Uwar tools
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. All outputs on this page are from this file: example.uwar.
uwar_cat
- msp/src/fileio/uwar-cat.c
- linux download
- 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
- 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
- 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
