rfbeam 0.4.0 → 0.4.1
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- checksums.yaml +4 -4
- data/.rubocop.yml +4 -3
- data/.streerc +2 -0
- data/Gemfile +4 -0
- data/Gemfile.lock +6 -1
- data/lib/rfbeam/cli.rb +35 -80
- data/lib/rfbeam/kld7/cli_formatter.rb +41 -0
- data/lib/rfbeam/kld7/cli_output.rb +127 -0
- data/lib/rfbeam/kld7/constants.rb +155 -31
- data/lib/rfbeam/kld7/radar_messages.rb +30 -23
- data/lib/rfbeam/kld7/serial_connection.rb +1 -1
- data/lib/rfbeam/version.rb +1 -1
- data/lib/rfbeam.rb +2 -2
- metadata +5 -3
- data/lib/rfbeam/kld7/streamer.rb +0 -75
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
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1
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---
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2
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SHA256:
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3
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-
metadata.gz:
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4
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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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7
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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
@@ -1,11 +1,9 @@
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1
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-
inherit_from:
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2
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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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5
2
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TargetRubyVersion: 3.2
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3
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7
4
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Layout/LineLength:
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8
5
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Max: 120
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6
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+
AutoCorrect: true
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Metrics/ModuleLength:
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Enabled: false
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@@ -13,5 +11,8 @@ Metrics/ModuleLength:
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Metrics/MethodLength:
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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/Gemfile
CHANGED
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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3
3
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specs:
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4
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-
rfbeam (0.4.
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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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6
6
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rubyserial (~> 0.6.0)
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7
7
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thor (~> 1.2.1)
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@@ -54,9 +54,12 @@ GEM
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54
54
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strings-ansi (0.2.0)
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55
55
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thor (1.2.1)
|
56
56
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tty-color (0.6.0)
|
57
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+
tty-command (0.10.1)
|
58
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+
pastel (~> 0.8)
|
57
59
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tty-cursor (0.7.1)
|
58
60
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tty-logger (0.6.0)
|
59
61
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pastel (~> 0.8)
|
62
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+
tty-option (0.2.0)
|
60
63
|
tty-screen (0.8.1)
|
61
64
|
tty-spinner (0.9.3)
|
62
65
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tty-cursor (~> 0.7)
|
@@ -81,7 +84,9 @@ DEPENDENCIES
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|
81
84
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rake (~> 13.0)
|
82
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rfbeam!
|
83
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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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91
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tty-spinner (~> 0.9.3)
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tty-table (~> 0.12.0)
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data/lib/rfbeam/cli.rb
CHANGED
@@ -1,4 +1,3 @@
|
|
1
|
-
# rubocop:disable all
|
2
1
|
require 'thor'
|
3
2
|
require 'rfbeam'
|
4
3
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require 'tty-table'
|
@@ -9,122 +8,78 @@ require 'unicode_plot'
|
|
9
8
|
|
10
9
|
module RfBeam
|
11
10
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class CLI < Thor
|
12
|
-
|
13
11
|
attr_accessor :radar, :logger
|
14
12
|
|
15
13
|
desc 'list', 'List available radar modules'
|
16
14
|
def list
|
15
|
+
logger = TTY::Logger.new
|
17
16
|
devices = RfBeam.connected
|
18
|
-
|
17
|
+
logger.warning 'No Radar modules found.' unless devices.count.positive?
|
19
18
|
|
20
|
-
table = TTY::Table.new(
|
19
|
+
table = TTY::Table.new(header: %w[id Path Version])
|
21
20
|
|
22
|
-
devices.each.with_index
|
23
|
-
table << ["R#{index}", path, @radar.sw_version]
|
24
|
-
end
|
21
|
+
devices.each.with_index { |path, index| table << ["#{index}", path, radar(index).sw_version] }
|
25
22
|
puts table.render(:ascii)
|
26
23
|
end
|
27
24
|
|
28
25
|
desc 'config <radar_id>', 'Shows the parameter setting for the Radar module'
|
29
26
|
def config(radar_id)
|
30
|
-
|
31
|
-
|
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
|
32
33
|
end
|
33
34
|
|
34
35
|
desc 'set_param <radar_id> <key> <value>', 'Set radar parameters, see readme for keys'
|
35
36
|
def set_param(radar_id, param, value)
|
36
|
-
return logger.
|
37
|
+
return @logger.warn("Invalid param: '#{param}'") unless RfBeam::K_ld7::RADAR_PARAMETERS.include?(param.to_sym)
|
37
38
|
|
38
|
-
|
39
|
-
|
40
|
-
logger.success
|
39
|
+
r = radar(radar_id)
|
40
|
+
r.send("#{param}=", value.to_i)
|
41
|
+
@logger.success r.formatted_parameter(param.to_sym)
|
41
42
|
end
|
42
43
|
|
43
44
|
desc 'ddat <radar_id>', 'stream any valid detections, stop stream with q and enter'
|
44
|
-
option :stream, type: :boolean, aliases: '-s', desc:
|
45
|
+
option :stream, type: :boolean, aliases: '-s', desc: 'Stream the data from the device'
|
45
46
|
def ddat(radar_id)
|
46
|
-
|
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
|
-
|
47
|
+
cli = RfBeam::KLD7::CliOutput.new(radar_id)
|
48
|
+
cli.display(:ddat, stream: options[:stream])
|
64
49
|
end
|
65
50
|
|
66
51
|
desc 'pdat <radar_id>', 'Display Tracked Targets'
|
67
52
|
def pdat(radar_id)
|
68
|
-
|
69
|
-
|
53
|
+
cli = RfBeam::KLD7::CliOutput.new(radar_id)
|
54
|
+
cli.display(:pdat, stream: options[:stream])
|
70
55
|
end
|
71
56
|
|
72
|
-
desc
|
73
|
-
option :stream, type: :boolean, aliases: '-s', desc:
|
74
|
-
option :
|
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'
|
75
60
|
def rfft(radar_id)
|
76
|
-
|
77
|
-
|
78
|
-
|
79
|
-
streamer = RfBeam::KLD7::Streamer.new(@radar)
|
80
|
-
streamer.rfft
|
61
|
+
plotter = RfBeam::KLD7::CliOutput.new(radar_id)
|
62
|
+
if options[:raw]
|
63
|
+
print radar(radar_id).rfft
|
81
64
|
else
|
82
|
-
plot
|
83
|
-
p plot.render
|
65
|
+
plotter.plot(:rfft, stream: options[:stream])
|
84
66
|
end
|
85
67
|
end
|
86
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
|
+
|
87
75
|
private
|
88
76
|
|
89
|
-
def
|
77
|
+
def radar(id)
|
90
78
|
devices = RfBeam.connected
|
91
79
|
@logger = TTY::Logger.new
|
92
80
|
return @logger.warning 'No Radar modules found.' unless devices.count.positive?
|
93
81
|
|
94
|
-
|
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
|
82
|
+
RfBeam::K_ld7.new(devices[id.to_i])
|
128
83
|
end
|
129
84
|
end
|
130
|
-
end
|
85
|
+
end
|
@@ -0,0 +1,41 @@
|
|
1
|
+
require 'tty-table'
|
2
|
+
|
3
|
+
module RfBeam
|
4
|
+
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
|
+
table
|
19
|
+
end
|
20
|
+
|
21
|
+
def ddat(data)
|
22
|
+
if data[2] == 1
|
23
|
+
labels = ['Detection', 'Micro Detection', 'Angle', 'Direction', 'Range', 'Speed']
|
24
|
+
labels
|
25
|
+
.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
|
+
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
|
|
33
|
-
Param =
|
34
|
-
|
35
|
-
|
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
|
@@ -9,15 +9,27 @@ module RfBeam
|
|
9
9
|
|
10
10
|
def rfft
|
11
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
|
12
17
|
|
13
|
-
|
14
|
-
|
15
|
-
|
18
|
+
data
|
19
|
+
end
|
20
|
+
|
21
|
+
def reset
|
22
|
+
command = ['RFSE', 0]
|
23
|
+
write command.pack('a4L')
|
24
|
+
check_response
|
16
25
|
end
|
17
|
-
|
26
|
+
alias rfse reset
|
27
|
+
|
18
28
|
def pdat(formatted: false)
|
19
|
-
request_frame_data(:pdat)
|
29
|
+
request_frame_data(:pdat)
|
20
30
|
resp = read(102).unpack('a4LSssSSssSSssSSssSSssSSssSSssSSssSSssSSssS')
|
31
|
+
raise Error, "PDAT response = #{resp[0]}" unless resp[0] == 'PDAT'
|
32
|
+
|
21
33
|
return resp unless formatted
|
22
34
|
|
23
35
|
target_count = resp[1].to_i / 8
|
@@ -32,26 +44,23 @@ module RfBeam
|
|
32
44
|
|
33
45
|
def tdat
|
34
46
|
request_frame_data(:tdat)
|
47
|
+
sleep MEASUREMENT_DELAY
|
35
48
|
|
36
|
-
sleep 0.1
|
37
49
|
resp = read(16).unpack('a4LSssS')
|
38
|
-
|
50
|
+
raise Error, "TDAT response = #{resp[0]}" unless resp[0] == 'TDAT'
|
51
|
+
|
52
|
+
resp
|
39
53
|
end
|
40
54
|
|
41
55
|
def ddat
|
42
56
|
request_frame_data(:ddat)
|
43
|
-
|
44
|
-
|
45
|
-
|
46
|
-
|
47
|
-
|
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
|
-
}
|
57
|
+
sleep MEASUREMENT_DELAY
|
58
|
+
|
59
|
+
resp = read(14).unpack('a4LC6')
|
60
|
+
raise Error, "DDAT response = #{resp[0]}" unless resp[0] == 'DDAT'
|
61
|
+
resp
|
53
62
|
end
|
54
|
-
|
63
|
+
|
55
64
|
# Get the radar parameter structure
|
56
65
|
def grps
|
57
66
|
command = ['GRPS', 0]
|
@@ -63,12 +72,10 @@ module RfBeam
|
|
63
72
|
def config
|
64
73
|
data = grps
|
65
74
|
output = "\n"
|
66
|
-
RADAR_PARAMETERS.keys.each
|
67
|
-
output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index])
|
68
|
-
end
|
75
|
+
RADAR_PARAMETERS.keys.each { |key| output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index]) }
|
69
76
|
output
|
70
77
|
end
|
71
|
-
|
78
|
+
|
72
79
|
def formatted_parameter(param, value = nil)
|
73
80
|
param = RADAR_PARAMETERS[param]
|
74
81
|
if value.nil?
|
@@ -82,7 +89,7 @@ module RfBeam
|
|
82
89
|
private
|
83
90
|
|
84
91
|
def format_raw_target_data(array)
|
85
|
-
|
92
|
+
{ dist: array.shift, speed: array.shift, angle: array.shift, mag: array.shift }
|
86
93
|
end
|
87
94
|
|
88
95
|
def request_frame_data(type)
|
data/lib/rfbeam/version.rb
CHANGED
data/lib/rfbeam.rb
CHANGED
@@ -4,11 +4,11 @@ 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
|
-
require 'rfbeam/kld7/
|
7
|
+
require 'rfbeam/kld7/cli_output'
|
8
|
+
require 'rfbeam/kld7/cli_formatter'
|
8
9
|
require 'rfbeam/version'
|
9
10
|
require 'rfbeam/cli'
|
10
11
|
|
11
|
-
|
12
12
|
module RfBeam
|
13
13
|
class Error < StandardError
|
14
14
|
end
|
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.
|
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
|
@@ -62,6 +62,7 @@ extra_rdoc_files: []
|
|
62
62
|
files:
|
63
63
|
- ".DS_Store"
|
64
64
|
- ".rubocop.yml"
|
65
|
+
- ".streerc"
|
65
66
|
- ".tool-versions"
|
66
67
|
- CHANGELOG.md
|
67
68
|
- Gemfile
|
@@ -72,11 +73,12 @@ files:
|
|
72
73
|
- exe/rfbeam
|
73
74
|
- lib/rfbeam.rb
|
74
75
|
- lib/rfbeam/cli.rb
|
76
|
+
- lib/rfbeam/kld7/cli_formatter.rb
|
77
|
+
- lib/rfbeam/kld7/cli_output.rb
|
75
78
|
- lib/rfbeam/kld7/constants.rb
|
76
79
|
- lib/rfbeam/kld7/radar_messages.rb
|
77
80
|
- lib/rfbeam/kld7/radar_parameters.rb
|
78
81
|
- lib/rfbeam/kld7/serial_connection.rb
|
79
|
-
- lib/rfbeam/kld7/streamer.rb
|
80
82
|
- lib/rfbeam/version.rb
|
81
83
|
- node_modules/.bin/prettier
|
82
84
|
- node_modules/.yarn-integrity
|
data/lib/rfbeam/kld7/streamer.rb
DELETED
@@ -1,75 +0,0 @@
|
|
1
|
-
# rubocop:disable all
|
2
|
-
require 'unicode_plot'
|
3
|
-
require 'io/console'
|
4
|
-
require "stringio"
|
5
|
-
require 'tty-screen'
|
6
|
-
|
7
|
-
module RfBeam
|
8
|
-
module KLD7
|
9
|
-
class Streamer
|
10
|
-
attr_accessor :radar
|
11
|
-
|
12
|
-
def initialize(radar)
|
13
|
-
@radar = radar
|
14
|
-
end
|
15
|
-
|
16
|
-
def monitor_keypress
|
17
|
-
loop do
|
18
|
-
key = STDIN.getch
|
19
|
-
if key.downcase == "q"
|
20
|
-
@stop_streaming = true
|
21
|
-
break
|
22
|
-
end
|
23
|
-
end
|
24
|
-
end
|
25
|
-
|
26
|
-
def rfft
|
27
|
-
out = StringIO.new
|
28
|
-
def out.tty?
|
29
|
-
true
|
30
|
-
end
|
31
|
-
|
32
|
-
Thread.new { monitor_keypress }
|
33
|
-
|
34
|
-
loop do
|
35
|
-
out.truncate(0)
|
36
|
-
|
37
|
-
plot = rfft_plot(@radar)
|
38
|
-
plot.render(out)
|
39
|
-
|
40
|
-
lines = out.string.lines
|
41
|
-
lines.each { |line| $stdout.print "\r#{line}" }
|
42
|
-
$stdout.print "\e[0J"
|
43
|
-
$stdout.flush
|
44
|
-
break if @stop_streaming
|
45
|
-
|
46
|
-
n = lines.count
|
47
|
-
$stdout.print "\e[#{n}F"
|
48
|
-
end
|
49
|
-
end
|
50
|
-
|
51
|
-
private
|
52
|
-
|
53
|
-
def plot_data(data)
|
54
|
-
{ x: Array(-128...128), series1: data.shift(256).map { |value| value / 100 }, series2: data.shift(256).map { |value| value.to_i / 100 } }
|
55
|
-
end
|
56
|
-
|
57
|
-
def rfft_plot(radar)
|
58
|
-
width = TTY::Screen.width * 0.65
|
59
|
-
data = plot_data(radar.rfft)
|
60
|
-
plot = UnicodePlot.lineplot(
|
61
|
-
data[:x],
|
62
|
-
data[:series1],
|
63
|
-
name: 'IF1/2 Averaged',
|
64
|
-
title: 'Raw FFT',
|
65
|
-
height: 25,
|
66
|
-
width: width,
|
67
|
-
xlabel: "Speed (km/h)",
|
68
|
-
ylabel: 'Signal (db)', xlim: [-128, 128],
|
69
|
-
ylim: [0, 100])
|
70
|
-
UnicodePlot.lineplot!(plot, data[:x], data[:series2], name: "Threshold")
|
71
|
-
plot
|
72
|
-
end
|
73
|
-
end
|
74
|
-
end
|
75
|
-
end
|