Ping logfile format

AWDRONE · February 23, 2020, 7:46am

Hi,

I would like to decode the ping data bin files with a program written in python.
Is there a document showing the format of the .bin file?

Thanks,
Best Regards,
Nico

ljlukis · February 23, 2020, 7:51pm

It is simply a stream of Ping Protocol packets.

AWDRONE · February 24, 2020, 6:38am

Hi,
It shouldn’t be just the sonar messages. If I read the first 128 bytes of the file, I get this:

So there must be a header with the measurement parameters, the firmware version, …

Regards,
Nico

ljlukis · February 24, 2020, 5:55pm

Ah so. I have a program that just parses Ping Packets and it’s obviously just ignoring the header so I didn’t realize it was even there.

AWDRONE · February 24, 2020, 9:10pm

If possible I would be interested to see your program.
If you are ok, can you send it to contact@awdrone.fr

ljlukis · February 24, 2020, 9:25pm

Sorry, it’s part of a large project, so not in any condition to share without a lot of work.

patrickelectric · March 2, 2020, 12:41pm

Hi @AWDRONE,

The log file that ping-viewer provides has a header description structure that allows program to identify:

Header
Log struct version
Information about the program that have generated the log
Sensor type
Sensor model

You can check the header structure definition here:

github.com

bluerobotics/ping-viewer/blob/master/src/link/logsensorstruct.cpp#L6-L22


      
          QDataStream& operator<<(QDataStream& out, const LogSensorStruct& other)
          {
              // Header
              out << other.header << other.version;
          
          
    // PingViewer
              out << other.pingViewerBuildInfo.hash;
              out << other.pingViewerBuildInfo.date;
              out << other.pingViewerBuildInfo.tag;
              out << other.pingViewerBuildInfo.osName;
              out << other.pingViewerBuildInfo.osVersion;
          
          
    // Sensor
              out << other.sensor.family;
              out << other.sensor.type.value;
              return out;
          }

After that, you’ll get the timestamp plus binary data of the ping messages defined in the protocol.

github.com

bluerobotics/ping-viewer/blob/master/src/link/filelink.cpp#L41-L43


      
          if (_openModeFlag == QIODevice::WriteOnly && isWritable()) {
              QString time = QTime::fromMSecsSinceStartOfDay(_timer.elapsed()).toString(_timeFormat);
              Pack pack {time, data};

patrickelectric · March 6, 2020, 8:03pm

Hi @AWDRONE,

I did a simple example in python that fetchs the header and each message with timestamp,
it’s still necessary to decode the log, but it shows how the log file is constructed and how you can process it.

gist.github.com

https://gist.github.com/patrickelectric/c49de5b5cdecdadb88ae875e240dc044

decode_pingviewer_sensor_log_file.py

#!/usr/bin/env python3

import sys
import struct
from argparse import ArgumentParser
from brping import PingParser
from dataclasses import dataclass
from typing import IO, Any

This file has been truncated. show original

patrickelectric · March 16, 2020, 9:00pm

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