Adds support for Port Monitor (General & GPX) to logPlotter.py and lo…

…gInspectorInternal.py.

Added some additional doxygen to InertialSense.cpp

python/inertialsense/logInspector/logInspectorInternal.py

@@ -73,6 +73,8 @@ def __init__(self, config):
     def createListSystem(self):
         super(logInspectorInternal, self).createListSystem()
         self.addListItem('General Fault Codes', 'genFaultCodes')
+        self.addListItem('Port Monitor (General)', 'portMonitor')
+        self.addListItem('GPX Port Monitor (behind IMX)', 'gpxPortMonitor')
 
     def createListIns(self):
         super(logInspectorInternal, self).createListIns()

python/inertialsense/logInspector/logPlotter.py

@@ -1365,6 +1365,76 @@ def genFaultCodes(self, fig=None, axs=None):
         except:
             print(RED + "problem plotting insStatus: " + sys.exc_info()[0] + RESET)
 
+    def portMonitor(self, fig=None, axs=None):
+        if fig is None:
+            fig = plt.figure()
+        ax = fig.subplots(4,2, sharex=True)
+        fig.suptitle('Port Monitor - ' + os.path.basename(os.path.normpath(self.log.directory)))
+
+        ax[0, 0].set_ylabel('Bytes/Sec (TX)')
+        ax[1, 0].set_ylabel('Bytes (TX)')
+        ax[2, 0].set_ylabel('Overflows (TX)')
+        ax[3, 0].set_ylabel('Bytes Dropped (TX)')
+        ax[0, 1].set_ylabel('Bytes/Sec (RX)')
+        ax[1, 1].set_ylabel('Bytes (RX)')
+        ax[2, 1].set_ylabel('Overflows (RX)')
+        ax[3, 1].set_ylabel('ChecksumErrors (RX)')
+
+        for d in self.active_devs:
+            activePorts = self.getData(d, DID_PORT_MONITOR, 'activePorts')[0]
+            port_sets = self.getData(d, DID_PORT_MONITOR, 'port')
+            for i in range(activePorts):
+                data = port_sets[:,i]
+                ax[0,0].plot(data['txBytesPerSec'], label=f'{self.log.serials[d]}:{i}')
+                ax[0,1].plot(data['rxBytesPerSec'], label=f'{self.log.serials[d]}:{i}')
+                ax[1,0].plot(data['txBytes'], label=f'{self.log.serials[d]}:{i}')
+                ax[1,1].plot(data['rxBytes'], label=f'{self.log.serials[d]}:{i}')
+                ax[2,0].plot(np.diff(data['txOverflows']), label=f'{self.log.serials[d]}:{i}')
+                ax[2,1].plot(np.diff(data['rxOverflows']), label=f'{self.log.serials[d]}:{i}')
+                ax[3,0].plot(np.diff(data['txBytesDropped']), label=f'{self.log.serials[d]}:{i}')
+                ax[3,1].plot(np.diff(data['rxChecksumErrors']), label=f'{self.log.serials[d]}:{i}')
+
+
+        self.legends_add(ax[0,0].legend(ncol=2))
+        for b in ax:
+            for a in b:
+                a.grid(True)
+
+    def gpxPortMonitor(self, fig=None, axs=None):
+        if fig is None:
+            fig = plt.figure()
+        ax = fig.subplots(4,2, sharex=True)
+        fig.suptitle('Port Monitor - ' + os.path.basename(os.path.normpath(self.log.directory)))
+
+        ax[0, 0].set_ylabel('Bytes/Sec (TX)')
+        ax[1, 0].set_ylabel('Bytes (TX)')
+        ax[2, 0].set_ylabel('Overflows (TX)')
+        ax[3, 0].set_ylabel('Bytes Dropped (TX)')
+        ax[0, 1].set_ylabel('Bytes/Sec (RX)')
+        ax[1, 1].set_ylabel('Bytes (RX)')
+        ax[2, 1].set_ylabel('Overflows (RX)')
+        ax[3, 1].set_ylabel('ChecksumErrors (RX)')
+
+        for d in self.active_devs:
+            activePorts = self.getData(d, DID_GPX_PORT_MONITOR, 'activePorts')[0]
+            port_sets = self.getData(d, DID_GPX_PORT_MONITOR, 'port')
+            for i in range(activePorts):
+                data = port_sets[:,i]
+                ax[0,0].plot(data['txBytesPerSec'], label=f'{self.log.serials[d]}:{i}')
+                ax[0,1].plot(data['rxBytesPerSec'], label=f'{self.log.serials[d]}:{i}')
+                ax[1,0].plot(data['txBytes'], label=f'{self.log.serials[d]}:{i}')
+                ax[1,1].plot(data['rxBytes'], label=f'{self.log.serials[d]}:{i}')
+                ax[2,0].plot(np.diff(data['txOverflows']), label=f'{self.log.serials[d]}:{i}')
+                ax[2,1].plot(np.diff(data['rxOverflows']), label=f'{self.log.serials[d]}:{i}')
+                ax[3,0].plot(np.diff(data['txBytesDropped']), label=f'{self.log.serials[d]}:{i}')
+                ax[3,1].plot(np.diff(data['rxChecksumErrors']), label=f'{self.log.serials[d]}:{i}')
+
+
+        self.legends_add(ax[0,0].legend(ncol=2))
+        for b in ax:
+            for a in b:
+                a.grid(True)
+
     def gpxStatus(self, fig=None, axs=None):
         try:
             if fig is None:

python/inertialsense/logs/include/log_reader.h

@@ -107,7 +107,8 @@ struct DeviceLog
     std::vector<rtk_residual_t> rtkPhaseResidual;
     std::vector<rtk_debug_t> rtkDebug;
     // std::vector<rtk_debug_2_t> rtkDebug2;
-//    std::vector<port_monitor_t> portMonitor;
+    std::vector<port_monitor_t> portMonitor;
+    std::vector<port_monitor_t> gpxPortMonitor;
     std::vector<debug_array_t> gpxDebugArray;
 };
 

python/inertialsense/logs/src/log_reader.cpp

@@ -222,14 +222,14 @@ void LogReader::organizeData(shared_ptr<cDeviceLog> devLog)
         HANDLE_MSG(DID_DIAGNOSTIC_MESSAGE, dev_log_->diagnosticMessage);
         HANDLE_MSG(DID_SURVEY_IN, dev_log_->surveyIn);
         // HANDLE_MSG(DID_EVB2, dev_log_->evb2);
-        // HANDLE_MSG(DID_PORT_MONITOR, dev_log_->portMonitor);
+        HANDLE_MSG(DID_PORT_MONITOR, dev_log_->portMonitor);
         // HANDLE_MSG(DID_RTK_STATE, dev_log_->rtkState);
         HANDLE_MSG(DID_RTK_CODE_RESIDUAL, dev_log_->rtkCodeResidual);
         HANDLE_MSG(DID_RTK_PHASE_RESIDUAL, dev_log_->rtkPhaseResidual);
         HANDLE_MSG(DID_RTK_DEBUG, dev_log_->rtkDebug);
         // HANDLE_MSG(DID_RTK_DEBUG_2, dev_log_->rtkDebug2);
         HANDLE_MSG(DID_GPX_DEBUG_ARRAY, dev_log_->gpxDebugArray);
-        // HANDLE_MSG(DID_GPX_PORT_MONITOR, dev_log_->portMonitor);
+        HANDLE_MSG(DID_GPX_PORT_MONITOR, dev_log_->gpxPortMonitor);
 
         default:
             //            printf("Unhandled IS message DID: %d\n", message_type);
@@ -315,14 +315,15 @@ void LogReader::forwardData(int device_id)
     forward_message(DID_DIAGNOSTIC_MESSAGE, dev_log_->diagnosticMessage, device_id);
     forward_message(DID_SURVEY_IN, dev_log_->surveyIn, device_id);
     // forward_message(DID_EVB2, dev_log_->evb2, device_id);
-    // forward_message(DID_PORT_MONITOR, dev_log_->portMonitor, device_id);
+    forward_message(DID_PORT_MONITOR, dev_log_->portMonitor, device_id);
 
     // forward_message(DID_RTK_STATE, dev_log_->rtkState, device_id);
     forward_message(DID_RTK_CODE_RESIDUAL, dev_log_->rtkCodeResidual, device_id);
     forward_message(DID_RTK_PHASE_RESIDUAL, dev_log_->rtkPhaseResidual, device_id);
     forward_message(DID_RTK_DEBUG, dev_log_->rtkDebug, device_id);
     // forward_message(DID_RTK_DEBUG_2, dev_log_->rtkDebug2, device_id);
     forward_message(DID_GPX_DEBUG_ARRAY, dev_log_->gpxDebugArray, device_id);
+    forward_message(DID_GPX_PORT_MONITOR, dev_log_->gpxPortMonitor, device_id);
 }
 
 bool LogReader::load()

src/InertialSense.cpp

@@ -189,6 +189,11 @@ void InertialSense::DisableLogging()
     }
 }
 
+/**
+ * Registers a previously created ISDevice instance with the internal m_comManager instance.
+ * @param device
+ * @return
+ */
 bool InertialSense::registerDevice(ISDevice* device) {
     if (!device)
         return NULL;
@@ -205,6 +210,15 @@ bool InertialSense::registerDevice(ISDevice* device) {
     return true;
 }
 
+/**
+ * Creates a new ISDevice instance by calling the newDeviceHandler function, with the port and dev_info_t that will
+ * be associated with the device. This attempt to avoid redundant entries by checking if any previously registered
+ * devices exists for the same HdwID and Serial No; if found, that existing device will be returned.
+ * If m_newDeviceHandler is null, then a generic ISDevice will be created.
+ * @param port the port that the new device is connected to
+ * @param devInfo the dev_info_t that describes the device
+ * @return a pointer to an ISDevice instance
+ */
 ISDevice* InertialSense::registerNewDevice(port_handle_t port, dev_info_t devInfo) {
     if (!port)
         return NULL;
@@ -227,6 +241,32 @@ ISDevice* InertialSense::registerNewDevice(port_handle_t port, dev_info_t devInf
     return m_comManagerState.devices.empty() ? NULL : (ISDevice*)m_comManagerState.devices.back();
 }
 
+/**
+ * Removes the specified device and associated port from being managed by the InertialSense's comManager instance.
+ * This does not free/delete/release the device or port, but the underlying call into comManagerRemovePort() will
+ * close the port. This is a special-use function as there is generally little utility is retaining an ISDevice
+ * instance which is not attached to the InertialSense class; you should probably be using releaseDevice() instead.
+ * NOTE: if you use RemoveDevice() it is the callers responsibility to delete/release the ISDevice instance, as
+ * the InertialSense class will no longer manage it.
+ */
+void InertialSense::RemoveDevice(ISDevice* device)
+{
+    for (auto cmsDevice : m_comManagerState.devices) {
+        if (cmsDevice == device) {
+            // m_serialPorts.erase(m_serialPorts.begin() + i);
+            if (device->port) {
+                comManagerRemovePort(device->port);
+            }
+        }
+    }
+    std::remove_if (m_comManagerState.devices.begin(), m_comManagerState.devices.end(), [&](const ISDevice* d){
+        return d == device;
+    });
+    // TODO: remove the device from m_comManagerState
+    //   -- we don't really need to remove it, but we should
+    //   -- we could end up with the same device listed more than once, with different ports if we don't, though only the most recent should have an active/open port
+}
+
 bool InertialSense::releaseDevice(ISDevice* device, bool closePort)
 {
     auto deviceIter = std::find(m_comManagerState.devices.begin(), m_comManagerState.devices.end(), device);
@@ -269,27 +309,6 @@ bool InertialSense::HasReceivedDeviceInfoFromAllDevices()
     return true;
 }
 
-void InertialSense::RemoveDevice(ISDevice* device)
-{
-    for (auto cmsDevice : m_comManagerState.devices) {
-        if (cmsDevice == device) {
-            // m_serialPorts.erase(m_serialPorts.begin() + i);
-            if (device->port) {
-                serialPortClose(device->port);
-                comManagerRemovePort(device->port);
-                //delete (serial_port_t *) device->port;
-                //device->port = NULL;
-            }
-        }
-    }
-    std::remove_if (m_comManagerState.devices.begin(), m_comManagerState.devices.end(), [&](const ISDevice* d){
-        return d == device;
-    });
-    // TODO: remove the device from m_comManagerState
-    //   -- we don't really need to remove it, but we should
-    //   -- we could end up with the same device listed more than once, with different ports if we don't, though only the most recent should have an active/open port
-}
-
 void InertialSense::LoggerThread(void* info)
 {
     bool running = true;
@@ -1553,7 +1572,7 @@ bool InertialSense::OpenSerialPorts(const char* portPattern, int baudRate)
         for (auto deadDevice : deadDevices) {
             if (deadDevice) {
                 debug_message("[DBG] Deallocating device associated with port '%s'\n", portName(deadDevice->port));
-                RemoveDevice(deadDevice);
+                releaseDevice(deadDevice);
             }
         }
         deadDevices.clear();

src/pybindMacros.h

@@ -65,8 +65,9 @@ PYBIND11_NUMPY_DTYPE(inl2_ned_sigma_t, timeOfWeekMs, StdPosNed, StdVelNed, StdAt
 PYBIND11_NUMPY_DTYPE(strobe_in_time_t, week, timeOfWeekMs, pin, count);
 PYBIND11_NUMPY_DTYPE(diag_msg_t, timeOfWeekMs, messageLength, message);
 PYBIND11_NUMPY_DTYPE(survey_in_t, state, maxDurationSec, minAccuracy, elapsedTimeSec, hAccuracy, lla);
-// PYBIND11_NUMPY_DTYPE(port_monitor_t, portNumber, txTimeMs, txBytesPerSec, rxTimeMs, rxBytesPerSec, status);
-// PYBIND11_NUMPY_DTYPE(port_monitor_t, port);
+PYBIND11_NUMPY_DTYPE(port_monitor_set_t, portInfo, status, txBytesPerSec, rxBytesPerSec, txBytes, rxBytes, txOverflows, rxOverflows, txBytesDropped, rxChecksumErrors);
+PYBIND11_NUMPY_DTYPE(port_monitor_t, port, activePorts);
+
 // PYBIND11_NUMPY_DTYPE(evb2_t, week, timeOfWeekMs, firmwareVer, comBridgeCfg, loggerMode, loggerElapsedTimeMs, wifiSSID, wifiPSK, wifiIpAddr, serverIpAddr, serverPort);
 // PYBIND11_NUMPY_DTYPE(evb_status_t, week, timeOfWeekMs, firmwareVer, evbStatus, loggerMode, loggerElapsedTimeMs, wifiIpAddr, sysCommand);
 // PYBIND11_NUMPY_DTYPE(evb_flash_cfg_t, size, checksum, key, cbPreset, reserved1, cbf, cbOptions, bits, radioPID, radioNID, radioPowerLevel, wifi, server, encoderTickToWheelRad, CANbaud_kbps, can_receive_address, uinsComPort, uinsAuxPort, reserved2, portOptions, h3sp330BaudRate, h4xRadioBaudRate, h8gpioBaudRate);