backend: TSV protocol parsing and IMU roll correction
- parses null-terminated TSV frames per PROTOCOL.md - periodic status log: fps, voltage, RPM, gear, roll - roll axis inverted for motorcycle frame alignment - removed stub mode, relies on reconnect loop Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
This commit is contained in:
Mikkeli Matlock
@@ -1,6 +1,7 @@
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"""Arduino service - connects to Arduino Nano via serial, buffers telemetry."""
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import json
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import math
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import re
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import threading
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import time
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@@ -17,7 +18,10 @@ except ImportError:
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class ArduinoService:
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"""Threaded Arduino serial reader with buffering and auto-reconnect."""
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# Regex patterns for legacy text protocol
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# TSV field names (order per PROTOCOL.md)
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TSV_FIELDS = ['voltage', 'ax', 'ay', 'az', 'gx', 'gy', 'gz', 'roll', 'pitch', 'yaw', 'rpm', 'gear']
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# Regex patterns for legacy text protocol (backwards compatibility)
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PATTERNS = {
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"voltage": re.compile(r"V_bat:\s*(\d+\.?\d*)V?", re.IGNORECASE),
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"rpm": re.compile(r"RPM:\s*(\d+)", re.IGNORECASE),
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@@ -30,7 +34,7 @@ class ArduinoService:
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def __init__(
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self,
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port: str = "/dev/ttyUSB0",
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port: str = "/dev/serial0",
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baudrate: int = 115200,
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buffer_size: int = 100,
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):
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@@ -53,6 +57,10 @@ class ArduinoService:
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self._serial: Any = None
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self._serial_lock = threading.Lock()
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# Periodic status logging
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self._last_status_log = 0.0
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self._frame_count = 0
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def set_on_data(self, callback):
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"""Set callback for new telemetry data. Called with data dict."""
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self._on_data_callback = callback
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@@ -135,10 +143,8 @@ class ArduinoService:
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def _connect_and_read(self):
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"""Connect to Arduino serial and read data."""
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if serial is None:
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# Stub mode - no pyserial installed
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print("[Arduino] pyserial not installed, running in stub mode")
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self._stub_mode()
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return
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print("[Arduino] pyserial not installed, cannot connect")
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return # Will retry via _reader_loop after 5s
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try:
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ser = serial.Serial(
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@@ -147,24 +153,26 @@ class ArduinoService:
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timeout=1.0,
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)
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except serial.SerialException as e:
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print(f"[Arduino] Cannot open {self.port}: {e}, falling back to stub mode")
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self._stub_mode()
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return
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print(f"[Arduino] Cannot open {self.port}: {e}")
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return # Will retry via _reader_loop after 5s
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try:
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# Store serial handle for send_command()
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with self._serial_lock:
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self._serial = ser
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self._connected = True
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self._last_status_log = time.time()
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self._frame_count = 0
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print(f"[Arduino] Connected to {self.port} @ {self.baudrate} baud")
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while self._running:
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try:
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line = ser.readline().decode("utf-8", errors="ignore").strip()
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# Read null-terminated line (TSV protocol)
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line = self._read_null_terminated(ser)
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if not line:
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continue
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# Check for ACK responses first
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# Check for ACK responses first (legacy newline-terminated)
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ack_match = self.ACK_PATTERN.match(line)
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if ack_match:
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cmd, status, extra = ack_match.groups()
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@@ -178,7 +186,7 @@ class ArduinoService:
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with self._lock:
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# Merge new values into latest (preserve old values for partial updates)
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for key, val in data.items():
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if val is not None:
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if val is not None and not (isinstance(val, float) and math.isnan(val)):
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self._latest[key] = val
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self._latest["time"] = data["time"]
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self._buffer.append(self._latest.copy())
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@@ -187,6 +195,20 @@ class ArduinoService:
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if self._on_data_callback:
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self._on_data_callback(self._latest.copy())
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# Periodic status log (every 5s)
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self._frame_count += 1
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now = time.time()
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if now - self._last_status_log >= 5.0:
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elapsed = now - self._last_status_log
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fps = self._frame_count / elapsed
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v = self._latest.get('voltage', 0)
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rpm = self._latest.get('rpm', 0)
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gear = self._latest.get('gear', 0)
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roll = self._latest.get('roll', 0)
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print(f"[Arduino] {fps:.1f} fps | V={v:.1f} RPM={int(rpm)} G={int(gear)} roll={roll:.1f}°")
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self._last_status_log = now
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self._frame_count = 0
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except serial.SerialException as e:
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print(f"[Arduino] Serial error: {e}")
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break
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@@ -197,13 +219,40 @@ class ArduinoService:
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self._serial = None
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ser.close()
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def _parse_line(self, line: str) -> dict[str, Any] | None:
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"""Parse a line from Arduino - JSON first, fallback to regex.
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def _read_null_terminated(self, ser) -> str:
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"""Read bytes until null terminator or newline (fallback for legacy)."""
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buf = bytearray()
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while self._running:
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byte = ser.read(1)
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if not byte:
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# Timeout
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if buf:
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# Return partial buffer if we have data
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return buf.decode("utf-8", errors="ignore").strip()
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return ""
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if byte == b'\x00' or byte == b'\n' or byte == b'\r':
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# End of frame
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if buf:
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return buf.decode("utf-8", errors="ignore").strip()
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# Skip empty lines / consecutive terminators
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continue
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buf.append(byte[0])
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# Safety limit
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if len(buf) > 256:
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return buf.decode("utf-8", errors="ignore").strip()
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def _parse_line(self, line: str) -> dict[str, Any] | None:
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"""Parse a line from Arduino - TSV first, then JSON, fallback to regex.
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TSV format: 12.45\t0.02\t-0.01\t... (10 fields, per PROTOCOL.md)
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JSON format: {"v":12.45,"rpm":4500,"eng":85,"gear":3}
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Legacy text: V_bat: 12.45V
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"""
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# Try JSON first (production format)
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# Try TSV first (new protocol)
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if '\t' in line:
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return self._parse_tsv(line)
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# Try JSON (may still be used for special messages)
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try:
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obj = json.loads(line)
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return {
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@@ -225,31 +274,33 @@ class ArduinoService:
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return result if result else None
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def _stub_mode(self):
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"""Fake data for testing without Arduino connected."""
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import random
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def _parse_tsv(self, line: str) -> dict[str, Any] | None:
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"""Parse TSV telemetry frame per PROTOCOL.md.
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_rpm = 3000
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Fields: voltage, ax, ay, az, gx, gy, gz, roll, pitch, yaw
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Empty fields (stale IMU) become NaN.
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"""
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fields = line.split('\t')
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if len(fields) != len(self.TSV_FIELDS):
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# Wrong field count - might be debug output or malformed
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return None
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while self._running:
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self._connected = True
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data = {
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"time": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
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"voltage": round(12.0 + random.uniform(-0.5, 0.8), 2),
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"rpm": _rpm if random.random() > 0.1 else None,
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"eng_temp": random.randint(60, 95),
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"gear": random.randint(1, 6) if random.random() > 0.2 else 0, # 0 = neutral
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}
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_rpm += 10
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if _rpm > 7500:
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_rpm = 500
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result = {}
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for i, name in enumerate(self.TSV_FIELDS):
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val_str = fields[i].strip()
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if val_str == '':
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# Empty field = stale/missing data
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result[name] = float('nan')
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else:
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try:
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result[name] = float(val_str)
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except ValueError:
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result[name] = float('nan')
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with self._lock:
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self._latest = data
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self._buffer.append(data)
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# IMU axis correction for mounting orientation
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# Roll needs inverting for motorcycle frame alignment
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if 'roll' in result and not math.isnan(result['roll']):
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result['roll'] = -result['roll']
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# Invoke callback with new data
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if self._on_data_callback:
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self._on_data_callback(data)
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return result
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time.sleep(0.5) # 2Hz stub updates
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