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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30 import org.altusmetrum.AltosLib.*;
  31
  32 /*
  33  * AltosRecords with an index field so they can be sorted by tick while preserving
  34  * the original ordering for elements with matching ticks
  35  */
  36 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
  37
  38         public int      index;
  39
  40         public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
  41                 throws ParseException {
  42                 super(line);
  43                 if (prev_tick_valid) {
  44                         tick |= (prev_tick & ~0xffff);
  45                         if (tick < prev_tick) {
  46                                 if (prev_tick - tick > 0x8000)
  47                                         tick += 0x10000;
  48                         } else {
  49                                 if (tick - prev_tick > 0x8000)
  50                                         tick -= 0x10000;
  51                         }
  52                 }
  53                 index = in_index;
  54         }
  55
  56         public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  57                 super(in_cmd, in_tick, in_a, in_b);
  58                 index = in_index;
  59         }
  60
  61         public String toString() {
  62                 return String.format("%d.%d %04x %04x %04x",
  63                                      cmd, index, tick, a, b);
  64         }
  65
  66         public int compareTo(AltosOrderedRecord o) {
  67                 int     tick_diff = tick - o.tick;
  68                 if (tick_diff != 0)
  69                         return tick_diff;
  70                 return index - o.index;
  71         }
  72 }
  73
  74 public class AltosEepromIterable extends AltosRecordIterable {
  75
  76         static final int        seen_flight = 1;
  77         static final int        seen_sensor = 2;
  78         static final int        seen_temp_volt = 4;
  79         static final int        seen_deploy = 8;
  80         static final int        seen_gps_time = 16;
  81         static final int        seen_gps_lat = 32;
  82         static final int        seen_gps_lon = 64;
  83
  84         static final int        seen_basic = seen_flight|seen_sensor;
  85
  86         boolean                 has_accel;
  87         boolean                 has_gps;
  88         boolean                 has_ignite;
  89
  90         AltosEepromRecord       flight_record;
  91         AltosEepromRecord       gps_date_record;
  92
  93         TreeSet<AltosOrderedRecord>     records;
  94
  95         LinkedList<AltosRecord> list;
  96
  97         class EepromState {
  98                 int     seen;
  99                 int     n_pad_samples;
 100                 double  ground_pres;
 101                 int     gps_tick;
 102                 int     boost_tick;
 103
 104                 EepromState() {
 105                         seen = 0;
 106                         n_pad_samples = 0;
 107                         ground_pres = 0.0;
 108                         gps_tick = 0;
 109                 }
 110         }
 111
 112         void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
 113                 state.tick = record.tick;
 114                 switch (record.cmd) {
 115                 case Altos.AO_LOG_FLIGHT:
 116                         eeprom.seen |= seen_flight;
 117                         state.ground_accel = record.a;
 118                         state.flight_accel = record.a;
 119                         state.flight = record.b;
 120                         eeprom.boost_tick = record.tick;
 121                         break;
 122                 case Altos.AO_LOG_SENSOR:
 123                         state.accel = record.a;
 124                         state.pres = record.b;
 125                         if (state.state < Altos.ao_flight_boost) {
 126                                 eeprom.n_pad_samples++;
 127                                 eeprom.ground_pres += state.pres;
 128                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 129                                 state.flight_pres = state.ground_pres;
 130                         } else {
 131                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 132                                 state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 133                                 state.flight_vel += (state.accel_plus_g - state.accel);
 134                         }
 135                         eeprom.seen |= seen_sensor;
 136                         has_accel = true;
 137                         break;
 138                 case Altos.AO_LOG_PRESSURE:
 139                         state.pres = record.b;
 140                         state.flight_pres = state.pres;
 141                         if (eeprom.n_pad_samples == 0) {
 142                                 eeprom.n_pad_samples++;
 143                                 state.ground_pres = state.pres;
 144                         }
 145                         eeprom.seen |= seen_sensor;
 146                         break;
 147                 case Altos.AO_LOG_TEMP_VOLT:
 148                         state.temp = record.a;
 149                         state.batt = record.b;
 150                         eeprom.seen |= seen_temp_volt;
 151                         break;
 152                 case Altos.AO_LOG_DEPLOY:
 153                         state.drogue = record.a;
 154                         state.main = record.b;
 155                         eeprom.seen |= seen_deploy;
 156                         has_ignite = true;
 157                         break;
 158                 case Altos.AO_LOG_STATE:
 159                         state.state = record.a;
 160                         break;
 161                 case Altos.AO_LOG_GPS_TIME:
 162                         eeprom.gps_tick = state.tick;
 163                         AltosGPS old = state.gps;
 164                         state.gps = new AltosGPS();
 165
 166                         /* GPS date doesn't get repeated through the file */
 167                         if (old != null) {
 168                                 state.gps.year = old.year;
 169                                 state.gps.month = old.month;
 170                                 state.gps.day = old.day;
 171                         }
 172                         state.gps.hour = (record.a & 0xff);
 173                         state.gps.minute = (record.a >> 8);
 174                         state.gps.second = (record.b & 0xff);
 175
 176                         int flags = (record.b >> 8);
 177                         state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
 178                         state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
 179                         state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
 180                                 Altos.AO_GPS_NUM_SAT_SHIFT;
 181                         state.new_gps = true;
 182                         has_gps = true;
 183                         break;
 184                 case Altos.AO_LOG_GPS_LAT:
 185                         int lat32 = record.a | (record.b << 16);
 186                         state.gps.lat = (double) lat32 / 1e7;
 187                         break;
 188                 case Altos.AO_LOG_GPS_LON:
 189                         int lon32 = record.a | (record.b << 16);
 190                         state.gps.lon = (double) lon32 / 1e7;
 191                         break;
 192                 case Altos.AO_LOG_GPS_ALT:
 193                         state.gps.alt = record.a;
 194                         break;
 195                 case Altos.AO_LOG_GPS_SAT:
 196                         if (state.tick == eeprom.gps_tick) {
 197                                 int svid = record.a;
 198                                 int c_n0 = record.b >> 8;
 199                                 state.gps.add_sat(svid, c_n0);
 200                         }
 201                         break;
 202                 case Altos.AO_LOG_GPS_DATE:
 203                         state.gps.year = (record.a & 0xff) + 2000;
 204                         state.gps.month = record.a >> 8;
 205                         state.gps.day = record.b & 0xff;
 206                         break;
 207
 208                 case Altos.AO_LOG_CONFIG_VERSION:
 209                         break;
 210                 case Altos.AO_LOG_MAIN_DEPLOY:
 211                         break;
 212                 case Altos.AO_LOG_APOGEE_DELAY:
 213                         break;
 214                 case Altos.AO_LOG_RADIO_CHANNEL:
 215                         break;
 216                 case Altos.AO_LOG_CALLSIGN:
 217                         state.callsign = record.data;
 218                         break;
 219                 case Altos.AO_LOG_ACCEL_CAL:
 220                         state.accel_plus_g = record.a;
 221                         state.accel_minus_g = record.b;
 222                         break;
 223                 case Altos.AO_LOG_RADIO_CAL:
 224                         break;
 225                 case Altos.AO_LOG_MANUFACTURER:
 226                         break;
 227                 case Altos.AO_LOG_PRODUCT:
 228                         break;
 229                 case Altos.AO_LOG_SERIAL_NUMBER:
 230                         state.serial = record.a;
 231                         break;
 232                 case Altos.AO_LOG_SOFTWARE_VERSION:
 233                         break;
 234                 }
 235                 state.seen |= eeprom.seen;
 236         }
 237
 238         LinkedList<AltosRecord> make_list() {
 239                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 240                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 241                 AltosOrderedRecord              record = null;
 242                 AltosRecord                     state = new AltosRecord();
 243                 boolean                         last_reported = false;
 244                 EepromState                     eeprom = new EepromState();
 245
 246                 state.state = Altos.ao_flight_pad;
 247                 state.accel_plus_g = 15758;
 248                 state.accel_minus_g = 16294;
 249
 250                 /* Pull in static data from the flight and gps_date records */
 251                 if (flight_record != null)
 252                         update_state(state, flight_record, eeprom);
 253                 if (gps_date_record != null)
 254                         update_state(state, gps_date_record, eeprom);
 255
 256                 while (iterator.hasNext()) {
 257                         record = iterator.next();
 258                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 259                                 AltosRecord r = new AltosRecord(state);
 260                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 261                                 list.add(r);
 262                         }
 263                         update_state(state, record, eeprom);
 264                 }
 265                 AltosRecord r = new AltosRecord(state);
 266                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 267                 list.add(r);
 268                 return list;
 269         }
 270
 271         public Iterator<AltosRecord> iterator() {
 272                 if (list == null)
 273                         list = make_list();
 274                 return list.iterator();
 275         }
 276
 277         public boolean has_gps() { return has_gps; }
 278         public boolean has_accel() { return has_accel; }
 279         public boolean has_ignite() { return has_ignite; }
 280
 281         public void write_comments(PrintStream out) {
 282                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 283                 out.printf("# Comments\n");
 284                 while (iterator.hasNext()) {
 285                         AltosOrderedRecord      record = iterator.next();
 286                         switch (record.cmd) {
 287                         case Altos.AO_LOG_CONFIG_VERSION:
 288                                 out.printf("# Config version: %s\n", record.data);
 289                                 break;
 290                         case Altos.AO_LOG_MAIN_DEPLOY:
 291                                 out.printf("# Main deploy: %s\n", record.a);
 292                                 break;
 293                         case Altos.AO_LOG_APOGEE_DELAY:
 294                                 out.printf("# Apogee delay: %s\n", record.a);
 295                                 break;
 296                         case Altos.AO_LOG_RADIO_CHANNEL:
 297                                 out.printf("# Radio channel: %s\n", record.a);
 298                                 break;
 299                         case Altos.AO_LOG_CALLSIGN:
 300                                 out.printf("# Callsign: %s\n", record.data);
 301                                 break;
 302                         case Altos.AO_LOG_ACCEL_CAL:
 303                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 304                                 break;
 305                         case Altos.AO_LOG_RADIO_CAL:
 306                                 out.printf ("# Radio cal: %d\n", record.a);
 307                                 break;
 308                         case Altos.AO_LOG_MAX_FLIGHT_LOG:
 309                                 out.printf ("# Max flight log: %d\n", record.a);
 310                                 break;
 311                         case Altos.AO_LOG_MANUFACTURER:
 312                                 out.printf ("# Manufacturer: %s\n", record.data);
 313                                 break;
 314                         case Altos.AO_LOG_PRODUCT:
 315                                 out.printf ("# Product: %s\n", record.data);
 316                                 break;
 317                         case Altos.AO_LOG_SERIAL_NUMBER:
 318                                 out.printf ("# Serial number: %d\n", record.a);
 319                                 break;
 320                         case Altos.AO_LOG_SOFTWARE_VERSION:
 321                                 out.printf ("# Software version: %s\n", record.data);
 322                                 break;
 323                         }
 324                 }
 325         }
 326
 327         /*
 328          * Given an AO_LOG_GPS_TIME record with correct time, and one
 329          * missing time, rewrite the missing time values with the good
 330          * ones, assuming that the difference between them is 'diff' seconds
 331          */
 332         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 333
 334                 int diff = (bad.tick - good.tick + 50) / 100;
 335
 336                 int hour = (good.a & 0xff);
 337                 int minute = (good.a >> 8);
 338                 int second = (good.b & 0xff);
 339                 int flags = (good.b >> 8);
 340                 int seconds = hour * 3600 + minute * 60 + second;
 341
 342                 /* Make sure this looks like a good GPS value */
 343                 if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
 344                         flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
 345                 flags |= Altos.AO_GPS_RUNNING;
 346                 flags |= Altos.AO_GPS_VALID;
 347
 348                 int new_seconds = seconds + diff;
 349                 if (new_seconds < 0)
 350                         new_seconds += 24 * 3600;
 351                 int new_second = (new_seconds % 60);
 352                 int new_minutes = (new_seconds / 60);
 353                 int new_minute = (new_minutes % 60);
 354                 int new_hours = (new_minutes / 60);
 355                 int new_hour = (new_hours % 24);
 356
 357                 bad.a = new_hour + (new_minute << 8);
 358                 bad.b = new_second + (flags << 8);
 359         }
 360
 361         /*
 362          * Read the whole file, dumping records into a RB tree so
 363          * we can enumerate them in time order -- the eeprom data
 364          * are sometimes out of order with GPS data getting timestamps
 365          * matching the first packet out of the GPS unit but not
 366          * written until the final GPS packet has been received.
 367          */
 368         public AltosEepromIterable (FileInputStream input) {
 369                 records = new TreeSet<AltosOrderedRecord>();
 370
 371                 AltosOrderedRecord last_gps_time = null;
 372
 373                 int index = 0;
 374                 int prev_tick = 0;
 375                 boolean prev_tick_valid = false;
 376                 boolean missing_time = false;
 377
 378                 try {
 379                         for (;;) {
 380                                 String line = AltosRecord.gets(input);
 381                                 if (line == null)
 382                                         break;
 383                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
 384                                 if (record == null)
 385                                         break;
 386                                 if (record.cmd == Altos.AO_LOG_INVALID)
 387                                         continue;
 388                                 prev_tick = record.tick;
 389                                 if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
 390                                         prev_tick_valid = true;
 391                                 if (record.cmd == Altos.AO_LOG_FLIGHT) {
 392                                         flight_record = record;
 393                                         continue;
 394                                 }
 395
 396                                 /* Two firmware bugs caused the loss of some GPS data.
 397                                  * The flight date would never be recorded, and often
 398                                  * the flight time would get overwritten by another
 399                                  * record. Detect the loss of the GPS date and fix up the
 400                                  * missing time records
 401                                  */
 402                                 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
 403                                         gps_date_record = record;
 404                                         continue;
 405                                 }
 406
 407                                 /* go back and fix up any missing time values */
 408                                 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
 409                                         last_gps_time = record;
 410                                         if (missing_time) {
 411                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 412                                                 while (iterator.hasNext()) {
 413                                                         AltosOrderedRecord old = iterator.next();
 414                                                         if (old.cmd == Altos.AO_LOG_GPS_TIME &&
 415                                                             old.a == -1 && old.b == -1)
 416                                                         {
 417                                                                 update_time(record, old);
 418                                                         }
 419                                                 }
 420                                                 missing_time = false;
 421                                         }
 422                                 }
 423
 424                                 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
 425                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 426                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
 427                                                                                                          record.tick,
 428                                                                                                          -1, -1, index-1);
 429                                                 if (last_gps_time != null)
 430                                                         update_time(last_gps_time, add_gps_time);
 431                                                 else
 432                                                         missing_time = true;
 433
 434                                                 records.add(add_gps_time);
 435                                                 record.index = index++;
 436                                         }
 437                                 }
 438                                 records.add(record);
 439
 440                                 /* Bail after reading the 'landed' record; we're all done */
 441                                 if (record.cmd == Altos.AO_LOG_STATE &&
 442                                     record.a == Altos.ao_flight_landed)
 443                                         break;
 444                         }
 445                 } catch (IOException io) {
 446                 } catch (ParseException pe) {
 447                 }
 448                 try {
 449                         input.close();
 450                 } catch (IOException ie) {
 451                 }
 452         }
 453 }