NaviPac. Raw log and playback. Author : Ole Kristensen Company : EIVA a/s Date:

Size: px

Start display at page:

Download "NaviPac. Raw log and playback. Author : Ole Kristensen Company : EIVA a/s Date:"

Paul Chapman
6 years ago
Views:

1 NaviPac Raw log and playback Author : Ole Kristensen Company : EIVA a/s Date:

2 NaviPac Playback Page 2 Introduction This document gives a short description of the raw sensor logging and playback feature introduced in NaviPac 3.4D patch 4. Contents NaviPac... 1 Raw log and playback... 1 Revision table General idea Sensor logging Playback Data format... 6 Revision table Date Who Comment OKR Document created OKR Added note on file naming OKR After internal review (JUS) - spelling and logics OKR Added max file size option on recording OKR Adjusted to General idea The function is implemented as an add-on to NaviPac, as we consider this as a feature for the few users. Recording: Playback: File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 2 of 8

$NaviPac Playback Page 3 2. Sensor logging The sensor logging in NaviPac is performed by the NPRawLog.exe module, which are located in \eiva\navipac\bin. The module can from 3.$

3 NaviPac Playback Page 3 2. Sensor logging The sensor logging in NaviPac is performed by the NPRawLog.exe module, which are located in \eiva\navipac\bin. The module can from 3.4D patch 10 be started from the Online, Options menu. The window display contains all required information and controls Information from kernel a. NaviPac status Is the NaviPac system running or not b. Packet information NaviPac timer, packet size and message counts c. Number of instruments d. Record Size Number of bytes recorded per cycle Logging setup File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 3 of 8

4 NaviPac Playback Page 4 a. Path Where are data recorded change by pressing Edit b. Manual or automatic control If automatic then logging starts/stops on signal from LogData If manual then it s controlled by SOL/EOL/PAUSE icons The icons is hidden/displayed corresponding to actual logging state c. Maximum file size If 0 no maximum otherwise the system changes file automatically when it has reached the limit. Note that the total size might be a small bigger than the entered size. To change the max size please press the editing icon. Logging status a. Current file name If automatic then it uses same name as LogData (extension NPR). If manual then it s named YYYYMMDDHHMMSS.NPR b. Number of records c. Size in MB Each file is totally self-containing, as it beside the data also include GENSETUP.DB ONLSETUP.DB NAVIPAC.INI OBJECTS.TXT For further details on file format please refer to section 4. The windows must be opened to perform logging. It may be defined in warm start as an automated process: 3. Playback The playback is performed via the special module NPRawPlayBack.exe, which are located in \eiva\navipac\bin: File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 4 of 8

files Extract configuration files: Opens special dialogue to extract the configuration files from the log: Press Extract for each file you want to extract.

5 NaviPac Playback Page 5 First step in the use is to select a file via the select file option. Having selected an OK file enables display of file information: Size Size in MB; record size and number of records Date and time for start of file Size of configuration files Extract configuration files: Opens special dialogue to extract the configuration files from the log: Press Extract for each file you want to extract. Please note if you are unsure if a file is extracted or not then do it. It s the operator responsibility to have compatible set-up files prior to the playback. File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 5 of 8

6 NaviPac Playback Page 6 When the set-up files are extracted OK (ort already compatible), then you may access the play-back function Synchronize time Shall NaviPac set the pc clock to match the time when data was recorded? This must NOT be combined with any ordinary automatic time sync functions. After play back the time is set back to original time. Play controls o Start Start playback. Opens NaviPac online and start navigating using default settings (from restored DB and INI files). Opens output ports, enable logging etc. as if it was an ordinary online setup. If sync is on data will be time stamped as when collected. o Fast forward Play back with 4 times original speed. Data recording is less accurate but computation OK. o Pause Pause the playback keep the windows open. o Stop Stop play-back and close all related windows The current playback time is shown in the time control at the right. 4. Data format The file format is named NPR (NaviPac raw data) and consists of a header and a series of raw data records. The header is defined as: File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 6 of 8

7 NaviPac Playback Page 7 class RawLogDataHeader public: void readheader(void); char title[255]; // File name double timegettimeval; // Time at SOL timegettime/100.0 SYSTEMTIME GetSystemTimeVal; // Time at SOL GetSystemTime int recordsize; // Size of each logged entry RawLogDataHeader () timegettimeval = 0;title[0] = 0;}; protected: char mess[100]; // Small note - test only char objecttext[12*1024]; // Copy of objects.txt char INIFileText[1024*100]; // Copy of NAVIPAC.INI char gensetupdb[40*1024]; // Copy of gensetup.db char onlsetupdb[20*1024]; // Copy of onlsetup.db int objtextlen, INILen, onllen, GenLen; // Actual size of supporting files }; This information is always stored as first record in the file it may be read using standard file operations and the sizeof method (eg. Read(lh,sizeof(RawLogDataHeader))). Each time NaviPac performs a cycle, it generates a new record in the file. A record consist of two parts a header and the data. The header is defined as: typedef struct _myheader double start_of_cycle, cycle_time, nowt; SYSTEMTIME nowst; } MyHeader; // Local time stamp for start of cycle // How long time the processing took // Time of logging // Start of cycle - via GetSystemTime The header is needed to be able to establish the relationship between kernel time (starting computation) and data time (sensor time-stamps) in both computer time (timegettime) and absolute time The data it-self follows the internal structure between the NaviPac dataio and kernel modules (copy of shared memory block). The interface is described in dataio-kernel.h, and is in short terms: /*=================================================================== Data from Data I/O to Kernel through shared memory ====================================================================*/ static char RawDataDBKeyPath[3][20] = "RawDataDB1","RawDataDB2","RawDataDB3"}; #define MAX_INSTANCES 3 /* 1 for reading, 1 for writing and one free */ #define MAX_PORTS 64 /* Maximum ports included, Migth be defined /* in set-up file - later! */ #define MAX_CYCLE_TIME 5 /* RawDataDB contains data for maximum 5 seconds */ typedef struct /* Header information */ short Port; /* Number of port or simulate id */ short PacketLength; /* Lenth of current data type */ int StartOffset; /* Reference to RawDataDB.Packet */ short NoPackets; /* Number of packets in current cycle */ } RawDataDBHead; File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 7 of 8

8 NaviPac Playback Page 8 typedef struct /* One Packet in RawDataDB */ double TStamp; /* Time stamp giving time a la time_t */ char Data[1]; /* RawDataDBHead.PacketLength bytes */ } SensorPacket; typedef struct /* One RawDataDB instance */ int NoInstruments; /* Current number of instruments */ int KernPID; /* Process ID */ int DataioPID; RawDataDBHead Head[MAX_PORTS]; /* Header for each port */ char Data[1]; /* All data for this cycle */ } RawDataDB; Data from one cycle is kept in a RawDataDB, where the Head defines the actual layout (RawDataDBHead defines port number, packet length 1 and start offset) and Data includes all the sensor data records (SensorPacket gives timestamp and telegram). The layout and size is fixed from cycle to cycle, so a lot of the space may be left empty. 1 All packets have the same length based on definition in NAVIPAC.INI DATAIO section File: C:\SRC\NAVIPAC\NAVIPAC\MANUALS\APPENDIX\NAVIPAC SENSOR LOGGING AND PLAYBACK.DOC Page 8 of 8

NAVIPAC RAW RECORDING AND REPLAY

NAVIPAC RAW RECORDING AND REPLAY Author: Ole Kristensen Last update: 04/04/2014 Version: 3.9 Contents 1 General overview... 3 2 Raw recording... 4 2.1 Setting up raw recording... 4 2.2 Recording raw data...