2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
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, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_11;
19 public class AltosFlightSeries extends AltosDataListener {
21 public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
23 public int[] indices() {
24 int[] indices = new int[series.size()];
25 for (int i = 0; i < indices.length; i++)
27 step_indices(indices);
31 private double time(int id, int index) {
32 AltosTimeSeries s = series.get(id);
35 return Double.NEGATIVE_INFINITY;
37 if (index < s.values.size())
38 return s.values.get(index).time;
39 return Double.POSITIVE_INFINITY;
42 public boolean step_indices(int[] indices) {
43 double min_next = time(0, indices[0]+1);
45 for (int i = 1; i < indices.length; i++) {
46 double next = time(i, indices[i]+1);
51 if (min_next == Double.POSITIVE_INFINITY)
54 for (int i = 0; i < indices.length; i++) {
55 double t = time(i, indices[i] + 1);
63 public double time(int[] indices) {
64 double max = time(0, indices[0]);
66 for (int i = 1; i < indices.length; i++) {
67 double t = time(i, indices[i]);
74 public double value(String name, int[] indices) {
75 for (int i = 0; i < indices.length; i++) {
76 AltosTimeSeries s = series.get(i);
77 if (s.label.equals(name)) {
78 int index = indices[i];
81 if (index >= s.values.size())
82 index = s.values.size() - 1;
83 return s.values.get(index).value;
86 return AltosLib.MISSING;
89 public double value_before(String name, double time) {
90 for (AltosTimeSeries s : series) {
91 if (s.label.equals(name))
92 return s.value_before(time);
94 return AltosLib.MISSING;
97 public double value_after(String name, double time) {
98 for (AltosTimeSeries s : series) {
99 if (s.label.equals(name))
100 return s.value_after(time);
102 return AltosLib.MISSING;
105 public AltosTimeSeries make_series(String label, AltosUnits units) {
106 return new AltosTimeSeries(label, units);
109 public void add_series(AltosTimeSeries s) {
113 public AltosTimeSeries add_series(String label, AltosUnits units) {
114 AltosTimeSeries s = make_series(label, units);
119 public void remove_series(AltosTimeSeries s) {
123 public boolean has_series(String label) {
124 for (AltosTimeSeries s : series)
125 if (s.label.equals(label))
130 AltosTimeSeries state_series;
132 public static final String state_name = "State";
134 public void set_state(int state) {
135 if (state_series == null)
136 state_series = add_series(state_name, AltosConvert.state_name);
137 else if (this.state == state)
140 state_series.add(time(), state);
143 AltosTimeSeries accel_series;
145 public static final String accel_name = "Accel";
147 public void set_acceleration(double acceleration) {
148 if (accel_series == null) {
149 accel_series = add_series(accel_name, AltosConvert.accel);
151 accel_series.add(time(), acceleration);
154 private void compute_accel() {
155 if (accel_series != null)
158 if (speed_series != null) {
159 AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
160 speed_series.differentiate(temp_series);
161 accel_series = add_series(accel_name, AltosConvert.accel);
162 temp_series.filter(accel_series, 0.25);
166 public void set_received_time(long received_time) {
169 AltosTimeSeries rssi_series;
171 public static final String rssi_name = "RSSI";
173 AltosTimeSeries status_series;
175 public static final String status_name = "Radio Status";
177 public void set_rssi(int rssi, int status) {
178 if (rssi_series == null) {
179 rssi_series = add_series(rssi_name, null);
180 status_series = add_series(status_name, null);
182 rssi_series.add(time(), rssi);
183 status_series.add(time(), status);
186 AltosTimeSeries pressure_series;
188 public static final String pressure_name = "Pressure";
190 AltosTimeSeries altitude_series;
192 public static final String altitude_name = "Altitude";
194 AltosTimeSeries height_series;
196 public static final String height_name = "Height";
198 public void set_pressure(double pa) {
199 if (pressure_series == null)
200 pressure_series = add_series(pressure_name, AltosConvert.pressure);
201 pressure_series.add(time(), pa);
202 if (altitude_series == null)
203 altitude_series = add_series(altitude_name, AltosConvert.height);
205 double altitude = AltosConvert.pressure_to_altitude(pa);
206 altitude_series.add(time(), altitude);
209 private void compute_height() {
210 double ground_altitude = cal_data.ground_altitude;
211 if (height_series == null && ground_altitude != AltosLib.MISSING) {
212 height_series = add_series(height_name, AltosConvert.height);
213 for (AltosTimeValue alt : altitude_series)
214 height_series.add(alt.time, alt.value - ground_altitude);
218 AltosTimeSeries speed_series;
220 public static final String speed_name = "Speed";
222 private void compute_speed() {
223 if (speed_series != null)
226 AltosTimeSeries alt_speed_series = null;
227 AltosTimeSeries accel_speed_series = null;
229 if (altitude_series != null) {
230 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
231 altitude_series.differentiate(temp_series);
233 alt_speed_series = make_series(speed_name, AltosConvert.speed);
234 temp_series.filter(alt_speed_series, 10.0);
236 if (accel_series != null) {
237 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
238 accel_series.integrate(temp_series);
240 accel_speed_series = make_series(speed_name, AltosConvert.speed);
241 temp_series.filter(accel_speed_series, 0.1);
244 if (alt_speed_series != null && accel_speed_series != null) {
245 double apogee_time = AltosLib.MISSING;
246 if (state_series != null) {
247 for (AltosTimeValue d : state_series) {
248 if (d.value >= AltosLib.ao_flight_drogue){
249 apogee_time = d.time;
254 if (apogee_time == AltosLib.MISSING) {
255 speed_series = alt_speed_series;
257 speed_series = make_series(speed_name, AltosConvert.speed);
258 for (AltosTimeValue d : accel_speed_series) {
259 if (d.time <= apogee_time)
262 for (AltosTimeValue d : alt_speed_series) {
263 if (d.time > apogee_time)
268 } else if (alt_speed_series != null) {
269 speed_series = alt_speed_series;
270 } else if (accel_speed_series != null) {
271 speed_series = accel_speed_series;
273 if (speed_series != null)
274 add_series(speed_series);
277 AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
279 public static final String kalman_height_name = "Kalman Height";
280 public static final String kalman_speed_name = "Kalman Speed";
281 public static final String kalman_accel_name = "Kalman Accel";
283 public void set_kalman(double height, double speed, double acceleration) {
284 if (kalman_height_series == null) {
285 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
286 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
287 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
289 kalman_height_series.add(time(), height);
290 kalman_speed_series.add(time(), speed);
291 kalman_accel_series.add(time(), acceleration);
294 AltosTimeSeries thrust_series;
296 public static final String thrust_name = "Thrust";
298 public void set_thrust(double N) {
299 if (thrust_series == null)
300 thrust_series = add_series(thrust_name, AltosConvert.force);
301 thrust_series.add(time(), N);
304 AltosTimeSeries temperature_series;
306 public static final String temperature_name = "Temperature";
308 public void set_temperature(double deg_c) {
309 if (temperature_series == null)
310 temperature_series = add_series(temperature_name, AltosConvert.temperature);
311 temperature_series.add(time(), deg_c);
314 AltosTimeSeries battery_voltage_series;
316 public static final String battery_voltage_name = "Battery Voltage";
318 public void set_battery_voltage(double volts) {
319 if (volts == AltosLib.MISSING)
321 if (battery_voltage_series == null)
322 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
323 battery_voltage_series.add(time(), volts);
326 AltosTimeSeries apogee_voltage_series;
328 public static final String apogee_voltage_name = "Apogee Voltage";
330 public void set_apogee_voltage(double volts) {
331 if (volts == AltosLib.MISSING)
333 if (apogee_voltage_series == null)
334 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
335 apogee_voltage_series.add(time(), volts);
338 AltosTimeSeries main_voltage_series;
340 public static final String main_voltage_name = "Main Voltage";
342 public void set_main_voltage(double volts) {
343 if (volts == AltosLib.MISSING)
345 if (main_voltage_series == null)
346 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
347 main_voltage_series.add(time(), volts);
350 public ArrayList<AltosGPSTimeValue> gps_series;
352 public AltosGPS gps_before(double time) {
354 for (AltosGPSTimeValue gtv : gps_series)
355 if (gtv.time <= time)
362 AltosTimeSeries sats_in_view;
363 AltosTimeSeries sats_in_soln;
364 AltosTimeSeries gps_altitude;
365 AltosTimeSeries gps_height;
366 AltosTimeSeries gps_ground_speed;
367 AltosTimeSeries gps_ascent_rate;
368 AltosTimeSeries gps_course;
369 AltosTimeSeries gps_speed;
370 AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
372 public static final String sats_in_view_name = "Satellites in view";
373 public static final String sats_in_soln_name = "Satellites in solution";
374 public static final String gps_altitude_name = "GPS Altitude";
375 public static final String gps_height_name = "GPS Height";
376 public static final String gps_ground_speed_name = "GPS Ground Speed";
377 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
378 public static final String gps_course_name = "GPS Course";
379 public static final String gps_speed_name = "GPS Speed";
380 public static final String gps_pdop_name = "GPS Dilution of Precision";
381 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
382 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
384 public void set_gps(AltosGPS gps) {
385 if (gps_series == null)
386 gps_series = new ArrayList<AltosGPSTimeValue>();
387 gps_series.add(new AltosGPSTimeValue(time(), gps));
389 if (sats_in_soln == null) {
390 sats_in_soln = add_series(sats_in_soln_name, null);
392 sats_in_soln.add(time(), gps.nsat);
393 if (gps.pdop != AltosLib.MISSING) {
394 if (gps_pdop == null) {
395 gps_pdop = add_series(gps_pdop_name, null);
396 gps_hdop = add_series(gps_hdop_name, null);
397 gps_vdop = add_series(gps_vdop_name, null);
399 gps_pdop.add(time(), gps.pdop);
400 gps_hdop.add(time(), gps.hdop);
401 gps_vdop.add(time(), gps.vdop);
404 if (gps_altitude == null) {
405 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
406 gps_height = add_series(gps_height_name, AltosConvert.height);
407 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
408 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
409 gps_course = add_series(gps_course_name, null);
410 gps_speed = add_series(gps_speed_name, null);
412 if (gps.alt != AltosLib.MISSING) {
413 gps_altitude.add(time(), gps.alt);
414 if (cal_data.gps_pad != null)
415 gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
417 if (gps.ground_speed != AltosLib.MISSING)
418 gps_ground_speed.add(time(), gps.ground_speed);
419 if (gps.climb_rate != AltosLib.MISSING)
420 gps_ascent_rate.add(time(), gps.climb_rate);
421 if (gps.course != AltosLib.MISSING)
422 gps_course.add(time(), gps.course);
423 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
424 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
425 gps.climb_rate * gps.climb_rate));
427 if (gps.cc_gps_sat != null) {
428 if (sats_in_view == null)
429 sats_in_view = add_series(sats_in_view_name, null);
430 sats_in_view.add(time(), gps.cc_gps_sat.length);
434 public static final String accel_along_name = "Accel Along";
435 public static final String accel_across_name = "Accel Across";
436 public static final String accel_through_name = "Accel Through";
438 AltosTimeSeries accel_along, accel_across, accel_through;
440 public static final String gyro_roll_name = "Roll Rate";
441 public static final String gyro_pitch_name = "Pitch Rate";
442 public static final String gyro_yaw_name = "Yaw Rate";
444 AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
446 public static final String mag_along_name = "Magnetic Field Along";
447 public static final String mag_across_name = "Magnetic Field Across";
448 public static final String mag_through_name = "Magnetic Field Through";
450 AltosTimeSeries mag_along, mag_across, mag_through;
452 public void set_accel(double along, double across, double through) {
453 if (accel_along == null) {
454 accel_along = add_series(accel_along_name, AltosConvert.accel);
455 accel_across = add_series(accel_across_name, AltosConvert.accel);
456 accel_through = add_series(accel_through_name, AltosConvert.accel);
458 accel_along.add(time(), along);
459 accel_across.add(time(), across);
460 accel_through.add(time(), through);
463 public void set_accel_ground(double along, double across, double through) {
466 public void set_gyro(double roll, double pitch, double yaw) {
467 if (gyro_roll == null) {
468 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
469 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
470 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
472 gyro_roll.add(time(), roll);
473 gyro_pitch.add(time(), pitch);
474 gyro_yaw.add(time(), yaw);
477 public void set_mag(double along, double across, double through) {
478 if (mag_along == null) {
479 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
480 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
481 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
483 mag_along.add(time(), along);
484 mag_across.add(time(), across);
485 mag_through.add(time(), through);
488 public static final String orient_name = "Tilt Angle";
490 AltosTimeSeries orient_series;
492 public void set_orient(double orient) {
493 if (orient_series == null)
494 orient_series = add_series(orient_name, AltosConvert.orient);
495 orient_series.add(time(), orient);
498 public static final String pyro_voltage_name = "Pyro Voltage";
500 AltosTimeSeries pyro_voltage;
502 public void set_pyro_voltage(double volts) {
503 if (pyro_voltage == null)
504 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
505 pyro_voltage.add(time(), volts);
508 private static String[] igniter_voltage_names;
510 public String igniter_voltage_name(int channel) {
511 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
512 String[] new_igniter_voltage_names = new String[channel + 1];
515 if (igniter_voltage_names != null) {
516 for (; i < igniter_voltage_names.length; i++)
517 new_igniter_voltage_names[i] = igniter_voltage_names[i];
519 for (; i < channel+1; i++)
520 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
521 igniter_voltage_names = new_igniter_voltage_names;
523 return igniter_voltage_names[channel];
526 AltosTimeSeries[] igniter_voltage;
528 public void set_igniter_voltage(double[] voltage) {
529 int channels = voltage.length;
530 if (igniter_voltage == null || igniter_voltage.length <= channels) {
531 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
534 if (igniter_voltage != null) {
535 for (; i < igniter_voltage.length; i++)
536 new_igniter_voltage[i] = igniter_voltage[i];
538 for (; i < channels; i++)
539 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
540 igniter_voltage = new_igniter_voltage;
542 for (int channel = 0; channel < voltage.length; channel++)
543 igniter_voltage[channel].add(time(), voltage[channel]);
546 public static final String pyro_fired_name = "Pyro Channel State";
548 AltosTimeSeries pyro_fired_series;
552 public void set_pyro_fired(int pyro_mask) {
553 if (pyro_fired_series == null)
554 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
555 for (int channel = 0; channel < 32; channel++) {
556 if ((last_pyro_mask & (1 << channel)) == 0 &&
557 (pyro_mask & (1 << channel)) != 0) {
558 pyro_fired_series.add(time(), channel);
561 last_pyro_mask = pyro_mask;
564 public void set_companion(AltosCompanion companion) {
567 public void finish() {
573 public AltosTimeSeries[] series() {
575 return series.toArray(new AltosTimeSeries[0]);
578 public AltosFlightSeries(AltosCalData cal_data) {