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parse_data.cpp
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parse_data.cpp
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#include <iostream>
#include <fstream>
#include <cstring>
#include <string>
using systime_t = uint32_t;
/**
* @brief Structure for all values collected from the low g sensor
*
*/
struct VoltageData {
float v_battery;
float v_servo1;
float v_servo2;
float v_3_3;
float v_5;
float v_9;
systime_t timestamp;
};
enum FSM_State {
STATE_INIT,
STATE_IDLE,
STATE_LAUNCH_DETECT,
STATE_BOOST,
STATE_BURNOUT_DETECT,
STATE_COAST,
STATE_APOGEE_DETECT,
STATE_APOGEE,
STATE_DROGUE_DETECT,
STATE_DROGUE,
STATE_MAIN_DETECT,
STATE_MAIN,
STATE_LANDED_DETECT,
STATE_LANDED,
STATE_ABORT
};
/**
* @brief Structure for all values collected from the low g sensor
*
*/
struct LowGData {
float ax;
float ay;
float az;
float gx;
float gy;
float gz;
float mx;
float my;
float mz;
systime_t timeStamp_lowG;
};
/**
* @brief Structure for all values collected from the high g sensor
*
*/
struct HighGData {
float hg_ax;
float hg_ay;
float hg_az;
systime_t timeStamp_highG;
};
/**
* @brief Structure for all values collected from the gps
*
*/
struct GpsData {
float latitude;
float longitude;
float altitude;
uint32_t siv_count;
uint32_t fix_type;
bool posLock;
systime_t timeStamp_GPS;
};
struct FlapData {
float extension;
systime_t timeStamp_flaps;
};
/**
* @brief Structure for all values collected from the barometer
*
*/
struct BarometerData {
float temperature; // in degC
float pressure; // in mbar
float altitude; // in meter
systime_t timeStamp_barometer;
};
/**
* @brief Structure for all values tracked for state estimation
*
*/
struct stateData {
float state_x = 0;
float state_vx = 0;
float state_ax = 0;
float state_apo = 0;
systime_t timeStamp_state = 0;
};
/**
* @brief Structure for all values related to rocket state
*
*/
template <size_t count>
struct rocketStateData {
int rocketStates[count];
systime_t timeStamp_RS = 0;
// rocketStateData() : rocketStates() {
// for (size_t i = 0; i < count; i++) {
// rocketStates[i] = RocketFSM::FSM_State::STATE_INIT;
// }
// }
};
/**
* @brief A struct to hold all of the data that could come from any of the
* sensors
*
*/
struct sensorDataStruct_t {
// data for lowGimu
bool has_lowG_data;
LowGData lowG_data;
// data for highGimu accel data (hg_x, hg_y, hg_z)
bool has_highG_data;
HighGData highG_data;
// GPS DATA
bool has_gps_data;
GpsData gps_data;
// Barometer data (temp and pres)
bool has_barometer_data;
BarometerData barometer_data;
// State variables
bool has_state_data;
stateData state_data;
// Rocket State
bool has_rocketState_data;
rocketStateData<4> rocketState_data;
// Flap state
bool has_flap_data;
FlapData flap_data;
// Voltage state
bool has_voltage_data;
VoltageData voltage_data;
};
int main(int argc, char ** argv) {
if(argc != 3){
std::cout << "usage: inputfile outputfile" << std::endl;
return 1;
}
std::ifstream input{argv[1], std::ios::binary};
std::ofstream output{argv[2]};
auto header = "binary logging of sensor_data_t";
char buff[1024];
output
<< "has_lowG_data" << ","
<< "lowG_data.ax" << ","
<< "lowG_data.ay" << ","
<< "lowG_data.az" << ","
<< "lowG_data.gx" << ","
<< "lowG_data.gy" << ","
<< "lowG_data.gz" << ","
<< "lowG_data.mx" << ","
<< "lowG_data.my" << ","
<< "lowG_data.mz" << ","
<< "lowG_data.timeStamp_lowG" << ",";
output
<< "has_highG_data" << ","
<< "highG_data.ax" << ","
<< "highG_data.ay" << ","
<< "highG_data.az" << ","
<< "highG_data.timeStamp_highG" << ",";
output
<< "has_gps_data" << ","
<< "gps_data.altitude" << ","
<< "gps_data.fix_type" << ","
<< "gps_data.latitude" << ","
<< "gps_data.longitude" << ","
<< "gps_data.posLock" << ","
<< "gps_data.siv_count" << ","
<< "gps_data.timeStamp_GPS" << ",";
output
<< "has_barometer_data" << ","
<< "barometer_data.temperature" << ","
<< "barometer_data.altitude" << ","
<< "barometer_data.pressure" << ","
<< "barometer_data.timeStamp_barometer" << ",";
output
<< "has_rocketState_data" << ",";
for (int i = 0; i < 4; i++) {
output << "rocketState_data.rocketState" << i << ",";
}
// << "rocketState_data.rocketState" << ","
output << "rocketState_data.timeStamp_RS" << ",";
output
<< "has_flap_data" << ","
<< "flap_data.extension" << ","
<< "flap_data.timeStamp_flaps" << ",";
output
<< "has_state_data" << ","
<< "state_data.state_x" << ","
<< "state_data.state_vx" << ","
<< "state_data.state_ax" << ","
<< "state_data.state_apo" << ","
<< "state_data.timeStamp_state" << ",";
output
<< "has_voltage_data" << ","
<< "voltage_data.v_battery" << "\n";
while(true){
sensorDataStruct_t data;
input.read(reinterpret_cast<char*>(&data), sizeof(data));
if(!input){
return 0;
}
output
<< data.has_lowG_data << ","
<< data.lowG_data.ax << ","
<< data.lowG_data.ay << ","
<< data.lowG_data.az << ","
<< data.lowG_data.gx << ","
<< data.lowG_data.gy << ","
<< data.lowG_data.gz << ","
<< data.lowG_data.mx << ","
<< data.lowG_data.my << ","
<< data.lowG_data.mz << ","
<< data.lowG_data.timeStamp_lowG << ",";
output
<< data.has_highG_data << ","
<< data.highG_data.hg_ax << ","
<< data.highG_data.hg_ay << ","
<< data.highG_data.hg_az << ","
<< data.highG_data.timeStamp_highG << ",";
output
<< data.has_gps_data << ","
<< data.gps_data.altitude << ","
<< data.gps_data.fix_type << ","
<< data.gps_data.latitude << ","
<< data.gps_data.longitude << ","
<< data.gps_data.posLock << ","
<< data.gps_data.siv_count << ","
<< data.gps_data.timeStamp_GPS << ",";
output
<< data.has_barometer_data << ","
<< data.barometer_data.temperature << ","
<< data.barometer_data.altitude << ","
<< data.barometer_data.pressure << ","
<< data.barometer_data.timeStamp_barometer << ",";
output
<< data.has_rocketState_data << ",";
for (int i = 0; i < 4; i++) {
output << data.rocketState_data.rocketStates[i] << ",";
}
output << data.rocketState_data.timeStamp_RS << ",";
output
<< data.has_flap_data << ","
<< data.flap_data.extension << ","
<< data.flap_data.timeStamp_flaps << ",";
output
<< data.has_state_data << ","
<< data.state_data.state_x << ","
<< data.state_data.state_vx << ","
<< data.state_data.state_ax << ","
<< data.state_data.state_apo << ","
<< data.state_data.timeStamp_state << ",";
output
<< data.has_voltage_data << ","
<< data.voltage_data.v_battery;
output << '\n';
}
}