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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   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.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_14;
  20
  21 import java.io.*;
  22 import java.util.*;
  23
  24 public class AltosCSV implements AltosWriter {
  25         File                    name;
  26         PrintStream             out;
  27         boolean                 header_written;
  28         boolean                 seen_boost;
  29         int                     boost_tick;
  30
  31         boolean                 has_basic;
  32         boolean                 has_radio;
  33         boolean                 has_battery;
  34         boolean                 has_flight_state;
  35         boolean                 has_advanced;
  36         boolean                 has_igniter;
  37         boolean                 has_gps;
  38         boolean                 has_gps_sat;
  39         boolean                 has_companion;
  40
  41         AltosFlightSeries       series;
  42         int[]                   indices;
  43
  44         static final int ALTOS_CSV_VERSION = 6;
  45
  46         /* Version 4 format:
  47          *
  48          * General info
  49          *      version number
  50          *      serial number
  51          *      flight number
  52          *      callsign
  53          *      time (seconds since boost)
  54          *
  55          * Radio info (if available)
  56          *      rssi
  57          *      link quality
  58          *
  59          * Flight status
  60          *      state
  61          *      state name
  62          *
  63          * Basic sensors
  64          *      acceleration (m/s²)
  65          *      pressure (mBar)
  66          *      altitude (m)
  67          *      height (m)
  68          *      accelerometer speed (m/s)
  69          *      barometer speed (m/s)
  70          *      temp (°C)
  71          *      drogue (V)
  72          *      main (V)
  73          *
  74          * Battery
  75          *      battery (V)
  76          *
  77          * Advanced sensors (if available)
  78          *      accel_x (m/s²)
  79          *      accel_y (m/s²)
  80          *      accel_z (m/s²)
  81          *      gyro_x (d/s)
  82          *      gyro_y (d/s)
  83          *      gyro_z (d/s)
  84          *      mag_x (g)
  85          *      mag_y (g)
  86          *      mag_z (g)
  87          *      tilt (d)
  88          *
  89          * Extra igniter voltages (if available)
  90          *      pyro (V)
  91          *      igniter_a (V)
  92          *      igniter_b (V)
  93          *      igniter_c (V)
  94          *      igniter_d (V)
  95          *
  96          * GPS data (if available)
  97          *      connected (1/0)
  98          *      locked (1/0)
  99          *      nsat (used for solution)
 100          *      latitude (°)
 101          *      longitude (°)
 102          *      altitude (m)
 103          *      year (e.g. 2010)
 104          *      month (1-12)
 105          *      day (1-31)
 106          *      hour (0-23)
 107          *      minute (0-59)
 108          *      second (0-59)
 109          *      from_pad_dist (m)
 110          *      from_pad_azimuth (deg true)
 111          *      from_pad_range (m)
 112          *      from_pad_elevation (deg from horizon)
 113          *      pdop
 114          *      hdop
 115          *      vdop
 116          *
 117          * GPS Sat data
 118          *      C/N0 data for all 32 valid SDIDs
 119          *
 120          * Companion data
 121          *      companion_id (1-255. 10 is TeleScience)
 122          *      time of last companion data (seconds since boost)
 123          *      update_period (0.1-2.55 minimum telemetry interval)
 124          *      channels (0-12)
 125          *      channel data for all 12 possible channels
 126          */
 127
 128         void write_general_header() {
 129                 out.printf("version,serial,flight,call,time");
 130         }
 131
 132         double time() {
 133                 return series.time(indices);
 134         }
 135
 136         void write_general() {
 137                 out.printf("%s, %d, %d, %s, %8.2f",
 138                            ALTOS_CSV_VERSION,
 139                            series.cal_data().serial,
 140                            series.cal_data().flight,
 141                            series.cal_data().callsign,
 142                            time());
 143         }
 144
 145         void write_radio_header() {
 146                 out.printf("rssi,lqi");
 147         }
 148
 149         int rssi() {
 150                 return (int) series.value(AltosFlightSeries.rssi_name, indices);
 151         }
 152
 153         int status() {
 154                 return (int) series.value(AltosFlightSeries.status_name, indices);
 155         }
 156
 157         void write_radio() {
 158                 out.printf("%4d, %3d",
 159                            rssi(), status() & 0x7f);
 160         }
 161
 162         void write_flight_header() {
 163                 out.printf("state,state_name");
 164         }
 165
 166         int state() {
 167                 return (int) series.value(AltosFlightSeries.state_name, indices);
 168         }
 169
 170         void write_flight() {
 171                 int state = state();
 172                 out.printf("%2d,%8s", state, AltosLib.state_name(state));
 173         }
 174
 175         void write_basic_header() {
 176                 out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage");
 177         }
 178
 179         double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); }
 180         double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); }
 181         double altitude() { return series.value(AltosFlightSeries.altitude_name, indices); }
 182         double height() { return series.value(AltosFlightSeries.height_name, indices); }
 183         double speed() { return series.value(AltosFlightSeries.speed_name, indices); }
 184         double temperature() { return series.value(AltosFlightSeries.temperature_name, indices); }
 185         double apogee_voltage() { return series.value(AltosFlightSeries.apogee_voltage_name, indices); }
 186         double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); }
 187
 188         void write_basic() {
 189                 out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f",
 190                            acceleration(),
 191                            pressure(),
 192                            altitude(),
 193                            height(),
 194                            speed(),
 195                            speed(),
 196                            temperature(),
 197                            apogee_voltage(),
 198                            main_voltage());
 199         }
 200
 201         void write_battery_header() {
 202                 out.printf("battery_voltage");
 203         }
 204
 205         double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
 206
 207         void write_battery() {
 208                 out.printf("%5.2f", battery_voltage());
 209         }
 210
 211         void write_advanced_header() {
 212                 out.printf("accel_x,accel_y,accel_z,gyro_roll,gyro_pitch,gyro_yaw,mag_x,mag_y,mag_z,tilt");
 213         }
 214
 215         double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
 216         double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
 217         double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
 218
 219         double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
 220         double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
 221         double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
 222
 223         double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
 224         double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
 225         double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
 226
 227         double tilt() { return series.value(AltosFlightSeries.orient_name, indices); }
 228
 229         void write_advanced() {
 230                 out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
 231                            accel_along(), accel_across(), accel_through(),
 232                            gyro_roll(), gyro_pitch(), gyro_yaw(),
 233                            mag_along(), mag_across(), mag_through(),
 234                            tilt());
 235         }
 236
 237         void write_igniter_header() {
 238                 out.printf("pyro");
 239                 for (int i = 0; i < series.igniter_voltage.length; i++)
 240                         out.printf(",%s", AltosLib.igniter_short_name(i));
 241         }
 242
 243         double pyro() { return series.value(AltosFlightSeries.pyro_voltage_name, indices); }
 244
 245         double igniter_value(int channel) { return series.value(series.igniter_voltage_name(channel), indices); }
 246
 247         void write_igniter() {
 248                 out.printf("%5.2f", pyro());
 249                 for (int i = 0; i < series.igniter_voltage.length; i++)
 250                         out.printf(",%5.2f", igniter_value(i));
 251         }
 252
 253         void write_gps_header() {
 254                 out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop");
 255         }
 256
 257         void write_gps() {
 258                 AltosGPS        gps = series.gps_before(series.time(indices));
 259
 260                 AltosGreatCircle from_pad;
 261
 262                 if (series.cal_data().gps_pad != null && gps != null)
 263                         from_pad = new AltosGreatCircle(series.cal_data().gps_pad, gps);
 264                 else
 265                         from_pad = new AltosGreatCircle();
 266
 267                 if (gps == null)
 268                         gps = new AltosGPS();
 269
 270                 out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f,%6.1f,%6.1f",
 271                            gps.connected?1:0,
 272                            gps.locked?1:0,
 273                            gps.nsat,
 274                            gps.lat,
 275                            gps.lon,
 276                            gps.alt,
 277                            gps.year,
 278                            gps.month,
 279                            gps.day,
 280                            gps.hour,
 281                            gps.minute,
 282                            gps.second,
 283                            from_pad.distance,
 284                            from_pad.range,
 285                            from_pad.bearing,
 286                            from_pad.elevation,
 287                            gps.pdop,
 288                            gps.hdop,
 289                            gps.vdop);
 290         }
 291
 292         void write_gps_sat_header() {
 293                 for(int i = 1; i <= 32; i++) {
 294                         out.printf("sat%02d", i);
 295                         if (i != 32)
 296                                 out.printf(",");
 297                 }
 298         }
 299
 300         void write_gps_sat() {
 301                 AltosGPS        gps = series.gps_before(series.time(indices));
 302                 for(int i = 1; i <= 32; i++) {
 303                         int     c_n0 = 0;
 304                         if (gps != null && gps.cc_gps_sat != null) {
 305                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 306                                         if (gps.cc_gps_sat[j].svid == i) {
 307                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 308                                                 break;
 309                                         }
 310                         }
 311                         out.printf ("%3d", c_n0);
 312                         if (i != 32)
 313                                 out.printf(",");
 314                 }
 315         }
 316
 317         void write_companion_header() {
 318 /*
 319                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 320                 for (int i = 0; i < 12; i++)
 321                         out.printf(",companion_%02d", i);
 322 */
 323         }
 324
 325         void write_companion() {
 326 /*
 327                 AltosCompanion companion = state.companion;
 328
 329                 int     channels_written = 0;
 330                 if (companion == null) {
 331                         out.printf("0,0,0,0");
 332                 } else {
 333                         out.printf("%3d,%5.2f,%5.2f,%2d",
 334                                    companion.board_id,
 335                                    (companion.tick - boost_tick) / 100.0,
 336                                    companion.update_period / 100.0,
 337                                    companion.channels);
 338                         for (; channels_written < companion.channels; channels_written++)
 339                                 out.printf(",%5d", companion.companion_data[channels_written]);
 340                 }
 341                 for (; channels_written < 12; channels_written++)
 342                         out.printf(",0");
 343 */
 344         }
 345
 346         void write_header() {
 347                 out.printf("#"); write_general_header();
 348                 if (has_radio) {
 349                         out.printf(",");
 350                         write_radio_header();
 351                 }
 352                 if (has_flight_state) {
 353                         out.printf(",");
 354                         write_flight_header();
 355                 }
 356                 if (has_basic) {
 357                         out.printf(",");
 358                         write_basic_header();
 359                 }
 360                 if (has_battery) {
 361                         out.printf(",");
 362                         write_battery_header();
 363                 }
 364                 if (has_advanced) {
 365                         out.printf(",");
 366                         write_advanced_header();
 367                 }
 368                 if (has_igniter) {
 369                         out.printf(",");
 370                         write_igniter_header();
 371                 }
 372                 if (has_gps) {
 373                         out.printf(",");
 374                         write_gps_header();
 375                 }
 376                 if (has_gps_sat) {
 377                         out.printf(",");
 378                         write_gps_sat_header();
 379                 }
 380                 if (has_companion) {
 381                         out.printf(",");
 382                         write_companion_header();
 383                 }
 384                 out.printf ("\n");
 385         }
 386
 387         void write_one() {
 388                 write_general();
 389                 if (has_radio) {
 390                         out.printf(",");
 391                         write_radio();
 392                 }
 393                 if (has_flight_state) {
 394                         out.printf(",");
 395                         write_flight();
 396                 }
 397                 if (has_basic) {
 398                         out.printf(",");
 399                         write_basic();
 400                 }
 401                 if (has_battery) {
 402                         out.printf(",");
 403                         write_battery();
 404                 }
 405                 if (has_advanced) {
 406                         out.printf(",");
 407                         write_advanced();
 408                 }
 409                 if (has_igniter) {
 410                         out.printf(",");
 411                         write_igniter();
 412                 }
 413                 if (has_gps) {
 414                         out.printf(",");
 415                         write_gps();
 416                 }
 417                 if (has_gps_sat) {
 418                         out.printf(",");
 419                         write_gps_sat();
 420                 }
 421                 if (has_companion) {
 422                         out.printf(",");
 423                         write_companion();
 424                 }
 425                 out.printf ("\n");
 426         }
 427
 428         private void write() {
 429                 if (state() == AltosLib.ao_flight_startup)
 430                         return;
 431                 if (!header_written) {
 432                         write_header();
 433                         header_written = true;
 434                 }
 435                 write_one();
 436         }
 437
 438         private PrintStream out() {
 439                 return out;
 440         }
 441
 442         public void close() {
 443                 out.close();
 444         }
 445
 446         public void write(AltosFlightSeries series) {
 447 //              series.write_comments(out());
 448
 449                 this.series = series;
 450
 451                 series.finish();
 452
 453                 has_radio = false;
 454                 has_flight_state = false;
 455                 has_basic = false;
 456                 has_battery = false;
 457                 has_advanced = false;
 458                 has_igniter = false;
 459                 has_gps = false;
 460                 has_gps_sat = false;
 461                 has_companion = false;
 462
 463                 if (series.has_series(AltosFlightSeries.rssi_name))
 464                         has_radio = true;
 465                 if (series.has_series(AltosFlightSeries.state_name))
 466                         has_flight_state = true;
 467                 if (series.has_series(AltosFlightSeries.accel_name) || series.has_series(AltosFlightSeries.pressure_name))
 468                         has_basic = true;
 469                 if (series.has_series(AltosFlightSeries.battery_voltage_name))
 470                         has_battery = true;
 471                 if (series.has_series(AltosFlightSeries.accel_across_name))
 472                         has_advanced = true;
 473                 if (series.has_series(AltosFlightSeries.pyro_voltage_name))
 474                         has_igniter = true;
 475
 476                 if (series.gps_series != null)
 477                         has_gps = true;
 478                 if (series.sats_in_view != null)
 479                         has_gps_sat = true;
 480                 /*
 481                 if (state.companion != null)
 482                         has_companion = true;
 483                 */
 484
 485                 indices = series.indices();
 486
 487                 for (;;) {
 488                         write();
 489                         if (!series.step_indices(indices))
 490                                 break;
 491                 }
 492         }
 493
 494         public AltosCSV(PrintStream in_out, File in_name) {
 495                 name = in_name;
 496                 out = in_out;
 497         }
 498
 499         public AltosCSV(File in_name) throws FileNotFoundException {
 500                 this(new PrintStream(in_name), in_name);
 501         }
 502
 503         public AltosCSV(String in_string) throws FileNotFoundException {
 504                 this(new File(in_string));
 505         }
 506 }