rfbeam 0.4.0 → 0.4.2
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- checksums.yaml +4 -4
- data/.rubocop.yml +5 -4
- data/.streerc +2 -0
- data/.tool-versions +1 -1
- data/CHANGELOG.md +4 -0
- data/Gemfile +4 -0
- data/Gemfile.lock +6 -1
- data/README.md +57 -33
- 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/radar_parameters.rb +97 -97
- data/lib/rfbeam/kld7/serial_connection.rb +1 -1
- data/lib/rfbeam/version.rb +1 -1
- data/lib/rfbeam.rb +2 -2
- data/rfbeam.gemspec +1 -1
- metadata +7 -5
- data/lib/rfbeam/kld7/streamer.rb +0 -75
checksums.yaml
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SHA256:
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metadata.gz:
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metadata.gz: e4a69f4f0501b19f05eb57887129089ac549a327f6fcb7ded1ffad3186f36260cb71ec766ef69916532447fd0138db5843111f4fad1b5b6c57c1d5c08466fb17
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data.tar.gz: a7e7dc0c45b862dd2d37f28424e712236f4220bdef87ed4faccdb65b96f0e9cdf4984e3ff7c792940bb91b5896c32ac4f9cb678db45ba25a5f138bf6d475ecb1
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data/.rubocop.yml
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inherit_from:
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TargetRubyVersion: 3.
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TargetRubyVersion: 3.1
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AutoCorrect: true
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Enabled: false
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Documentation:
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Enabled: false
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data/.streerc
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data/.tool-versions
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ruby 3.2
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ruby 3.1.2
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data/CHANGELOG.md
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data/Gemfile
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data/Gemfile.lock
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PATH
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remote: .
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specs:
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rfbeam (0.4.
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rfbeam (0.4.2)
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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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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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rake (~> 13.0)
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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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data/README.md
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# Rfbeam
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![Gem](https://img.shields.io/gem/v/rfbeam?color=green&label=version)
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![Ruby](https://img.shields.io/static/v1?message=Ruby&color=red&logo=Ruby&logoColor=FFFFFF&label=v3.2
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![Ruby](https://img.shields.io/static/v1?message=Ruby&color=red&logo=Ruby&logoColor=FFFFFF&label=v3.1.2)
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![Ruby](https://img.shields.io/gitlab/license/robcarruthers/rfbeam?color=orange)
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RfBeam is a simple, high-level interface for the RFBeam radar modules.
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@@ -67,12 +67,12 @@ Returns a formatted String of all parameter settings. The only way to read param
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radar.config
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Software Version: K-LD7_APP-RFB-0103
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Base Frequency: Low
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Maximum Speed: 100km/h
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Maximum Range: 100m
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Threshold Offset: 30db
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Tracking Filter Type: Long Visibility
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Software Version: K-LD7_APP-RFB-0103
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Base Frequency: Low
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Maximum Speed: 100km/h
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Maximum Range: 100m
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Threshold Offset: 30db
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Tracking Filter Type: Long Visibility
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Vibration Suppression: 16
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Minimum Detection Distance: 0%
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Maximum Detection Distance: 100%
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Micro Detection Trigger: Off
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Micro Detection Sensativity: 4
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## Parameter
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## Parameter API
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### Base Frequency
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alias :rbfr
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```ruby
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-
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radar.radar.base_frequency = 1
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```
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### Maximum Speed
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@@ -108,7 +108,7 @@ set_base_frequency(1)
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0 = 12.5km/h, 1 = 25km/h (default), 2 = 50km/h, 3 = 100km/h, alias :rspi
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```ruby
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radar.max_speed = 1
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```
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### Maximum Range
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0 = 5m, 1 = 10m (default), 2 = 30m, 3 = 100m, alias :rrai
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```ruby
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-
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radar.max_range = 1
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```
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### Threshold Offset
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@@ -124,7 +124,7 @@ set_max_range(1)
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10 - 60db, (default = 30), alias :thof
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```ruby
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-
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radar.threshold_offset = 30
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```
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### Tracking filter type
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0 = Standard (Default), 1 = Fast Tracking, 2 = Long visibility, alias :trtf
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```ruby
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-
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radar.tracking_filter = 0
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```
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### Vibration suppression
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0 - 16, 0 = No Suppression, 16 = High Suppression, default = 2, alias :visu
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```ruby
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-
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radar.vibration_suppression = 2
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```
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### Minimum Detection distance
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0 - 100% of Range setting, default = 0, alias :mira
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```ruby
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-
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radar.min_detection_distance = 0
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```
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### Maximum Detection distance
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0 - 100% of Range setting, default = 50, alias :mara
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```ruby
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-
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radar.max_detection_distance = 50
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```
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### Minimum Detection Angle
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@@ -164,7 +164,7 @@ set_max_detection_distance(50)
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-90° - 90°, default = -90, alias :mian
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```ruby
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-
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radar.min_detection_angle = -90
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```
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### Maximum Detection Angle
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@@ -172,7 +172,7 @@ set_min_detection_angle(-90
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-90° - 90°, default = 90, alias :maan
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```ruby
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-
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radar.min_detection_angle = 90
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```
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### Minimum Detection Speed
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0 - 100% of Speed setting, default = 0, alias :misp
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```ruby
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-
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radar.min_detection_speed = 0
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```
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### Maximum Detection Speed
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0 - 100% of Speed setting, default = 100, alias :masp
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```ruby
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-
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radar.max_detection_speed = 100
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```
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### Detection Direction
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0 = Receding, 1 = Approaching, 2 = Both (default), alias :dedi
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```ruby
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-
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radar. detection_direction = 2
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```
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### Range Threshold
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@@ -204,7 +204,7 @@ set_max_detection_speed(100)
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0 - 100% of Range setting, default = 10, alias :rath
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```ruby
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-
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radar. range_threshold = 10
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```
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### Angle Threshold
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-90° to 90°, default = 0, alias :anth
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```ruby
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-
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radar. range_threshold = 0
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```
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### Speed Threshold
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0 - 100% of speed setting, default = 50, alias :spth
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```ruby
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-
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radar. angle_threshold = 50
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```
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### Digital output 1
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0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default = 0
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alias :dig1
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alias :dig1
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```ruby
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-
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radar.digital_output1 = 0
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```
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### Digital output 2
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0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default = 1
|
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alias :dig2
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alias :dig2
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```ruby
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-
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radar.digital_output2 = 1
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```
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### Digital output 3
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0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection, default = 2
|
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|
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-
alias :dig3
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+
alias :dig3
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```ruby
|
253
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-
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radar.digital_output3 = 2
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```
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### Hold Time
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@@ -260,7 +260,7 @@ set_dio_3(2)
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alias :hold
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```ruby
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-
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radar.hold_time = 1
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```
|
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### Micro Detection retrigger
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@@ -270,7 +270,7 @@ set_hold_time(1)
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alias: :mide
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```ruby
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-
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radar.micro_detection_retrigger = 0
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```
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### Micro Detection sensitivity
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@@ -280,7 +280,31 @@ set_micro_detection_retrigger(0)
|
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alias: :mids
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|
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```ruby
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-
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+
radar.micro_detection_sensitivty = 4
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```
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## CLI
|
287
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+
|
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+
``` fish
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❯ bundle exec rfbeam list
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+
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+
+--+------------+------------------+
|
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+
|id|Path |Version |
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+--+------------+------------------+
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|0 |/dev/ttyUSB0|K-LD7_APP-RFB-0103|
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+--+------------+------------------+
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+
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❯ bundle exec rfbeam help
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Commands:
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+
rfbeam config <radar_id> # Shows the parameter setting for the Radar module
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+
rfbeam ddat <radar_id> -s, [--stream] # stream any valid detections, stop stream with q and enter
|
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+
rfbeam help [COMMAND] # Describe available commands or one specific command
|
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+
rfbeam list # List available radar modules
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rfbeam pdat <radar_id> # Display Tracked Targets
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+
rfbeam reset <radar_id> # Shows the parameter setting for the Radar module
|
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rfbeam rfft <radar_id> -s, [--stream] # Display the dopplar radar data as a plot
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rfbeam set_param <radar_id> <key> <value> # Set radar parameters, see readme for keys
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rfbeam tdat <radar_id> # Display tracked target data
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```
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## Development
|
data/lib/rfbeam/cli.rb
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# rubocop:disable all
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require 'thor'
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require 'rfbeam'
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require 'tty-table'
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module RfBeam
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class CLI < Thor
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-
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attr_accessor :radar, :logger
|
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|
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desc 'list', 'List available radar modules'
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def list
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+
logger = TTY::Logger.new
|
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devices = RfBeam.connected
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-
|
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+
logger.warning 'No Radar modules found.' unless devices.count.positive?
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-
table = TTY::Table.new(
|
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+
table = TTY::Table.new(header: %w[id Path Version])
|
21
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|
|
22
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-
devices.each.with_index
|
23
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-
table << ["R#{index}", path, @radar.sw_version]
|
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|
-
end
|
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+
devices.each.with_index { |path, index| table << ["#{index}", path, radar(index).sw_version] }
|
25
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|
puts table.render(:ascii)
|
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|
end
|
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|
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desc 'config <radar_id>', 'Shows the parameter setting for the Radar module'
|
29
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|
def config(radar_id)
|
30
|
-
|
31
|
-
|
27
|
+
puts radar(radar_id).config
|
28
|
+
end
|
29
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+
|
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+
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
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end
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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
|