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.
18 package org.altusmetrum.AltosLib;
23 import java.util.prefs.*;
24 import java.util.concurrent.LinkedBlockingQueue;
27 * AltosRecords with an index field so they can be sorted by tick while preserving
28 * the original ordering for elements with matching ticks
30 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
34 public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
35 throws ParseException {
37 if (prev_tick_valid) {
38 tick |= (prev_tick & ~0xffff);
39 if (tick < prev_tick) {
40 if (prev_tick - tick > 0x8000)
43 if (tick - prev_tick > 0x8000)
50 public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
51 super(in_cmd, in_tick, in_a, in_b);
55 public String toString() {
56 return String.format("%d.%d %04x %04x %04x",
57 cmd, index, tick, a, b);
60 public int compareTo(AltosOrderedRecord o) {
61 int tick_diff = tick - o.tick;
64 return index - o.index;
68 public class AltosEepromIterable extends AltosRecordIterable {
70 static final int seen_flight = 1;
71 static final int seen_sensor = 2;
72 static final int seen_temp_volt = 4;
73 static final int seen_deploy = 8;
74 static final int seen_gps_time = 16;
75 static final int seen_gps_lat = 32;
76 static final int seen_gps_lon = 64;
78 static final int seen_basic = seen_flight|seen_sensor;
84 AltosEepromRecord flight_record;
85 AltosEepromRecord gps_date_record;
87 TreeSet<AltosOrderedRecord> records;
89 LinkedList<AltosRecord> list;
107 void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) {
108 state.tick = record.tick;
109 switch (record.cmd) {
110 case AltosLib.AO_LOG_FLIGHT:
111 eeprom.seen |= seen_flight;
112 state.ground_accel = record.a;
113 state.flight_accel = record.a;
114 state.flight = record.b;
115 eeprom.boost_tick = record.tick;
117 case AltosLib.AO_LOG_SENSOR:
118 state.accel = record.a;
119 state.pres = record.b;
120 if (state.state < AltosLib.ao_flight_boost) {
121 eeprom.n_pad_samples++;
122 eeprom.ground_pres += state.pres;
123 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
124 state.flight_pres = state.ground_pres;
126 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
128 state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
129 if ((eeprom.seen & seen_sensor) == 0)
130 eeprom.sensor_tick = record.tick - 1;
131 state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
132 eeprom.seen |= seen_sensor;
133 eeprom.sensor_tick = record.tick;
136 case AltosLib.AO_LOG_PRESSURE:
137 state.pres = record.b;
138 state.flight_pres = state.pres;
139 if (eeprom.n_pad_samples == 0) {
140 eeprom.n_pad_samples++;
141 state.ground_pres = state.pres;
143 eeprom.seen |= seen_sensor;
145 case AltosLib.AO_LOG_TEMP_VOLT:
146 state.temp = record.a;
147 state.batt = record.b;
148 eeprom.seen |= seen_temp_volt;
150 case AltosLib.AO_LOG_DEPLOY:
151 state.drogue = record.a;
152 state.main = record.b;
153 eeprom.seen |= seen_deploy;
156 case AltosLib.AO_LOG_STATE:
157 state.state = record.a;
159 case AltosLib.AO_LOG_GPS_TIME:
160 eeprom.gps_tick = state.tick;
161 AltosGPS old = state.gps;
162 state.gps = new AltosGPS();
164 /* GPS date doesn't get repeated through the file */
166 state.gps.year = old.year;
167 state.gps.month = old.month;
168 state.gps.day = old.day;
170 state.gps.hour = (record.a & 0xff);
171 state.gps.minute = (record.a >> 8);
172 state.gps.second = (record.b & 0xff);
174 int flags = (record.b >> 8);
175 state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
176 state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
177 state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
178 AltosLib.AO_GPS_NUM_SAT_SHIFT;
179 state.new_gps = true;
182 case AltosLib.AO_LOG_GPS_LAT:
183 int lat32 = record.a | (record.b << 16);
184 state.gps.lat = (double) lat32 / 1e7;
186 case AltosLib.AO_LOG_GPS_LON:
187 int lon32 = record.a | (record.b << 16);
188 state.gps.lon = (double) lon32 / 1e7;
190 case AltosLib.AO_LOG_GPS_ALT:
191 state.gps.alt = record.a;
193 case AltosLib.AO_LOG_GPS_SAT:
194 if (state.tick == eeprom.gps_tick) {
196 int c_n0 = record.b >> 8;
197 state.gps.add_sat(svid, c_n0);
200 case AltosLib.AO_LOG_GPS_DATE:
201 state.gps.year = (record.a & 0xff) + 2000;
202 state.gps.month = record.a >> 8;
203 state.gps.day = record.b & 0xff;
206 case AltosLib.AO_LOG_CONFIG_VERSION:
208 case AltosLib.AO_LOG_MAIN_DEPLOY:
210 case AltosLib.AO_LOG_APOGEE_DELAY:
212 case AltosLib.AO_LOG_RADIO_CHANNEL:
214 case AltosLib.AO_LOG_CALLSIGN:
215 state.callsign = record.data;
217 case AltosLib.AO_LOG_ACCEL_CAL:
218 state.accel_plus_g = record.a;
219 state.accel_minus_g = record.b;
221 case AltosLib.AO_LOG_RADIO_CAL:
223 case AltosLib.AO_LOG_MANUFACTURER:
225 case AltosLib.AO_LOG_PRODUCT:
227 case AltosLib.AO_LOG_SERIAL_NUMBER:
228 state.serial = record.a;
230 case AltosLib.AO_LOG_SOFTWARE_VERSION:
233 state.seen |= eeprom.seen;
236 LinkedList<AltosRecord> make_list() {
237 LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
238 Iterator<AltosOrderedRecord> iterator = records.iterator();
239 AltosOrderedRecord record = null;
240 AltosRecordTM state = new AltosRecordTM();
241 boolean last_reported = false;
242 EepromState eeprom = new EepromState();
244 state.state = AltosLib.ao_flight_pad;
245 state.accel_plus_g = 15758;
246 state.accel_minus_g = 16294;
248 /* Pull in static data from the flight and gps_date records */
249 if (flight_record != null)
250 update_state(state, flight_record, eeprom);
251 if (gps_date_record != null)
252 update_state(state, gps_date_record, eeprom);
254 while (iterator.hasNext()) {
255 record = iterator.next();
256 if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
257 AltosRecordTM r = state.clone();
258 r.time = (r.tick - eeprom.boost_tick) / 100.0;
261 update_state(state, record, eeprom);
263 AltosRecordTM r = state.clone();
264 r.time = (r.tick - eeprom.boost_tick) / 100.0;
269 public Iterator<AltosRecord> iterator() {
272 return list.iterator();
275 public boolean has_gps() { return has_gps; }
276 public boolean has_accel() { return has_accel; }
277 public boolean has_ignite() { return has_ignite; }
279 public void write_comments(PrintStream out) {
280 Iterator<AltosOrderedRecord> iterator = records.iterator();
281 out.printf("# Comments\n");
282 while (iterator.hasNext()) {
283 AltosOrderedRecord record = iterator.next();
284 switch (record.cmd) {
285 case AltosLib.AO_LOG_CONFIG_VERSION:
286 out.printf("# Config version: %s\n", record.data);
288 case AltosLib.AO_LOG_MAIN_DEPLOY:
289 out.printf("# Main deploy: %s\n", record.a);
291 case AltosLib.AO_LOG_APOGEE_DELAY:
292 out.printf("# Apogee delay: %s\n", record.a);
294 case AltosLib.AO_LOG_RADIO_CHANNEL:
295 out.printf("# Radio channel: %s\n", record.a);
297 case AltosLib.AO_LOG_CALLSIGN:
298 out.printf("# Callsign: %s\n", record.data);
300 case AltosLib.AO_LOG_ACCEL_CAL:
301 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
303 case AltosLib.AO_LOG_RADIO_CAL:
304 out.printf ("# Radio cal: %d\n", record.a);
306 case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
307 out.printf ("# Max flight log: %d\n", record.a);
309 case AltosLib.AO_LOG_MANUFACTURER:
310 out.printf ("# Manufacturer: %s\n", record.data);
312 case AltosLib.AO_LOG_PRODUCT:
313 out.printf ("# Product: %s\n", record.data);
315 case AltosLib.AO_LOG_SERIAL_NUMBER:
316 out.printf ("# Serial number: %d\n", record.a);
318 case AltosLib.AO_LOG_SOFTWARE_VERSION:
319 out.printf ("# Software version: %s\n", record.data);
321 case AltosLib.AO_LOG_BARO_RESERVED:
322 out.printf ("# Baro reserved: %d\n", record.a);
324 case AltosLib.AO_LOG_BARO_SENS:
325 out.printf ("# Baro sens: %d\n", record.a);
327 case AltosLib.AO_LOG_BARO_OFF:
328 out.printf ("# Baro off: %d\n", record.a);
330 case AltosLib.AO_LOG_BARO_TCS:
331 out.printf ("# Baro tcs: %d\n", record.a);
333 case AltosLib.AO_LOG_BARO_TCO:
334 out.printf ("# Baro tco: %d\n", record.a);
336 case AltosLib.AO_LOG_BARO_TREF:
337 out.printf ("# Baro tref: %d\n", record.a);
339 case AltosLib.AO_LOG_BARO_TEMPSENS:
340 out.printf ("# Baro tempsens: %d\n", record.a);
342 case AltosLib.AO_LOG_BARO_CRC:
343 out.printf ("# Baro crc: %d\n", record.a);
350 * Given an AO_LOG_GPS_TIME record with correct time, and one
351 * missing time, rewrite the missing time values with the good
352 * ones, assuming that the difference between them is 'diff' seconds
354 void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
356 int diff = (bad.tick - good.tick + 50) / 100;
358 int hour = (good.a & 0xff);
359 int minute = (good.a >> 8);
360 int second = (good.b & 0xff);
361 int flags = (good.b >> 8);
362 int seconds = hour * 3600 + minute * 60 + second;
364 /* Make sure this looks like a good GPS value */
365 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
366 flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
367 flags |= AltosLib.AO_GPS_RUNNING;
368 flags |= AltosLib.AO_GPS_VALID;
370 int new_seconds = seconds + diff;
372 new_seconds += 24 * 3600;
373 int new_second = (new_seconds % 60);
374 int new_minutes = (new_seconds / 60);
375 int new_minute = (new_minutes % 60);
376 int new_hours = (new_minutes / 60);
377 int new_hour = (new_hours % 24);
379 bad.a = new_hour + (new_minute << 8);
380 bad.b = new_second + (flags << 8);
384 * Read the whole file, dumping records into a RB tree so
385 * we can enumerate them in time order -- the eeprom data
386 * are sometimes out of order with GPS data getting timestamps
387 * matching the first packet out of the GPS unit but not
388 * written until the final GPS packet has been received.
390 public AltosEepromIterable (FileInputStream input) {
391 records = new TreeSet<AltosOrderedRecord>();
393 AltosOrderedRecord last_gps_time = null;
397 boolean prev_tick_valid = false;
398 boolean missing_time = false;
402 String line = AltosLib.gets(input);
405 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
408 if (record.cmd == AltosLib.AO_LOG_INVALID)
410 prev_tick = record.tick;
411 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
412 prev_tick_valid = true;
413 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
414 flight_record = record;
418 /* Two firmware bugs caused the loss of some GPS data.
419 * The flight date would never be recorded, and often
420 * the flight time would get overwritten by another
421 * record. Detect the loss of the GPS date and fix up the
422 * missing time records
424 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
425 gps_date_record = record;
429 /* go back and fix up any missing time values */
430 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
431 last_gps_time = record;
433 Iterator<AltosOrderedRecord> iterator = records.iterator();
434 while (iterator.hasNext()) {
435 AltosOrderedRecord old = iterator.next();
436 if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
437 old.a == -1 && old.b == -1)
439 update_time(record, old);
442 missing_time = false;
446 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
447 if (last_gps_time == null || last_gps_time.tick != record.tick) {
448 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
451 if (last_gps_time != null)
452 update_time(last_gps_time, add_gps_time);
456 records.add(add_gps_time);
457 record.index = index++;
462 /* Bail after reading the 'landed' record; we're all done */
463 if (record.cmd == AltosLib.AO_LOG_STATE &&
464 record.a == AltosLib.ao_flight_landed)
467 } catch (IOException io) {
468 } catch (ParseException pe) {
472 } catch (IOException ie) {