Uwar tools
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Overview
This document lists the various tools for working with uwar files and related data. An example .uwar file is hosted on this machine that you can use to test with. Most of the outputs on this page are from this file: example.uwar.
uwarToMatlab
- msp/uwar-stats/uwarToMatlab.cpp
- not available for xscale
- linux download (x86) -- out of date
- windows download (.zip)
This program can be used to combine multiple .uwar files into a single completeSensorAudio.wav file, dataOut.mat, and completeData.mat file. You should only pass in sequential .uwar files, though the program will order them if it is unable to find an ordering without significant gaps it will reject the sequence.
- completeSensorAudio.wav
- is a wav file created from the sensor board audio file with any missing samples filled in
- dataOut.mat
- is a Matlab file containing a struct with the sensor data in a timestamp, data format
- completeData.mat
- is a Matlab file containing a struct with the sensor data placed into fixed sample rate arrays. For example a sensor with a 100Hz sample would have 1 second of data represented by a 100 element array, and a corresponding time array with the start/end time: [0 1.0] (seconds).
- sirfBinaryOutput.bin
- is a binary file containing the serial stream from the sirf GPS unit
Matlab notes
Since uwarToMatlab uses Matlab to output its .mat files you need several .dlls to run the program. If you have the Matlab Component Runtime installed you don't need the associated .dlls in the .zip file (as they will have been added to your path during the MCR install process).
usage
Typical Usage
To combine two .uwar files and dump them into another target directory:
uwarToMatlab log-0001.uwar log-0002.uwar -outputdir "C:\temp\target"
Remember, uwarToMatlab will only try to combine the .uwar files you give it. If it believes the files shouldn't go together it will exit and if you run it on multiple .uwar files with the same output directory it will erase the files it creates, not append to them.
Available Commands
uwarToMatlab [-options] <input file(s)>
[-outputdir N]
Create all output in directory N rather than the inferred directory
(Default behavior is to figure out the path from the first input file)
[-NoDataOut]
Do not create a dataOut mat file
[-NoCompleteData]
Do not create a completeData mat file
[-NoWavFile]
Do not write a completeSensorAudio.wav file
[-buffSize N]
Read buffer size in bytes (default 200k)
[-maxGap_sec N]
Maximum gap between .uwar files (in seconds, default 50*60)
[-disableChecks]
Disable header comparisons for uwar files, may result in corrupt files
[-ignoreRollover]
Ignore roll over events that appear to be errors and continue
[-printProgress]
Print progress of the parser every printProgressMax packets (default 10,000)
[-printProgressMax N]
Print progress of the parser every N packets (default 10,000)
[-blacklist file.txt]
List of uwar packet numbers to ignore
[-write_timestampFile]
Write the uwar packet #, time_counter, and interrupt_counter to a file 'timestamp.txt'
[-integerOutput]
Write the integer output from the msb2 parser instead of the double output
[-write_summaryFile]
Write some summary information to an <input file>.stats file
Example Output
-
There are a couple of notes about the output of the program:
- Text output:
- #INFO lines are supplemental information
- #WARNING lines contain non-critical errors
- #ERROR lines contain information about fatal processing errors.
- Warnings about missing samples are ok so long as the table at the end shows relatively little lost data. uwarToMatlab currently doesn't have any threshold for rejecting files containing too many missing samples.
- When a file error is encountered the program enters a "UWAR Error mode" where it searches the .uwar datastream for a new packet. This should typically only require a 1 byte search, resulting in 0 bytes skipped. However, it is possible for a file to be severly corrupted and this search may skip a large number of unrecoverable samples.
- The table printed at the end of the run contains summary information about the samples found, be sure to check that the file contains the appropriate samples and is for the most part correct.
C:\Test Data\home>uwarToMatlab log-0001.uwar log-0002.uwar -outputdir "C:\Test Data\home" # INFO: Data will be created in directory: C:\Test Data\home\ # INFO: open file [ 1] 'log-0001.uwar' # INFO: open file [ 2] 'log-0002.uwar' # INFO: MSB2 sensor schedule: # INFO: msb/audio 163840 # INFO: msb/bar_press 71 # INFO: msb/compass 0 # INFO: msb/hf_vis_light 1280 # INFO: msb/humidity 10 # INFO: msb/ir_light 30 # INFO: msb/amb_light 30 # INFO: msb/temp 71 # INFO: msb/temp_sensiron 10 # INFO: msb/vis_light 30 # INFO: msb/x_accel 5120 # INFO: msb/y_accel 5120 # INFO: msb/z_accel 5120 # INFO: msb/mag_accel 5120 # INFO: interrupt count 5120 # INFO: MSB2 Calibration data: # INFO: msb2 bar C1 22336 # INFO: msb2 bar C2 1830 # INFO: msb2 bar C3 712 # INFO: msb2 bar C4 570 # INFO: msb2 bar C5 562 # INFO: msb2 bar C6 25 # INFO: msb2 board number 0x0000f103 # INFO: msb2 hardware ver 0x00000003 # INFO: msb2 major ver 0x00000001 # INFO: msb2 minor ver 0x00000005 # INFO: msb2 micr gain 0x00000000 # INFO: LSB sensor schedule: # INFO: lsb/x_gyro 640 # INFO: lsb/y_gyro 640 # INFO: lsb/z_gyro 640 # INFO: lsb/x_gyroTemp 640 # INFO: lsb/y_gyroTemp 640 # INFO: lsb/z_gyroTemp 640 # INFO: lsb/x_mag 320 # INFO: lsb/y_mag 320 # INFO: lsb/z_mag 320 # INFO: interrupt count 5120 # INFO: LSB Calibration data: # INFO: lsb word 1 44672 # INFO: lsb word 2 35993 # INFO: lsb word 3 36508 # INFO: lsb word 4 45606 # INFO: lsb board number 0x00000001 # INFO: lsb hardware ver 0x00000003 # INFO: lsb major ver 0x00000001 # INFO: lsb minor ver 0x00000005 # INFO: [ 1] starts at Wed Dec 31 16:04:46 1969 # INFO: [ 2] starts at Wed Dec 31 16:09:06 1969 # INFO: Sorted order: # INFO: [ 1] starts at Wed Dec 31 16:04:46 1969 # INFO: [ 2] starts at Wed Dec 31 16:09:06 1969 ( 0 hours 4 mins 20.00 seconds from previous file) # INFO: Sequence appears to be valid # INFO: Parsing files to determine Matlab array dimensions and to find any errors: # INFO: File [ 1] # INFO: File [ 2] # WARNING: file index 12121092, MSB2 Packet CRC invalid # WARNING: file index 12124690, UWAR Packet's ID is invalid # WARNING: UWAR Error mode, looking for new uwar packet, start pos: 12124691 # WARNING: UWAR Error mode, found new uwar packet, at pos: 12124691 (0 bytes skipped) # INFO: Scanning complete # INFO: File [ 1], MSB2 spans 134923 to 267990 259.90 seconds ( 0 hours 4 mins 19.90 seconds) # INFO: File [ 2], MSB2 spans 267990 to 401053 259.89 seconds ( 0 hours 4 mins 19.89 seconds) # INFO: File [ 1], LSB spans 133189 to 266255 259.89 seconds ( 0 hours 4 mins 19.89 seconds) # INFO: File [ 2], LSB spans 266256 to 399317 259.88 seconds ( 0 hours 4 mins 19.88 seconds) # INFO: 266130 MSB2 interrupt counts # INFO: 266127 LSB interrupt counts # INFO: MSB2 519.79 seconds ( 0 hours 8 mins 39.79 seconds) # INFO: LSB 519.78 seconds ( 0 hours 8 mins 39.78 seconds) # INFO: Sensor Name SampleRate ExpectedSamples FoundSamples Diff Percent Difference # INFO: msb/audio 16384.00Hz 8516160 8513377 -2783 ( 99.9673%) # INFO: msb/bar_press 7.10Hz 3690 3690 +0 (100.0000%) # INFO: msb/compass 0.00Hz 0 0 +0 ( 0.0000%) # INFO: msb/hf_vis_light 128.00Hz 66531 66526 -5 ( 99.9925%) # INFO: msb/humidity 1.00Hz 519 519 +0 (100.0000%) # INFO: msb/ir_light 3.00Hz 1559 1559 +0 (100.0000%) # INFO: msb/amb_light 3.00Hz 1559 1559 +0 (100.0000%) # INFO: msb/temp 7.10Hz 3691 3691 +0 (100.0000%) # INFO: msb/temp_sensiron 1.00Hz 519 519 +0 (100.0000%) # INFO: msb/vis_light 3.00Hz 1559 1559 +0 (100.0000%) # INFO: msb/x_accel 512.00Hz 266130 266101 -29 ( 99.9891%) # INFO: msb/y_accel 512.00Hz 266130 266101 -29 ( 99.9891%) # INFO: msb/z_accel 512.00Hz 266130 266101 -29 ( 99.9891%) # INFO: lsb/x_gyro 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/y_gyro 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/z_gyro 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/x_gyroTemp 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/y_gyroTemp 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/z_gyroTemp 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/x_mag 32.00Hz 16632 16632 +0 (100.0000%) # INFO: lsb/y_mag 32.00Hz 16631 16631 +0 (100.0000%) # INFO: lsb/z_mag 32.00Hz 16631 16631 +0 (100.0000%) # INFO: Creating output files # INFO: Data will be written to: 'C:\Test Data\home\' # INFO: Opening .wav file: 'C:\Test Data\home\completeSensorAudio.wav' # INFO: Opening dataOut.mat file: 'C:\Test Data\home\dataOut.mat' # INFO: Opening completeData.mat file: 'C:\Test Data\home\completeData.mat' # WARNING: Magnetometer samples are unequal, enforcing minimum size of 16631 # INFO: File [ 1] # WARNING: Packet 3155, WAV, Filling 31 missing samples at pos 43424 # WARNING: Packet 3160, WAV, Filling 2 missing samples at pos 43551 # WARNING: Packet 20310, WAV, Filling 32 missing samples at pos 279359 # WARNING: Packet 20312, WAV, Filling 2 missing samples at pos 279423 # WARNING: Packet 40668, WAV, Filling 32 missing samples at pos 559360 # WARNING: Packet 46767, WAV, Filling 33 missing samples at pos 643263 # WARNING: Packet 54531, WAV, Filling 33 missing samples at pos 750079 # WARNING: Packet 76395, WAV, Filling 33 missing samples at pos 1050719 # WARNING: Packet 86143, WAV, Filling 33 missing samples at pos 1184767 # WARNING: Packet 91594, WAV, Filling 34 missing samples at pos 1259807 # WARNING: Packet 91603, WAV, Filling 31 missing samples at pos 1259968 # WARNING: Packet 91605, WAV, Filling 2 missing samples at pos 1260031 # WARNING: Packet 93977, WAV, Filling 33 missing samples at pos 1292575 # WARNING: Packet 100873, WAV, Filling 33 missing samples at pos 1387423 # WARNING: Packet 100875, WAV, Filling 2 missing samples at pos 1387487 # WARNING: Packet 103887, WAV, Filling 32 missing samples at pos 1428895 # WARNING: Packet 103891, WAV, Filling 2 missing samples at pos 1428991 # WARNING: Packet 119670, WAV, Filling 33 missing samples at pos 1645983 # WARNING: Packet 120266, WAV, Filling 33 missing samples at pos 1654175 # WARNING: Packet 125648, WAV, Filling 32 missing samples at pos 1728223 # WARNING: Packet 125651, WAV, Filling 2 missing samples at pos 1728287 # WARNING: Packet 134129, WAV, Filling 32 missing samples at pos 1844895 # WARNING: Packet 134131, WAV, Filling 2 missing samples at pos 1844959 # WARNING: Packet 141766, WAV, Filling 33 missing samples at pos 1949919 # WARNING: Packet 144164, WAV, Filling 33 missing samples at pos 1982847 # WARNING: Packet 144172, WAV, Filling 32 missing samples at pos 1983007 # WARNING: Packet 144176, WAV, Filling 2 missing samples at pos 1983103 # WARNING: Packet 153217, WAV, Filling 32 missing samples at pos 2107519 # WARNING: Packet 153221, WAV, Filling 2 missing samples at pos 2107615 # WARNING: Packet 155041, WAV, Filling 33 missing samples at pos 2132607 # WARNING: Packet 178163, WAV, Filling 33 missing samples at pos 2450624 # WARNING: Packet 195222, WAV, Filling 32 missing samples at pos 2685248 # WARNING: Packet 195236, WAV, Filling 2 missing samples at pos 2685439 # WARNING: Packet 214551, WAV, Filling 33 missing samples at pos 2951008 # WARNING: Packet 232503, WAV, Filling 33 missing samples at pos 3197919 # WARNING: Packet 244593, WAV, Filling 33 missing samples at pos 3364223 # WARNING: Packet 256193, WAV, Filling 33 missing samples at pos 3523808 # WARNING: Packet 256206, WAV, Filling 32 missing samples at pos 3523968 # WARNING: Packet 300972, WAV, Filling 33 missing samples at pos 4139679 # WARNING: Packet 300974, WAV, Filling 2 missing samples at pos 4139743 # INFO: File [ 2] # WARNING: Packet 5220, WAV, Filling 31 missing samples at pos 4329920 # WARNING: Packet 5223, WAV, Filling 2 missing samples at pos 4329983 # WARNING: Packet 12590, WAV, Filling 33 missing samples at pos 4431327 # WARNING: Packet 26143, WAV, Filling 34 missing samples at pos 4617791 # WARNING: Packet 37454, WAV, Filling 33 missing samples at pos 4773279 # WARNING: Packet 63151, WAV, Filling 33 missing samples at pos 5126687 # WARNING: Packet 67405, WAV, Filling 33 missing samples at pos 5185183 # WARNING: Packet 80853, WAV, Filling 33 missing samples at pos 5370175 # WARNING: Packet 86136, WAV, Filling 33 missing samples at pos 5442751 # WARNING: Packet 93745, WAV, Filling 33 missing samples at pos 5547455 # WARNING: Packet 102842, WAV, Filling 34 missing samples at pos 5672607 # WARNING: Packet 110762, WAV, Filling 34 missing samples at pos 5781567 # WARNING: Packet 111883, WAV, Filling 33 missing samples at pos 5796991 # WARNING: Packet 124512, WAV, Filling 31 missing samples at pos 5970656 # WARNING: Packet 124518, WAV, Filling 2 missing samples at pos 5970783 # WARNING: Packet 129266, WAV, Filling 33 missing samples at pos 6036031 # WARNING: Packet 148985, WAV, Filling 33 missing samples at pos 6307199 # WARNING: Packet 159037, WAV, Filling 32 missing samples at pos 6445472 # WARNING: Packet 168461, WAV, Filling 34 missing samples at pos 6575071 # WARNING: Packet 178658, WAV, Filling 33 missing samples at pos 6715327 # WARNING: Packet 196278, WAV, Filling 32 missing samples at pos 6957664 # WARNING: Packet 202828, WAV, Filling 31 missing samples at pos 7047776 # WARNING: Packet 202831, WAV, Filling 2 missing samples at pos 7047839 # WARNING: Packet 203008, WAV, Filling 33 missing samples at pos 7050239 # WARNING: Packet 228148, WAV, Filling 33 missing samples at pos 7395935 # WARNING: file index 12121092, MSB2 Packet CRC invalid # WARNING: file index 12124690, UWAR Packet's ID is invalid # WARNING: UWAR Error mode, looking for new uwar packet, start pos: 12124691 # WARNING: UWAR Error mode, found new uwar packet, at pos: 12124691 (0 bytes skipped) # WARNING: Packet 244197, WAV, Filling 961 missing samples at pos 7616767 # WARNING: Packet 244198, Filling 29 missing samples for field accel # WARNING: Packet 244198, Filling 6 missing samples for field visFreqLight # WARNING: Packet 244198, Filling 29 missing samples for field accelY # WARNING: Packet 244198, Filling 29 missing samples for field accelZ # WARNING: Packet 244201, WAV, Filling 2 missing samples at pos 7617791 # WARNING: Packet 244212, Filling 3 missing samples for field gyro # WARNING: Packet 244212, Filling 3 missing samples for field gyroTemp # WARNING: Packet 244212, Filling 3 missing samples for field gyroY # WARNING: Packet 244212, Filling 3 missing samples for field gyroZ # WARNING: Packet 244212, Filling 3 missing samples for field gyroTempY # WARNING: Packet 244212, Filling 3 missing samples for field gyroTempZ # WARNING: Packet 254806, WAV, Filling 33 missing samples at pos 7763616 # WARNING: Packet 258487, WAV, Filling 34 missing samples at pos 7814239 # WARNING: Packet 264336, WAV, Filling 33 missing samples at pos 7894687 # WARNING: Packet 281685, WAV, Filling 32 missing samples at pos 8133247 # WARNING: Packet 281688, WAV, Filling 2 missing samples at pos 8133311 # WARNING: Packet 297231, WAV, Filling 32 missing samples at pos 8347072 # WARNING: Packet 304508, WAV, Filling 32 missing samples at pos 8447167 # WARNING: Packet 304512, WAV, Filling 2 missing samples at pos 8447263 # WARNING: completeData- Packet 309523, magnetometer artifical ceiling reached, sample dropped, for sensor mag # INFO: Summary: # INFO: File [ 1], MSB2 spans 134923 to 267990 259.90 seconds ( 0 hours 4 mins 19.90 seconds) # INFO: File [ 2], MSB2 spans 267990 to 401053 259.89 seconds ( 0 hours 4 mins 19.89 seconds) # INFO: File [ 1], LSB spans 133189 to 266255 259.89 seconds ( 0 hours 4 mins 19.89 seconds) # INFO: File [ 2], LSB spans 266256 to 399317 259.89 seconds ( 0 hours 4 mins 19.89 seconds) # INFO: 266130 MSB2 interrupt counts # INFO: 266127 LSB interrupt counts # INFO: MSB2 519.79 seconds ( 0 hours 8 mins 39.79 seconds) # INFO: LSB 259.88 seconds ( 0 hours 4 mins 19.88 seconds) # INFO: Sensor Name SampleRate ExpectedSamples FoundSamples Diff Percent Difference # INFO: msb/audio 16384.00Hz 8516160 8513377 -2783 ( 99.9673%) # INFO: msb/bar_press 7.10Hz 3690 3690 +0 (100.0000%) # INFO: msb/compass 0.00Hz 0 0 +0 ( 0.0000%) # INFO: msb/hf_vis_light 128.00Hz 66531 66526 -5 ( 99.9925%) # INFO: msb/humidity 1.00Hz 519 519 +0 (100.0000%) # INFO: msb/ir_light 3.00Hz 1559 1559 +0 (100.0000%) # INFO: msb/amb_light 3.00Hz 1559 1559 +0 (100.0000%) # INFO: msb/temp 7.10Hz 3691 3691 +0 (100.0000%) # INFO: msb/temp_sensiron 1.00Hz 519 519 +0 (100.0000%) # INFO: msb/vis_light 3.00Hz 1559 1559 +0 (100.0000%) # INFO: msb/x_accel 512.00Hz 266130 266101 -29 ( 99.9891%) # INFO: msb/y_accel 512.00Hz 266130 266101 -29 ( 99.9891%) # INFO: msb/z_accel 512.00Hz 266130 266101 -29 ( 99.9891%) # INFO: lsb/x_gyro 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/y_gyro 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/z_gyro 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/x_gyroTemp 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/y_gyroTemp 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/z_gyroTemp 64.00Hz 33264 33262 -2 ( 99.9940%) # INFO: lsb/x_mag 32.00Hz 16632 16632 +0 (100.0000%) # INFO: lsb/y_mag 32.00Hz 16631 16631 +0 (100.0000%) # INFO: lsb/z_mag 32.00Hz 16631 16631 +0 (100.0000%) # INFO: Closing completeSensorAudio.wav # INFO: Closing dataOut.mat # INFO: Closing completeData.mat C:\Test Data\home>
central
- msp/src/ipc/central.c
- linux download (xscale)
- linux download (x86)
- windows download
central is the server for the IPC (Inter Process Communications) package developed by Reid Simmons. IPC provides a simple means of communicating between applications on the same computer and other machines via TCP/IP. Central is used by the msb-server and several other applications to share information. More information about IPC can be found at the projects homepage.
usage
Typical Usage
-
Spawn central and send it to the background
central -u &
Note, that only 1 copy of central can be run at one time. If you want to run multiple central's (see the -p argument below) or access central running on another machine you will need to export the CENTRALHOST variable: <bash># If you want to use another port export CENTRALHOST=localhost:1234
- If you want to connect to another machine
export CENTRALHOST=othermachine </bash>
Available Commands
-
Various debugging/logging capabilities are also available if necessary. Remember to have a process cat the .log file that central creates.
The following are central commands: help: print this message display: display the active and pending messages status: display the known modules and their status memory: display total memory usage close <module>: close a connection to a module unlock <resource>: unlock a locked resource The following command line options can also be used as commands: -v: display server version information -l<option>: logging onto terminal. Options are: m (message traffic) s (status of IPC) t (time messages are received by central) d (data associated with messages) i (ignore logging certain internal messages) h (handle time summary of incoming messages) r (log the reference ID as well as the message name) p (log the reference ID of the message’s parent) x (no logging) -l (no options) is equivalent to -lmstdh; the default is –lmsi -L<option>: logging into file. Options are the same as above, with the addition of F (don’t flush file after each line) n (don’t prompt user for comments) The default is –Lx -f<filename>: filename to use for logging; If not specified, name is automatically generated. -p<port>: connect to central server on this port number. -c: Use direct (not via central) connections when possible -I<msgName>: Ignore logging this message (can occur multiple times). -I<filename>: File with names of messages to ignore logging -s: silent running; don’t print anything to terminal. -u: don’t run the user (tty) interface. -r: try resending non-completed messages when modules crash and then reconnect.
example output
-
central typically does not output anything to the console unless an error occurs.
msb-server
- msp/src/msb/msb-main.c
- linux download (xscale)
- linux download (x86)
- currently not available for windows
The msb-server is a program which interfaces with the MSB via the serial port and handles logging of uwar files and transmission of the sensor data over IPC and other shared memory mechanisms. msb-server was written by Dirk Hähnel of Intel Research Seattle.
usage
Typical Usage
msb-server -ini msb.ini
where msb.ini will typically contain:
#Desktops should use the USB device #SERIAL_DEVICE /dev/ttyUSB1 #the iMote2 uses ttyS0 only SERIAL_DEVICE /dev/ttyS0 BAUD_RATE 921600 HARDWARE_FLOW_CONTROL 0 SOFTWARE_FLOW_CONTROL 0 USE_RTC 1 SCHEDULE_INTERRUPT_COUNT 5120 SCHEDULE_MIC 8192 SCHEDULE_ACCELEROMETER 5120 SCHEDULE_AMB_LIGHT 2560 SCHEDULE_BAROMETER 71 SCHEDULE_DALS 30 SCHEDULE_HUMIDITY 10 SCHEDULE_POWER 0 MIC_GAIN 64 LOG_FILE test.uwar LOG_START 1
Available Commands
-
In addition the msb-server also supports the following switch commands:
-ipc-publish-data publish the converted data via IPC -ipc-publish-raw publish the raw sensor data via IPC -ipc-publish-stream stream serial data via ipc -shm-publish-stream stream serial data via shared memory -ipc-publish-mic publish microphone packets -sync-rtc -show-rtc -set-rtc -use-rtc -log specify a file to log data to, see -max-size and -max-time for log rotation settings -log-type specify the type of data to log: uwar serial data is stored as packets in a uwar file stream serial data is written directly to a file -max-size maximum size of the uwar file before rotating the log file (in kilobytes) -max-time maximum time between file rotations
example output
-
Typically the msb-server will output something similar to the following. Where the final recieved stats will continue until the program is terminated or an error occurs.
./msb-server -ini ./msb.ini -ipc-publish-data # INFO: ******************************** # INFO: *********** MSB ************ # INFO: ******************************** # INFO: read ini file ./msb.ini # INFO: initialize data structures # INFO: allocate data messages # INFO: IPC for Mobile Sensing Platform Toolkit (Ver. 1.0.0) # INFO: set device: # INFO: port = /dev/ttyUSB1 # INFO: baud = 921600 # INFO: params = 8N1 # INFO: send reset command # INFO: --------------------- # INFO: send cease command ... done # INFO: send rtc query command to MSB # INFO: current msb time = 2065-25-45 45:85:85! # INFO: change system time to RTC! # INFO: set system time failed! # INFO: send calibration query command to MSB # INFO: ---- calibration ---- # INFO: board nr = b # INFO: hardware version nr = 2 # INFO: major soft version = 1 # INFO: minor soft version = 1 # INFO: calibration word 1 = 48224 # INFO: calibration word 2 = 47962 # INFO: calibration word 3 = 28705 # INFO: calibration word 4 = 44956 # INFO: calibration val c1 = 24112 # INFO: calibration val c2 = 2140 # INFO: calibration val c3 = 702 # INFO: calibration val c4 = 448 # INFO: calibration val c5 = 749 # INFO: calibration val c6 = 26 # INFO: send schedule query command to MSB # INFO: --- USER REQUEST --- # INFO: ------ schedule ----- # INFO: interrupt count = 5120 # INFO: mic hz = 8192 # INFO: accelerometer hz = 512.0 # INFO: amb light hz = 256.0 # INFO: barometer hz = 7.1 # INFO: compass hz = 0.0 # INFO: dals hz = 3.0 # INFO: humidity hz = 1.0 # INFO: power = 0 # INFO: microphone gain = 255 # INFO: send schedule query command to MSB # INFO: --- NEW SETTINGS --- # INFO: ------ schedule ----- # INFO: interrupt count = 5120 # INFO: mic hz = 8192 # INFO: accelerometer hz = 512.0 # INFO: amb light hz = 256.0 # INFO: barometer hz = 7.1 # INFO: compass hz = 0.0 # INFO: dals hz = 3.0 # INFO: humidity hz = 1.0 # INFO: power = 0 # INFO: microphone gain = 255 # INFO: ------ schedule ----- # INFO: interrupt count = 5120 # INFO: mic hz = 8192 # INFO: accelerometer hz = 512.0 # INFO: amb light hz = 256.0 # INFO: barometer hz = 7.1 # INFO: compass hz = 0.0 # INFO: dals hz = 3.0 # INFO: humidity hz = 1.0 # INFO: power = 0 # INFO: microphone gain = 255 # INFO: ------- log ------- # INFO: open log-file file test-0002.uwar [test-0002.uwar] # INFO: write header to log file ... => 967903080 done # INFO: log-max-size: 4 Mbytes # INFO: log-max-time: 5.00 minutes # INFO: ------- start ------- # INFO: send init command to MSB # INFO: 2.40 kbits/sec (0 crc of 9 packets) # INFO: 234.95 kbits/sec (0 crc of 169 packets) # INFO: 221.89 kbits/sec (0 crc of 321 packets) # INFO: unknown packet type 0xb4 # INFO: 221.89 kbits/sec (0 crc of 473 packets) ...
uwar_cat
- msp/src/fileio/uwar-cat.c
- linux download (x86)
- windows download (does not support shared memory streaming)
uwar_cat is a program to extract data from uwar files and dump them in a human readable format. The output format is something of the form:
SENSORA TIMESTAMP DATA ... SENSORB TIMESTAMP DATA ... SENSORC TIMESTAMP DATA ...
If you want to retrieve data from a specific sensor you can use the grep command.
Windows users: You can download a win32 version of grep from the gnuwin32 webpage. You will also need to grab some additional libraries or you can try this zipped version which should contain all the necessary libraries. Simply extract the zip to your Windows\system32 directory.
usage
uwar_cat <filename>
example output
uwar_cat example.uwar # INFO: open file example.uwar # INFO: read UWAR v2 header # INFO: read UWAR v2 data ACCEL 1160595736.915 -0.028381 0.013855 0.980713 ACCEL 1160595736.915 -0.027588 0.013733 0.981079 AMB-LIGHT 1160595736.915 16 9.602142 DALS 1160595736.915 671.500000 73.500000 219.288132 ACCEL 1160595736.915 -0.027222 0.014099 0.980042 ACCEL 1160595736.915 -0.027039 0.013428 0.981628 AMB-LIGHT 1160595736.915 16 9.661065 ACCEL 1160595736.915 -0.027893 0.014221 0.981079 ACCEL 1160595736.915 -0.027100 0.013916 0.981812 ...
uwar-info
- msp/src/fileio/uwar-info.c
- linux download (x86)
- windows download
uwar_info will display the meta data stored in the uwar file. This information can be useful in determining what streams are inside a uwar file and what settings might be in use, for example you can retrieve the schedule and the calibration data from the sensor boards with this command.
usage
uwar_info <filename>
example output
uwar-info example.uwar
# INFO: open file example.uwar
# INFO: read UWAR v2 header
# INFO: all meta 0: id=(726e6462:bdnr) type='i' = 11
# INFO: all meta 1: id=(72657668:hver) type='i' = 2
# INFO: all meta 2: id=(616d7773:swma) type='i' = 1
# INFO: all meta 3: id=(696d7773:swmi) type='i' = 1
# INFO: all meta 4: id=(31306477:wd01) type='i' = 48224
# INFO: all meta 5: id=(32306477:wd02) type='i' = 47962
# INFO: all meta 6: id=(33306477:wd03) type='i' = 28705
# INFO: all meta 7: id=(34306477:wd04) type='i' = 44956
# INFO: all meta 8: id=(72746e69:intr) type='i' = 5120
# INFO: all meta 9: id=(2063696d:mic ) type='i' = 8192
# INFO: all meta 10: id=(20636361:acc ) type='i' = 5120
# INFO: all meta 11: id=(20626d61:amb ) type='i' = 2560
# INFO: all meta 12: id=(20726162:bar ) type='i' = 71
# INFO: all meta 13: id=(706d6f63:comp) type='i' = 0
# INFO: all meta 14: id=(736c6164:dals) type='i' = 30
# INFO: all meta 15: id=(206d7568:hum ) type='i' = 10
# INFO: all meta 16: id=(72776f70:powr) type='i' = 0
# INFO: stream 0: id=0 (2063696d:mic ) -> ref(0)
# INFO: stream 1: id=1 (3262736d:msb2) -> ref(1)
# INFO: stream 2: id=2 (20676174:tag ) -> ref(2)
# INFO: stream 3: id=3 (6b636c63:clck) -> ref(3)
# INFO: stream 4: id=4 (20737067:gps ) -> ref(4)
# INFO: read UWAR data
# INFO: ---- calibration ----
# INFO: board nr = b (11)
# INFO: hardware version nr = 2
# INFO: major soft version = 1
# INFO: minor soft version = 1
# INFO: calibration word 1 = 48224
# INFO: calibration word 2 = 47962
# INFO: calibration word 3 = 28705
# INFO: calibration word 4 = 44956
# INFO: calibration val c1 = 24112
# INFO: calibration val c2 = 2140
# INFO: calibration val c3 = 702
# INFO: calibration val c4 = 448
# INFO: calibration val c5 = 749
# INFO: calibration val c6 = 26
# INFO: ------ schedule -----
# INFO: interrupt count = 5120
# INFO: mic hz = 8192
# INFO: accelerometer hz = 512.0
# INFO: amb light hz = 256.0
# INFO: barometer hz = 7.1
# INFO: compass hz = 0.0
# INFO: dals hz = 3.0
# INFO: humidity hz = 1.0
# INFO: power = 0
# INFO: read UWAR v2 data
# INFO: read 53899 packets
# INFO: time from: 11.09.2006 12:42:16.914999
# INFO: time to: 11.09.2006 12:43:09.532000
INFO: statistics packets
26953 msb2 (missed 0 packets (0.0000%))
26946 mic (missed 6 packets (0.0223%))
53899 total
uwar_msb_dump
- msp/src/fileio/uwar_msb_dump.c (not yet committed to CVS)
- linux download (x86)
- windows download
uwar_msb_dump is a program to dump the raw serial packets stored inside the uwar file to a single binary output file. This is useful for debugging problems with the MSB itself and analyzing the packets received by the msb-server.
usage
uwar_msb_dump <input_uwar_filename> <output_binary_file>
example output
uwar_msb_dump example.uwar example.bin # INFO: open file example.uwar # INFO: Output file example.bin # INFO: read UWAR v2 header # INFO: read UWAR v2 data
uwar-clean
- msp/src/fileio/uwar-clean.c (not yet committed to CVS)
- linux download (x86)
- windows download
uwar_clean removes corrupted packets from a .uwar file and stores the cleaned stream in a new file. Note, this program is based off of uwar-info so any file uwar-info can process it should be able to handle. It does NOT clean bad data inside a valid uwar packet.
usage
uwar_clean <input_uwar_filename> <output_cleaned_uwar_filename>
Note: Be careful not to specify the same input/output name as this will immediately erase your file. Remember if you say something like 'uwar_clean myVeryImportantData.uwar ./myVeryImportantData.uwar' you will likely lose your data!
example output
uwar_clean.exe log-1969-11-31-16.00.dat log-1969-11-31-16.00_clean.dat
# INFO: open file log-1969-11-31-16.00.dat
# INFO: read UWAR v2 header
# INFO: all meta 0: id=(726e6462:bdnr) type='i' = 61463
# INFO: all meta 1: id=(72657668:hver) type='i' = 2
# INFO: all meta 2: id=(616d7773:swma) type='i' = 1
# INFO: all meta 3: id=(696d7773:swmi) type='i' = 1
# INFO: all meta 4: id=(31306477:wd01) type='i' = 39064
# INFO: all meta 5: id=(32306477:wd02) type='i' = 31260
# INFO: all meta 6: id=(33306477:wd03) type='i' = 36959
# INFO: all meta 7: id=(34306477:wd04) type='i' = 42677
# INFO: all meta 8: id=(72746e69:intr) type='i' = 5120
# INFO: all meta 9: id=(2063696d:mic ) type='i' = 16384
# INFO: all meta 10: id=(20636361:acc ) type='i' = 5120
# INFO: all meta 11: id=(20626d61:amb ) type='i' = 2560
# INFO: all meta 12: id=(20726162:bar ) type='i' = 71
# INFO: all meta 13: id=(706d6f63:comp) type='i' = 0
# INFO: all meta 14: id=(736c6164:dals) type='i' = 30
# INFO: all meta 15: id=(206d7568:hum ) type='i' = 10
# INFO: all meta 16: id=(72776f70:powr) type='i' = 0
# INFO: stream 0: id=0 (2063696d:mic ) -> ref(0)
# INFO: stream 1: id=1 (3262736d:msb2) -> ref(1)
# INFO: stream 2: id=2 (20676174:tag ) -> ref(2)
# INFO: stream 3: id=3 (6b636c63:clck) -> ref(3)
# INFO: stream 4: id=4 (20737067:gps ) -> ref(4)
# INFO: read UWAR data
# INFO: ---- calibration ----
# INFO: board nr = f017 (61463)
# INFO: hardware version nr = 2
# INFO: major soft version = 1
# INFO: minor soft version = 1
# INFO: calibration word 1 = 39064
# INFO: calibration word 2 = 31260
# INFO: calibration word 3 = 36959
# INFO: calibration word 4 = 42677
# INFO: calibration val c1 = 19532
# INFO: calibration val c2 = 2037
# INFO: calibration val c3 = 666
# INFO: calibration val c4 = 577
# INFO: calibration val c5 = 488
# INFO: calibration val c6 = 28
# INFO: ------ schedule -----
# INFO: interrupt count = 5120
# INFO: mic hz = 16384
# INFO: accelerometer hz = 512.0
# INFO: amb light hz = 256.0
# INFO: barometer hz = 7.1
# INFO: compass hz = 0.0
# INFO: dals hz = 3.0
# INFO: humidity hz = 1.0
# INFO: power = 0
# INFO: read UWAR v2 data
# INFO: read 463037 packets
# INFO: time from: 31.11.1969 16:00:28.949999
# INFO: time to: 31.11.1969 16:08:01.166999
INFO: statistics packets
231555 msb2 (missed 5 packets (0.0022%))
231478 mic (missed 81 packets (0.0350%))
4 corrupt
463037 total
The cleaned file should now show no corrupt packets:
uwar_info.exe log-1969-11-31-16.00_clean.dat
# INFO: open file log-1969-11-31-16.00_clean.dat
# INFO: read UWAR v2 header
# INFO: all meta 0: id=(726e6462:bdnr) type='i' = 61463
# INFO: all meta 1: id=(72657668:hver) type='i' = 2
# INFO: all meta 2: id=(616d7773:swma) type='i' = 1
# INFO: all meta 3: id=(696d7773:swmi) type='i' = 1
# INFO: all meta 4: id=(31306477:wd01) type='i' = 39064
# INFO: all meta 5: id=(32306477:wd02) type='i' = 31260
# INFO: all meta 6: id=(33306477:wd03) type='i' = 36959
# INFO: all meta 7: id=(34306477:wd04) type='i' = 42677
# INFO: all meta 8: id=(72746e69:intr) type='i' = 5120
# INFO: all meta 9: id=(2063696d:mic ) type='i' = 16384
# INFO: all meta 10: id=(20636361:acc ) type='i' = 5120
# INFO: all meta 11: id=(20626d61:amb ) type='i' = 2560
# INFO: all meta 12: id=(20726162:bar ) type='i' = 71
# INFO: all meta 13: id=(706d6f63:comp) type='i' = 0
# INFO: all meta 14: id=(736c6164:dals) type='i' = 30
# INFO: all meta 15: id=(206d7568:hum ) type='i' = 10
# INFO: all meta 16: id=(72776f70:powr) type='i' = 0
# INFO: stream 0: id=0 (2063696d:mic ) -> ref(0)
# INFO: stream 1: id=1 (3262736d:msb2) -> ref(1)
# INFO: stream 2: id=2 (20676174:tag ) -> ref(2)
# INFO: stream 3: id=3 (6b636c63:clck) -> ref(3)
# INFO: stream 4: id=4 (20737067:gps ) -> ref(4)
# INFO: read UWAR data
# INFO: ---- calibration ----
# INFO: board nr = f017 (61463)
# INFO: hardware version nr = 2
# INFO: major soft version = 1
# INFO: minor soft version = 1
# INFO: calibration word 1 = 39064
# INFO: calibration word 2 = 31260
# INFO: calibration word 3 = 36959
# INFO: calibration word 4 = 42677
# INFO: calibration val c1 = 19532
# INFO: calibration val c2 = 2037
# INFO: calibration val c3 = 666
# INFO: calibration val c4 = 577
# INFO: calibration val c5 = 488
# INFO: calibration val c6 = 28
# INFO: ------ schedule -----
# INFO: interrupt count = 5120
# INFO: mic hz = 16384
# INFO: accelerometer hz = 512.0
# INFO: amb light hz = 256.0
# INFO: barometer hz = 7.1
# INFO: compass hz = 0.0
# INFO: dals hz = 3.0
# INFO: humidity hz = 1.0
# INFO: power = 0
# INFO: read UWAR v2 data
# INFO: read 463033 packets
# INFO: time from: 31.11.1969 16:00:28.949999
# INFO: time to: 31.11.1969 16:08:01.167000
INFO: statistics packets
231555 msb2 (missed 5 packets (0.0022%))
231478 mic (missed 81 packets (0.0350%))
463033 total
