fix endianness

peeper/preprocessing/ellipse2n.py

@@ -20,9 +20,25 @@ def parse_raw_data(values):
     :return: decimal value
     """
 
-    time_stamp = toggle_endianness(values)  # little endian
-    time_stamp = "".join(time_stamp)
-    return int(time_stamp, 16)  # convert to decimal value
+    val = toggle_endianness(values)  # little endian
+    val = "".join(val)
+    return int(val, 16)  # convert to decimal value
+
+
+def to_binary(val, expected_length=8):
+    """Converts decimal value to binary
+
+    :param val: decimal
+    :param expected_length: length of data
+    :return: binary value
+    """
+
+    val = bin(val)[2:]  # to binary
+
+    while len(val) < expected_length:
+        val = "0" + val
+
+    return val
 
 
 def get_hexadecimal(values):
@@ -53,13 +69,18 @@ def get_STATUS_01(byte_0, byte_1, byte_2, byte_3, byte_4, byte_5, byte_6,
     :return: TIME_STAMP, GENERAL_STATUS, CLOCK_STATUS
     """
 
-    hexadecimal_values = get_hexadecimal(locals().values())
+    arguments = list(reversed(list(locals().values())))
+    hexadecimal_values = get_hexadecimal(arguments)
+
+    time_stamp = parse_raw_data(hexadecimal_values[:4]) / 10 ** 6
 
-    time_stamp = parse_raw_data(hexadecimal_values[:4])
     general_status = parse_raw_data(hexadecimal_values[4: 6])
-    clock_stauts = parse_raw_data(hexadecimal_values[6:])
+    general_status = to_binary(general_status, 7)
 
-    return time_stamp, general_status, clock_stauts
+    clock_status = parse_raw_data(hexadecimal_values[6:])
+    clock_status = to_binary(clock_status, 4)
+
+    return time_stamp, general_status, clock_status
 
 
 def get_IMU_INFO(byte_0, byte_1, byte_2, byte_3, byte_4, byte_5, byte_6,
@@ -77,11 +98,14 @@ def get_IMU_INFO(byte_0, byte_1, byte_2, byte_3, byte_4, byte_5, byte_6,
     :return: TIME_STAMP, IMU_STATUS, TEMPERATURE
     """
 
-    hexadecimal_values = get_hexadecimal(locals().values())
+    arguments = list(reversed(list(locals().values())))
+    hexadecimal_values = get_hexadecimal(arguments)
+
+    time_stamp = parse_raw_data(hexadecimal_values[:4]) / 10 ** 6
 
-    time_stamp = parse_raw_data(hexadecimal_values[:4])
     imu_status = parse_raw_data(hexadecimal_values[4: 6])
-    temperature = parse_raw_data(hexadecimal_values[6:])
+    imu_status = to_binary(imu_status, 10)
+    temperature = parse_raw_data(hexadecimal_values[6:]) / 10 ** 2
 
     return time_stamp, imu_status, temperature
 
@@ -101,10 +125,12 @@ def get_IMU_ACCEL(byte_0, byte_1, byte_2, byte_3, byte_4, byte_5, byte_6,
     :return: ACCEL_X, ACCEL_Y, ACCEL_Z
     """
 
-    hexadecimal_values = get_hexadecimal(locals().values())
+    arguments = list(reversed(list(locals().values())))
+    hexadecimal_values = get_hexadecimal(arguments)
+    scaling = 10 ** 2
 
-    acc_x = parse_raw_data(hexadecimal_values[:2])
-    acc_y = parse_raw_data(hexadecimal_values[2: 4])
-    acc_z = parse_raw_data(hexadecimal_values[4: 6])
+    acc_x = parse_raw_data(hexadecimal_values[:2]) / scaling
+    acc_y = parse_raw_data(hexadecimal_values[2: 4]) / scaling
+    acc_z = parse_raw_data(hexadecimal_values[4: 6]) / scaling
 
     return acc_x, acc_y, acc_z

peeper/preprocessing/parse_kvaser.py

@@ -8,6 +8,8 @@
 from hal.streams.pretty_table import pretty_format_table
 from parse import parse
 
+from preprocessing.ellipse2n import get_STATUS_01, get_IMU_INFO, get_IMU_ACCEL
+
 DATA_FIELD_FORMATTERS = [
     " {:d}    {:d}         {:d}" + "  {:x}" * i + "    " * (8 - i) +
     "     {:f} {:w}"
@@ -115,6 +117,32 @@ def parse_args(parser):
     return file
 
 
+def parse_messages(messages, msg_id, func, result_labels):
+    """Parses Ellipse2N messages
+
+    :param messages: list of messages
+    :param msg_id: ID of messages to parse
+    :param func: callable to parse data
+    :param result_labels: labels of result
+    :return: Shows parsed data
+    """
+
+    messages = [
+        message.get_values() + list(message.parse_data(func))
+        for message in messages
+        if message.msg_id == msg_id  # just this ID
+    ]
+
+    labels = ["Channel", "ID (hex)", "DLC"] + [
+        "Byte " + str(i)
+        for i in range(8)
+    ] + ["Timestamp (s)",
+         "Transmission"] + \
+             result_labels
+
+    print(pretty_format_table(labels, messages))
+
+
 def parse_file(path):
     """Parses .log file
 
@@ -127,18 +155,13 @@ def parse_file(path):
         CanbusMessage.parse_kvaser(line)
         for line in lines
     ]
-    for m in messages:
-        print(m)
-    values = [
-        message.get_values()
-        for message in messages
-    ]
-    labels = ["Channel", "ID (hex)", "DLC"] + [
-        "Byte " + str(i)
-        for i in range(8)
-    ] + ["Timestamp (s)", "?"]
 
-    print(pretty_format_table(labels, values))
+    parse_messages(messages, 100, get_STATUS_01,
+                   ["TIME_STAMP (s)", "GENERAL_STATUS", "CLOCK_STATUS"])
+    parse_messages(messages, 120, get_IMU_INFO,
+                   ["TIME_STAMP (s)", "IMU_STATUS", "TEMPERATURE (°C)"])
+    parse_messages(messages, 121, get_IMU_ACCEL,
+                   ["ACCEL_X (m/s²)", "ACCEL_Y (m/s²)", "ACCEL_Z (m/s²)"])
 
 
 def main():