From bb54ce30bf440f2f72b5285939c316214ea6391b Mon Sep 17 00:00:00 2001
From: Adrien van den Bossche <vandenbo@univ-tlse2.fr>
Date: Sun, 5 Jul 2020 15:24:59 +0200
Subject: [PATCH] Many changes - encoders (header, GNSS and LocRef) - change
casse on Node Names to respect Node-RED convention - bug on frameofref_id
deconding
---
.../decode_locally_referenced_packet.html | 8 +-
.../decode_locally_referenced_packet.js | 11 ++-
.../decode_locapack_header.html | 10 +--
.../decode_locapack_header.js | 6 +-
.../decode_universal_gnss_packet.html | 8 +-
.../decode_universal_gnss_packet.js | 4 +-
.../encode_locally_referenced_packet.html | 26 ++++++
.../encode_locally_referenced_packet.js | 61 ++++++++++++++
.../encode_locapack_header.html | 27 +++++++
.../encode_locapack_header.js | 81 +++++++++++++++++++
.../encode_universal_gnss_packet.html | 26 ++++++
.../encode_universal_gnss_packet.js | 50 ++++++++++++
nodered/package.json | 7 +-
13 files changed, 301 insertions(+), 24 deletions(-)
create mode 100644 nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.html
create mode 100644 nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.js
create mode 100644 nodered/encode_locapack_header/encode_locapack_header.html
create mode 100644 nodered/encode_locapack_header/encode_locapack_header.js
create mode 100644 nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.html
create mode 100644 nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.js
diff --git a/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.html b/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.html
index 313c074..35fa572 100644
--- a/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.html
+++ b/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.html
@@ -1,5 +1,5 @@
<script type="text/javascript">
- RED.nodes.registerType('Decode LocRef',{
+ RED.nodes.registerType('decode LocRef',{
category: 'locapack',
color: '#d06b5f',
defaults: {
@@ -9,18 +9,18 @@
outputs:1,
icon: "file.png",
label: function() {
- return this.name||"Decode LocRef";
+ return this.name||"decode LocRef";
}
});
</script>
-<script type="text/html" data-template-name="Decode LocRef">
+<script type="text/html" data-template-name="decode LocRef">
<div class="form-row">
<label for="node-input-name"><i class="icon-tag"></i> Name</label>
<input type="text" id="node-input-name" placeholder="Name">
</div>
</script>
-<script type="text/html" data-help-name="Decode LocRef">
+<script type="text/html" data-help-name="decode LocRef">
<p>A node that decodes Locapack type 2 payloads (Locally Referenced)</p>
</script>
diff --git a/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.js b/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.js
index 15807e6..58dbcb0 100644
--- a/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.js
+++ b/nodered/decode_locally_referenced_packet/decode_locally_referenced_packet.js
@@ -1,5 +1,5 @@
module.exports = function(RED) {
- function DecodeLocallyReferencedPacketNode(config) {
+ function decodeLocallyReferencedPacketNode(config) {
RED.nodes.createNode(this,config);
var node = this;
node.on('input', function(msg) {
@@ -39,8 +39,11 @@ module.exports = function(RED) {
// If the message contains the frameofref_id field
if (p.header.frameofref_id_presence_flag ) {
- p.frameofref_id = 0; //buff.readBigInt64LE(len);
- len += 8;
+ var lsB = buff.readUInt32LE(len); // 32-bit LSB
+ len += 4;
+ var msB = buff.readUInt32LE(len); // 32-bit MSB
+ len += 4;
+ p.frameofref_id = lsB + msB * Math.pow(2, 32);
}
msg.payload.LocaPack["locallyReferencedPacket"] = p;
@@ -48,5 +51,5 @@ module.exports = function(RED) {
node.send(msg);
});
}
- RED.nodes.registerType("Decode LocRef",DecodeLocallyReferencedPacketNode);
+ RED.nodes.registerType("decode LocRef",decodeLocallyReferencedPacketNode);
}
diff --git a/nodered/decode_locapack_header/decode_locapack_header.html b/nodered/decode_locapack_header/decode_locapack_header.html
index 82968ff..c5cc1b2 100644
--- a/nodered/decode_locapack_header/decode_locapack_header.html
+++ b/nodered/decode_locapack_header/decode_locapack_header.html
@@ -1,5 +1,5 @@
<script type="text/javascript">
- RED.nodes.registerType('Decode Header',{
+ RED.nodes.registerType('decode header',{
category: 'locapack',
color: '#e06b5f',
defaults: {
@@ -9,19 +9,19 @@
outputs:1,
icon: "file.png",
label: function() {
- return this.name||"Decode Header";
+ return this.name||"decode header";
}
});
</script>
-<script type="text/html" data-template-name="Decode Header">
+<script type="text/html" data-template-name="decode header">
<div class="form-row">
<label for="node-input-name"><i class="icon-tag"></i> Name</label>
<input type="text" id="node-input-name" placeholder="Name">
</div>
</script>
-<script type="text/html" data-help-name="Decode Header">
- <p>A simple node that converts the message payloads...</p>
+<script type="text/html" data-help-name="decode header">
+ <p>A node that decodes a LocaPack message header.</p>
</script>
diff --git a/nodered/decode_locapack_header/decode_locapack_header.js b/nodered/decode_locapack_header/decode_locapack_header.js
index 9e404a4..81fa86a 100644
--- a/nodered/decode_locapack_header/decode_locapack_header.js
+++ b/nodered/decode_locapack_header/decode_locapack_header.js
@@ -1,5 +1,5 @@
module.exports = function(RED) {
- function DecodeLocaPackHeaderNode(config) {
+ function decodeLocaPackHeaderNode(config) {
RED.nodes.createNode(this,config);
var node = this;
node.on('input', function(msg) {
@@ -8,7 +8,7 @@ module.exports = function(RED) {
var buff = msg.payload.LocaPack.inputBuffer;
var len = 0;
- // Get Header Field (hdr)
+ // Get header Field (hdr)
var hdr = {};
var hdr_raw = buff.readUInt16LE(len);
hdr.protocol_version = (hdr_raw & 0xF000) >> 12 ;
@@ -54,5 +54,5 @@ module.exports = function(RED) {
node.send(msg);
});
}
- RED.nodes.registerType("Decode Header",DecodeLocaPackHeaderNode);
+ RED.nodes.registerType("decode header",decodeLocaPackHeaderNode);
}
diff --git a/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.html b/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.html
index df3912c..ae303a7 100644
--- a/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.html
+++ b/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.html
@@ -1,5 +1,5 @@
<script type="text/javascript">
- RED.nodes.registerType('Decode GNSS',{
+ RED.nodes.registerType('decode GNSS',{
category: 'locapack',
color: '#d06b5f',
defaults: {
@@ -9,18 +9,18 @@
outputs:1,
icon: "file.png",
label: function() {
- return this.name||"Decode GNSS";
+ return this.name||"decode GNSS";
}
});
</script>
-<script type="text/html" data-template-name="Decode GNSS">
+<script type="text/html" data-template-name="decode GNSS">
<div class="form-row">
<label for="node-input-name"><i class="icon-tag"></i> Name</label>
<input type="text" id="node-input-name" placeholder="Name">
</div>
</script>
-<script type="text/html" data-help-name="Decode GNSS">
+<script type="text/html" data-help-name="decode GNSS">
<p>A node that decodes Locapack type 1 payloads (Universal GNSS)</p>
</script>
diff --git a/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.js b/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.js
index b6ef6cc..3138297 100644
--- a/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.js
+++ b/nodered/decode_universal_gnss_packet/decode_universal_gnss_packet.js
@@ -1,5 +1,5 @@
module.exports = function(RED) {
- function DecodeUniversalGnssPacketNode(config) {
+ function decodeUniversalGnssPacketNode(config) {
RED.nodes.createNode(this,config);
var node = this;
node.on('input', function(msg) {
@@ -41,5 +41,5 @@ module.exports = function(RED) {
node.send(msg);
});
}
- RED.nodes.registerType("Decode GNSS",DecodeUniversalGnssPacketNode);
+ RED.nodes.registerType("decode GNSS",decodeUniversalGnssPacketNode);
}
diff --git a/nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.html b/nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.html
new file mode 100644
index 0000000..19ffbf2
--- /dev/null
+++ b/nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.html
@@ -0,0 +1,26 @@
+<script type="text/javascript">
+ RED.nodes.registerType('encode LocRef',{
+ category: 'locapack',
+ color: '#d06b5f',
+ defaults: {
+ name: {value:""}
+ },
+ inputs:1,
+ outputs:1,
+ icon: "file.png",
+ label: function() {
+ return this.name||"encode LocRef";
+ }
+ });
+</script>
+
+<script type="text/html" data-template-name="encode LocRef">
+ <div class="form-row">
+ <label for="node-input-name"><i class="icon-tag"></i> Name</label>
+ <input type="text" id="node-input-name" placeholder="Name">
+ </div>
+</script>
+
+<script type="text/html" data-help-name="encode LocRef">
+ <p>A node that encodes Locapack type 2 payloads (Locally Referenced)</p>
+</script>
diff --git a/nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.js b/nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.js
new file mode 100644
index 0000000..b10a097
--- /dev/null
+++ b/nodered/encode_locally_referenced_packet/encode_locally_referenced_packet.js
@@ -0,0 +1,61 @@
+module.exports = function(RED) {
+ function encodeLocallyReferencedPacketNode(config) {
+ RED.nodes.createNode(this,config);
+ var node = this;
+ node.on('input', function(msg) {
+
+ const buff = Buffer.alloc(128);
+ var len = 0;
+ var z_presence_flag = false;
+ var dop_presence_flag = false;
+ var frameofref_id_presence_flag = false;
+
+ // Check mandatory fields
+ if (typeof msg.payload.x === 'undefined') return;
+ if (typeof msg.payload.y === 'undefined') return;
+
+ // Check optional fields
+ if (typeof msg.payload.z !== 'undefined') z_presence_flag = true;
+ if (typeof msg.payload.dop !== 'undefined') dop_presence_flag = true;
+ if (typeof msg.payload.frameofref_id !== 'undefined') frameofref_id_presence_flag = true;
+
+ // Make header
+ if (z_presence_flag) buff[len] |= 0x80;
+ if (dop_presence_flag) buff[len] |= 0x40;
+ if (frameofref_id_presence_flag) buff[len] |= 0x20;
+ len += 1;
+
+ // Make x and y fields
+ buff.writeFloatLE(msg.payload.x, len);
+ len += 4;
+ buff.writeFloatLE(msg.payload.y, len);
+ len += 4;
+
+ // Make z field if present
+ if ( z_presence_flag ) {
+ buff.writeFloatLE(msg.payload.z, len);
+ len += 4;
+ }
+
+ // Make dop field if present
+ if ( dop_presence_flag ) {
+ buff.writeFloatLE(msg.payload.dop, len);
+ len += 4;
+ }
+
+ // Make frameofref_id field if present
+ if ( frameofref_id_presence_flag ) {
+ buff.writeUInt32LE(msg.payload.frameofref_id%Math.pow(2, 32), len); // 32-bit LSB
+ len += 4;
+ buff.writeUInt32LE(msg.payload.frameofref_id/Math.pow(2, 32), len); // 32-bit MSB
+ len += 4;
+ }
+
+ msg.payload["LocaPack"] = {};
+ msg.payload["LocaPack"]["locallyReferencedPacket"] = {};
+ msg.payload["LocaPack"]["locallyReferencedPacket"]["buffer"] = buff.subarray(0, len);
+ node.send(msg);
+ });
+ }
+ RED.nodes.registerType("encode LocRef",encodeLocallyReferencedPacketNode);
+}
diff --git a/nodered/encode_locapack_header/encode_locapack_header.html b/nodered/encode_locapack_header/encode_locapack_header.html
new file mode 100644
index 0000000..26220b4
--- /dev/null
+++ b/nodered/encode_locapack_header/encode_locapack_header.html
@@ -0,0 +1,27 @@
+<script type="text/javascript">
+ RED.nodes.registerType('encode header',{
+ category: 'locapack',
+ color: '#e06b5f',
+ defaults: {
+ name: {value:""}
+ },
+ inputs:1,
+ outputs:1,
+ icon: "file.png",
+ label: function() {
+ return this.name||"encode header";
+ }
+ });
+</script>
+
+<script type="text/html" data-template-name="encode header">
+ <div class="form-row">
+ <label for="node-input-name"><i class="icon-tag"></i> Name</label>
+ <input type="text" id="node-input-name" placeholder="Name">
+ </div>
+</script>
+
+<script type="text/html" data-help-name="encode header">
+ <p>A node that encodes a LocaPack message header.</p>
+</script>
+
diff --git a/nodered/encode_locapack_header/encode_locapack_header.js b/nodered/encode_locapack_header/encode_locapack_header.js
new file mode 100644
index 0000000..986ce93
--- /dev/null
+++ b/nodered/encode_locapack_header/encode_locapack_header.js
@@ -0,0 +1,81 @@
+module.exports = function(RED) {
+ function encodeLocaPackHeaderNode(config) {
+ RED.nodes.createNode(this,config);
+ var node = this;
+ node.on('input', function(msg) {
+
+ const buff = Buffer.alloc(128);
+ var len = 0;
+ var header = 0;
+ var altitude_presence_flag = false;
+ var dop_presence_flag = false;
+ var packet_type;
+
+ // Check mandatory fields
+ if (typeof msg.payload.sequence_number === 'undefined') return;
+
+ // Check optional fields
+ if (typeof msg.payload.timestamp !== 'undefined') timestamp_presence_flag = true;
+ if (typeof msg.payload.movement_id !== 'undefined') movement_id_presence_flag = true;
+ if (typeof msg.payload.device_id !== 'undefined') {
+ // device_id_size is mandatory if a device_id is given
+ if (typeof msg.payload.device_id_size === 'undefined') return;
+ device_id_presence_flag = true;
+ }
+
+ // Determine packet_type or exit
+ if (typeof msg.payload.LocaPack.universalGnssPacket !== 'undefined') packet_type = 1;
+ if (typeof msg.payload.LocaPack.locallyReferencedPacket !== 'undefined') packet_type = 2;
+ if (packet_type === 'undefined') return;
+
+ // Make header
+ header |= 1 << 12; // Protocol version 1
+ header |= msg.payload.device_id_size << 8;
+ header |= packet_type << 4;
+ if (movement_id_presence_flag) header |= 0x0008;
+ if (device_id_presence_flag) header |= 0x0004;
+ buff.writeUInt16LE(header, len);
+ len += 2;
+
+ // Make sequence number field
+ buff.writeUInt16LE(msg.payload.sequence_number, len);
+ len += 2;
+
+ // Make timestamp field if present (5 bytes)
+ if ( timestamp_presence_flag ) {
+ buff.writeUIntLE(msg.payload.timestamp, len, 5);
+ len += 5;
+ }
+
+ // Make movement_id field if present
+ if ( movement_id_presence_flag ) {
+ buff[len] = msg.payload.movement_id;
+ len += 1;
+ }
+
+ // Make device_id field if present
+ if ( device_id_presence_flag ) {
+ buff.writeUIntLE(msg.payload.device_id, len, msg.payload.device_id_size);
+ len += msg.payload.device_id_size;
+ }
+
+ // Add payload len and payload
+ if ( packet_type == 1 ) {
+ payload_len = msg.payload.LocaPack.universalGnssPacket.buffer.length;
+ buff[len] = payload_len
+ len += 1;
+ var header_buff_universalGnssPacket = buff.subarray(0, len);
+ msg.payload["LocaPack"]["outputBuffer"] = Buffer.concat([header_buff_universalGnssPacket, msg.payload.LocaPack.universalGnssPacket.buffer], len + payload_len);
+ } else if ( packet_type == 2 ) {
+ payload_len = msg.payload.LocaPack.locallyReferencedPacket.buffer.length;
+ buff[len] = payload_len
+ len += 1;
+ var header_buff_locallyReferencedPacket = buff.subarray(0, len);
+ msg.payload["LocaPack"]["outputBuffer"] = Buffer.concat([header_buff_locallyReferencedPacket, msg.payload.LocaPack.locallyReferencedPacket.buffer], len + payload_len);
+ } else return;
+
+ node.send(msg);
+ });
+ }
+ RED.nodes.registerType("encode header",encodeLocaPackHeaderNode);
+}
diff --git a/nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.html b/nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.html
new file mode 100644
index 0000000..70a3a11
--- /dev/null
+++ b/nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.html
@@ -0,0 +1,26 @@
+<script type="text/javascript">
+ RED.nodes.registerType('encode GNSS',{
+ category: 'locapack',
+ color: '#d06b5f',
+ defaults: {
+ name: {value:""}
+ },
+ inputs:1,
+ outputs:1,
+ icon: "file.png",
+ label: function() {
+ return this.name||"encode GNSS";
+ }
+ });
+</script>
+
+<script type="text/html" data-template-name="encode GNSS">
+ <div class="form-row">
+ <label for="node-input-name"><i class="icon-tag"></i> Name</label>
+ <input type="text" id="node-input-name" placeholder="Name">
+ </div>
+</script>
+
+<script type="text/html" data-help-name="encode GNSS">
+ <p>A node that encodes Locapack type 1 payloads (Universal GNSS)</p>
+</script>
diff --git a/nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.js b/nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.js
new file mode 100644
index 0000000..7d1c016
--- /dev/null
+++ b/nodered/encode_universal_gnss_packet/encode_universal_gnss_packet.js
@@ -0,0 +1,50 @@
+module.exports = function(RED) {
+ function encodeUniversalGnssPacketNode(config) {
+ RED.nodes.createNode(this,config);
+ var node = this;
+ node.on('input', function(msg) {
+
+ const buff = Buffer.alloc(128);
+ var len = 0;
+ var altitude_presence_flag = false;
+ var dop_presence_flag = false;
+
+ // Check mandatory fields
+ if (typeof msg.payload.latitude === 'undefined') return;
+ if (typeof msg.payload.longitude === 'undefined') return;
+
+ // Check optional fields
+ if (typeof msg.payload.altitude !== 'undefined') altitude_presence_flag = true;
+ if (typeof msg.payload.dop !== 'undefined') dop_presence_flag = true;
+
+ // Make header
+ if (altitude_presence_flag) buff[len] |= 0x80;
+ if (dop_presence_flag) buff[len] |= 0x40;
+ len += 1;
+
+ // Make latitude and longitude fields
+ buff.writeFloatLE(msg.payload.latitude, len);
+ len += 4;
+ buff.writeFloatLE(msg.payload.longitude, len);
+ len += 4;
+
+ // Make altitude field if present
+ if ( altitude_presence_flag ) {
+ buff.writeFloatLE(msg.payload.altitude, len);
+ len += 4;
+ }
+
+ // Make dop field if present
+ if ( dop_presence_flag ) {
+ buff.writeFloatLE(msg.payload.dop, len);
+ len += 4;
+ }
+
+ msg.payload["LocaPack"] = {};
+ msg.payload["LocaPack"]["universalGnssPacket"] = {};
+ msg.payload["LocaPack"]["universalGnssPacket"]["buffer"] = buff.subarray(0, len);
+ node.send(msg);
+ });
+ }
+ RED.nodes.registerType("encode GNSS",encodeUniversalGnssPacketNode);
+}
diff --git a/nodered/package.json b/nodered/package.json
index 57e7d68..54a7b6f 100644
--- a/nodered/package.json
+++ b/nodered/package.json
@@ -1,7 +1,7 @@
{
"name": "node-red-contrib-locapack",
- "version": "0.0.4",
- "description": "A node to interact with LocaPack devices using the LocaPack protocol",
+ "version": "0.0.5",
+ "description": "Some nodes to interact with LocaPack devices using the LocaPack protocol",
"dependencies": {
},
"keywords": [ "node-red", "localisation", "protocol" ],
@@ -13,8 +13,11 @@
"license": "GPLv3",
"node-red" : {
"nodes": {
+ "EncodeLocapackHeader": "encode_locapack_header/encode_locapack_header.js",
"DecodeLocapackHeader": "decode_locapack_header/decode_locapack_header.js",
+ "EncodeUniversalGnssPacket": "encode_universal_gnss_packet/encode_universal_gnss_packet.js",
"DecodeUniversalGnssPacket": "decode_universal_gnss_packet/decode_universal_gnss_packet.js",
+ "EncodeLocallyReferencedPacket": "encode_locally_referenced_packet/encode_locally_referenced_packet.js",
"DecodeLocallyReferencedPacket": "decode_locally_referenced_packet/decode_locally_referenced_packet.js"
}
}
--
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