--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+package org.altusmetrum.altoslib_12;
+
+import java.util.*;
+
+public class AltosFlightSeries extends AltosDataListener {
+
+ public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
+
+ public double speed_filter_width = 4.0;
+ public double accel_filter_width = 4.0;
+
+ public int[] indices() {
+ int[] indices = new int[series.size()];
+ for (int i = 0; i < indices.length; i++)
+ indices[i] = -1;
+ step_indices(indices);
+ return indices;
+ }
+
+ private double time(int id, int index) {
+ AltosTimeSeries s = series.get(id);
+
+ if (index < 0)
+ return Double.NEGATIVE_INFINITY;
+
+ if (index < s.values.size())
+ return s.values.get(index).time;
+ return Double.POSITIVE_INFINITY;
+ }
+
+ public boolean step_indices(int[] indices) {
+ double min_next = time(0, indices[0]+1);
+
+ for (int i = 1; i < indices.length; i++) {
+ double next = time(i, indices[i]+1);
+ if (next < min_next)
+ min_next = next;
+ }
+
+ if (min_next == Double.POSITIVE_INFINITY)
+ return false;
+
+ for (int i = 0; i < indices.length; i++) {
+ double t = time(i, indices[i] + 1);
+
+ if (t <= min_next)
+ indices[i]++;
+ }
+ return true;
+ }
+
+ public double time(int[] indices) {
+ double max = time(0, indices[0]);
+
+ for (int i = 1; i < indices.length; i++) {
+ double t = time(i, indices[i]);
+ if (t >= max)
+ max = t;
+ }
+ return max;
+ }
+
+ public double value(String name, int[] indices) {
+ for (int i = 0; i < indices.length; i++) {
+ AltosTimeSeries s = series.get(i);
+ if (s.label.equals(name)) {
+ int index = indices[i];
+ if (index < 0)
+ index = 0;
+ if (index >= s.values.size())
+ index = s.values.size() - 1;
+ return s.values.get(index).value;
+ }
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double value(String name, double time) {
+ for (AltosTimeSeries s : series) {
+ if (s.label.equals(name))
+ return s.value(time);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double value_before(String name, double time) {
+ for (AltosTimeSeries s : series) {
+ if (s.label.equals(name))
+ return s.value_before(time);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double value_after(String name, double time) {
+ for (AltosTimeSeries s : series) {
+ if (s.label.equals(name))
+ return s.value_after(time);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public AltosTimeSeries make_series(String label, AltosUnits units) {
+ return new AltosTimeSeries(label, units);
+ }
+
+ public void add_series(AltosTimeSeries s) {
+ for (int e = 0; e < series.size(); e++) {
+ if (s.compareTo(series.get(e)) < 0){
+ series.add(e, s);
+ return;
+ }
+ }
+ series.add(s);
+ }
+
+ public AltosTimeSeries add_series(String label, AltosUnits units) {
+ AltosTimeSeries s = make_series(label, units);
+ add_series(s);
+ return s;
+ }
+
+ public void remove_series(AltosTimeSeries s) {
+ series.remove(s);
+ }
+
+ public boolean has_series(String label) {
+ for (AltosTimeSeries s : series)
+ if (s.label.equals(label))
+ return true;
+ return false;
+ }
+
+ public AltosTimeSeries state_series;
+
+ public static final String state_name = "State";
+
+ public void set_state(int state) {
+
+ if (state == AltosLib.ao_flight_pad)
+ return;
+
+ if (state_series == null)
+ state_series = add_series(state_name, AltosConvert.state_name);
+ else if (this.state == state)
+ return;
+ this.state = state;
+ state_series.add(time(), state);
+ }
+
+ public AltosTimeSeries accel_series;
+
+ public static final String accel_name = "Accel";
+
+ public AltosTimeSeries vert_accel_series;
+
+ public static final String vert_accel_name = "Vertical Accel";
+
+ public void set_acceleration(double acceleration) {
+ if (acceleration == AltosLib.MISSING)
+ return;
+ if (accel_series == null)
+ accel_series = add_series(accel_name, AltosConvert.accel);
+
+ accel_series.add(time(), acceleration);
+ }
+
+ private void compute_accel() {
+ if (accel_series != null)
+ return;
+
+ if (speed_series != null) {
+ AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
+ speed_series.filter(temp_series, accel_filter_width);
+ accel_series = add_series(accel_name, AltosConvert.accel);
+ temp_series.differentiate(accel_series);
+ }
+ }
+
+ public void set_received_time(long received_time) {
+ }
+
+ public AltosTimeSeries rssi_series;
+
+ public static final String rssi_name = "RSSI";
+
+ public AltosTimeSeries status_series;
+
+ public static final String status_name = "Radio Status";
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi_series == null) {
+ rssi_series = add_series(rssi_name, null);
+ status_series = add_series(status_name, null);
+ }
+ rssi_series.add(time(), rssi);
+ status_series.add(time(), status);
+ }
+
+ public AltosTimeSeries pressure_series;
+
+ public static final String pressure_name = "Pressure";
+
+ public AltosTimeSeries altitude_series;
+
+ public static final String altitude_name = "Altitude";
+
+ public AltosTimeSeries height_series;
+
+ public static final String height_name = "Height";
+
+ public void set_pressure(double pa) {
+ if (pa == AltosLib.MISSING)
+ return;
+
+ if (pressure_series == null)
+ pressure_series = add_series(pressure_name, AltosConvert.pressure);
+ pressure_series.add(time(), pa);
+ if (altitude_series == null)
+ altitude_series = add_series(altitude_name, AltosConvert.height);
+
+ if (cal_data().ground_pressure == AltosLib.MISSING)
+ cal_data().set_ground_pressure(pa);
+
+ double altitude = AltosConvert.pressure_to_altitude(pa);
+ altitude_series.add(time(), altitude);
+ }
+
+ private void compute_height() {
+ double ground_altitude = cal_data().ground_altitude;
+ if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
+ height_series = add_series(height_name, AltosConvert.height);
+ for (AltosTimeValue alt : altitude_series)
+ height_series.add(alt.time, alt.value - ground_altitude);
+ }
+
+ if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
+ double gps_ground_altitude = cal_data().gps_pad.alt;
+ gps_height = add_series(gps_height_name, AltosConvert.height);
+ for (AltosTimeValue gps_alt : gps_altitude)
+ gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
+ }
+ }
+
+ public AltosTimeSeries speed_series;
+
+ public static final String speed_name = "Speed";
+
+ private void compute_speed() {
+ if (speed_series != null)
+ return;
+
+ AltosTimeSeries alt_speed_series = null;
+ AltosTimeSeries accel_speed_series = null;
+
+ if (altitude_series != null) {
+ AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
+ altitude_series.filter(temp_series, speed_filter_width);
+
+ alt_speed_series = make_series(speed_name, AltosConvert.speed);
+ temp_series.differentiate(alt_speed_series);
+ }
+ if (accel_series != null) {
+
+ if (orient_series != null) {
+ vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
+
+ for (AltosTimeValue a : accel_series) {
+ double orient = orient_series.value(a.time);
+ double a_abs = a.value + AltosConvert.gravity;
+ double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
+
+ vert_accel_series.add(a.time, v_a);
+ }
+ }
+
+ AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
+
+ if (vert_accel_series != null)
+ vert_accel_series.integrate(temp_series);
+ else
+ accel_series.integrate(temp_series);
+
+ accel_speed_series = make_series(speed_name, AltosConvert.speed);
+ temp_series.filter(accel_speed_series, 0.1);
+ }
+
+ if (alt_speed_series != null && accel_speed_series != null) {
+ double apogee_time = AltosLib.MISSING;
+ if (state_series != null) {
+ for (AltosTimeValue d : state_series) {
+ if (d.value >= AltosLib.ao_flight_drogue){
+ apogee_time = d.time;
+ break;
+ }
+ }
+ }
+ if (apogee_time == AltosLib.MISSING) {
+ speed_series = alt_speed_series;
+ } else {
+ speed_series = make_series(speed_name, AltosConvert.speed);
+ for (AltosTimeValue d : accel_speed_series) {
+ if (d.time <= apogee_time)
+ speed_series.add(d);
+ }
+ for (AltosTimeValue d : alt_speed_series) {
+ if (d.time > apogee_time)
+ speed_series.add(d);
+ }
+
+ }
+ } else if (alt_speed_series != null) {
+ speed_series = alt_speed_series;
+ } else if (accel_speed_series != null) {
+ speed_series = accel_speed_series;
+ }
+ if (speed_series != null)
+ add_series(speed_series);
+ }
+
+ public AltosTimeSeries orient_series;
+
+ public static final String orient_name = "Tilt Angle";
+
+ private void compute_orient() {
+
+ if (orient_series != null)
+ return;
+
+ if (accel_ground_across == AltosLib.MISSING)
+ return;
+
+ if (cal_data().pad_orientation == AltosLib.MISSING)
+ return;
+
+ if (cal_data().accel_zero_across == AltosLib.MISSING)
+ return;
+
+ AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
+ cal_data().pad_orientation);
+ double prev_time = ground_time;
+
+ orient_series = add_series(orient_name, AltosConvert.orient);
+ orient_series.add(ground_time, rotation.tilt());
+
+ for (AltosTimeValue roll_v : gyro_roll) {
+ double time = roll_v.time;
+ double dt = time - prev_time;
+
+ if (dt > 0) {
+ double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
+ double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
+ double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
+
+ rotation.rotate(pitch, yaw, roll);
+ orient_series.add(time, rotation.tilt());
+ }
+ prev_time = time;
+ }
+ }
+
+ public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
+
+ public static final String kalman_height_name = "Kalman Height";
+ public static final String kalman_speed_name = "Kalman Speed";
+ public static final String kalman_accel_name = "Kalman Accel";
+
+ public void set_kalman(double height, double speed, double acceleration) {
+ if (kalman_height_series == null) {
+ kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
+ kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
+ kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
+ }
+ kalman_height_series.add(time(), height);
+ kalman_speed_series.add(time(), speed);
+ kalman_accel_series.add(time(), acceleration);
+ }
+
+ public AltosTimeSeries thrust_series;
+
+ public static final String thrust_name = "Thrust";
+
+ public void set_thrust(double N) {
+ if (thrust_series == null)
+ thrust_series = add_series(thrust_name, AltosConvert.force);
+ thrust_series.add(time(), N);
+ }
+
+ public AltosTimeSeries temperature_series;
+
+ public static final String temperature_name = "Temperature";
+
+ public void set_temperature(double deg_c) {
+ if (temperature_series == null)
+ temperature_series = add_series(temperature_name, AltosConvert.temperature);
+ temperature_series.add(time(), deg_c);
+ }
+
+ public AltosTimeSeries battery_voltage_series;
+
+ public static final String battery_voltage_name = "Battery Voltage";
+
+ public void set_battery_voltage(double volts) {
+ if (volts == AltosLib.MISSING)
+ return;
+ if (battery_voltage_series == null)
+ battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
+ battery_voltage_series.add(time(), volts);
+ }
+
+ public AltosTimeSeries apogee_voltage_series;
+
+ public static final String apogee_voltage_name = "Apogee Voltage";
+
+ public void set_apogee_voltage(double volts) {
+ if (volts == AltosLib.MISSING)
+ return;
+ if (apogee_voltage_series == null)
+ apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
+ apogee_voltage_series.add(time(), volts);
+ }
+
+ public AltosTimeSeries main_voltage_series;
+
+ public static final String main_voltage_name = "Main Voltage";
+
+ public void set_main_voltage(double volts) {
+ if (volts == AltosLib.MISSING)
+ return;
+ if (main_voltage_series == null)
+ main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
+ main_voltage_series.add(time(), volts);
+ }
+
+ public ArrayList<AltosGPSTimeValue> gps_series;
+
+ public AltosGPS gps_before(double time) {
+ AltosGPS gps = null;
+ for (AltosGPSTimeValue gtv : gps_series)
+ if (gtv.time <= time)
+ gps = gtv.gps;
+ else
+ break;
+ return gps;
+ }
+
+ public AltosTimeSeries sats_in_view;
+ public AltosTimeSeries sats_in_soln;
+ public AltosTimeSeries gps_altitude;
+ public AltosTimeSeries gps_height;
+ public AltosTimeSeries gps_ground_speed;
+ public AltosTimeSeries gps_ascent_rate;
+ public AltosTimeSeries gps_course;
+ public AltosTimeSeries gps_speed;
+ public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
+
+ public static final String sats_in_view_name = "Satellites in view";
+ public static final String sats_in_soln_name = "Satellites in solution";
+ public static final String gps_altitude_name = "GPS Altitude";
+ public static final String gps_height_name = "GPS Height";
+ public static final String gps_ground_speed_name = "GPS Ground Speed";
+ public static final String gps_ascent_rate_name = "GPS Ascent Rate";
+ public static final String gps_course_name = "GPS Course";
+ public static final String gps_speed_name = "GPS Speed";
+ public static final String gps_pdop_name = "GPS Dilution of Precision";
+ public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
+ public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
+
+ public void set_gps(AltosGPS gps) {
+ if (gps_series == null)
+ gps_series = new ArrayList<AltosGPSTimeValue>();
+ gps_series.add(new AltosGPSTimeValue(time(), gps));
+
+ if (sats_in_soln == null) {
+ sats_in_soln = add_series(sats_in_soln_name, null);
+ }
+ sats_in_soln.add(time(), gps.nsat);
+ if (gps.pdop != AltosLib.MISSING) {
+ if (gps_pdop == null)
+ gps_pdop = add_series(gps_pdop_name, null);
+ gps_pdop.add(time(), gps.pdop);
+ }
+ if (gps.hdop != AltosLib.MISSING) {
+ if (gps_hdop == null)
+ gps_hdop = add_series(gps_hdop_name, null);
+ gps_hdop.add(time(), gps.hdop);
+ }
+ if (gps.vdop != AltosLib.MISSING) {
+ if (gps_vdop == null)
+ gps_vdop = add_series(gps_vdop_name, null);
+ gps_vdop.add(time(), gps.vdop);
+ }
+ if (gps.locked) {
+ if (gps.alt != AltosLib.MISSING) {
+ if (gps_altitude == null)
+ gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
+ gps_altitude.add(time(), gps.alt);
+ }
+ if (gps.ground_speed != AltosLib.MISSING) {
+ if (gps_ground_speed == null)
+ gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
+ gps_ground_speed.add(time(), gps.ground_speed);
+ }
+ if (gps.climb_rate != AltosLib.MISSING) {
+ if (gps_ascent_rate == null)
+ gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
+ gps_ascent_rate.add(time(), gps.climb_rate);
+ }
+ if (gps.course != AltosLib.MISSING) {
+ if (gps_course == null)
+ gps_course = add_series(gps_course_name, null);
+ gps_course.add(time(), gps.course);
+ }
+ if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
+ if (gps_speed == null)
+ gps_speed = add_series(gps_speed_name, null);
+ gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
+ gps.climb_rate * gps.climb_rate));
+ }
+ }
+ if (gps.cc_gps_sat != null) {
+ if (sats_in_view == null)
+ sats_in_view = add_series(sats_in_view_name, null);
+ sats_in_view.add(time(), gps.cc_gps_sat.length);
+ }
+ }
+
+ public static final String accel_along_name = "Accel Along";
+ public static final String accel_across_name = "Accel Across";
+ public static final String accel_through_name = "Accel Through";
+
+ public AltosTimeSeries accel_along, accel_across, accel_through;
+
+ public static final String gyro_roll_name = "Roll Rate";
+ public static final String gyro_pitch_name = "Pitch Rate";
+ public static final String gyro_yaw_name = "Yaw Rate";
+
+ public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
+
+ public static final String mag_along_name = "Magnetic Field Along";
+ public static final String mag_across_name = "Magnetic Field Across";
+ public static final String mag_through_name = "Magnetic Field Through";
+
+ public AltosTimeSeries mag_along, mag_across, mag_through;
+
+ public void set_accel(double along, double across, double through) {
+ if (accel_along == null) {
+ accel_along = add_series(accel_along_name, AltosConvert.accel);
+ accel_across = add_series(accel_across_name, AltosConvert.accel);
+ accel_through = add_series(accel_through_name, AltosConvert.accel);
+ }
+ accel_along.add(time(), along);
+ accel_across.add(time(), across);
+ accel_through.add(time(), through);
+ }
+
+ private double accel_ground_along = AltosLib.MISSING;
+ private double accel_ground_across = AltosLib.MISSING;
+ private double accel_ground_through = AltosLib.MISSING;
+
+ private double ground_time;
+
+ public void set_accel_ground(double along, double across, double through) {
+ accel_ground_along = along;
+ accel_ground_across = across;
+ accel_ground_through = through;
+ ground_time = time();
+ }
+
+ public void set_gyro(double roll, double pitch, double yaw) {
+ if (gyro_roll == null) {
+ gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
+ gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
+ gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
+ }
+ gyro_roll.add(time(), roll);
+ gyro_pitch.add(time(), pitch);
+ gyro_yaw.add(time(), yaw);
+ }
+
+ public void set_mag(double along, double across, double through) {
+ if (mag_along == null) {
+ mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
+ mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
+ mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
+ }
+ mag_along.add(time(), along);
+ mag_across.add(time(), across);
+ mag_through.add(time(), through);
+ }
+
+ public void set_orient(double orient) {
+ if (orient_series == null)
+ orient_series = add_series(orient_name, AltosConvert.orient);
+ orient_series.add(time(), orient);
+ }
+
+ public static final String pyro_voltage_name = "Pyro Voltage";
+
+ public AltosTimeSeries pyro_voltage;
+
+ public void set_pyro_voltage(double volts) {
+ if (pyro_voltage == null)
+ pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
+ pyro_voltage.add(time(), volts);
+ }
+
+ private static String[] igniter_voltage_names;
+
+ public String igniter_voltage_name(int channel) {
+ if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
+ String[] new_igniter_voltage_names = new String[channel + 1];
+ int i = 0;
+
+ if (igniter_voltage_names != null) {
+ for (; i < igniter_voltage_names.length; i++)
+ new_igniter_voltage_names[i] = igniter_voltage_names[i];
+ }
+ for (; i < channel+1; i++)
+ new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
+ igniter_voltage_names = new_igniter_voltage_names;
+ }
+ return igniter_voltage_names[channel];
+ }
+
+ public AltosTimeSeries[] igniter_voltage;
+
+ public void set_igniter_voltage(double[] voltage) {
+ int channels = voltage.length;
+ if (igniter_voltage == null || igniter_voltage.length <= channels) {
+ AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
+ int i = 0;
+
+ if (igniter_voltage != null) {
+ for (; i < igniter_voltage.length; i++)
+ new_igniter_voltage[i] = igniter_voltage[i];
+ }
+ for (; i < channels; i++)
+ new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
+ igniter_voltage = new_igniter_voltage;
+ }
+ for (int channel = 0; channel < voltage.length; channel++)
+ igniter_voltage[channel].add(time(), voltage[channel]);
+ }
+
+ public static final String pyro_fired_name = "Pyro Channel State";
+
+ public AltosTimeSeries pyro_fired_series;
+
+ int last_pyro_mask;
+
+ public void set_pyro_fired(int pyro_mask) {
+ if (pyro_fired_series == null)
+ pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
+ for (int channel = 0; channel < 32; channel++) {
+ if ((last_pyro_mask & (1 << channel)) == 0 &&
+ (pyro_mask & (1 << channel)) != 0) {
+ pyro_fired_series.add(time(), channel);
+ }
+ }
+ last_pyro_mask = pyro_mask;
+ }
+
+ public void set_companion(AltosCompanion companion) {
+ }
+
+ public void finish() {
+ compute_orient();
+ compute_speed();
+ compute_accel();
+ compute_height();
+ }
+
+ public AltosTimeSeries[] series() {
+ finish();
+ return series.toArray(new AltosTimeSeries[0]);
+ }
+
+ public AltosFlightSeries(AltosCalData cal_data) {
+ super(cal_data);
+ }
+}