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;
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)
139 System.out.printf("state %s\n", AltosLib.state_name(state));
141 state_series.add(time(), state);
144 AltosTimeSeries accel_series;
146 public static final String accel_name = "Accel";
148 public void set_acceleration(double acceleration) {
149 if (accel_series == null) {
150 System.out.printf("set acceleration %g\n", acceleration);
151 accel_series = add_series(accel_name, AltosConvert.accel);
153 accel_series.add(time(), acceleration);
156 private void compute_accel() {
157 if (accel_series != null)
160 if (speed_series != null) {
161 AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
162 speed_series.differentiate(temp_series);
163 accel_series = add_series(accel_name, AltosConvert.accel);
164 temp_series.filter(accel_series, 0.25);
168 public void set_received_time(long received_time) {
171 AltosTimeSeries rssi_series;
173 public static final String rssi_name = "RSSI";
175 AltosTimeSeries status_series;
177 public static final String status_name = "Radio Status";
179 public void set_rssi(int rssi, int status) {
180 if (rssi_series == null) {
181 rssi_series = add_series(rssi_name, null);
182 status_series = add_series(status_name, null);
184 rssi_series.add(time(), rssi);
185 status_series.add(time(), status);
188 AltosTimeSeries pressure_series;
190 public static final String pressure_name = "Pressure";
192 AltosTimeSeries altitude_series;
194 public static final String altitude_name = "Altitude";
196 AltosTimeSeries height_series;
198 public static final String height_name = "Height";
200 public void set_pressure(double pa) {
201 if (pressure_series == null)
202 pressure_series = add_series(pressure_name, AltosConvert.pressure);
203 pressure_series.add(time(), pa);
204 if (altitude_series == null)
205 altitude_series = add_series(altitude_name, AltosConvert.height);
207 double altitude = AltosConvert.pressure_to_altitude(pa);
208 altitude_series.add(time(), altitude);
211 private void compute_height(double ground_altitude) {
212 if (height_series == null) {
213 height_series = add_series(height_name, AltosConvert.height);
214 for (AltosTimeValue alt : altitude_series)
215 height_series.add(alt.time, alt.value - ground_altitude);
219 AltosTimeSeries speed_series;
221 public static final String speed_name = "Speed";
223 private void compute_speed() {
224 if (speed_series != null) {
225 System.out.printf("speed series already made\n");
229 AltosTimeSeries alt_speed_series = null;
230 AltosTimeSeries accel_speed_series = null;
232 if (altitude_series != null) {
233 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
234 altitude_series.differentiate(temp_series);
236 alt_speed_series = make_series(speed_name, AltosConvert.speed);
237 temp_series.filter(alt_speed_series, 10.0);
239 System.out.printf("no altitude series\n");
241 if (accel_series != null) {
242 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
243 accel_series.integrate(temp_series);
245 accel_speed_series = make_series(speed_name, AltosConvert.speed);
246 temp_series.filter(accel_speed_series, 0.1);
248 System.out.printf("no accel series\n");
251 if (alt_speed_series != null && accel_speed_series != null) {
252 double apogee_time = AltosLib.MISSING;
253 if (state_series != null) {
254 for (AltosTimeValue d : state_series) {
255 if (d.value >= AltosLib.ao_flight_drogue){
256 apogee_time = d.time;
261 if (apogee_time == AltosLib.MISSING) {
262 speed_series = alt_speed_series;
264 speed_series = make_series(speed_name, AltosConvert.speed);
265 for (AltosTimeValue d : accel_speed_series) {
266 if (d.time <= apogee_time)
269 for (AltosTimeValue d : alt_speed_series) {
270 if (d.time > apogee_time)
275 } else if (alt_speed_series != null) {
276 speed_series = alt_speed_series;
277 } else if (accel_speed_series != null) {
278 speed_series = accel_speed_series;
280 if (speed_series != null) {
281 add_series(speed_series);
282 System.out.printf("speed series for %s set to %s\n", this.toString(), speed_series.toString());
284 System.out.printf("didn't manage to make speed series\n");
287 AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
289 public static final String kalman_height_name = "Kalman Height";
290 public static final String kalman_speed_name = "Kalman Speed";
291 public static final String kalman_accel_name = "Kalman Accel";
293 public void set_kalman(double height, double speed, double acceleration) {
294 if (kalman_height_series == null) {
295 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
296 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
297 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
299 kalman_height_series.add(time(), height);
300 kalman_speed_series.add(time(), speed);
301 kalman_accel_series.add(time(), acceleration);
304 AltosTimeSeries thrust_series;
306 public static final String thrust_name = "Thrust";
308 public void set_thrust(double N) {
309 if (thrust_series == null)
310 thrust_series = add_series(thrust_name, AltosConvert.force);
311 thrust_series.add(time(), N);
314 AltosTimeSeries temperature_series;
316 public static final String temperature_name = "Temperature";
318 public void set_temperature(double deg_c) {
319 if (temperature_series == null)
320 temperature_series = add_series(temperature_name, AltosConvert.temperature);
321 temperature_series.add(time(), deg_c);
324 AltosTimeSeries battery_voltage_series;
326 public static final String battery_voltage_name = "Battery Voltage";
328 public void set_battery_voltage(double volts) {
329 if (volts == AltosLib.MISSING)
331 if (battery_voltage_series == null)
332 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
333 battery_voltage_series.add(time(), volts);
336 AltosTimeSeries apogee_voltage_series;
338 public static final String apogee_voltage_name = "Apogee Voltage";
340 public void set_apogee_voltage(double volts) {
341 if (volts == AltosLib.MISSING)
343 if (apogee_voltage_series == null)
344 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
345 apogee_voltage_series.add(time(), volts);
348 AltosTimeSeries main_voltage_series;
350 public static final String main_voltage_name = "Main Voltage";
352 public void set_main_voltage(double volts) {
353 if (volts == AltosLib.MISSING)
355 if (main_voltage_series == null)
356 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
357 main_voltage_series.add(time(), volts);
360 public ArrayList<AltosGPSTimeValue> gps_series;
362 public AltosGPS gps_before(double time) {
364 for (AltosGPSTimeValue gtv : gps_series)
365 if (gtv.time <= time)
372 AltosTimeSeries sats_in_view;
373 AltosTimeSeries sats_in_soln;
374 AltosTimeSeries gps_altitude;
375 AltosTimeSeries gps_height;
376 AltosTimeSeries gps_ground_speed;
377 AltosTimeSeries gps_ascent_rate;
378 AltosTimeSeries gps_course;
379 AltosTimeSeries gps_speed;
380 AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
382 public static final String sats_in_view_name = "Satellites in view";
383 public static final String sats_in_soln_name = "Satellites in solution";
384 public static final String gps_altitude_name = "GPS Altitude";
385 public static final String gps_height_name = "GPS Height";
386 public static final String gps_ground_speed_name = "GPS Ground Speed";
387 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
388 public static final String gps_course_name = "GPS Course";
389 public static final String gps_speed_name = "GPS Speed";
390 public static final String gps_pdop_name = "GPS Dilution of Precision";
391 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
392 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
394 public void set_gps(AltosGPS gps) {
395 if (gps_series == null)
396 gps_series = new ArrayList<AltosGPSTimeValue>();
397 gps_series.add(new AltosGPSTimeValue(time(), gps));
399 if (sats_in_soln == null) {
400 sats_in_soln = add_series(sats_in_soln_name, null);
402 sats_in_soln.add(time(), gps.nsat);
403 if (gps.pdop != AltosLib.MISSING) {
404 if (gps_pdop == null) {
405 gps_pdop = add_series(gps_pdop_name, null);
406 gps_hdop = add_series(gps_hdop_name, null);
407 gps_vdop = add_series(gps_vdop_name, null);
409 gps_pdop.add(time(), gps.pdop);
410 gps_hdop.add(time(), gps.hdop);
411 gps_vdop.add(time(), gps.vdop);
414 if (gps_altitude == null) {
415 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
416 gps_height = add_series(gps_height_name, AltosConvert.height);
417 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
418 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
419 gps_course = add_series(gps_course_name, null);
420 gps_speed = add_series(gps_speed_name, null);
422 if (gps.alt != AltosLib.MISSING) {
423 gps_altitude.add(time(), gps.alt);
424 if (cal_data.gps_pad != null)
425 gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
427 if (gps.ground_speed != AltosLib.MISSING)
428 gps_ground_speed.add(time(), gps.ground_speed);
429 if (gps.climb_rate != AltosLib.MISSING)
430 gps_ascent_rate.add(time(), gps.climb_rate);
431 if (gps.course != AltosLib.MISSING)
432 gps_course.add(time(), gps.course);
433 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
434 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
435 gps.climb_rate * gps.climb_rate));
437 if (gps.cc_gps_sat != null) {
438 if (sats_in_view == null)
439 sats_in_view = add_series(sats_in_view_name, null);
440 sats_in_view.add(time(), gps.cc_gps_sat.length);
444 public static final String accel_along_name = "Accel Along";
445 public static final String accel_across_name = "Accel Across";
446 public static final String accel_through_name = "Accel Through";
448 AltosTimeSeries accel_along, accel_across, accel_through;
450 public static final String gyro_roll_name = "Roll Rate";
451 public static final String gyro_pitch_name = "Pitch Rate";
452 public static final String gyro_yaw_name = "Yaw Rate";
454 AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
456 public static final String mag_along_name = "Magnetic Field Along";
457 public static final String mag_across_name = "Magnetic Field Across";
458 public static final String mag_through_name = "Magnetic Field Through";
460 AltosTimeSeries mag_along, mag_across, mag_through;
462 public void set_accel(double along, double across, double through) {
463 if (accel_along == null) {
464 accel_along = add_series(accel_along_name, AltosConvert.accel);
465 accel_across = add_series(accel_across_name, AltosConvert.accel);
466 accel_through = add_series(accel_through_name, AltosConvert.accel);
468 accel_along.add(time(), along);
469 accel_across.add(time(), across);
470 accel_through.add(time(), through);
473 public void set_accel_ground(double along, double across, double through) {
476 public void set_gyro(double roll, double pitch, double yaw) {
477 if (gyro_roll == null) {
478 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
479 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
480 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
482 gyro_roll.add(time(), roll);
483 gyro_pitch.add(time(), pitch);
484 gyro_yaw.add(time(), yaw);
487 public void set_mag(double along, double across, double through) {
488 if (mag_along == null) {
489 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
490 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
491 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
493 mag_along.add(time(), along);
494 mag_across.add(time(), across);
495 mag_through.add(time(), through);
498 public static final String orient_name = "Tilt Angle";
500 AltosTimeSeries orient_series;
502 public void set_orient(double orient) {
503 if (orient_series == null)
504 orient_series = add_series(orient_name, AltosConvert.orient);
505 orient_series.add(time(), orient);
508 public static final String pyro_voltage_name = "Pyro Voltage";
510 AltosTimeSeries pyro_voltage;
512 public void set_pyro_voltage(double volts) {
513 if (pyro_voltage == null)
514 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
515 pyro_voltage.add(time(), volts);
518 private static String[] igniter_voltage_names;
520 public String igniter_voltage_name(int channel) {
521 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
522 String[] new_igniter_voltage_names = new String[channel + 1];
525 if (igniter_voltage_names != null) {
526 for (; i < igniter_voltage_names.length; i++)
527 new_igniter_voltage_names[i] = igniter_voltage_names[i];
529 for (; i < channel+1; i++)
530 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
531 igniter_voltage_names = new_igniter_voltage_names;
533 return igniter_voltage_names[channel];
536 AltosTimeSeries[] igniter_voltage;
538 public void set_igniter_voltage(double[] voltage) {
539 int channels = voltage.length;
540 if (igniter_voltage == null || igniter_voltage.length <= channels) {
541 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
544 if (igniter_voltage != null) {
545 for (; i < igniter_voltage.length; i++)
546 new_igniter_voltage[i] = igniter_voltage[i];
548 for (; i < channels; i++)
549 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
550 igniter_voltage = new_igniter_voltage;
552 for (int channel = 0; channel < voltage.length; channel++)
553 igniter_voltage[channel].add(time(), voltage[channel]);
556 public static final String pyro_fired_name = "Pyro Channel State";
558 AltosTimeSeries pyro_fired_series;
562 public void set_pyro_fired(int pyro_mask) {
563 if (pyro_fired_series == null)
564 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
565 for (int channel = 0; channel < 32; channel++) {
566 if ((last_pyro_mask & (1 << channel)) == 0 &&
567 (pyro_mask & (1 << channel)) != 0) {
568 pyro_fired_series.add(time(), channel);
571 last_pyro_mask = pyro_mask;
574 public void set_companion(AltosCompanion companion) {
577 public void fill_in() {
578 System.out.printf("fill in %s\n", this.toString());
581 if (cal_data.ground_altitude != AltosLib.MISSING)
582 compute_height(cal_data.ground_altitude);
586 time = AltosLib.MISSING;
587 series = new ArrayList<AltosTimeSeries>();
590 public AltosTimeSeries[] series() {
592 return series.toArray(new AltosTimeSeries[0]);
595 public AltosFlightSeries(AltosCalData cal_data) {
597 System.out.printf("new flight series %s\n", this.toString());