Acceleration streams to an epoch chart

Russell Hay · Russell Hay · commit 8422f96ac636 · 2015-06-17T21:36:44.000-07:00
diff --git a/client/pyr.js b/client/pyr.js
@@ -30,7 +30,7 @@ function render() {
 }
 
 var socket = io.connect()
-socket.on('position', function (data) {
+socket.on('pyr', function (data) {
   pitch = data.pitch
   yaw = -data.yaw
   roll = -data.roll
diff --git a/client/raw.html b/client/raw.html
@@ -1,12 +1,22 @@
 <html>
 	<head>
 		<title>Raw IMU - example</title>
+		<link rel="stylesheet" href="epoch.min.css">
 		<style>
-			body { margin: 0; }
-			canvas { width: 100%; height: 100% }
+		.epoch { height: 200px; }
 		</style>
 	</head>
 	<body>
+	  <div id="controls">
+	    <button id="start_record" data-event="start">Start</button>
+	    <button id="stop_record" data-event="stop" class="disabled">Stop</button>
+	  </div>
+	  <div id="charts">
+	    <div id="accel" class="epoch small_chart"></div>
+	    <div id="gyro" class="epoch small_chart"></div>
+	    <div id="mag" class="epoch small_chart"></div>
+	  <div id="display">
+	  </div>
           <script src="/socket.io/socket.io.js"></script>
           <script src="raw.js"></script>
 	</body>
diff --git a/client/raw.js b/client/raw.js
@@ -1,39 +1,36 @@
 /* jshint browserify: true */
+/* jshint jquery: true */
+/* jshint unused: false */
 /* global io */
-var three = require('three'),
-    scene = new three.Scene(),
-    camera = new three.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 0.1, 1000),
-    renderer = new three.WebGLRenderer(),
-    light = new three.DirectionalLight(0xffff00, 0.5),
-    pitch = 0,
-    yaw = 0,
-    roll = 0
+var d3 = require('d3')
+window.jQuery = require('jquery')
+require('../contrib/epoch/epoch.min.js')
 
-renderer.setSize( window.innerWidth, window.innerHeight)
-document.body.appendChild(renderer.domElement)
+var accelData = [
+  {
+    label: 'x',
+    values: [ { time: 0, y: 0 } ]
+  },
+  {
+    label: 'y',
+    values: [ { time: 0, y: 0 } ]
+  },
+  {
+    label: 'z',
+    values: [ { time: 0, y: 0 } ]
+  }
+]
 
-var geometry = new three.BoxGeometry(1, 1, 1),
-    material = new three.MeshLambertMaterial( { color: 0x00ff00 }),
-    cube = new three.Mesh(geometry, material)
-
-scene.add( cube )
-camera.position.z = 5
-light.position.set(0,1, 5)
-scene.add(light)
-
-function render() {
-  requestAnimationFrame( render )
-  cube.rotation.x = roll
-  cube.rotation.y = yaw
-  cube.rotation.z = pitch
-  renderer.render( scene, camera)
-}
+var accelChart = $('#accel').epoch({
+  type: 'time.line',
+  data: accelData
+})
 
 var socket = io.connect()
 socket.on('position', function (data) {
-  pitch = data.pitch
-  yaw = -data.yaw
-  roll = -data.roll
+  accelChart.push([
+    {time: data.time, y: data.accel_x},
+    {time: data.time, y: data.accel_y},
+    {time: data.time, y: data.accel_z}
+  ])
 })
-
-render()
diff --git a/gulp/raw.js b/gulp/raw.js
@@ -16,7 +16,7 @@ gulp.task('raw-app', [], function() {
           .pipe(gulp.dest('public'))
 })
 
-gulp.task('raw', ['raw-app'], function() {
+gulp.task('raw', ['raw-app', 'epoch'], function() {
   var manifest = gulp.src('./public/raw-manifest.json')
 
   return gulp.src('./client/raw.html')
diff --git a/lib/imuduino.js b/lib/imuduino.js
@@ -16,7 +16,9 @@ function Imuduino(peripheral_id, packet_type) {
   }
 
   peripheral_id = peripheral_id || service_info.peripheralUUID
-  this.parser = require(parser_mappings[packet_type] || DEFAULT_PARSER)
+  packet_type = (packet_type && parser_mappings[packet_type]) || DEFAULT_PARSER
+  console.log(packet_type)
+  this.parser = require(packet_type)
 
   var self = this
   this.buffer = []
diff --git a/lib/pitch-roll-yaw.js b/lib/pitch-roll-yaw.js
@@ -9,6 +9,7 @@ function parse_string(input, cb) {
   var data = input.split('|')
   var p = _.zipObject(PROPS,
           _.map(data, function (n) { return parseFloat(n) }))
+  p.type = 'pyr'
   if (cb instanceof Function) {
     cb(p)
   }
diff --git a/lib/raw-imu.js b/lib/raw-imu.js
@@ -22,9 +22,9 @@ function parse_int(data, index) {
   return data.readInt16LE(index)
 }
 
-function parse_packet(data, type, fields) {
+function parse_packet(data, type_, fields) {
   var retval = {
-    'type': type
+    type: type_
   }
   var index = 1
   for(var i=0; i < fields.length; i++) {
diff --git a/server.js b/server.js
@@ -1,25 +1,11 @@
-var ble_package_name = './lib/imuduino',
-    record = false,
-    record_filename = process.env.npm_package_config_playback_file || 'imu.record'
-
-switch (process.env.npm_package_config_mode) {
-  case 'record':
-    console.log('running in record mode')
-    record = true
-    break
-  case 'playback':
-    console.log('running with playback: ' + record_filename)
-    ble_package_name = './lib/playback_imuduino'
-    break
-}
+var ble_package_name = './lib/imuduino'
 
 var express = require('express'),
     app = express(),
     server = require('http').Server(app),
     io = require('socket.io')(server),
     ble = require(ble_package_name),
     _ = require('lodash'),
-    fs = require('fs'),
     connection = null,
     radianScale = (Math.PI / 180.0)
 
@@ -29,24 +15,20 @@ console.log('server url http://localhost:' + 4200)
 
 app.use(express.static('public'))
 
-if (record) {
-  if (fs.existsSync(record_filename)) {
-    fs.renameSync(record_filename, record_filename + '.old')
-  }
-}
 
 function degreeToRadians(n) {
+  if (isNaN(n)) {
+    return n
+  }
   return n * radianScale
 }
 
 var IMUduino = new ble()
 IMUduino.on('packet', function (p) {
   p = _.mapValues(p, degreeToRadians)
-  if (record) {
-    p.duration = (new Date().getTime()) - start
-    fs.appendFileSync(record_filename, JSON.stringify(p) + '\n')
-  }
-  io.emit('position', p)
+  p.time = new Date().getTime()
+  p.duration = (new Date().getTime()) - start
+  io.emit(p.type || 'unknown', p)
   start = new Date().getTime() // Times are deltas
 })
 

Original file line number	Diff line number	Diff line change
`@@ -30,7 +30,7 @@ function render() {`
`30`	`30`	`}`
`31`	`31`
`32`	`32`	`var socket = io.connect()`
`33`		`-socket.on('position', function (data) {`
	`33`	`+socket.on('pyr', function (data) {`
`34`	`34`	`pitch = data.pitch`
`35`	`35`	`yaw = -data.yaw`
`36`	`36`	`roll = -data.roll`
Original file line number	Diff line number	Diff line change
`@@ -16,7 +16,9 @@ function Imuduino(peripheral_id, packet_type) {`
`16`	`16`	`}`
`17`	`17`
`18`	`18`	`peripheral_id = peripheral_id \|\| service_info.peripheralUUID`
`19`		`- this.parser = require(parser_mappings[packet_type] \|\| DEFAULT_PARSER)`
	`19`	`+ packet_type = (packet_type && parser_mappings[packet_type]) \|\| DEFAULT_PARSER`
	`20`	`+ console.log(packet_type)`
	`21`	`+ this.parser = require(packet_type)`
`20`	`22`
`21`	`23`	`var self = this`
`22`	`24`	`this.buffer = []`
Original file line number	Diff line number	Diff line change
`@@ -9,6 +9,7 @@ function parse_string(input, cb) {`
`9`	`9`	`var data = input.split('\|')`
`10`	`10`	`var p = _.zipObject(PROPS,`
`11`	`11`	`_.map(data, function (n) { return parseFloat(n) }))`
	`12`	`+ p.type = 'pyr'`
`12`	`13`	`if (cb instanceof Function) {`
`13`	`14`	`cb(p)`
`14`	`15`	`}`
Original file line number	Diff line number	Diff line change
`@@ -22,9 +22,9 @@ function parse_int(data, index) {`
`22`	`22`	`return data.readInt16LE(index)`
`23`	`23`	`}`
`24`	`24`
`25`		`-function parse_packet(data, type, fields) {`
	`25`	`+function parse_packet(data, type_, fields) {`
`26`	`26`	`var retval = {`
`27`		`- 'type': type`
	`27`	`+ type: type_`
`28`	`28`	`}`
`29`	`29`	`var index = 1`
`30`	`30`	`for(var i=0; i < fields.length; i++) {`