2 * Copyright © 2010 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; version 2 of the License.
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.
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.
21 import java.awt.event.*;
23 import javax.swing.filechooser.FileNameExtensionFilter;
24 import javax.swing.table.*;
28 import java.util.prefs.*;
29 import java.util.concurrent.LinkedBlockingQueue;
31 import altosui.AltosRecord;
32 import altosui.AltosState;
33 import altosui.AltosDeviceDialog;
34 import altosui.AltosPreferences;
35 import altosui.AltosLog;
36 import altosui.AltosVoice;
37 import altosui.AltosEepromMonitor;
40 * AltosRecords with an index field so they can be sorted by tick while preserving
41 * the original ordering for elements with matching ticks
43 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
47 public AltosOrderedRecord(String line, int in_index, int prev_tick)
48 throws ParseException {
50 int new_tick = tick | (prev_tick & ~0xffff);
51 if (new_tick < prev_tick) {
52 if (prev_tick - new_tick > 0x8000)
59 public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
60 super(in_cmd, in_tick, in_a, in_b);
64 public int compareTo(AltosOrderedRecord o) {
65 int tick_diff = tick - o.tick;
68 return index - o.index;
72 public class AltosEepromIterable extends AltosRecordIterable {
74 static final int seen_flight = 1;
75 static final int seen_sensor = 2;
76 static final int seen_temp_volt = 4;
77 static final int seen_deploy = 8;
78 static final int seen_gps_time = 16;
79 static final int seen_gps_lat = 32;
80 static final int seen_gps_lon = 64;
82 static final int seen_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy;
84 AltosEepromRecord flight_record;
85 AltosEepromRecord gps_date_record;
87 TreeSet<AltosOrderedRecord> records;
89 LinkedList<AltosRecord> list;
106 void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
107 state.tick = record.tick;
108 switch (record.cmd) {
109 case Altos.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;
116 case Altos.AO_LOG_SENSOR:
117 state.accel = record.a;
118 state.pres = record.b;
119 if (state.state < Altos.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;
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);
129 eeprom.seen |= seen_sensor;
131 case Altos.AO_LOG_TEMP_VOLT:
132 state.temp = record.a;
133 state.batt = record.b;
134 eeprom.seen |= seen_temp_volt;
136 case Altos.AO_LOG_DEPLOY:
137 state.drogue = record.a;
138 state.main = record.b;
139 eeprom.seen |= seen_deploy;
141 case Altos.AO_LOG_STATE:
142 state.state = record.a;
144 case Altos.AO_LOG_GPS_TIME:
145 eeprom.gps_tick = state.tick;
146 AltosGPS old = state.gps;
147 state.gps = new AltosGPS();
149 /* GPS date doesn't get repeated through the file */
151 state.gps.year = old.year;
152 state.gps.month = old.month;
153 state.gps.day = old.day;
155 state.gps.hour = (record.a & 0xff);
156 state.gps.minute = (record.a >> 8);
157 state.gps.second = (record.b & 0xff);
159 int flags = (record.b >> 8);
160 state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
161 state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
162 state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
163 state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
164 Altos.AO_GPS_NUM_SAT_SHIFT;
166 case Altos.AO_LOG_GPS_LAT:
167 int lat32 = record.a | (record.b << 16);
168 state.gps.lat = (double) lat32 / 1e7;
170 case Altos.AO_LOG_GPS_LON:
171 int lon32 = record.a | (record.b << 16);
172 state.gps.lon = (double) lon32 / 1e7;
174 case Altos.AO_LOG_GPS_ALT:
175 state.gps.alt = record.a;
177 case Altos.AO_LOG_GPS_SAT:
178 if (state.tick == eeprom.gps_tick) {
180 int c_n0 = record.b >> 8;
181 state.gps.add_sat(svid, c_n0);
184 case Altos.AO_LOG_GPS_DATE:
185 state.gps.year = (record.a & 0xff) + 2000;
186 state.gps.month = record.a >> 8;
187 state.gps.day = record.b & 0xff;
190 case Altos.AO_LOG_CONFIG_VERSION:
192 case Altos.AO_LOG_MAIN_DEPLOY:
194 case Altos.AO_LOG_APOGEE_DELAY:
196 case Altos.AO_LOG_RADIO_CHANNEL:
198 case Altos.AO_LOG_CALLSIGN:
199 state.callsign = record.data;
201 case Altos.AO_LOG_ACCEL_CAL:
202 state.accel_plus_g = record.a;
203 state.accel_minus_g = record.b;
205 case Altos.AO_LOG_RADIO_CAL:
207 case Altos.AO_LOG_MANUFACTURER:
209 case Altos.AO_LOG_PRODUCT:
211 case Altos.AO_LOG_SERIAL_NUMBER:
212 state.serial = record.a;
214 case Altos.AO_LOG_SOFTWARE_VERSION:
219 LinkedList<AltosRecord> make_list() {
220 LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
221 Iterator<AltosOrderedRecord> iterator = records.iterator();
222 AltosOrderedRecord record = null;
223 AltosRecord state = new AltosRecord();
224 boolean last_reported = false;
225 EepromState eeprom = new EepromState();
227 state.state = Altos.ao_flight_pad;
228 state.accel_plus_g = 15758;
229 state.accel_minus_g = 16294;
231 /* Pull in static data from the flight and gps_date records */
232 if (flight_record != null)
233 update_state(state, flight_record, eeprom);
234 if (gps_date_record != null)
235 update_state(state, gps_date_record, eeprom);
237 while (iterator.hasNext()) {
238 record = iterator.next();
239 if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
240 AltosRecord r = new AltosRecord(state);
241 r.time = (r.tick - eeprom.boost_tick) / 100.0;
244 update_state(state, record, eeprom);
246 AltosRecord r = new AltosRecord(state);
247 r.time = (r.tick - eeprom.boost_tick) / 100.0;
252 public Iterator<AltosRecord> iterator() {
255 return list.iterator();
258 public void write_comments(PrintStream out) {
259 Iterator<AltosOrderedRecord> iterator = records.iterator();
260 out.printf("# Comments\n");
261 while (iterator.hasNext()) {
262 AltosOrderedRecord record = iterator.next();
263 switch (record.cmd) {
264 case Altos.AO_LOG_CONFIG_VERSION:
265 out.printf("# Config version: %s\n", record.data);
267 case Altos.AO_LOG_MAIN_DEPLOY:
268 out.printf("# Main deploy: %s\n", record.a);
270 case Altos.AO_LOG_APOGEE_DELAY:
271 out.printf("# Apogee delay: %s\n", record.a);
273 case Altos.AO_LOG_RADIO_CHANNEL:
274 out.printf("# Radio channel: %s\n", record.a);
276 case Altos.AO_LOG_CALLSIGN:
277 out.printf("# Callsign: %s\n", record.data);
279 case Altos.AO_LOG_ACCEL_CAL:
280 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
282 case Altos.AO_LOG_RADIO_CAL:
283 out.printf ("# Radio cal: %d\n", record.a);
285 case Altos.AO_LOG_MANUFACTURER:
286 out.printf ("# Manufacturer: %s\n", record.data);
288 case Altos.AO_LOG_PRODUCT:
289 out.printf ("# Product: %s\n", record.data);
291 case Altos.AO_LOG_SERIAL_NUMBER:
292 out.printf ("# Serial number: %d\n", record.a);
294 case Altos.AO_LOG_SOFTWARE_VERSION:
295 out.printf ("# Software version: %s\n", record.data);
302 * Given an AO_LOG_GPS_TIME record with correct time, and one
303 * missing time, rewrite the missing time values with the good
304 * ones, assuming that the difference between them is 'diff' seconds
306 void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
308 int diff = (bad.tick - good.tick + 50) / 100;
310 int hour = (good.a & 0xff);
311 int minute = (good.a >> 8);
312 int second = (good.b & 0xff);
313 int flags = (good.b >> 8);
314 int seconds = hour * 3600 + minute * 60 + second;
316 int new_seconds = seconds + diff;
318 new_seconds += 24 * 3600;
319 int new_second = (new_seconds % 60);
320 int new_minutes = (new_seconds / 60);
321 int new_minute = (new_minutes % 60);
322 int new_hours = (new_minutes / 60);
323 int new_hour = (new_hours % 24);
325 bad.a = new_hour + (new_minute << 8);
326 bad.b = new_second + (flags << 8);
330 * Read the whole file, dumping records into a RB tree so
331 * we can enumerate them in time order -- the eeprom data
332 * are sometimes out of order with GPS data getting timestamps
333 * matching the first packet out of the GPS unit but not
334 * written until the final GPS packet has been received.
336 public AltosEepromIterable (FileInputStream input) {
337 records = new TreeSet<AltosOrderedRecord>();
339 AltosOrderedRecord last_gps_time = null;
344 boolean missing_time = false;
348 String line = AltosRecord.gets(input);
351 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick);
354 if (record.cmd == Altos.AO_LOG_INVALID)
356 prev_tick = record.tick;
357 if (record.cmd == Altos.AO_LOG_FLIGHT) {
358 flight_record = record;
362 /* Two firmware bugs caused the loss of some GPS data.
363 * The flight date would never be recorded, and often
364 * the flight time would get overwritten by another
365 * record. Detect the loss of the GPS date and fix up the
366 * missing time records
368 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
369 gps_date_record = record;
373 /* go back and fix up any missing time values */
374 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
375 last_gps_time = record;
377 Iterator<AltosOrderedRecord> iterator = records.iterator();
378 while (iterator.hasNext()) {
379 AltosOrderedRecord old = iterator.next();
380 if (old.cmd == Altos.AO_LOG_GPS_TIME &&
381 old.a == -1 && old.b == -1)
383 update_time(record, old);
386 missing_time = false;
390 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
391 if (last_gps_time == null || last_gps_time.tick != record.tick) {
392 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
395 if (last_gps_time != null)
396 update_time(last_gps_time, add_gps_time);
400 records.add(add_gps_time);
401 record.index = index++;
406 /* Bail after reading the 'landed' record; we're all done */
407 if (record.cmd == Altos.AO_LOG_STATE &&
408 record.a == Altos.ao_flight_landed)
411 } catch (IOException io) {
412 } catch (ParseException pe) {
416 } catch (IOException ie) {