All telemetry going again in web app.

webapp/lib/augie/sensors/imu.ex

@@ -8,11 +8,11 @@ defmodule Augie.Sensor.IMU do
 
   @type t :: %IMU{
           orientation: Quaternion.t(),
-          accelerometer: Vector.t(),
+          # accelerometer: Vector.t(),
-          magnetometer: Vector.t(),
+          # magnetometer: Vector.t(),
-          gyroscope: Vector.t(),
+          # gyroscope: Vector.t(),
-          gravity: Vector.t(),
+          # gravity: Vector.t(),
-          linear_acceleration: Vector.t(),
+          # linear_acceleration: Vector.t(),
           temperature: float
         }
 
@@ -22,11 +22,11 @@ defmodule Augie.Sensor.IMU do
     @type t :: %__MODULE__{x: float, y: float, z: float, w: float}
   end
 
-  defmodule Vector do
+  # defmodule Vector do
-    @moduledoc "Holds the `x`, `y` and `z` values for a vector."
+  #   @moduledoc "Holds the `x`, `y` and `z` values for a vector."
-    defstruct ~w[x y z]a
+  #   defstruct ~w[x y z]a
-    @type t :: %__MODULE__{x: float, y: float, z: float}
+  #   @type t :: %__MODULE__{x: float, y: float, z: float}
-  end
+  # end
 
   @doc """
   Convert incoming telemetry into a structure.
@@ -37,21 +37,21 @@ defmodule Augie.Sensor.IMU do
         orientation_y,
         orientation_z,
         orientation_w,
-        accelerometer_x,
+        # accelerometer_x,
-        accelerometer_y,
+        # accelerometer_y,
-        accelerometer_z,
+        # accelerometer_z,
-        magnetometer_x,
+        # magnetometer_x,
-        magnetometer_y,
+        # magnetometer_y,
-        magnetometer_z,
+        # magnetometer_z,
-        gyroscope_x,
+        # gyroscope_x,
-        gyroscope_y,
+        # gyroscope_y,
-        gyroscope_z,
+        # gyroscope_z,
-        gravity_x,
+        # gravity_x,
-        gravity_y,
+        # gravity_y,
-        gravity_z,
+        # gravity_z,
-        linear_acceleration_x,
+        # linear_acceleration_x,
-        linear_acceleration_y,
+        # linear_acceleration_y,
-        linear_acceleration_z,
+        # linear_acceleration_z,
         temperature
       ]) do
     {:ok,
@@ -62,15 +62,15 @@ defmodule Augie.Sensor.IMU do
          z: orientation_z,
          w: orientation_w
        },
-       accelerometer: %Vector{x: accelerometer_x, y: accelerometer_y, z: accelerometer_z},
+       #  accelerometer: %Vector{x: accelerometer_x, y: accelerometer_y, z: accelerometer_z},
-       magnetometer: %Vector{x: magnetometer_x, y: magnetometer_y, z: magnetometer_z},
+       #  magnetometer: %Vector{x: magnetometer_x, y: magnetometer_y, z: magnetometer_z},
-       gyroscope: %Vector{x: gyroscope_x, y: gyroscope_y, z: gyroscope_z},
+       #  gyroscope: %Vector{x: gyroscope_x, y: gyroscope_y, z: gyroscope_z},
-       gravity: %Vector{x: gravity_x, y: gravity_y, z: gravity_z},
+       #  gravity: %Vector{x: gravity_x, y: gravity_y, z: gravity_z},
-       linear_acceleration: %Vector{
+       #  linear_acceleration: %Vector{
-         x: linear_acceleration_x,
+       #    x: linear_acceleration_x,
-         y: linear_acceleration_y,
+       #    y: linear_acceleration_y,
-         z: linear_acceleration_z
+       #    z: linear_acceleration_z
-       },
+       #  },
        temperature: temperature
      }}
   end

webapp/lib/augie/sensors/logger.ex

@@ -1,19 +0,0 @@
-defmodule Augie.Sensor.Logger do
-  defstruct ~w[message at]a
-  alias __MODULE__
-
-  @moduledoc """
-  Storage struct for telemetry logs.
-  """
-
-  @type t :: %Logger{message: String.t(), at: DateTime.t()}
-
-  @doc """
-  Convert incoming telemetry into a structure.
-  """
-  @spec build([String.t()]) :: {:ok, Logger.t()} | {:error, any}
-  def build([message]) when is_binary(message),
-    do: {:ok, %Logger{message: message, at: DateTime.utc_now()}}
-
-  def build(_data), do: {:error, :bad_data}
-end

webapp/lib/augie/serial_telemetry.ex

@@ -2,7 +2,7 @@ defmodule Augie.SerialTelemetry do
   use GenServer
   alias Augie.SerialTelemetry.Decoder
   alias Circuits.UART
-  alias MidiProto.{Firmata, Parser}
+  alias MidiProto.Parser
   alias Phoenix.PubSub
   require Logger
 
@@ -40,8 +40,15 @@ defmodule Augie.SerialTelemetry do
       {:ok, messages, parser} ->
         for message <- messages do
           case Decoder.decode(message) do
-            {:ok, message} -> Logger.debug("Decoded message: #{inspect(message)}")
+            {:ok, name, message} ->
-            {:error, _} -> Logger.debug("Cannot decode message: #{inspect(message)}")
+              PubSub.broadcast(Augie.PubSub, name, message)
+
+            {:error, reason} ->
+              Logger.warn(
+                "Unable to decode incoming Firmata message: #{inspect(reason)}: #{
+                  inspect(message, limit: :infinity)
+                }"
+              )
           end
         end
 
@@ -87,7 +94,7 @@ defmodule Augie.SerialTelemetry do
            UART.open(UART, uart,
              active: true,
              speed: @baud_rate,
-             framing: UART.Framing.MIDI,
+             framing: UART.Framing.None,
              rx_framing_timeout: 0
            ) do
       Logger.info("Connected to Teensy on #{uart}")

webapp/lib/augie/serial_telemetry/decoder.ex

@@ -1,17 +1,57 @@
 defmodule Augie.SerialTelemetry.Decoder do
+  alias Augie.Sensor.{GPS, IMU, Power}
   alias MidiProto.Message.SystemExclusive
   use Bitwise
 
-  def decode(%SystemExclusive{vendor_id: 1, payload: <<2, 0, lsb, msb>>}) do
+  @moduledoc """
-    value = lsb + (msb <<< 7)
+  This file is a bit of an omega mess because it uses binary pattern matching to
-    {:ok, %{name: :imu_temperature, value: value}}
+  decode the message payloads.
+  """
+
+  def decode(%SystemExclusive{vendor_id: 1, payload: <<2, 0, payload::binary>>}) do
+    with {:ok,
+          <<bus_voltage::little-float-size(32), shunt_voltage::little-float-size(32),
+            current::little-float-size(32),
+            power::little-float-size(32)>>} <- depad_binary(<<>>, payload),
+         {:ok, update} <- Power.build([bus_voltage, shunt_voltage, current, power]) do
+      {:ok, "telemetry.power", update}
+    end
   end
 
-  # def decode(%SystemExclusive{
+  def decode(%SystemExclusive{vendor_id: 1, payload: <<1, 0, payload::binary>>}) do
-  #       vendor_id: 1,
+    with {:ok,
-  #       payload: <<1, 0, lsb0, msb0, lsb1, msb1, lsb2, msb2, lsb3, msb3>>
+          <<ox::little-float-size(64), oy::little-float-size(64), oz::little-float-size(64),
-  #     }) do
+            ow::little-float-size(64),
-  # end
+            temp::little-signed-integer-size(8)>>} <- depad_binary(<<>>, payload),
+         {:ok, update} <- IMU.build([ox, oy, oz, ow, temp]) do
+      {:ok, "telemetry.imu", update}
+    end
+  end
+
+  def decode(%SystemExclusive{vendor_id: 1, payload: <<0, 0, payload::binary>>}) do
+    with {:ok,
+          <<latitude::little-signed-integer-size(32), longitude::little-signed-integer-size(32),
+            altitude::little-signed-integer-size(32), speed::little-signed-integer-size(32),
+            heading::little-float-size(32), satellites::little-integer-size(8),
+            status::little-integer-size(8)>>} <- depad_binary(<<>>, payload),
+         {:ok, update} <-
+           GPS.build([latitude, longitude, altitude, heading, speed, satellites, status]) do
+      {:ok, "telemetry.gps", update}
+    end
+  end
 
   def decode(_), do: {:error, "Unknown message"}
+
+  defp depad_binary(result, ""), do: {:ok, result}
+
+  defp depad_binary(
+         result,
+         <<0::integer-size(1), lsb::integer-size(7), 0::integer-size(1), msb::integer-size(7),
+           rest::binary>>
+       ) do
+    value = (msb <<< 7) + lsb &&& 0xFF
+    depad_binary(<<result::binary, value::integer-size(8)>>, rest)
+  end
+
+  defp depad_binary(_result, <<_>>), do: {:error, "Lost synchronisation"}
 end

webapp/lib/augie_web/live/dashboard_live.html.leex

@@ -28,6 +28,7 @@
 
     <%= live_render(@socket, AugieWeb.OrientationLive, id: :orientation) %>
     <%= live_render(@socket, AugieWeb.TemperatureLive, id: :temperature) %>
+    <%= live_render(@socket, AugieWeb.PowerLive, id: :power) %>
   </div>
   <div class="cell small-12 medium-6 large-4">
     <%= live_render(@socket, AugieWeb.GpsLive, id: :gps) %>

webapp/lib/augie_web/live/gps_live.ex

@@ -20,7 +20,7 @@ defmodule AugieWeb.GpsLive do
   @map_opts [size: "640x320", key: "AIzaSyBibH_1Yibm3gshxsQDUKw7mjaH9SyMrgw", maptype: "hybrid"]
 
   def mount(_params, _context, socket) do
-    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "GPS")
+    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "telemetry.gps")
 
     socket =
       socket

webapp/lib/augie_web/live/orientation_live.ex

@@ -9,7 +9,7 @@ defmodule AugieWeb.OrientationLive do
   @moduledoc false
 
   def mount(_params, _context, socket) do
-    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "IMU")
+    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "telemetry.imu")
 
     {:ok, assign(socket, data_ready: false)}
   end

webapp/lib/augie_web/live/power_live.ex

@@ -0,0 +1,31 @@
+defmodule AugieWeb.PowerLive do
+  use Phoenix.LiveView
+  alias Augie.Sensor.Power
+  alias Phoenix.PubSub
+
+  @moduledoc false
+
+  def mount(_params, _context, socket) do
+    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "telemetry.power")
+
+    {:ok, assign(socket, bus_voltage: nil, shunt_voltage: nil, current: nil, power: nil)}
+  end
+
+  def handle_info(
+        %Power{
+          bus_voltage: bus_voltage,
+          shunt_voltage: shunt_voltage,
+          current: current,
+          power: power
+        },
+        socket
+      ),
+      do:
+        {:noreply,
+         assign(socket,
+           bus_voltage: bus_voltage,
+           shunt_voltage: shunt_voltage,
+           current: current,
+           power: power
+         )}
+end

webapp/lib/augie_web/live/power_live.html.leex

@@ -0,0 +1,47 @@
+<div class="card">
+  <div class="card-divider">
+    <h4>Power</h4>
+  </div>
+  <div class="card-section">
+    <div class="grid-x">
+      <div class="cell auto"><strong>Bus voltage</strong></div>
+      <div class="cell auto text-right">
+        <%= if @bus_voltage do %>
+          <%= Float.round(@bus_voltage, 2) %>V
+        <% else %>
+        -
+        <% end  %>
+      </div>
+    </div>
+    <div class="grid-x">
+      <div class="cell auto"><strong>Shunt voltage</strong></div>
+      <div class="cell auto text-right">
+        <%= if @shunt_voltage do %>
+          <%= Float.round(@shunt_voltage, 2) %>V
+        <% else %>
+        -
+        <% end  %>
+      </div>
+    </div>
+    <div class="grid-x">
+      <div class="cell auto"><strong>Current</strong></div>
+      <div class="cell auto text-right">
+        <%= if @current do %>
+          <%= Float.round(@current, 2) %>mA
+        <% else %>
+        -
+        <% end  %>
+      </div>
+    </div>
+    <div class="grid-x">
+      <div class="cell auto"><strong>Power</strong></div>
+      <div class="cell auto text-right">
+        <%= if @power do %>
+          <%= Float.round(@power, 2) %>W
+        <% else %>
+        -
+        <% end  %>
+      </div>
+    </div>
+  </div>
+</div>

webapp/lib/augie_web/live/temperature_live.ex

@@ -6,7 +6,7 @@ defmodule AugieWeb.TemperatureLive do
   @moduledoc false
 
   def mount(_params, _context, socket) do
-    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "IMU")
+    if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "telemetry.imu")
 
     {:ok, assign(socket, temperature: nil)}
   end