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