LPMS-B2 数据采集源码分析

本文是针对 LPMS-B2 数据采集源码进行分析， LPMS-B2 是 LP公司出品的一款IMU，最近用到特别总结。

源码的数据采集程序，可见第38行其中使用了pollData和update进行数据采集。

void LpmsSensorManager::run(void)
{MicroMeasure mm;float prevTimestamp = 0.0f;int deviceType = 0;#ifdef _WIN32  ce.connect();// be.connect();
#endif  #ifdef ANDROIDLOGV("[LpmsSensorManager] Thread running\n");
#endifmm.reset();int sleepFlag = 0;while (stopped == false) {switch (managerState) {case SMANAGER_MEASURE:lm.lock();for (auto i = sensorList.begin(); i != sensorList.end(); i++) {(*i)->pollData();//数据采集}#ifdef _WIN32ce.poll();
#endiflm.unlock();if (mm.measure() > threadDelay) {mm.reset();lm.lock();for (auto i = sensorList.begin(); i != sensorList.end(); i++) {(*i)->update(); //数据采集}lm.unlock();} else {std::this_thread::sleep_for(std::chrono::microseconds(100));}break;case SMANAGER_LIST:deviceList.clear();#ifdef _WIN32ce.listDevices(&deviceList);// be.listDevices(&deviceList);
#endifif (managerState != SMANAGER_LIST)break;if (scan_serial_ports_ == true){if (verbose)logd(TAG, "List RS2323 devices\n");LpmsRS232::listDevices(&deviceList);}// if (managerState != SMANAGER_LIST)// break;// LpmsTcp::listDevices(&deviceList);#ifdef BUILD_LPMS_Uif (managerState != SMANAGER_LIST)break;LpmsU::listDevices(&deviceList);
#endif
#ifdef _WIN32if (managerState != SMANAGER_LIST)break;LpmsU2::listDevices(&deviceList);
#endif
#ifdef BUILD_BLUETOOTHif (managerState != SMANAGER_LIST)break;LpmsBBluetooth::listDevices(&deviceList);
#endifmanagerState = SMANAGER_MEASURE;break;}#ifdef __GNUC__std::this_thread::sleep_for(std::chrono::milliseconds(1));
#endif}#ifdef _WIN32        ce.close();// be.close();
#endif
}

在其声明的时候就new了一个线程进行run操作

LpmsSensorManager::LpmsSensorManager(JavaVM *thisVm, jobject bluetoothAdapter) :
thisVm(thisVm),
bluetoothAdapter(bluetoothAdapter)
#endif
{stopped = false;isRecording = false;threadDelay = 500;currentUartBaudrate = SELECT_LPMS_UART_BAUDRATE_115200;verbose = true;managerState = SMANAGER_MEASURE;std::thread t(&LpmsSensorManager::run, this); //新建线程，执行run函数#ifdef _WIN32
#ifdef THREAD_HIGH_PRIORITYHANDLE th = t.native_handle();SetThreadPriority(th, THREAD_PRIORITY_HIGHEST);
#endif
#endift.detach();
#ifdef ANDROIDLOGV("[LpmsSensorManager] Started");
#endif
}

可见就是不断执行update进行数据的采集，update程序如下：

... ...
// Main measurement statecase STATE_MEASURE:assertConnected();// Start next measurement step only if program is not waiting for data or ACKif (bt->isWaitForData() == false && bt->isWaitForAck() == false) {if (bt->getMode() != SELECT_LPMS_MODE_STREAM) {bt->setStreamMode();prepareStream = 0;break;}}// TODO: Insert error handling for sensor.// if (bt->isError() == true) {// setSensorStatus(SENSOR_STATUS_ERROR);// }if (paused == true) {break;}if (prepareStream < STREAM_N_PREPARE) {++prepareStream;break;}// Load current data from hardware and calculate rotation matrix and Euler angleif (bt->getLatestImuData(&imuData) == false) break; //可见是从imuDataQueue弹出imuData
/*
bool LpmsIoInterface::getLatestImuData(ImuData *id)
{if (imuDataQueue.empty() == true) return false;*id = imuDataQueue.front();imuDataQueue.pop();return true;
}
*/frameTime = lpmsTimer.measure() / 1000.0f;lpmsTimer.reset();setFps(frameTime);convertArrayToLpVector4f(imuData.q, &q);quaternionToMatrix(&q, &m);convertLpMatrixToArray(&m, imuData.rotationM);// Add frame number timestamp and IMU ID to current ImuData++frameNo;imuData.frameCount = frameNo;imuData.openMatId = configData.openMatId;setConnectionStatus(SENSOR_CONNECTION_CONNECTED);if (isMagCalibrationEnabled == true) {setSensorStatus(SENSOR_STATUS_CALIBRATING);}else {if (paused == false) {setSensorStatus(SENSOR_STATUS_RUNNING);}else {setSensorStatus(SENSOR_STATUS_PAUSED);}}convertArrayToLpVector3f(imuData.aRaw, &aRaw);convertArrayToLpVector3f(imuData.bRaw, &bRaw);convertArrayToLpVector3f(imuData.gRaw, &gRaw);// Corrects magnetometer measurementif ((bt->getConfigReg() & LPMS_MAG_RAW_OUTPUT_ENABLED) != 0) {vectSub3x1(&bRaw, &configData.hardIronOffset, &b);matVectMult3(&configData.softIronMatrix, &b, &b);}else {vectZero3x1(&b);}// Corrects accelerometer measurementif ((bt->getConfigReg() & LPMS_ACC_RAW_OUTPUT_ENABLED) != 0) {matVectMult3(&configData.misalignMatrix, &aRaw, &a);vectAdd3x1(&configData.accBias, &a, &a);}else {vectZero3x1(&a);}// Corrects gyro measurementif ((bt->getConfigReg() & LPMS_GYR_RAW_OUTPUT_ENABLED) != 0) {matVectMult3(&configData.gyrMisalignMatrix, &gRaw, &g);vectAdd3x1(&configData.gyrAlignmentBias, &g, &g);}else {vectZero3x1(&g);}convertLpVector3fToArray(&a, imuData.a);convertLpVector3fToArray(&b, imuData.b);convertLpVector3fToArray(&g, imuData.g);// Checks, if calibration is activecheckMagCal(frameTime);checkPlanarMagCal(frameTime);checkMisalignCal(frameTime);checkGyrMisalignCal(frameTime);checkMagMisalignCal(frameTime);checkMagReferenceCal(frameTime);// Sets current datacsetCurrentData(imuData); //可见其实现是将数据压到dataQueue,当其长度小于dataQueueLength时。
/*
void LpmsSensor::setCurrentData(ImuData d)
{std::unique_lock<std::mutex> lock(sensorMutex);currentData = d;if (dataQueue.size() < dataQueueLength) {dataQueue.push(d);}else {dataQueue.pop();dataQueue.push(d);}if (lpmsCallback) {lpmsCallback(d, deviceId.c_str());}newDataCondition.notify_one();
}
*/// Checks, if data saving is activecheckSaveData(); //检测save与否，并执行操作break;
... ...

该程序中值得注意的有两个函数，一个函数是getLatestImuData 可见是从imuDataQueue弹出imuData。

bool LpmsIoInterface::getLatestImuData(ImuData *id)
{if (imuDataQueue.empty() == true) return false;*id = imuDataQueue.front();imuDataQueue.pop();return true;
}

一个函数是setCurrentData，可见其实现是将数据压到dataQueue,当其长度小于dataQueueLength时。

void LpmsSensor::setCurrentData(ImuData d)
{std::unique_lock<std::mutex> lock(sensorMutex);currentData = d;if (dataQueue.size() < dataQueueLength) {dataQueue.push(d);}else {dataQueue.pop();dataQueue.push(d);}if (lpmsCallback) {lpmsCallback(d, deviceId.c_str());}newDataCondition.notify_one();
}

然后查看我们使用的getCurrentData函数，其是从dataQueue弹出的数据，也就是说不需要跟传感器通信，我们只需要从dataQueue中获取数据即可，但是应该保证数据采集程序在数据采集周期将数据取出，如果不行的话，则会导致数据丢失，即自编上位机时不需要多线程进行数据采集，只使用while循环就可以完成数据采集，多线程反而导致电脑性能不足而导致数据丢失。

ImuData LpmsSensor::getCurrentData(void)
{ImuData d;bt->zeroImuData(&d);sensorMutex.lock();if (dataQueue.size() > 0) {d = dataQueue.front();dataQueue.pop();}else {d = currentData;}sensorMutex.unlock();return d;
}

对于imuDataQueue的获得是在蓝牙程序parseSensorData中实现的。

bool LpmsBle::parseSensorData(void)
{unsigned o=0;const float r2d = 57.2958f;int iTimestamp;int iQuat;int iHeave;zeroImuData(&imuData); fromBufferInt16(oneTx, o, &iTimestamp);o = o + 2;currentTimestamp = (float) iTimestamp;if (timestampOffset > currentTimestamp) timestampOffset = currentTimestamp;imuData.timeStamp = currentTimestamp - timestampOffset;fromBufferInt16(oneTx, o, &iQuat);o = o + 2;imuData.q[0] = (float) iQuat / (float) 0x7fff;fromBufferInt16(oneTx, o, &iQuat);o = o + 2;imuData.q[1] = (float) iQuat / (float) 0x7fff;fromBufferInt16(oneTx, o, &iQuat);o = o + 2;imuData.q[2] = (float) iQuat / (float) 0x7fff;fromBufferInt16(oneTx, o, &iQuat);o = o + 2;imuData.q[3] = (float) iQuat / (float) 0x7fff;fromBufferInt16(oneTx, o, &iHeave);o = o + 2;imuData.hm.yHeave = (float) iHeave / (float) 0x0fff;if (imuDataQueue.size() < 64) {imuDataQueue.push(imuData);}return true;
}

其中parseSensorData在parseFunction中调用。

bool LpmsIoInterface::parseFunction(void)
{... ...case GET_SENSOR_DATA:parseSensorData();break;... ...
}

parseFunction在函数parseModbusByte中调用。

bool LpmsBBluetooth::parseModbusByte(void){ ... ...case PACKET_LRC_CHECK1:lrcReceived = lrcReceived + ((unsigned)b * 256);if (lrcReceived == lrcCheck) {parseFunction();}else {if (verbose) logd(TAG, "Checksum fail in data packet\n");}rxState = PACKET_END;break;... ...
}

parseModbusByte在checkState中调用。

bool LpemgIoInterface::checkState(void)
{parseModbusByte();... ...
}

checkState在pollData中调用。

void LpmsSensor::pollData(void)
{if (bt->deviceStarted() == true) {if (!bt->pollData())if (verbose) logd(TAG, "Poll Data error: %s\n", bt->getErrorMsg().c_str());bt->checkState();}
}

可见pollData实现了从传感器获取数据，保存至imuDataQueue，而update实现了数据处理并将数据保存至dataQueue。

下面是数据采集的子线程。

bool IMUDAQ_Task::IMUDAQ()
{bool first = true;timeb start, end;int i[4] = { 0,0,0,0};int j = 0;while (1) {ftime(&start);ftime(&end);while ((end.millitm - start.millitm + 1000 * (end.time - start.time) <= period * 1000 || stopbyuser || onceonly)&& running){j = 0;for (auto lpms : Lpms) {if (lpms->hasImuData() > 0) {imudata = lpms->getCurrentData();memcpy(Quaternion.data, imudata.q, 4 * sizeof(float));scalarVectMult4x1(vect4x1Norm(Quaternion), &Quaternion, &QuaternionNormal);memcpy(LinAcc.data, imudata.linAcc, 3 * sizeof(float));quatRotVec(QuaternionNormal, LinAcc, &GlobalLinAcc);if (!send) {leg = Leg[j / 2];legposition = Legposition[j % 2];}else {signal.set_leg(ImuTutorial::Signal::Leg(j / 2));signal.set_legposition(ImuTutorial::Signal::LegPosition(j % 2));}savedata();i[j]++;}j++;}if (first){first = false;if (onceonly)break;}ftime(&end);}if(end.millitm - start.millitm + 1000 * (end.time - start.time) > period*1000 || stopbyuser || onceonly)processing = false;if ((running == false)&&!first){break;}if ((running == true) && ((processing == false)|| onceonly)) {running = false;break;}}std::cout << std::endl;for (int n = 0; n < 4; n++)std::cout << Leg[n / 2] << " " << Legposition[n % 2] << " data lenght：" << i[n] << std::endl;if (processing == false && !send) IMU_log.close();t = nullptr;for (auto lpms:Lpms)lpms->pause();std::cout << "Data Acquisition over ！" << std::endl;std::cout << "Please enter your command : ";return(true);
}

流程图展示

yes push

pop

yes push

pop

push

yes

!send

send

pollData

checkState

parseModbusByte

parseFunction

parseSensorData

if imuDataQueueLength > 64

imuDataQueue

update

getLatestImuData

imuData

setCurrentData

if dataQueueLength > 64

dataQueue

getCurrentData

ImuSendimudataQueue

if all ImuSendimudataQueue is not empty

PopImudata

ImuSave

ImuSend

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