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package dslog;
import java.io.BufferedInputStream;
import java.io.Closeable;
import java.io.IOException;
import java.io.InputStream;
import java.time.Duration;
import java.time.Instant;
import java.util.Iterator;
import java.util.NoSuchElementException;
import java.util.stream.IntStream;
public class DslogReader implements Closeable, Iterator<DslogReader.Entry> {
public static class Entry {
public Instant time;
public Duration tripTime;
public short lostPackets;
public double voltageVolts;
public double cpuPct;
public boolean
robotDisable,
robotAuto,
robotTele,
dsDisable,
dsAuto,
dsTele,
watchdog,
brownout;
public double canPct;
public double signalDB;
public double bandwidthMb;
public short pdpID;
public short pdpPad;
public double pdpValues[];
public short pdpResistance;
public short pdpVoltage;
public short pdpTemperature;
}
/*============================================================*\
|| Primitive IO ||
\*============================================================*/
private final InputStream reader;
public DslogReader(InputStream reader) throws IOException {
if (!reader.markSupported()) {
reader = new BufferedInputStream(reader);
}
this.reader = reader;
}
private boolean atEOF() throws IOException {
reader.mark(2);
boolean eof = (reader.read() < 0);
reader.reset();
return eof;
}
/*============================================================*\
|| Parsing ||
\*============================================================*/
private int m_version;
private boolean m_haveVersion = false;
public int version() throws IOException {
if (!m_haveVersion) {
m_version = Read.i32(reader);
m_haveVersion = true;
}
return m_version;
}
private Instant m_startTime;
public Instant startTime() throws IOException {
if (m_startTime == null) {
switch (version()) {
case 0: // ????-???? 2012
m_startTime = Read.LVTimestamp(reader);
break;
case 1: // ????-???? 2014
m_startTime = Read.LVTimestamp(reader);
break;
case 2: // ????-2015
throw new UnsupportedVersionException("DSLOG (TODO)", 2);
case 3: // 2016-now
m_startTime = Read.LVTimestamp(reader);
break;
default:
throw new UnsupportedVersionException("DSLOG", version(), 3);
}
}
return m_startTime;
}
private long i = 0;
public Entry readEntry() throws IOException {
if (atEOF()) {
return null;
}
switch (version()) {
case 0:
return new Entry() {{
time = startTime().plusMillis(20*i++);
/* 0 = 0 */
/* 0+4= 4 */tripTime = Duration.ofNanos((long)(Read.f32(reader)*1000));
/* 4+4= 8 */voltageVolts = Read.f32(reader);
/* 8+4=12 */cpuPct = Read.f32(reader);
/* 12+1=13 */short bits = Read.u8(reader);
robotDisable = (bits & (1<<2)) == 0;
robotAuto = (bits & (1<<3)) == 0;
robotTele = (bits & (1<<4)) == 0;
dsDisable = (bits & (1<<5)) == 0;
dsAuto = (bits & (1<<6)) == 0;
dsTele = (bits & (1<<7)) == 0;
/* 13+1=14 */lostPackets = Read.i8(reader);
}};
case 1:
return new Entry() {{
time = startTime().plusMillis(20*i++);
/* 0 = 0 */
/* 0+4= 4 */tripTime = Duration.ofNanos((long)(Read.f32(reader)*1000));
/* 4+4= 8 */voltageVolts = Read.f32(reader);
/* 8+4=12 */cpuPct = Read.f32(reader);
/* 12+1=13 */short bits = Read.u8(reader);
robotDisable = (bits & (1<<0)) == 0;
robotAuto = (bits & (1<<1)) == 0;
robotTele = (bits & (1<<2)) == 0;
dsDisable = (bits & (1<<3)) == 0;
dsAuto = (bits & (1<<4)) == 0;
dsTele = (bits & (1<<5)) == 0;
/* 13+1=14 */lostPackets = Read.i8(reader);
}};
case 2:
throw new UnsupportedVersionException("DSLOG (TODO)", 2);
case 3:
return new Entry() {{
time = startTime().plusMillis(20*i++);
// Read the 35-byte structure
// Read the 10 bytes of non-PDP data
/* 0 = 0 */
/* 0+1= 1 */tripTime = Duration.ofNanos((long)(Util.unpack(Read.u8(reader), 7,1)*1_000_000));
/* 1+1= 2 */lostPackets = Read.u8(reader);
/* 2+2= 4 */voltageVolts = Util.unpack(Read.u16(reader), 8,8);
/* 5+1= 5 */cpuPct = Util.unpack(Read.u8(reader), 7,1);
/* 5+1= 6 */short bits = Read.u8(reader);
robotDisable = (bits & (1<<0)) == 0;
robotAuto = (bits & (1<<1)) == 0;
robotTele = (bits & (1<<2)) == 0;
dsDisable = (bits & (1<<3)) == 0;
dsAuto = (bits & (1<<4)) == 0;
dsTele = (bits & (1<<5)) == 0;
watchdog = (bits & (1<<6)) == 0;
brownout = (bits & (1<<7)) == 0;
/* 6+1= 7 */canPct = Util.unpack(Read.u8(reader), 7,1);
/* 7+1= 8 */signalDB = Util.unpack(Read.u8(reader), 7,1);
/* 8+2=10 */bandwidthMb = Util.unpack(Read.u16(reader), 8,8);
// Read the 25 bytes of PDP data
/* 0 = 0 */
/* 0+1= 1 */pdpPad = Read.u8(reader);
/* 1+1= 2 */pdpID = Read.u8(reader);
pdpValues = IntStream.of(Util.reverse(Util.concat(
/* 2+5= 7 */ Read.u10x4(reader),
/* 7+5=12 */ Read.u10x4(reader),
/* 12+5=17 */ Read.u10x4(reader),
/* 17+5=22 */ Read.u10x4(reader))))
.mapToDouble(i -> Util.unpack((short)i, 7,3))
.toArray();
/* 22+1=23 */pdpResistance = Read.u8(reader);
/* 23+1=24 */pdpVoltage = Read.u8(reader);
/* 24+1=25 */pdpTemperature = Read.u8(reader);
}};
default:
throw new UnsupportedVersionException("DSLOG", version(), 3);
}
}
/*============================================================*\
|| Interfaces ||
\*============================================================*/
private IOException m_err;
private Entry m_next;
public boolean hasNext() {
if (m_next == null) {
try {
m_next = readEntry();
} catch (IOException e) {
m_err = e;
}
}
return m_next != null;
}
public Entry next() {
if (!hasNext()) {
throw new NoSuchElementException();
}
return m_next;
}
public IOException err() {
return m_err;
}
public void close() throws IOException {
reader.close();
}
}
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