rfbeam 0.4.0 → 0.4.2

data/lib/rfbeam/kld7/constants.rb

@@ -14,52 +14,176 @@ module RfBeam
       6 => 'Timeout error'
     }.freeze
 
-    # The response delay was determined empirically and may need adjusting with baude rate
-    RESP_DELAY = 0.1
+    # Delays are determined empirically and may need adjusting with baude rate
+    RESPONSE_DELAY = 0.05
+    MEASUREMENT_DELAY = 0.15
 
     # 'GNFD' command types
     FRAME_DATA_TYPES = { disabled: 0x00, radc: 0x01, rfft: 0x02, pdat: 0x04, tdat: 0x08, ddat: 0x10, done: 0x20 }.freeze
 
     # The angle, direction, range and speed flags are only valid if the detection flag is 1.
     DETECTION_FLAGS = {
-      detection: ['No Detection', 'Detection'],
-      micro_detection: ['No Detection', 'Detection'],
+      detection: %w[No Yes],
+      micro_detection: %w[No Yes],
       angle: %w[Left Right],
       direction: %w[Receding Approaching],
       range: %w[Far Near],
       speed: %w[Low High]
     }.freeze
 
-    Param = Data.define(:name, :grps_index, :description, :default, :units, :values) do |_param|
-      def initialize(name:, grps_index:, description: nil, default: nil, units: nil, values: [])
-        super(name:, grps_index:, description:, default:, units:, values:)
+    Param =
+      Struct.new(:name, :grps_index, :description, :default, :units, :values) do
+        def initialize(name:, grps_index:, description: nil, default: nil, units: nil, values: [])
+          super(name, grps_index, description, default, units, values)
+        end
       end
-    end
 
     RADAR_PARAMETERS = {
       sw_version: Param.new(name: 'Software Version', grps_index: 2, default: 'K-LD7_APP-RFB-XXXX'),
-      base_frequency: Param.new( name: 'Base Frequency', grps_index: 3, description: '0 = Low, 1 = Middle, 2 = High', default: 1, values: ['Low', 'Middle', 'High'] ),
-      max_speed: Param.new( name: 'Maximum Speed', grps_index: 4, description: '0 = 12km/h, 1 = 25km/h, 2 = 50km/h, 3 = 100km/h', default: 1, units: 'km/h', values: ['12.5', '25', '50', '100'] ),
-      max_range: Param.new( name: 'Maximum Range', grps_index: 5, description: '0 = 5m, 1 = 10m, 2 = 30m, 3 = 100m', default: 1, values: %w[5m 10m 30m 100m] ),
-      threshold_offset: Param.new( name: 'Threshold Offset', grps_index: 6, description: '10db - 60db', default: 30, units: 'db' ),
-      tracking_filter: Param.new( name: 'Tracking Filter Type', grps_index: 7, description: '0 = Standard, 2 = Fast Detection, 3 = Long Visibility', default: 0, values: ['standard', 'Fast Detection', 'Long Visibility'] ),
-      vibration_suppression: Param.new( name: 'Vibration Suppression', grps_index: 8, description: '0-16, 0 = No Suppression, 16 = High Suppression', default: 2 ),
-      min_detection_distance: Param.new( name: 'Minimum Detection Distance', grps_index: 9, description: '0 - 100% of range setting', default: 0, units: '%' ),
-      max_detection_distance: Param.new( name: 'Maximum Detection Distance', grps_index: 10, description: '0 - 100% of range setting', default: 50, units: '%' ),
-      min_detection_angle: Param.new( name: 'Minimum Detection Angle', grps_index: 11, description: '-90° - 90°', default: -90, units: '°' ),
-      max_detection_angle: Param.new( name: 'Maximum Detection Angle', grps_index: 12, description: '-90° - 90°', default: 90, units: '°' ),
-      min_detection_speed: Param.new( name: 'Minimum Detection Speed', grps_index: 13, description: '0 - 100% of speed setting', default: 0, units: '%' ),
-      max_detection_speed: Param.new( name: 'Maximum Detection Speed', grps_index: 14, description: '0 - 100% of speed setting', default: 100, units: '%' ),
-      detection_direction: Param.new( name: 'Detection Direction', grps_index: 15, description: '0 = Receding, 1 = Approaching, 2 = Both', default: 2, values: %w[Receding Approaching Both] ),
-      range_threshold: Param.new( name: 'Range Threshold', grps_index: 16, description: '0 - 100% of range setting', default: 10, units: '%' ),
-      angle_threshold: Param.new( name: 'Angle Threshold', grps_index: 17, description: '-90° - 90°', default: 0, units: '°' ),
-      speed_threshold: Param.new( name: 'Speed Threshold', grps_index: 18, description: '0 - 100% of speed setting', default: 50, units: '%' ),
-      digital_output1: Param.new( name: 'Digital Output 1', grps_index: 19, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection', default: 0, values: %w[Direction Angle Range Speed Micro] ),
-      digital_output2: Param.new( name: 'Digital Output 2', grps_index: 20, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection', default: 1, values: %w[Direction Angle Range Speed Micro] ),
-      digital_output3: Param.new( name: 'Digital Output 3', grps_index: 21, description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection', default: 2, values: %w[Direction Angle Range Speed Micro] ),
-      hold_time: Param.new( name: 'Hold Time', grps_index: 22, description: '1 - 7200s', default: 1, units: 's' ),
-      micro_detection_retrigger: Param.new( name: 'Micro Detection Trigger', grps_index: 23, description: '0 = Off, 1 = Retrigger', default: 0, values: %w[Off Retrigger] ),
-      micro_detection_sensativity: Param.new( name: 'Micro Detection Sensativity', grps_index: 24, description: '0 - 9, 0 = Min, 9 = Max', default: 4 )
-  }.freeze
+      base_frequency:
+        Param.new(
+          name: 'Base Frequency',
+          grps_index: 3,
+          description: '0 = Low, 1 = Middle, 2 = High',
+          default: 1,
+          values: %w[Low Middle High]
+        ),
+      max_speed:
+        Param.new(
+          name: 'Maximum Speed',
+          grps_index: 4,
+          description: '0 = 12km/h, 1 = 25km/h, 2 = 50km/h, 3 = 100km/h',
+          default: 1,
+          units: 'km/h',
+          values: %w[12.5 25 50 100]
+        ),
+      max_range:
+        Param.new(
+          name: 'Maximum Range',
+          grps_index: 5,
+          description: '0 = 5m, 1 = 10m, 2 = 30m, 3 = 100m',
+          default: 1,
+          values: %w[5m 10m 30m 100m]
+        ),
+      threshold_offset:
+        Param.new(name: 'Threshold Offset', grps_index: 6, description: '10db - 60db', default: 30, units: 'db'),
+      tracking_filter:
+        Param.new(
+          name: 'Tracking Filter Type',
+          grps_index: 7,
+          description: '0 = Standard, 2 = Fast Detection, 3 = Long Visibility',
+          default: 0,
+          values: ['standard', 'Fast Detection', 'Long Visibility']
+        ),
+      vibration_suppression:
+        Param.new(
+          name: 'Vibration Suppression',
+          grps_index: 8,
+          description: '0-16, 0 = No Suppression, 16 = High Suppression',
+          default: 2
+        ),
+      min_detection_distance:
+        Param.new(
+          name: 'Minimum Detection Distance',
+          grps_index: 9,
+          description: '0 - 100% of range setting',
+          default: 0,
+          units: '%'
+        ),
+      max_detection_distance:
+        Param.new(
+          name: 'Maximum Detection Distance',
+          grps_index: 10,
+          description: '0 - 100% of range setting',
+          default: 50,
+          units: '%'
+        ),
+      min_detection_angle:
+        Param.new(name: 'Minimum Detection Angle', grps_index: 11, description: '-90° - 90°', default: -90, units: '°'),
+      max_detection_angle:
+        Param.new(name: 'Maximum Detection Angle', grps_index: 12, description: '-90° - 90°', default: 90, units: '°'),
+      min_detection_speed:
+        Param.new(
+          name: 'Minimum Detection Speed',
+          grps_index: 13,
+          description: '0 - 100% of speed setting',
+          default: 0,
+          units: '%'
+        ),
+      max_detection_speed:
+        Param.new(
+          name: 'Maximum Detection Speed',
+          grps_index: 14,
+          description: '0 - 100% of speed setting',
+          default: 100,
+          units: '%'
+        ),
+      detection_direction:
+        Param.new(
+          name: 'Detection Direction',
+          grps_index: 15,
+          description: '0 = Receding, 1 = Approaching, 2 = Both',
+          default: 2,
+          values: %w[Receding Approaching Both]
+        ),
+      range_threshold:
+        Param.new(
+          name: 'Range Threshold',
+          grps_index: 16,
+          description: '0 - 100% of range setting',
+          default: 10,
+          units: '%'
+        ),
+      angle_threshold:
+        Param.new(name: 'Angle Threshold', grps_index: 17, description: '-90° - 90°', default: 0, units: '°'),
+      speed_threshold:
+        Param.new(
+          name: 'Speed Threshold',
+          grps_index: 18,
+          description: '0 - 100% of speed setting',
+          default: 50,
+          units: '%'
+        ),
+      digital_output1:
+        Param.new(
+          name: 'Digital Output 1',
+          grps_index: 19,
+          description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection',
+          default: 0,
+          values: %w[Direction Angle Range Speed Micro]
+        ),
+      digital_output2:
+        Param.new(
+          name: 'Digital Output 2',
+          grps_index: 20,
+          description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection',
+          default: 1,
+          values: %w[Direction Angle Range Speed Micro]
+        ),
+      digital_output3:
+        Param.new(
+          name: 'Digital Output 3',
+          grps_index: 21,
+          description: '0 = Direction, 1 = Angle, 2 = Range, 3 = Speed, 4 = Micro Detection',
+          default: 2,
+          values: %w[Direction Angle Range Speed Micro]
+        ),
+      hold_time: Param.new(name: 'Hold Time', grps_index: 22, description: '1 - 7200s', default: 1, units: 's'),
+      micro_detection_retrigger:
+        Param.new(
+          name: 'Micro Detection Trigger',
+          grps_index: 23,
+          description: '0 = Off, 1 = Retrigger',
+          default: 0,
+          values: %w[Off Retrigger]
+        ),
+      micro_detection_sensativity:
+        Param.new(
+          name: 'Micro Detection Sensativity',
+          grps_index: 24,
+          description: '0 - 9, 0 = Min, 9 = Max',
+          default: 4
+        )
+    }.freeze
   end
 end

data/lib/rfbeam/kld7/radar_messages.rb

@@ -9,15 +9,27 @@ module RfBeam
 
     def rfft
       request_frame_data(:rfft)
+      sleep MEASUREMENT_DELAY
+      data = read(1032).unpack('a4LS256S256')
+      header, length = data.shift(2)
+      raise Error, "RFFT header response, header=#{header}" unless header == 'RFFT'
+      raise Error, "RFFT payload length, length=#{length}" unless length == 1024
 
-      resp = read(1032).unpack('a4LS256S256')
-      resp.shift 2
-      resp
+      data
+    end
+
+    def reset
+      command = ['RFSE', 0]
+      write command.pack('a4L')
+      check_response
     end
-    
+    alias rfse reset
+
     def pdat(formatted: false)
-      request_frame_data(:pdat)      
+      request_frame_data(:pdat)
       resp = read(102).unpack('a4LSssSSssSSssSSssSSssSSssSSssSSssSSssSSssS')
+      raise Error, "PDAT response = #{resp[0]}" unless resp[0] == 'PDAT'
+
       return resp unless formatted
 
       target_count = resp[1].to_i / 8
@@ -32,26 +44,23 @@ module RfBeam
 
     def tdat
       request_frame_data(:tdat)
+      sleep MEASUREMENT_DELAY
 
-      sleep 0.1
       resp = read(16).unpack('a4LSssS')
-      return { dist: resp[2], speed: resp[3], angle: resp[4], mag: resp[5] } unless resp[1].zero?
+      raise Error, "TDAT response = #{resp[0]}" unless resp[0] == 'TDAT'
+
+      resp
     end
 
     def ddat
       request_frame_data(:ddat)
-      flags = %w[Low High]
-      array = read(14).unpack('a4LC6')
-      { label: array[0],
-      detection: DETECTION_FLAGS[:detection][array[2]],
-      micro_detection: DETECTION_FLAGS[:micro_detection][array[3]],
-      angle: DETECTION_FLAGS[:angle][array[4]],
-      direction: DETECTION_FLAGS[:direction][array[5]],
-      range: DETECTION_FLAGS[:range][array[6]],
-      speed: DETECTION_FLAGS[:speed][array[7]]
-    }
+      sleep MEASUREMENT_DELAY
+
+      resp = read(14).unpack('a4LC6')
+      raise Error, "DDAT response = #{resp[0]}" unless resp[0] == 'DDAT'
+      resp
     end
-    
+
     # Get the radar parameter structure
     def grps
       command = ['GRPS', 0]
@@ -63,12 +72,10 @@ module RfBeam
     def config
       data = grps
       output = "\n"
-      RADAR_PARAMETERS.keys.each do |key|
-        output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index])
-      end
+      RADAR_PARAMETERS.keys.each { |key| output << formatted_parameter(key, data[RADAR_PARAMETERS[key].grps_index]) }
       output
     end
-    
+
     def formatted_parameter(param, value = nil)
       param = RADAR_PARAMETERS[param]
       if value.nil?
@@ -82,7 +89,7 @@ module RfBeam
     private
 
     def format_raw_target_data(array)
-        { dist: array.shift, speed: array.shift, angle: array.shift, mag: array.shift }
+      { dist: array.shift, speed: array.shift, angle: array.shift, mag: array.shift }
     end
 
     def request_frame_data(type)