release: 2.6.0

.gitignore

@@ -18,4 +18,5 @@ dist
 aceinna.ico
 .pytest_cache
 loggers/
-/backup
+/backup
+/libs

HISTORY.md

@@ -1,6 +1,9 @@
 # History
 
 ---
+## 2.6.0 / 2021-10-11
+- [INS401] Support communication with ethernet 100base-t1 protocol.
+
 ## 2.5.0 / 2021-07-02
 - [DMU] Support firmware upgrade.
 - [OpenRTK/RTK330LA] Support ST9100 chip upgrade.

README.md

@@ -9,16 +9,24 @@ A message communication tool for OpenIMU, OpenRTK and other devices of Aceinna
 ## Steps
 
 ### 1. Start the tool
-There are 2 ways to run the tool
+There are 3 ways to run the tool
 
 #### Prepare
-Install the dependency library. It is better to create a virtual environment before to do it.
+1. Install the dependency library. It is better to create a virtual environment before to do it.
 
-python 3.x
 ```bash
 $ pip install -r requirements.txt
 ```
 
+2. Install pcap api library(`optional`). Because we try to support INS401 a new device from Aceinna. It would use 100BASE-T1 ethernet, and the data transfer is in low-level of network, so we need help of pcap api. Actually, we integrated `scapy` in our project. The pcap api library is the dependency of `scapy`. If you are using a INS401 device, please also install the library based on your platform.
+
+| Platform | Libraray | Reference |
+| - | - | - |
+| Windows | `npcap` | https://scapy.readthedocs.io/en/latest/installation.html#windows |
+| Ubuntu | `tcpdump` | https://scapy.readthedocs.io/en/latest/installation.html#debian-ubuntu-fedora |
+| Mac | `libpcap` | https://scapy.readthedocs.io/en/latest/installation.html#mac-os-x |
+
+
 #### A. From source code
 
 ##### Run
@@ -35,19 +43,31 @@ $ pyinstaller build.spec
 ```
 
 ##### Run
-```
+```bash
 $ cd dist
 $ ./ans-devices
 ```
 
-##### Startup Arguments
+#### C. From pip
+
+##### Install
+```bash
+$ pip install openimu
+```
+
+##### Run
+```
+$ openimu
+```
+
+#### Startup Arguments
 You can specify some arguments while run the tool
 
 Arguments:
 
 | Name | Type | Default | Description |
 | - | :-: | :-: | - |
-| -i, --interface | String | 'default' | Value should be `uart`, `eth` |
+| -i, --interface | String | 'default' | Value should be `uart`, `eth`, `100base-t1` |
 | -p, --port | Number | '8000' | Value should be an available port |
 | --device-type | String | 'auto' | Value should be one of `IMU`, `RTK`, `DMU` |
 | -b, --baudrate | String | None | Value should be a valid baudrate. The valid value should be one of `38400`, `57600`, `115200`, `230400`, `460800` |
@@ -141,24 +161,37 @@ Aceinna Device could be connected with your PC via UART or LAN. The supported in
 | OpenIMU | `uart` | |
 | OpenRTK | `uart`, `eth` | The startup argument `-i eth` is supported |
 | RTK330L | `uart` |  |
+| INS401 | `100base-t1` | The startup argument `-i 100base-t1` is supported |
 
 
 ## Parse Tool
-There is a log parse tool integrated in. It could parse OpenRTK and RTK330LA log from data folder. Assgin `parse` to start it.
-
-Example
-```bash
-$ ans-devices parse
-```
+There is a log parse tool integrated in. It could parse `OpenRTK`, `RTK330LA`, `IN S401` raw data log from data folder. Assgin `parse` to start it.
 
-Arguments:
+### Arguments:
 
 | Name | Type | Default | Description |
 | - | :-: | :-: | - |
-| -t | String | 'openrtk' | Switch work mode. Value should be one of `openrtk`,`rtkl` |
+| -t | String | 'openrtk' | Switch work mode. Value should be one of `openrtk`,`rtkl`,`ins401` |
 | -p | String | '.' | Value should be a valid path. It could be the container folder of log files |
 | -i | Number | 5 | INS kml rate(hz) |
 
+### Example
+
+Run from source code
+```bash
+$ python main.py parse
+```
+
+Work as execution file
+```bash
+$ ans-devices parse
+```
+
+Run from pip
+```bash
+$ openimu parse
+```
+
 ## Changelogs and Release Notes
 
 Please refer to [HISTORY.md](HISTORY.md "Change History")

USAGE.md

@@ -7,7 +7,7 @@ parameters:
 
 | Name | Type | Default | Description |
 | - | :-: | :-: | - |
-| -i, --interface | String | 'default' | Value should be `uart`, `eth`. Depends on device type |
+| -i, --interface | String | 'default' | Value should be `uart`, `eth`, `100base-t1`. Depends on device type |
 | -p, --port | Number | '8000' | Value should be an available port |
 | --device-type | String | 'auto' | Value should be `IMU`, `RTK`, `DMU` |
 | -b, --baudrate | String | None | Value should be a valid baudrate. The valid value should be one of `38400`, `57600`, `115200`, `230400`, `460800` |

build.spec

@@ -7,25 +7,12 @@ block_cipher = None
 root_path = os.path.join(os.getcwd(),'src')
 
 a = Analysis([os.path.join(root_path,'aceinna','executor.py'),
-            # os.path.join(os.getcwd(), 'src', 'bootstrap/base.py'),
-            # os.path.join(os.getcwd(), 'src', 'bootstrap/cli.py'),
-            # os.path.join(os.getcwd(), 'src', 'bootstrap/loader.py'),
-            # os.path.join(os.getcwd(), 'src', 'bootstrap/web.py'),
-            # os.path.join(os.getcwd(), 'src','devices', 'base/uart_base.py'),
-            # os.path.join(os.getcwd(), 'src','devices', 'configs/openimu_predefine.py'),
-            # os.path.join(os.getcwd(), 'src','devices', 'configs/openrtk_predefine.py'),
-            # os.path.join(os.getcwd(), 'src','devices', 'openimu/uart_provider.py'),
-            # os.path.join(os.getcwd(), 'src','devices', 'openrtk/uart_provider.py'),
-            # os.path.join(os.getcwd(), 'src','devices', 'device_manager.py'),
-            # os.path.join(os.getcwd(), 'src','framework', 'communicator.py'),
-            # os.path.join(os.getcwd(), 'src','framework', 'context.py'),
-            # os.path.join(os.getcwd(), 'src','framework', 'file_storage.py'),
-            # os.path.join(os.getcwd(), 'src','framework', 'utils/helper.py'),
          ],
          pathex=[root_path],
          binaries=[],
          datas=[
-            (os.path.join(root_path,'aceinna','setting'), os.path.join('setting'))
+            (os.path.join(root_path,'aceinna','setting'), os.path.join('setting')),
+            (os.path.join(root_path,'aceinna','libs'), os.path.join('libs'))
          ],
          hiddenimports=[],
          hookspath=[],

requirements.txt

@@ -2,14 +2,14 @@ azure-common==1.1.24
 azure-storage-blob==2.1.0
 azure-storage-common==2.1.0
 certifi==2019.11.28
-cffi==1.13.2
+cffi==1.14.5
 chardet==3.0.4
 cryptography==3.3.2
 idna==2.8
 isodate==0.6.0
 msrest==0.6.10
 oauthlib==3.1.0
-psutil==5.6.6
+psutil==5.8.0
 pycparser==2.19
 pyserial==3.4
 python-can==3.3.4
@@ -19,3 +19,4 @@ requests-oauthlib==1.3.0
 six==1.13.0
 tornado==6.0.3
 urllib3==1.25.7
+scapy==2.4.5

setup.py

@@ -21,15 +21,44 @@ def load_json_file_path_under_setting_folder():
     json_file_paths = []
     setting_root_path = os.path.join(os.getcwd(), 'src', 'aceinna', 'setting')
     for root, dirs, files in os.walk(setting_root_path):
-        json_file = next((item for item in files if item.__contains__('.json')), None)
+        json_file = next(
+            (item for item in files if item.__contains__('.json')), None)
         if not json_file:
             continue
 
-        json_file_path = os.path.join(root.replace(setting_root_path,'setting'), json_file)
+        json_file_path = os.path.join(root.replace(
+            setting_root_path, 'setting'), json_file)
         json_file_paths.append(json_file_path)
 
     return json_file_paths
 
+
+def load_libraries():
+    file_paths = []
+    setting_root_path = os.path.join(os.getcwd(), 'src', 'aceinna', 'libs')
+    for root, dirs, files in os.walk(setting_root_path):
+        for item in files:
+            lib_file = item if item.__contains__(
+                '.dll') or item.__contains__('.so') else None
+            if not lib_file:
+                continue
+
+            file_path = os.path.join(root.replace(
+                setting_root_path, 'libs'), lib_file)
+            file_paths.append(file_path)
+
+    return file_paths
+
+
+def load_resources():
+    resources = []
+    json_files = load_json_file_path_under_setting_folder()
+    lib_files = load_libraries()
+    resources.extend(json_files)
+    resources.extend(lib_files)
+    return resources
+
+
 PACKAGE_DESCRIPTION = "Aceinna Navigation System Open Devices Library"
 
 INSTALL_REQUIRES = [
@@ -55,7 +84,7 @@ def load_json_file_path_under_setting_folder():
     packages=find_packages("src", exclude=['test', 'tests']),
     package_dir={"": "src"},
     package_data={
-        'aceinna': load_json_file_path_under_setting_folder()
+        'aceinna': load_resources()
     },
     classifiers=[
         "Environment :: Console",

src/aceinna/__init__.py

@@ -1,3 +1,3 @@
 # Package Version
-VERSION = '2.5.0'
+VERSION = '2.6.0'
 PACKAGE_NAME = 'openimu'

src/aceinna/bootstrap/log_parser.py

@@ -1,9 +1,61 @@
 import os
-from ..tools.openrtk_parse import do_parse as do_parse_openrtk_logs
-from ..tools.rtkl_parse import do_parse as do_parse_rtkl_logs
+import sys
+from ctypes import *
 from ..models import LogParserArgs
 from ..framework.constants import APP_TYPE
 from ..framework.context import APP_CONTEXT
+from ..framework.utils import resource
+
+
+def prepare_lib_folder():
+    executor_path = resource.get_executor_path()
+    lib_folder_name = 'libs'
+
+    # copy contents of setting file under executor path
+    lib_folder_path = os.path.join(
+        executor_path, lib_folder_name)
+
+    if not os.path.isdir(lib_folder_path):
+        os.makedirs(lib_folder_path)
+
+    platform = sys.platform
+
+    if platform.startswith('win'):
+        lib_file = 'UserDecoderLib.dll'
+    if platform.startswith('linux'):
+        lib_file = 'UserDecoderLib_linux.so'
+    if platform.startswith('darwin'):
+        lib_file = 'UserDecoderLib_mac.so'
+
+    lib_path = os.path.join(lib_folder_path, lib_file)
+
+    if not os.path.isfile(lib_path):
+        lib_content = resource.get_content_from_bundle(
+            lib_folder_name, lib_file)
+        if lib_content is None:
+            raise ValueError('Lib file content is empty')
+
+        with open(lib_path, "wb") as code:
+            code.write(lib_content)
+
+    return lib_path
+
+
+def do_parse(log_type, folder_path):
+    lib_path = prepare_lib_folder()
+
+    lib = CDLL(lib_path)
+    for root, _, file_name in os.walk(folder_path):
+        for fname in file_name:
+            if fname.startswith('user') and fname.endswith('.bin'):
+                file_path = os.path.join(folder_path, fname)
+                if log_type == 'openrtk':
+                    lib.decode_openrtk_user(bytes(file_path, encoding='utf8'))
+                if log_type == 'rtkl':
+                    lib.decode_openrtk_inceptio(bytes(file_path, encoding='utf8'))
+                if log_type == 'ins401':
+                    lib.decode_ins401(bytes(file_path, encoding='utf8'))
+
 
 class LogParser:
     _options = None
@@ -19,23 +71,12 @@ def listen(self):
         '''
         self._validate_params()
 
-        setting_file = 'log-parser.json'
-
-        if self._options.log_type == 'openrtk':
-            do_parse_openrtk_logs(self._options.path,
-                                  self._options.kml_rate,
-                                  setting_file)
-        elif self._options.log_type == 'rtkl':
-            do_parse_rtkl_logs(self._options.path,
-                               self._options.kml_rate,
-                               setting_file)
-        else:
-            raise ValueError('No matched log parser')
+        do_parse(self._options.log_type, self._options.path)
 
         os._exit(1)
 
     def _validate_params(self):
-        for attr_name in ['log_type', 'path', 'kml_rate']:
+        for attr_name in ['log_type', 'path']:
             attr_value = getattr(self._options, attr_name)
             if not attr_value:
                 raise ValueError(

src/aceinna/core/driver.py

@@ -99,10 +99,15 @@ def _handle_device_exception(self, error, message):
         self._communicator.find_device(self._device_discover_handler)
 
     def _handle_device_upgrade_restart(self):
-        self._communicator.set_find_options({
-            'com_port': self._communicator.serial_port.port,
+        find_options = {
             'device_type': self._device_provider.type
-        })
+        }
+        if hasattr(self._communicator, 'serial_port'):
+            find_options['com_port'] = self._communicator.serial_port.port
+
+        if hasattr(self._communicator, 'set_find_options'):
+            self._communicator.set_find_options(find_options)
+
         self._communicator.find_device(
             self._device_upgrade_restart_handler,
             retries=2,

src/aceinna/core/gnss.py

@@ -118,6 +118,7 @@ class RTCMParser(EventBase):
     current_packet: RTCMPacket
     found_header_count = 0
     crc_passed_count = 0
+    crc_failed_count = 0
 
     def __init__(self):
         super(RTCMParser, self).__init__()
@@ -177,6 +178,7 @@ def _analysis(self):
                         if not crc_result:
                             self.current_analysis_status = ANALYSIS_STATUS.INIT
                             self.read_index = 0
+                            self.crc_failed_count += 1
                             continue
 
                         # crc valid