HI Team, trying to help a customer.
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written a python code and I read the data from the UART port and save it to a .bin file. Then using the code below I try to save the values and extract the detected points cooridinate:
import struct
import numpy as np
from enum import Enum
class MmwDemo_output_message_type(Enum):
MMWDEMO_OUTPUT_MSG_DETECTED_POINTS = 1
MMWDEMO_OUTPUT_MSG_RANGE_PROFILE = 2
MMWDEMO_OUTPUT_MSG_NOISE_PROFILE = 3
MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP = 4
MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP = 5
MMWDEMO_OUTPUT_MSG_STATS = 6
MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO = 7
MMWDEMO_OUTPUT_MSG_AZIMUT_ELEVATION_STATIC_HEAT_MAP = 8
MMWDEMO_OUTPUT_MSG_TEMPERATURE_STATS = 9
MMWDEMO_OUTPUT_MSG_MAX = 10
MMWDEMO_OUTPUT_EXT_MSG_START = 300
MMWDEMO_OUTPUT_EXT_MSG_DETECTED_POINTS = 301
MMWDEMO_OUTPUT_EXT_MSG_RANGE_PROFILE_MAJOR = 302
MMWDEMO_OUTPUT_EXT_MSG_RANGE_PROFILE_MINOR = 303
MMWDEMO_OUTPUT_EXT_MSG_RANGE_AZIMUT_HEAT_MAP_MAJOR = 304
MMWDEMO_OUTPUT_EXT_MSG_RANGE_AZIMUT_HEAT_MAP_MINOR = 305
MMWDEMO_OUTPUT_EXT_MSG_STATS = 306
MMWDEMO_OUTPUT_EXT_MSG_PRESENCE_INFO = 307
MMWDEMO_OUTPUT_EXT_MSG_TARGET_LIST = 308
MMWDEMO_OUTPUT_EXT_MSG_TARGET_INDEX = 309
MMWDEMO_OUTPUT_EXT_MSG_MICRO_DOPPLER_RAW_DATA = 310
MMWDEMO_OUTPUT_EXT_MSG_MICRO_DOPPLER_FEATURES = 311
MMWDEMO_OUTPUT_EXT_MSG_RADAR_CUBE_MAJOR = 312
MMWDEMO_OUTPUT_EXT_MSG_RADAR_CUBE_MINOR = 313
MMWDEMO_OUTPUT_EXT_MSG_POINT_CLOUD_INDICES = 314
MMWDEMO_OUTPUT_EXT_MSG_MAX = 315
# Magic Word
magic_word = [0x0102, 0x0304, 0x0506, 0x0708]
# Open binary file
input_file = 'Output_files/tlvs.bin' # Replace with your input file path
with open(input_file, 'rb') as file:
data = file.read()
# Convert magic word to bytes
magic_word_bytes = struct.pack('<HHHH', *magic_word)
# Find all occurrences of the magic word
magic_word_indices = []
start_index = 0
while True:
magic_word_index = data.find(magic_word_bytes, start_index)
if magic_word_index == -1:
break
magic_word_indices.append(magic_word_index)
start_index = magic_word_index + len(magic_word_bytes)
if not magic_word_indices:
print("Magic word not found in the file.")
exit()
already_gone = 0
# Process each magic word occurrence
for index, magic_word_index in enumerate(magic_word_indices):
# Extract values after magic word
data = data[magic_word_index + len(magic_word_bytes) - already_gone:]
already_gone = magic_word_index + len(magic_word_bytes)
# Define format for unpacking header values
header_format_string = "<IIIIIIII"
# Unpack header values
if len(data) < struct.calcsize(header_format_string):
print("Insufficient data to unpack TLV type and length.")
continue
else:
header_values = struct.unpack(header_format_string, data[:struct.calcsize(header_format_string)])
version, total_packet_length, platform, frame_number, time_cycles, num_detected_obj, num_tlvs, subframe_number = header_values
# Print the extracted header values
print("Version:", version)
print("Total Packet Length:", total_packet_length)
print("Platform:", platform)
print("Frame Number:", frame_number)
print("Time [in CPU Cycles]:", time_cycles)
print("Num Detected Obj:", num_detected_obj)
print("Num TLVs:", num_tlvs)
print("Subframe Number:", subframe_number)
# Extract TLVs
tlv_data = data[struct.calcsize(header_format_string):]
for tlv_index in range(num_tlvs):
if len(tlv_data) < 8:
print("Insufficient data to unpack TLV type and length.")
break
# Unpack TLV type and length
tlv_format_string = "<II"
tlv_type, tlv_length = struct.unpack(tlv_format_string, tlv_data[:struct.calcsize(tlv_format_string)])
# Extract TLV value
if len(tlv_data) < struct.calcsize(tlv_format_string) + tlv_length:
print("Insufficient data to extract TLV value.")
break
tlv_value = tlv_data[struct.calcsize(tlv_format_string):struct.calcsize(tlv_format_string) + tlv_length]
# Unpack TLV value as decimals (assuming little endian byte order)
point_size = 4 # Size of each point in bytes
num_values = tlv_length // point_size # Assuming each point is 16 bytes
remaining_bytes = tlv_length % point_size # Calculate the remaining bytes
point_format_string = f"<{num_values}f"
# Adjust the tlv_value length by discarding remaining bytes if necessary
tlv_value_length = tlv_length - remaining_bytes
tlv_value = tlv_data[struct.calcsize(tlv_format_string):struct.calcsize(tlv_format_string) + tlv_value_length]
# Check if the tlv_value length is divisible by the point size
if tlv_value_length % point_size != 0:
# Discard the remaining incomplete point at the end
tlv_value = tlv_value[:-(remaining_bytes % point_size)]
tlv_decimals = struct.unpack(point_format_string, tlv_value)
# Save TLV value as NumPy file
output_file = f"Output_files/{MmwDemo_output_message_type(tlv_type)}-{frame_number}-{tlv_index}.npy"
output_file = output_file.replace("MmwDemo_output_message_type.", '')
output_file = output_file.replace("MMWDEMO_OUTPUT_", '')
np.save(output_file, tlv_decimals)
# Print TLV information
print("TLV Type:", MmwDemo_output_message_type(tlv_type))
print("TLV Length:", tlv_length)
print("TLV Values Saved to:", output_file)
# Move to the next TLV
tlv_data = tlv_data[struct.calcsize(tlv_format_string) + tlv_length:]
print() # Add a newline between magic words
Everything works fine and I can find headers and TLVs, however, according to the document the typdef=1 which is for detected points is supposed to be a multiplication of 16 as for every point there is 16 bytes of data (X,Y,Z and velocity). However, the tlv data is not necessarily a multiplication of 16. As a result, I have unpack it 4 bytes by 4 bytes, then considered the very first element as X of the first point, the second element Y of the first point and so on.
I plot these points then but what I get is different from what I get from the visualizer. Can you share the AWRL6432BOOST visualizer code or tell me what is going wrong in my code?
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Thank you.
-Mark
