logging_test/serialisation.hpp at main · smalljaguar/logging_test · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
#pragma once

#include <stdio.h>
#include "sensors.hpp"

String serialiseFlightData(struct FlightData &flight_data) {
    String output = "";

    // Timestamp
    output += "Timestamp: " + String(flight_data.timestamp) + "\n";

    // BNO055 Data
    // output += "BNO055 Orientation: " + String(flight_data.bno055.orientation[0]) + "," + String(flight_data.bno055.orientation[1]) + "," + String(flight_data.bno055.orientation[2]) + "\n";

    // output += "BNO055 Linear Acceleration: " + String(flight_data.bno055.linear_acceleration[0]) + "," + String(flight_data.bno055.linear_acceleration[1]) + "," + String(flight_data.bno055.linear_acceleration[2]) + "\n";

    // output += "BNO055 Angular Velocity: " + String(flight_data.bno055.angular_velocity[0]) + "," + String(flight_data.bno055.angular_velocity[1]) + "," + String(flight_data.bno055.angular_velocity[2]) + "\n";

    output +=
        "calibration:\n"
        "system:" +
        String(flight_data.bno055.calibration[0]) + "," + "gyro:" + String(flight_data.bno055.calibration[1]) + "," + "accel:" + String(flight_data.bno055.calibration[2]) + "," + "mag:" + String(flight_data.bno055.calibration[3]) + "\n";

    output += "BNO055 Board Temperature: " + String(flight_data.bno055.board_temperature) + "\n";

    // DPS310 Data
    output += "DPS310 Temperature: " + String(flight_data.dps310.temperature) + "\n";
    output += "DPS310 Pressure: " + String(flight_data.dps310.pressure) + "\n";

    // BMP280 Data
    output += "BMP280 Temperature: " + String(flight_data.bmp280.temperature) + "\n";
    output += "BMP280 Pressure: " + String(flight_data.bmp280.pressure) + "\n";
    output += "BMP280 Altitude: " + String(flight_data.bmp280.altitude) + "\n";

    return output;
}

String serialiseToCSV(struct FlightData &flight_data) {
    // Create a CSV string with all sensor data
    String csvLine =
        // Timestamp
        String(flight_data.timestamp) + "," +

        // BNO055 Orientation (Euler angles)
        String(flight_data.bno055.orientation[0]) + "," +
        String(flight_data.bno055.orientation[1]) + "," +
        String(flight_data.bno055.orientation[2]) + "," +

        // Angular Velocity
        String(flight_data.bno055.angular_velocity[0]) + "," +
        String(flight_data.bno055.angular_velocity[1]) + "," +
        String(flight_data.bno055.angular_velocity[2]) + "," +

        // Linear Acceleration
        String(flight_data.bno055.linear_acceleration[0]) + "," +
        String(flight_data.bno055.linear_acceleration[1]) + "," +
        String(flight_data.bno055.linear_acceleration[2]) + "," +

        // Magnetometer
        String(flight_data.bno055.magnetometer[0]) + "," +
        String(flight_data.bno055.magnetometer[1]) + "," +
        String(flight_data.bno055.magnetometer[2]) + "," +

        // Raw Accelerometer
        String(flight_data.bno055.accelerometer[0]) + "," +
        String(flight_data.bno055.accelerometer[1]) + "," +
        String(flight_data.bno055.accelerometer[2]) + "," +

        // Gravity Vector
        String(flight_data.bno055.gravity[0]) + "," +
        String(flight_data.bno055.gravity[1]) + "," +
        String(flight_data.bno055.gravity[2]) + "," +

        // Calibration Levels
        String(flight_data.bno055.calibration[0]) + "," +
        String(flight_data.bno055.calibration[1]) + "," +
        String(flight_data.bno055.calibration[2]) + "," +
        String(flight_data.bno055.calibration[3]) + "," +

        // Board Temperature
        String(flight_data.bno055.board_temperature) + "," +

        // DPS310 Sensor Data
        String(flight_data.dps310.temperature) + "," +
        String(flight_data.dps310.pressure) + "," +

        // BMP280 Sensor Data
        String(flight_data.bmp280.temperature) + "," +
        String(flight_data.bmp280.pressure) + "," +
        String(flight_data.bmp280.altitude);

    return csvLine;
}

String serialiseVecToJSON(float vec3[3]) {
    String json = "{";
    json += "\"x\": " + String(vec3[0]) + ",";
    json += "\"y\": " + String(vec3[1]) + ",";
    json += "\"z\": " + String(vec3[2]);
    json += "}";
    return json;
}

String serialiseToJSON(struct FlightData &flight_data) {
    String json = "{";
    json += "\"timestamp\": " + String(flight_data.timestamp) + ",";
    json += "\"bno055\": {";
    json += "\"orientation\": " + serialiseVecToJSON(flight_data.bno055.orientation) + ",";
    json += "\"angular_velocity\": " + serialiseVecToJSON(flight_data.bno055.angular_velocity) + ",";
    json += "\"linear_acceleration\": " + serialiseVecToJSON(flight_data.bno055.linear_acceleration) + ",";
    json += "\"magnetometer\": " + serialiseVecToJSON(flight_data.bno055.magnetometer) + ",";
    json += "\"accelerometer\": " + serialiseVecToJSON(flight_data.bno055.accelerometer) + ",";
    json += "\"gravity\": " + serialiseVecToJSON(flight_data.bno055.gravity) + ",";
    json += "\"calibration\": {";
    json += "\"system\": " + String(flight_data.bno055.calibration[0]) + ",";
    json += "\"gyro\": " + String(flight_data.bno055.calibration[1]) + ",";
    json += "\"accel\": " + String(flight_data.bno055.calibration[2]) + ",";
    json += "\"mag\": " + String(flight_data.bno055.calibration[3]);
    json += "},";
    json += "\"board_temperature\": " + String(flight_data.bno055.board_temperature);
    json += "},";
    json += "\"dps310\": {";
    json += "\"temperature\": " + String(flight_data.dps310.temperature) + ",";
    json += "\"pressure\": " + String(flight_data.dps310.pressure);
    json += "},";
    json += "\"bmp280\": {";
    json += "\"temperature\": " + String(flight_data.bmp280.temperature) + ",";
    json += "\"pressure\": " + String(flight_data.bmp280.pressure) + ",";
    // json += "\"altitude\": " + String(flight_data.bmp280.altitude);
    json += "}";
    json += "}";
    return json;
}

// use write instead of print to avoid null terminator
unsigned char *serialiseToRaw(struct FlightData &flight_data) {
    unsigned char *rawData = (unsigned char *)malloc(sizeof(struct FlightData));
    memcpy(rawData, &flight_data, sizeof(struct FlightData));
    return rawData;
}

// Optional: CSV Header Generation Function
String generateCSVHeader() {
    return String("Timestamp,") +  // String call necessary for making sure type coercion works
           "BNO055_Orientation_X,BNO055_Orientation_Y,BNO055_Orientation_Z," +
           "BNO055_AngularVelocity_X,BNO055_AngularVelocity_Y,BNO055_AngularVelocity_Z," +
           "BNO055_LinearAccel_X,BNO055_LinearAccel_Y,BNO055_LinearAccel_Z," +
           "BNO055_Magnetometer_X,BNO055_Magnetometer_Y,BNO055_Magnetometer_Z," +
           "BNO055_Accelerometer_X,BNO055_Accelerometer_Y,BNO055_Accelerometer_Z," +
           "BNO055_Gravity_X,BNO055_Gravity_Y,BNO055_Gravity_Z," +
           "BNO055_Calib_System,BNO055_Calib_Gyro,BNO055_Calib_Accel,BNO055_Calib_Mag," +
           "BNO055_BoardTemp," +
           "DPS310_Temperature,DPS310_Pressure,"
           "BMP280_Temperature,BMP280_Pressure,BMP280_Altitude";
}

// String serialiseToJSON(struct FlightData& flight_data) {}

String printEventToStr(sensors_event_t *event) {
    String dataBuf = "";
    double x = NAN, y = NAN, z = NAN;  // dumb values, easy to spot problem
    if (event->type == SENSOR_TYPE_ACCELEROMETER) {
        dataBuf += "Accl:";
        x = event->acceleration.x;
        y = event->acceleration.y;
        z = event->acceleration.z;
    } else if (event->type == SENSOR_TYPE_ORIENTATION) {
        dataBuf += "Orient:";
        x = event->orientation.x;
        y = event->orientation.y;
        z = event->orientation.z;
    } else if (event->type == SENSOR_TYPE_MAGNETIC_FIELD) {
        dataBuf += "Mag:";
        x = event->magnetic.x;
        y = event->magnetic.y;
        z = event->magnetic.z;
    } else if (event->type == SENSOR_TYPE_GYROSCOPE) {
        dataBuf += "Gyro:";
        x = event->gyro.x;
        y = event->gyro.y;
        z = event->gyro.z;
    } else if (event->type == SENSOR_TYPE_ROTATION_VECTOR) {
        dataBuf += "Rot:";
        x = event->gyro.x;
        y = event->gyro.y;
        z = event->gyro.z;
    } else if (event->type == SENSOR_TYPE_LINEAR_ACCELERATION) {
        dataBuf += "Linear:";
        x = event->acceleration.x;
        y = event->acceleration.y;
        z = event->acceleration.z;
    } else if (event->type == SENSOR_TYPE_GRAVITY) {
        dataBuf += "Gravity:";
        x = event->acceleration.x;
        y = event->acceleration.y;
        z = event->acceleration.z;
    } else {
        dataBuf += "Unk:";  // unknown
    }

    dataBuf += "\tx= ";
    dataBuf += String(x);
    dataBuf += " |\ty= ";
    dataBuf += String(y);
    dataBuf += " |\tz= ";
    dataBuf += String(z);
    dataBuf += '\n';

    return dataBuf;
}