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read sensordata and update the map

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unknown 2020-12-08 22:35:51 +01:00
parent 580ac21ca0
commit 074e4f49cc
6 changed files with 69 additions and 56 deletions
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74
.idea/workspace.xml generated
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@ -23,30 +23,12 @@
</component> </component>
<component name="ChangeListManager"> <component name="ChangeListManager">
<list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment=""> <list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="">
<change afterPath="$PROJECT_DIR$/.idea/.gitignore" afterDir="false" />
<change afterPath="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/collectors.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/dispatcher.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/format.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/http.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/pipeline.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/static/iphone.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
<change beforePath="$PROJECT_DIR$/.idea/vcs.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/vcs.xml" afterDir="false" />
<change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" /> <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/serial_only/serial_only.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/serial_only/serial_only.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/server/server.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/server/server.go" afterDir="false" /> <change beforePath="$PROJECT_DIR$/cmd/server/server.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/server/server.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/server_only/server_only.go" beforeDir="false" /> <change beforePath="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/dispatcher/dispatcher.go" beforeDir="false" /> <change beforePath="$PROJECT_DIR$/core/format.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/format.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ex_websocketMessage.json" beforeDir="false" afterPath="$PROJECT_DIR$/static/ex_websocketMessage.json" afterDir="false" /> <change beforePath="$PROJECT_DIR$/static/scripts/map.js" beforeDir="false" afterPath="$PROJECT_DIR$/static/scripts/map.js" afterDir="false" />
<change beforePath="$PROJECT_DIR$/go.mod" beforeDir="false" afterPath="$PROJECT_DIR$/go.mod" afterDir="false" /> <change beforePath="$PROJECT_DIR$/static/scripts/websocket.js" beforeDir="false" afterPath="$PROJECT_DIR$/static/scripts/websocket.js" afterDir="false" />
<change beforePath="$PROJECT_DIR$/go.sum" beforeDir="false" afterPath="$PROJECT_DIR$/go.sum" afterDir="false" />
<change beforePath="$PROJECT_DIR$/hyperimu.json" beforeDir="false" afterPath="$PROJECT_DIR$/static/hyperimu.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/index.html" beforeDir="false" afterPath="$PROJECT_DIR$/static/index.html" afterDir="false" />
<change beforePath="$PROJECT_DIR$/net/net.go" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/serial_ubx/serial.go" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ublox/decode.go" beforeDir="false" afterPath="$PROJECT_DIR$/ublox/decode.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ublox/messages.go" beforeDir="false" afterPath="$PROJECT_DIR$/ublox/messages.go" afterDir="false" />
</list> </list>
<option name="SHOW_DIALOG" value="false" /> <option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" /> <option name="HIGHLIGHT_CONFLICTS" value="true" />
@ -58,6 +40,7 @@
<list> <list>
<option value="Go Application" /> <option value="Go Application" />
<option value="Go File" /> <option value="Go File" />
<option value="JavaScript File" />
</list> </list>
</option> </option>
</component> </component>
@ -87,6 +70,9 @@
<property name="go.sdk.automatically.set" value="true" /> <property name="go.sdk.automatically.set" value="true" />
<property name="go.tried.to.enable.integration.vgo.integrator" value="true" /> <property name="go.tried.to.enable.integration.vgo.integrator" value="true" />
<property name="last_opened_file_path" value="$USER_HOME$" /> <property name="last_opened_file_path" value="$USER_HOME$" />
<property name="project.structure.last.edited" value="Project" />
<property name="project.structure.proportion" value="0.0" />
<property name="project.structure.side.proportion" value="0.0" />
<property name="settings.editor.selected.configurable" value="preferences.pluginManager" /> <property name="settings.editor.selected.configurable" value="preferences.pluginManager" />
</component> </component>
<component name="RecentsManager"> <component name="RecentsManager">
@ -98,7 +84,18 @@
<recent name="$PROJECT_DIR$/serial" /> <recent name="$PROJECT_DIR$/serial" />
</key> </key>
</component> </component>
<component name="RunManager" selected="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/serial_only"> <component name="RunManager" selected="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/tcp_only">
<configuration default="true" type="ArquillianJUnit" factoryName="" nameIsGenerated="true">
<option name="arquillianRunConfiguration">
<value>
<option name="containerStateName" value="" />
</value>
</option>
<option name="TEST_OBJECT" value="class" />
<method v="2">
<option name="Make" enabled="true" />
</method>
</configuration>
<configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true"> <configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
<module name="gyrogpsc" /> <module name="gyrogpsc" />
<working_directory value="$PROJECT_DIR$" /> <working_directory value="$PROJECT_DIR$" />
@ -108,6 +105,24 @@
<directory value="$PROJECT_DIR$" /> <directory value="$PROJECT_DIR$" />
<method v="2" /> <method v="2" />
</configuration> </configuration>
<configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/server" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
<module name="gyrogpsc" />
<working_directory value="$PROJECT_DIR$" />
<kind value="PACKAGE" />
<filePath value="$PROJECT_DIR$/cmd/server/server.go" />
<package value="git.timovolkmann.de/gyrogpsc/cmd/server" />
<directory value="$PROJECT_DIR$" />
<method v="2" />
</configuration>
<configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/tcp_only" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
<module name="gyrogpsc" />
<working_directory value="$PROJECT_DIR$" />
<kind value="PACKAGE" />
<filePath value="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" />
<package value="git.timovolkmann.de/gyrogpsc/cmd/tcp_only" />
<directory value="$PROJECT_DIR$" />
<method v="2" />
</configuration>
<configuration name="go build git.timovolkmann.de/gyrogpsc/serial" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true"> <configuration name="go build git.timovolkmann.de/gyrogpsc/serial" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
<module name="gyrogpsc" /> <module name="gyrogpsc" />
<working_directory value="$PROJECT_DIR$" /> <working_directory value="$PROJECT_DIR$" />
@ -117,21 +132,16 @@
<directory value="$PROJECT_DIR$" /> <directory value="$PROJECT_DIR$" />
<method v="2" /> <method v="2" />
</configuration> </configuration>
<configuration name="go build server.go" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true"> <configuration name="index.html" type="JavascriptDebugType" temporary="true" nameIsGenerated="true" uri="http://localhost:63342/gyrogpsc/static/index.html" useBuiltInWebServerPort="true">
<module name="gyrogpsc" />
<working_directory value="$PROJECT_DIR$" />
<kind value="FILE" />
<filePath value="$PROJECT_DIR$/server.go" />
<directory value="$PROJECT_DIR$" />
<method v="2" /> <method v="2" />
</configuration> </configuration>
<recent_temporary> <recent_temporary>
<list> <list>
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/tcp_only" />
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/server" />
<item itemvalue="JavaScript Debug.index.html" />
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" /> <item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" />
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/serial" /> <item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/serial" />
<item itemvalue="Go Build.go build server.go" />
<item itemvalue="Go Build.go build server.go" />
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/serial" />
</list> </list>
</recent_temporary> </recent_temporary>
</component> </component>

2
cmd/server/server.go
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@ -8,7 +8,7 @@ import (
const ( const (
TCP_PORT = ":3010" TCP_PORT = ":3010"
HTTP_PORT = ":3011" HTTP_PORT = ":3011"
SERIAL_PORT = "/dev/tty.usbmodem14201" SERIAL_PORT = "COM4"
) )
func main() { func main() {

7
cmd/tcp_only/tcp_only.go
View File

@ -2,6 +2,7 @@ package main
import ( import (
"git.timovolkmann.de/gyrogpsc/core" "git.timovolkmann.de/gyrogpsc/core"
"log"
) )
const ( const (
@ -10,9 +11,13 @@ const (
) )
func main() { func main() {
log.Println("setup dispatcher")
dispatcher := core.NewDispatcher() dispatcher := core.NewDispatcher()
processor := core.NewPipeline(dispatcher, 20, 10000) log.Println("initialize processing pipeline")
processor := core.NewPipeline(dispatcher, 50, 494)
processor.Run()
collectRoutines(processor) collectRoutines(processor)
log.Println("start http server")
core.HttpListenAndServe(dispatcher, HTTP_PORT) core.HttpListenAndServe(dispatcher, HTTP_PORT)
} }

26
core/format.go
View File

@ -7,8 +7,6 @@ import (
"log" "log"
"math" "math"
"time" "time"
"github.com/m7shapan/njson"
) )
/*{ /*{
@ -159,20 +157,20 @@ func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) {
func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) { func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) {
prep := struct { timestamp := gjson.Get(string(jsonData), "Timestamp").Int()
Timestamp int64 `njson:"Timestamp"` lat := gjson.Get(string(jsonData), "GPS.0").Float()
Position [3]float64 `njson:"GPS"` lon := gjson.Get(string(jsonData), "GPS.1").Float()
Orientation [3]float64 `njson:"orientation"` alt := gjson.Get(string(jsonData), "GPS.2").Float()
}{} pitch := gjson.Get(string(jsonData), "orientation.0").Float()
err := njson.Unmarshal(jsonData, &prep) roll := gjson.Get(string(jsonData), "orientation.1").Float()
if err != nil { yaw := gjson.Get(string(jsonData), "orientation.2").Float()
return nil, err
}
sd := &Sensordata{ sd := &Sensordata{
Timestamp: prep.Timestamp * int64(time.Millisecond), SourceId: SOURCE_TCP,
Timestamp: timestamp * int64(time.Millisecond),
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), //Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
Position: prep.Position, Position: [3]float64{lat, lon, alt},
Orientation: prep.Orientation, Orientation: [3]float64{pitch, roll, yaw},
} }
return sd, nil return sd, nil
} }

6
static/scripts/map.js
View File

@ -40,17 +40,17 @@ map.on('load', function () {
}); });
// setup the viewport // setup the viewport
map.jumpTo({ 'center': [9.19640999, 49.12283027], 'zoom': 15 }); map.jumpTo({ 'center': [9.19640999, 49.12283027], 'zoom': 14 });
map.setPitch(30); map.setPitch(30);
// on a regular basis, add more coordinates from the saved list and update the map // on a regular basis, add more coordinates from the saved list and update the map
//var i = 0; //var i = 0;
//var timer = window.setInterval(, 10); //var timer = window.setInterval(, 10);
}) })
function updateMap (coordinates) { function updateMap (long, lat) {
let coordinates = [long, lat]
empty.features[0].geometry.coordinates.push(coordinates); empty.features[0].geometry.coordinates.push(coordinates);
map.getSource('route').setData(empty); map.getSource('route').setData(empty);
map.panTo(coordinates); map.panTo(coordinates);

10
static/scripts/websocket.js
View File

@ -37,10 +37,10 @@ window.addEventListener("load", function(evt) {
// let dat = JSON.parse(evt.data)["lsm6dsm gyroscope"] // let dat = JSON.parse(evt.data)["lsm6dsm gyroscope"]
//let dat = JSON.parse(evt.data)["lsm6ds3c gyroscope"] //let dat = JSON.parse(evt.data)["lsm6ds3c gyroscope"]
let dat = JSON.parse(evt.data) let dat = JSON.parse(evt.data)
console.log(evt.data) //console.log(evt.data)
console.log("JSON geparsed onmessage", dat) console.log("JSON geparsed onmessage", dat)
//console.log(dat.orientation) //console.log(dat.SOURCE_TCP.Orientation)
document.getElementById("gyroscope").style.transform = `rotateX(${-((dat.orientation[1]+90)%360)}deg) rotateY(${dat.orientation[0]}deg) rotateZ(${-dat.orientation[2]}deg)` document.getElementById("gyroscope").style.transform = `rotateX(${-((dat.SOURCE_TCP.Orientation[1]+90)%360)}deg) rotateY(${dat.SOURCE_TCP.Orientation[0]}deg) rotateZ(${-dat.SOURCE_TCP.Orientation[2]}deg)`
/* /*
@ -54,8 +54,8 @@ window.addEventListener("load", function(evt) {
// } // }
// addData(orientation[0] / multiplier) // addData(orientation[0] / multiplier)
*/ */
addData(dat.orientation[0]) addData(dat.SOURCE_TCP.Orientation[0])
setData(dat.GPS[0], dat.GPS[1]) updateMap(dat.SOURCE_TCP.Position[1], dat.SOURCE_TCP.Position[0])
// addData(dat[0]) // addData(dat[0])
//document.getElementById("gyroscope").style.transform = `rotateX(${-orientation[0]}deg) rotateY(${orientation[1]}deg) rotateZ(${-orientation[2]}deg) translateZ(50px)` //document.getElementById("gyroscope").style.transform = `rotateX(${-orientation[0]}deg) rotateY(${orientation[1]}deg) rotateZ(${-orientation[2]}deg) translateZ(50px)`
} }