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;
24 public class AltosEepromMegaIterable extends AltosRecordIterable {
26 static final int seen_flight = 1;
27 static final int seen_sensor = 2;
28 static final int seen_temp_volt = 4;
29 static final int seen_deploy = 8;
30 static final int seen_gps_time = 16;
31 static final int seen_gps_lat = 32;
32 static final int seen_gps_lon = 64;
34 static final int seen_basic = seen_flight|seen_sensor;
40 AltosEepromMega flight_record;
41 AltosEepromMega gps_date_record;
43 TreeSet<AltosOrderedMegaRecord> records;
47 LinkedList<AltosRecord> list;
65 void update_state(AltosRecordMM state, AltosEepromMega record, EepromState eeprom) {
66 state.tick = record.tick;
68 case AltosLib.AO_LOG_FLIGHT:
69 eeprom.seen |= seen_flight;
70 state.ground_accel = record.ground_accel();
71 state.flight_accel = record.ground_accel();
72 state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
73 state.flight_pres = state.ground_pres;
74 state.flight = record.data16(0);
75 eeprom.boost_tick = record.tick;
77 case AltosLib.AO_LOG_SENSOR:
78 state.accel = record.accel();
79 baro.set(record.pres(), record.temp());
82 state.imu = new AltosIMU();
83 state.imu.accel_x = record.accel_x();
84 state.imu.accel_y = record.accel_y();
85 state.imu.accel_z = record.accel_z();
86 state.imu.gyro_x = record.gyro_x();
87 state.imu.gyro_y = record.gyro_y();
88 state.imu.gyro_z = record.gyro_z();
89 state.mag = new AltosMag();
90 state.mag.x = record.mag_x();
91 state.mag.y = record.mag_y();
92 state.mag.z = record.mag_z();
93 if (state.state < AltosLib.ao_flight_boost) {
94 eeprom.n_pad_samples++;
95 eeprom.ground_pres += state.pres;
96 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
97 state.flight_pres = state.ground_pres;
99 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
101 state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
102 if ((eeprom.seen & seen_sensor) == 0)
103 eeprom.sensor_tick = record.tick - 1;
104 state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
105 eeprom.seen |= seen_sensor;
106 eeprom.sensor_tick = record.tick;
109 case AltosLib.AO_LOG_TEMP_VOLT:
110 state.v_batt = record.v_batt();
111 state.v_pyro = record.v_pbatt();
112 for (int i = 0; i < record.nsense(); i++)
113 state.sense[i] = record.sense(i);
114 eeprom.seen |= seen_temp_volt;
116 case AltosLib.AO_LOG_STATE:
117 state.state = record.state();
119 case AltosLib.AO_LOG_GPS_TIME:
120 eeprom.gps_tick = state.tick;
121 state.gps = new AltosGPS();
123 state.gps.lat = record.latitude() / 1e7;
124 state.gps.lon = record.longitude() / 1e7;
125 state.gps.alt = record.altitude();
126 state.gps.year = record.year() + 2000;
127 state.gps.month = record.month();
128 state.gps.day = record.day();
130 state.gps.hour = record.hour();
131 state.gps.minute = record.minute();
132 state.gps.second = record.second();
134 int flags = record.flags();
135 state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
136 state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
137 state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
138 AltosLib.AO_GPS_NUM_SAT_SHIFT;
139 state.new_gps = true;
141 eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
143 case AltosLib.AO_LOG_GPS_SAT:
144 if (state.tick == eeprom.gps_tick) {
145 int nsat = record.nsat();
146 for (int i = 0; i < nsat; i++)
147 state.gps.add_sat(record.svid(i), record.c_n(i));
150 case AltosLib.AO_LOG_CONFIG_VERSION:
152 case AltosLib.AO_LOG_MAIN_DEPLOY:
154 case AltosLib.AO_LOG_APOGEE_DELAY:
156 case AltosLib.AO_LOG_RADIO_CHANNEL:
158 case AltosLib.AO_LOG_CALLSIGN:
159 state.callsign = record.data;
161 case AltosLib.AO_LOG_ACCEL_CAL:
162 state.accel_plus_g = record.config_a;
163 state.accel_minus_g = record.config_b;
165 case AltosLib.AO_LOG_RADIO_CAL:
167 case AltosLib.AO_LOG_MANUFACTURER:
169 case AltosLib.AO_LOG_PRODUCT:
171 case AltosLib.AO_LOG_SERIAL_NUMBER:
172 state.serial = record.config_a;
174 case AltosLib.AO_LOG_SOFTWARE_VERSION:
176 case AltosLib.AO_LOG_BARO_RESERVED:
177 baro.reserved = record.config_a;
179 case AltosLib.AO_LOG_BARO_SENS:
180 baro.sens =record.config_a;
182 case AltosLib.AO_LOG_BARO_OFF:
183 baro.off =record.config_a;
185 case AltosLib.AO_LOG_BARO_TCS:
186 baro.tcs =record.config_a;
188 case AltosLib.AO_LOG_BARO_TCO:
189 baro.tco =record.config_a;
191 case AltosLib.AO_LOG_BARO_TREF:
192 baro.tref =record.config_a;
194 case AltosLib.AO_LOG_BARO_TEMPSENS:
195 baro.tempsens =record.config_a;
197 case AltosLib.AO_LOG_BARO_CRC:
198 baro.crc =record.config_a;
201 state.seen |= eeprom.seen;
204 LinkedList<AltosRecord> make_list() {
205 LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
206 Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
207 AltosOrderedMegaRecord record = null;
208 AltosRecordMM state = new AltosRecordMM();
209 //boolean last_reported = false;
210 EepromState eeprom = new EepromState();
212 state.state = AltosLib.ao_flight_pad;
213 state.accel_plus_g = 15758;
214 state.accel_minus_g = 16294;
216 /* Pull in static data from the flight and gps_date records */
217 if (flight_record != null)
218 update_state(state, flight_record, eeprom);
219 if (gps_date_record != null)
220 update_state(state, gps_date_record, eeprom);
222 while (iterator.hasNext()) {
223 record = iterator.next();
224 if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
225 AltosRecordMM r = state.clone();
226 r.time = (r.tick - eeprom.boost_tick) / 100.0;
229 update_state(state, record, eeprom);
231 AltosRecordMM r = state.clone();
232 r.time = (r.tick - eeprom.boost_tick) / 100.0;
237 public Iterator<AltosRecord> iterator() {
240 return list.iterator();
243 public boolean has_gps() { return has_gps; }
244 public boolean has_accel() { return has_accel; }
245 public boolean has_ignite() { return has_ignite; }
247 public void write_comments(PrintStream out) {
248 Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
249 out.printf("# Comments\n");
250 while (iterator.hasNext()) {
251 AltosOrderedMegaRecord record = iterator.next();
252 switch (record.cmd) {
253 case AltosLib.AO_LOG_CONFIG_VERSION:
254 out.printf("# Config version: %s\n", record.data);
256 case AltosLib.AO_LOG_MAIN_DEPLOY:
257 out.printf("# Main deploy: %s\n", record.config_a);
259 case AltosLib.AO_LOG_APOGEE_DELAY:
260 out.printf("# Apogee delay: %s\n", record.config_a);
262 case AltosLib.AO_LOG_RADIO_CHANNEL:
263 out.printf("# Radio channel: %s\n", record.config_a);
265 case AltosLib.AO_LOG_CALLSIGN:
266 out.printf("# Callsign: %s\n", record.data);
268 case AltosLib.AO_LOG_ACCEL_CAL:
269 out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
271 case AltosLib.AO_LOG_RADIO_CAL:
272 out.printf ("# Radio cal: %d\n", record.config_a);
274 case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
275 out.printf ("# Max flight log: %d\n", record.config_a);
277 case AltosLib.AO_LOG_MANUFACTURER:
278 out.printf ("# Manufacturer: %s\n", record.data);
280 case AltosLib.AO_LOG_PRODUCT:
281 out.printf ("# Product: %s\n", record.data);
283 case AltosLib.AO_LOG_SERIAL_NUMBER:
284 out.printf ("# Serial number: %d\n", record.config_a);
286 case AltosLib.AO_LOG_SOFTWARE_VERSION:
287 out.printf ("# Software version: %s\n", record.data);
289 case AltosLib.AO_LOG_BARO_RESERVED:
290 out.printf ("# Baro reserved: %d\n", record.config_a);
292 case AltosLib.AO_LOG_BARO_SENS:
293 out.printf ("# Baro sens: %d\n", record.config_a);
295 case AltosLib.AO_LOG_BARO_OFF:
296 out.printf ("# Baro off: %d\n", record.config_a);
298 case AltosLib.AO_LOG_BARO_TCS:
299 out.printf ("# Baro tcs: %d\n", record.config_a);
301 case AltosLib.AO_LOG_BARO_TCO:
302 out.printf ("# Baro tco: %d\n", record.config_a);
304 case AltosLib.AO_LOG_BARO_TREF:
305 out.printf ("# Baro tref: %d\n", record.config_a);
307 case AltosLib.AO_LOG_BARO_TEMPSENS:
308 out.printf ("# Baro tempsens: %d\n", record.config_a);
310 case AltosLib.AO_LOG_BARO_CRC:
311 out.printf ("# Baro crc: %d\n", record.config_a);
318 * Read the whole file, dumping records into a RB tree so
319 * we can enumerate them in time order -- the eeprom data
320 * are sometimes out of order with GPS data getting timestamps
321 * matching the first packet out of the GPS unit but not
322 * written until the final GPS packet has been received.
324 public AltosEepromMegaIterable (FileInputStream input) {
325 records = new TreeSet<AltosOrderedMegaRecord>();
327 AltosOrderedMegaRecord last_gps_time = null;
329 baro = new AltosMs5607();
333 boolean prev_tick_valid = false;
334 boolean missing_time = false;
338 String line = AltosLib.gets(input);
341 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
342 if (record.cmd == AltosLib.AO_LOG_INVALID)
344 prev_tick = record.tick;
345 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
346 prev_tick_valid = true;
347 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
348 flight_record = record;
354 /* Bail after reading the 'landed' record; we're all done */
355 if (record.cmd == AltosLib.AO_LOG_STATE &&
356 record.state() == AltosLib.ao_flight_landed)
359 } catch (IOException io) {
360 } catch (ParseException pe) {
364 } catch (IOException ie) {