changed ubx height reference and optimized logging

cmd/server/server.go

@@ -17,7 +17,6 @@ func main() {
 	log.Println("initialize processing pipeline")
 	processor := core.NewPipeline(dispatcher, 50, 1000)
 	processor.Run()
-	log.Println("start data collectors")
 	collectRoutines(processor)
 	log.Println("start http server")
 	core.HttpListenAndServe(dispatcher, HTTP_PORT)

core/collectors.go

@@ -2,14 +2,17 @@ package core
 
 import (
 	"fmt"
-	"git.timovolkmann.de/gyrogpsc/ublox"
-	"go.bug.st/serial"
 	"log"
 	"net"
 	"os"
+
+	"git.timovolkmann.de/gyrogpsc/ublox"
+	"go.bug.st/serial"
 )
 
 func TcpCollector(proc Processor, tcpPort string) {
+	log.Println("start tcp collectors")
+
 	listener, err := net.Listen("tcp", tcpPort)
 	if err != nil {
 		fmt.Println("Error listening:", err.Error())
@@ -25,6 +28,8 @@ func TcpCollector(proc Processor, tcpPort string) {
 			fmt.Println("Error accepting: ", err.Error())
 			os.Exit(1)
 		}
+		log.Println("...new incoming tcp connection...")
+
 		// Handle connections in a new goroutine.
 		go jsonHandler(conn, proc)
 	}
@@ -32,6 +37,7 @@ func TcpCollector(proc Processor, tcpPort string) {
 
 // handles incoming tcp connections with json payload.
 func jsonHandler(conn net.Conn, proc Processor) {
+
 	defer conn.Close()
 
 	// TRY reader := bufio.NewReader(conn) OR NewScanner(conn)
@@ -45,7 +51,7 @@ func jsonHandler(conn net.Conn, proc Processor) {
 		}
 		//json := pretty.Pretty(buf[:n])
 		//fmt.Println(string(json))
-		fmt.Println(string(buf[:n]))
+		//fmt.Println(string(buf[:n]))
 		sd, err := ConvertSensorDataPhone(buf[:n])
 		if err != nil {
 			log.Println(err)
@@ -61,6 +67,7 @@ func jsonHandler(conn net.Conn, proc Processor) {
 }
 
 func SerialCollector(proc Processor, serialPort string) {
+	log.Println("start serial collectors")
 	mode := &serial.Mode{
 		BaudRate: 115200,
 	}

core/format.go

@@ -3,6 +3,7 @@ package core
 import (
 	"errors"
 	"git.timovolkmann.de/gyrogpsc/ublox"
+	"github.com/tidwall/gjson"
 	"log"
 	"time"
 
@@ -84,16 +85,16 @@ func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) {
 		//log.Println("NAV-PVT")
 		sd.itow = v.ITOW_ms
 		sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
-		sd.Position[0] = float64(v.Lat_dege7)
+		sd.Position[0] = float64(v.Lat_dege7) / 1e+7
-		sd.Position[1] = float64(v.Lon_dege7)
+		sd.Position[1] = float64(v.Lon_dege7) / 1e+7
-		sd.Position[2] = float64(v.Height_mm)
+		sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
 	case *ublox.HnrPvt:
 		//log.Println("HNR-PVT")
 		sd.itow = v.ITOW_ms
 		sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
-		sd.Position[0] = float64(v.Lat_dege7)
+		sd.Position[0] = float64(v.Lat_dege7) / 1e+7
-		sd.Position[1] = float64(v.Lon_dege7)
+		sd.Position[1] = float64(v.Lon_dege7) / 1e+7
-		sd.Position[2] = float64(v.Height_mm)
+		sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
 	case *ublox.NavAtt:
 		//log.Println("NAV-ATT")
 		sd.itow = v.ITOW_ms
@@ -112,9 +113,28 @@ func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) {
 }
 
 func ConvertSensorDataPhone(jsonData []byte) (*Sensordata, error) {
-	return convertAndroidHyperImu(jsonData)
+	if gjson.Get(string(jsonData), "os").String() == "hyperimu" {
+		return convertAndroidHyperImu(jsonData)
+	}
+	return convertIPhoneSensorLog(jsonData)
 }
 
+func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) {
+	timestamp := gjson.Get(string(jsonData), "locationTimestamp_since1970").Float()
+	lat := gjson.Get(string(jsonData), "locationLatitude").Float()
+	lon := gjson.Get(string(jsonData), "locationLongitude").Float()
+	alt := gjson.Get(string(jsonData), "locationAltitude").Float()
+	sd := &Sensordata{
+		SourceId: SOURCE_TCP,
+		Timestamp: int64(timestamp * float64(time.Second)),
+		//Timestamp:   time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
+		Position: [3]float64{lat, lon, alt},
+		Orientation: [3]float64{0, 0, 0},
+	}
+	return sd, nil
+}
+
+
 func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) {
 	prep := struct {
 		Timestamp   int64      `njson:"Timestamp"`

core/http.go

@@ -30,7 +30,7 @@ func echo(sub Subscriber) func(w http.ResponseWriter, r *http.Request) {
 		dispatcherId, channel := sub.Subscribe()
 		defer sub.Unsubscribe(dispatcherId)
 		for {
-			log.Println("")
+			//log.Println("")
 			//if err != nil {
 			//	log.Println("read:", err)
 			//	break

core/pipeline.go

@@ -15,9 +15,9 @@ type Processor interface {
 }
 
 type pipeline struct {
-	synchronizer
+	syn           synchronizer
-	aggregator
+	agr           aggregator
-	Publisher
+	pub           Publisher
 	publishTicker *time.Ticker
 }
 
@@ -38,12 +38,12 @@ func NewPipeline(d Publisher, publishIntervalMs int, delayUpdateIntervalMs int)
 }
 
 func (p *pipeline) Run() {
-	go p.schedule()
+	go p.syn.schedule()
 	go func() {
 		for {
 			<-p.publishTicker.C
 			err := p.Publish()
-			if err != nil /*&& err.Error() != "no data available"*/ {
+			if err != nil && err.Error() != "no data available" {
 				log.Println(err)
 			}
 		}
@@ -52,30 +52,30 @@ func (p *pipeline) Run() {
 }
 
 func (p *pipeline) Publish() error {
-	p.tcpMutex.Lock()
+	p.agr.tcpMutex.Lock()
-	p.serialMutex.Lock()
+	p.agr.serialMutex.Lock()
-	//log.Println(p.tcpSensorData)
+	//log.Println(pub.tcpSensorData)
-	//log.Println(p.serialSensorData)
+	//log.Println(pub.serialSensorData)
-	if (p.tcpSensorData == Sensordata{} && p.serialSensorData == Sensordata{}) {
+	if (p.agr.tcpSensorData == Sensordata{} && p.agr.serialSensorData == Sensordata{}) {
-		p.tcpMutex.Unlock()
+		p.agr.tcpMutex.Unlock()
-		p.serialMutex.Unlock()
+		p.agr.serialMutex.Unlock()
 		return errors.New("no data available")
 	}
 	data := map[string]Sensordata{
-		string(SOURCE_TCP):    p.tcpSensorData,
+		string(SOURCE_TCP):    p.agr.tcpSensorData,
-		string(SOURCE_SERIAL): p.serialSensorData,
+		string(SOURCE_SERIAL): p.agr.serialSensorData,
 	}
-	p.tcpSensorData = Sensordata{}
+	p.agr.tcpSensorData = Sensordata{}
-	p.serialSensorData = Sensordata{}
+	p.agr.serialSensorData = Sensordata{}
-	p.tcpMutex.Unlock()
+	p.agr.tcpMutex.Unlock()
-	p.serialMutex.Unlock()
+	p.agr.serialMutex.Unlock()
 
 	jdata, err := json.Marshal(data)
-	log.Println(string(jdata))
+	//log.Println(string(pretty.Pretty(jdata)))
 	if err != nil {
 		return err
 	}
-	p.Publisher.Publish(string(jdata))
+	p.pub.Publish(string(jdata))
 	return nil
 }
 
@@ -137,14 +137,14 @@ func (p *pipeline) Process(data *Sensordata) error {
 }
 
 func (p *pipeline) pushTcpDataToBuffer(data Sensordata) {
-	time.Sleep(time.Duration(p.tcpDelayMs))
+	time.Sleep(time.Duration(p.syn.tcpDelayMs))
-	p.tcpMutex.Lock()
+	p.agr.tcpMutex.Lock()
-	p.tcpSensorData = data
+	p.agr.tcpSensorData = data
-	p.tcpMutex.Unlock()
+	p.agr.tcpMutex.Unlock()
 }
 func (p *pipeline) pushSerialDataToBuffer(data Sensordata) {
-	time.Sleep(time.Duration(p.serialDelayMs))
+	time.Sleep(time.Duration(p.syn.serialDelayMs))
-	p.serialMutex.Lock()
+	p.agr.serialMutex.Lock()
-	p.serialSensorData = p.serialSensorData.Consolidate(data)
+	p.agr.serialSensorData = p.agr.serialSensorData.Consolidate(data)
-	p.serialMutex.Unlock()
+	p.agr.serialMutex.Unlock()
 }

go.mod

@@ -5,6 +5,7 @@ go 1.15
 require (
 	github.com/gorilla/websocket v1.4.2
 	github.com/m7shapan/njson v1.0.1
+	github.com/tidwall/gjson v1.6.0
 	github.com/tidwall/pretty v1.0.2
 	go.bug.st/serial v1.1.1
 	golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf // indirect