
puts formatted_grps(grps)
|
39
|
-
end
|
40
|
-
|
41
|
-
def formatted_parameter(param)
|
42
|
-
return unless PARAMETERS.include? param
|
43
|
-
|
44
|
-
param_data = PARAMETERS[param]
|
45
|
-
grps_data = grps
|
46
|
-
index = grps_data[param_data[:grps_index]]
|
47
|
-
param_data[:values][index]
|
59
|
+
resp = read(14).unpack('a4LC6')
|
60
|
+
raise Error, "DDAT response = #{resp[0]}" unless resp[0] == 'DDAT'
|
61
|
+
resp
|
48
62
|
end
|
49
63
|
|
50
64
|
# Get the radar parameter structure
|
@@ -54,12 +68,28 @@ module RfBeam
|
|
54
68
|
check_response
|
55
69
|
read(50).unpack('a4LA19C8c2C4cCCCCSCC')
|
56
70
|
end
|
57
|
-
|
71
|
+
|
72
|
+
def config
|
73
|
+
data = grps
|
74
|
+
output = "\n"
|
75
|
+
RADAR_PARAMETERS.keys.each { |key| output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index]) }
|
76
|
+
output
|
77
|
+
end
|
78
|
+
|
79
|
+
def formatted_parameter(param, value = nil)
|
80
|
+
param = RADAR_PARAMETERS[param]
|
81
|
+
if value.nil?
|
82
|
+
data = grps
|
83
|
+
value = data[param.grps_index]
|
84
|
+
end
|
85
|
+
param_str_value = param.values.empty? ? value.to_s : param.values[value]
|
86
|
+
"#{param.name}: #{param_str_value}#{param.units}\n"
|
87
|
+
end
|
58
88
|
|
59
89
|
private
|
60
90
|
|
61
91
|
def format_raw_target_data(array)
|
62
|
-
|
92
|
+
{ dist: array.shift, speed: array.shift, angle: array.shift, mag: array.shift }
|
63
93
|
end
|
64
94
|
|
65
95
|
def request_frame_data(type)
|
@@ -67,15 +97,5 @@ module RfBeam
|
|
67
97
|
write command.pack('a4LL')
|
68
98
|
check_response
|
69
99
|
end
|
70
|
-
|
71
|
-
def formatted_grps(data)
|
72
|
-
output = "\n"
|
73
|
-
RADAR_PARAMETERS.each do |param|
|
74
|
-
param = param[1]
|
75
|
-
value = param.values.empty? ? data[param.grps_index] : param.values[data[param.grps_index].to_i]
|
76
|
-
output << "#{param.name}: #{value}#{param.units}\n"
|
77
|
-
end
|
78
|
-
output
|
79
|
-
end
|
80
100
|
end
|
81
101
|
end
|
@@ -1,6 +1,13 @@
|
|
1
1
|
module RfBeam
|
2
2
|
module KLD7
|
3
3
|
|
4
|
+
# -----------------
|
5
|
+
# Software Version, 'K-LD7_APP-RFB-XXXX'
|
6
|
+
# -----------------
|
7
|
+
def sw_version
|
8
|
+
query_parameter RADAR_PARAMETERS[:sw_version].grps_index
|
9
|
+
end
|
10
|
+
|
4
11
|
# -----------------
|
5
12
|
# Base Frequency, 0 = low, 1 = middle (default), 2 = high
|
6
13
|
# -----------------
|
@@ -52,6 +59,7 @@ module RfBeam
|
|
52
59
|
|
53
60
|
def max_range=(range = 1)
|
54
61
|
raise ArgumentError, "Invalid arg: '#{range}'" unless (0..3).include?(range)
|
62
|
+
raise ArgumentError, "Expected an Integer" unless range.is_a?(Integer)
|
55
63
|
|
56
64
|
set_parameter :rrai, range, :uint32
|
57
65
|
end
|
@@ -68,7 +76,7 @@ module RfBeam
|
|
68
76
|
|
69
77
|
def threshold_offset=(offset = 30)
|
70
78
|
raise ArgumentError, "Invalid arg: '#{offset}'" unless (10..60).include?(offset)
|
71
|
-
raise ArgumentError, "Expected an Integer" unless
|
79
|
+
raise ArgumentError, "Expected an Integer" unless offset.is_a?(Integer)
|
72
80
|
|
73
81
|
set_parameter :thof, offset, :uint32
|
74
82
|
end
|
@@ -83,13 +91,14 @@ module RfBeam
|
|
83
91
|
query_parameter RADAR_PARAMETERS[:tracking_filter].grps_index
|
84
92
|
end
|
85
93
|
|
86
|
-
def
|
94
|
+
def tracking_filter=(type = 0)
|
87
95
|
raise ArgumentError, "Invalid arg: '#{type}'" unless (0..2).include?(type)
|
88
96
|
raise ArgumentError, "Expected an Integer" unless type.is_a?(Integer)
|
89
97
|
|
90
98
|
set_parameter :trft, type, :uint32
|
91
99
|
end
|
92
|
-
alias trtf
|
100
|
+
alias trtf= tracking_filter=
|
101
|
+
alias set_tracking_filter tracking_filter=
|
93
102
|
|
94
103
|
# -----------------
|
95
104
|
# Vibration suppression, 0 - 16, 0 = No Suppression, 16 = High Suppression, default = 2
|
@@ -271,7 +280,7 @@ module RfBeam
|
|
271
280
|
# Digital output 1, 0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default = 0
|
272
281
|
# -----------------
|
273
282
|
def digital_output1
|
274
|
-
query_parameter RADAR_PARAMETERS[:digital_output1]grps_index
|
283
|
+
query_parameter RADAR_PARAMETERS[:digital_output1].grps_index
|
275
284
|
end
|
276
285
|
|
277
286
|
def digital_output1=(value = 0)
|
@@ -287,7 +296,7 @@ module RfBeam
|
|
287
296
|
# Digital output 2, 0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default = 1
|
288
297
|
# -----------------
|
289
298
|
def digital_output2
|
290
|
-
query_parameter RADAR_PARAMETERS[:digital_output2]grps_index
|
299
|
+
query_parameter RADAR_PARAMETERS[:digital_output2].grps_index
|
291
300
|
end
|
292
301
|
|
293
302
|
def digital_output2=(value = 1)
|
@@ -296,7 +305,7 @@ module RfBeam
|
|
296
305
|
|
297
306
|
set_parameter :dig2, value, :uint32
|
298
307
|
end
|
299
|
-
alias dig2=
|
308
|
+
alias dig2= digital_output2=
|
300
309
|
alias set_digital_output2 digital_output2=
|
301
310
|
|
302
311
|
# -----------------
|
@@ -360,8 +369,8 @@ module RfBeam
|
|
360
369
|
|
361
370
|
set_parameter :mids, value, :uint32
|
362
371
|
end
|
363
|
-
alias mids=
|
364
|
-
alias set_micro_detection_sensitivity
|
372
|
+
alias mids= micro_detection_sensitivity=
|
373
|
+
alias set_micro_detection_sensitivity micro_detection_sensitivity=
|
365
374
|
|
366
375
|
private
|
367
376
|
|
data/lib/rfbeam/version.rb
CHANGED
data/lib/rfbeam.rb
CHANGED
@@ -4,7 +4,10 @@ require 'rfbeam/kld7/radar_parameters'
|
|
4
4
|
require 'rfbeam/kld7/radar_messages'
|
5
5
|
require 'rfbeam/kld7/serial_connection'
|
6
6
|
require 'rfbeam/kld7/constants'
|
7
|
-
|
7
|
+
require 'rfbeam/kld7/cli_output'
|
8
|
+
require 'rfbeam/kld7/cli_formatter'
|
9
|
+
require 'rfbeam/version'
|
10
|
+
require 'rfbeam/cli'
|
8
11
|
|
9
12
|
module RfBeam
|
10
13
|
class Error < StandardError
|
data/output.csv
ADDED
@@ -0,0 +1,257 @@
|
|
1
|
+
0,2105,2105
|
2
|
+
1,3070,2915
|
3
|
+
2,2915,805
|
4
|
+
3,2325,2830
|
5
|
+
4,805,3420
|
6
|
+
5,1000,1340
|
7
|
+
6,2830,1555
|
8
|
+
7,3810,2645
|
9
|
+
8,3420,1270
|
10
|
+
9,1645,1400
|
11
|
+
10,1340,1130
|
12
|
+
11,1285,1350
|
13
|
+
12,1555,1085
|
14
|
+
13,1500,910
|
15
|
+
14,2645,1400
|
16
|
+
15,2785,1435
|
17
|
+
16,1270,1150
|
18
|
+
17,500,1545
|
19
|
+
18,1400,1270
|
20
|
+
19,615,1285
|
21
|
+
20,1130,1435
|
22
|
+
21,1000,785
|
23
|
+
22,1350,710
|
24
|
+
23,1565,955
|
25
|
+
24,1085,1165
|
26
|
+
25,1420,1645
|
27
|
+
26,910,1595
|
28
|
+
27,1265,455
|
29
|
+
28,1400,805
|
30
|
+
29,1015,1050
|
31
|
+
30,1435,560
|
32
|
+
31,1060,1530
|
33
|
+
32,1150,3275
|
34
|
+
33,305,3510
|
35
|
+
34,1545,650
|
36
|
+
35,765,1415
|
37
|
+
36,1270,1760
|
38
|
+
37,785,650
|
39
|
+
38,1285,830
|
40
|
+
39,980,560
|
41
|
+
40,1435,850
|
42
|
+
41,1085,0
|
43
|
+
42,785,480
|
44
|
+
43,1340,1150
|
45
|
+
44,710,910
|
46
|
+
45,1210,1050
|
47
|
+
46,955,500
|
48
|
+
47,1000,1230
|
49
|
+
48,1165,1040
|
50
|
+
49,1060,955
|
51
|
+
50,1645,910
|
52
|
+
51,2200,150
|
53
|
+
52,1595,455
|
54
|
+
53,1085,150
|
55
|
+
54,455,830
|
56
|
+
55,1400,455
|
57
|
+
56,805,500
|
58
|
+
57,1490,850
|
59
|
+
58,1050,0
|
60
|
+
59,560,980
|
61
|
+
60,560,1040
|
62
|
+
61,800,500
|
63
|
+
62,1530,800
|
64
|
+
63,0,1410
|
65
|
+
64,3275,305
|
66
|
+
65,3990,1570
|
67
|
+
66,3510,1255
|
68
|
+
67,1105,955
|
69
|
+
68,650,150
|
70
|
+
69,700,655
|
71
|
+
70,1415,1245
|
72
|
+
71,1295,455
|
73
|
+
72,1760,710
|
74
|
+
73,1235,560
|
75
|
+
74,650,650
|
76
|
+
75,500,1000
|
77
|
+
76,830,760
|
78
|
+
77,650,760
|
79
|
+
78,560,350
|
80
|
+
79,1240,305
|
81
|
+
80,850,150
|
82
|
+
81,1400,910
|
83
|
+
82,0,650
|
84
|
+
83,805,500
|
85
|
+
84,480,1180
|
86
|
+
85,150,1435
|
87
|
+
86,1150,850
|
88
|
+
87,1360,800
|
89
|
+
88,910,1305
|
90
|
+
89,1190,910
|
91
|
+
90,1050,1260
|
92
|
+
91,1115,455
|
93
|
+
92,500,1000
|
94
|
+
93,800,615
|
95
|
+
94,1230,1265
|
96
|
+
95,980,3955
|
97
|
+
96,1040,3675
|
98
|
+
97,500,615
|
99
|
+
98,955,300
|
100
|
+
99,1285,1825
|
101
|
+
100,910,760
|
102
|
+
101,980,1315
|
103
|
+
102,150,1435
|
104
|
+
103,1200,1260
|
105
|
+
104,455,850
|
106
|
+
105,480,1260
|
107
|
+
106,150,1970
|
108
|
+
107,500,1015
|
109
|
+
108,830,350
|
110
|
+
109,700,735
|
111
|
+
110,455,1680
|
112
|
+
111,150,350
|
113
|
+
112,500,1135
|
114
|
+
113,605,865
|
115
|
+
114,850,1735
|
116
|
+
115,805,850
|
117
|
+
116,0,1165
|
118
|
+
117,710,1965
|
119
|
+
118,980,810
|
120
|
+
119,305,1005
|
121
|
+
120,1040,1200
|
122
|
+
121,150,2885
|
123
|
+
122,500,1095
|
124
|
+
123,710,1060
|
125
|
+
124,800,2455
|
126
|
+
125,1265,2145
|
127
|
+
126,1410,1665
|
128
|
+
127,1175,3230
|
129
|
+
128,305,4328
|
130
|
+
129,1255,4228
|
131
|
+
130,1570,4069
|
132
|
+
131,980,3995
|
133
|
+
132,1255,3946
|
134
|
+
133,1480,3910
|
135
|
+
134,955,3881
|
136
|
+
135,455,3857
|
137
|
+
136,150,3836
|
138
|
+
137,910,3818
|
139
|
+
138,655,3802
|
140
|
+
139,350,3788
|
141
|
+
140,1245,3774
|
142
|
+
141,1150,3762
|
143
|
+
142,455,3751
|
144
|
+
143,560,3741
|
145
|
+
144,710,3731
|
146
|
+
145,150,3722
|
147
|
+
146,560,3714
|
148
|
+
147,830,3706
|
149
|
+
148,650,3698
|
150
|
+
149,655,3691
|
151
|
+
150,1000,3684
|
152
|
+
151,350,3677
|
153
|
+
152,760,3671
|
154
|
+
153,455,3665
|
155
|
+
154,760,3659
|
156
|
+
155,560,3654
|
157
|
+
156,350,3648
|
158
|
+
157,655,3643
|
159
|
+
158,305,3638
|
160
|
+
159,150,3633
|
161
|
+
160,150,3629
|
162
|
+
161,910,3624
|
163
|
+
162,910,3620
|
164
|
+
163,1190,3616
|
165
|
+
164,650,3612
|
166
|
+
165,455,3608
|
167
|
+
166,500,3604
|
168
|
+
167,500,3600
|
169
|
+
168,1180,3596
|
170
|
+
169,1500,3592
|
171
|
+
170,1435,3589
|
172
|
+
171,1265,3586
|
173
|
+
172,850,3582
|
174
|
+
173,650,3579
|
175
|
+
174,800,3576
|
176
|
+
175,1350,3573
|
177
|
+
176,1305,3569
|
178
|
+
177,1260,3566
|
179
|
+
178,910,3563
|
180
|
+
179,805,3561
|
181
|
+
180,1260,3558
|
182
|
+
181,1175,3555
|
183
|
+
182,455,3552
|
184
|
+
183,965,3550
|
185
|
+
184,1000,3547
|
186
|
+
185,755,3544
|
187
|
+
186,615,3542
|
188
|
+
187,350,3539
|
189
|
+
188,1265,3537
|
190
|
+
189,935,3534
|
191
|
+
190,3955,3532
|
192
|
+
191,4445,3530
|
193
|
+
192,3675,3528
|
194
|
+
193,1365,3530
|
195
|
+
194,615,3532
|
196
|
+
195,605,3534
|
197
|
+
196,300,3537
|
198
|
+
197,1135,3539
|
199
|
+
198,1825,3542
|
200
|
+
199,895,3544
|
201
|
+
200,760,3547
|
202
|
+
201,500,3550
|
203
|
+
202,1315,3552
|
204
|
+
203,1330,3555
|
205
|
+
204,1435,3558
|
206
|
+
205,1385,3561
|
207
|
+
206,1260,3563
|
208
|
+
207,920,3566
|
209
|
+
208,850,3569
|
210
|
+
209,615,3573
|
211
|
+
210,1260,3576
|
212
|
+
211,1545,3579
|
213
|
+
212,1970,3582
|
214
|
+
213,1605,3586
|
215
|
+
214,1015,3589
|
216
|
+
215,955,3592
|
217
|
+
216,350,3596
|
218
|
+
217,1270,3600
|
219
|
+
218,735,3604
|
220
|
+
219,1330,3608
|
221
|
+
220,1680,3612
|
222
|
+
221,630,3616
|
223
|
+
222,350,3620
|
224
|
+
223,1200,3624
|
225
|
+
224,1135,3629
|
226
|
+
225,850,3633
|
227
|
+
226,865,3638
|
228
|
+
227,1540,3643
|
229
|
+
228,1735,3648
|
230
|
+
229,500,3654
|
231
|
+
230,850,3659
|
232
|
+
231,150,3665
|
233
|
+
232,1165,3671
|
234
|
+
233,1345,3677
|
235
|
+
234,1965,3684
|
236
|
+
235,1630,3691
|
237
|
+
236,810,3698
|
238
|
+
237,1175,3706
|
239
|
+
238,1005,3714
|
240
|
+
239,500,3722
|
241
|
+
240,1200,3731
|
242
|
+
241,2830,3741
|
243
|
+
242,2885,3751
|
244
|
+
243,1630,3762
|
245
|
+
244,1095,3774
|
246
|
+
245,980,3788
|
247
|
+
246,1060,3802
|
248
|
+
247,1190,3818
|
249
|
+
248,2455,3836
|
250
|
+
249,3045,3857
|
251
|
+
250,2145,3881
|
252
|
+
251,1500,3910
|
253
|
+
252,1665,3946
|
254
|
+
253,1975,3995
|
255
|
+
254,3230,
|
256
|
+
255,3470,
|
257
|
+
256,4328,
|
metadata
CHANGED
@@ -1,14 +1,14 @@
|
|
1
1
|
--- !ruby/object:Gem::Specification
|
2
2
|
name: rfbeam
|
3
3
|
version: !ruby/object:Gem::Version
|
4
|
-
version: 0.
|
4
|
+
version: 0.4.1
|
5
5
|
platform: ruby
|
6
6
|
authors:
|
7
7
|
- Rob Carruthers
|
8
8
|
autorequire:
|
9
9
|
bindir: exe
|
10
10
|
cert_chain: []
|
11
|
-
date: 2023-04-
|
11
|
+
date: 2023-04-09 00:00:00.000000000 Z
|
12
12
|
dependencies:
|
13
13
|
- !ruby/object:Gem::Dependency
|
14
14
|
name: activesupport
|
@@ -55,12 +55,14 @@ dependencies:
|
|
55
55
|
description: Currently only tested with K-LD7 on MacOS & Raspian (bullseye)
|
56
56
|
email:
|
57
57
|
- robc@hey.com
|
58
|
-
executables:
|
58
|
+
executables:
|
59
|
+
- rfbeam
|
59
60
|
extensions: []
|
60
61
|
extra_rdoc_files: []
|
61
62
|
files:
|
62
63
|
- ".DS_Store"
|
63
64
|
- ".rubocop.yml"
|
65
|
+
- ".streerc"
|
64
66
|
- ".tool-versions"
|
65
67
|
- CHANGELOG.md
|
66
68
|
- Gemfile
|
@@ -68,7 +70,11 @@ files:
|
|
68
70
|
- LICENSE.txt
|
69
71
|
- README.md
|
70
72
|
- Rakefile
|
73
|
+
- exe/rfbeam
|
71
74
|
- lib/rfbeam.rb
|
75
|
+
- lib/rfbeam/cli.rb
|
76
|
+
- lib/rfbeam/kld7/cli_formatter.rb
|
77
|
+
- lib/rfbeam/kld7/cli_output.rb
|
72
78
|
- lib/rfbeam/kld7/constants.rb
|
73
79
|
- lib/rfbeam/kld7/radar_messages.rb
|
74
80
|
- lib/rfbeam/kld7/radar_parameters.rb
|
@@ -159,6 +165,7 @@ files:
|
|
159
165
|
- node_modules/prettier/parser-yaml.js
|
160
166
|
- node_modules/prettier/standalone.js
|
161
167
|
- node_modules/prettier/third-party.js
|
168
|
+
- output.csv
|
162
169
|
- package.json
|
163
170
|
- rfbeam.gemspec
|
164
171
|
- sig/rfbeam.rbs
|