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.
21 import java.awt.event.*;
23 import javax.swing.filechooser.FileNameExtensionFilter;
24 import javax.swing.table.*;
28 import java.util.prefs.*;
29 import java.util.concurrent.LinkedBlockingQueue;
30 import org.altusmetrum.AltosLib.*;
33 * AltosRecords with an index field so they can be sorted by tick while preserving
34 * the original ordering for elements with matching ticks
36 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
40 public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
41 throws ParseException {
43 if (prev_tick_valid) {
44 tick |= (prev_tick & ~0xffff);
45 if (tick < prev_tick) {
46 if (prev_tick - tick > 0x8000)
49 if (tick - prev_tick > 0x8000)
56 public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
57 super(in_cmd, in_tick, in_a, in_b);
61 public String toString() {
62 return String.format("%d.%d %04x %04x %04x",
63 cmd, index, tick, a, b);
66 public int compareTo(AltosOrderedRecord o) {
67 int tick_diff = tick - o.tick;
70 return index - o.index;
74 public class AltosEepromIterable extends AltosRecordIterable {
76 static final int seen_flight = 1;
77 static final int seen_sensor = 2;
78 static final int seen_temp_volt = 4;
79 static final int seen_deploy = 8;
80 static final int seen_gps_time = 16;
81 static final int seen_gps_lat = 32;
82 static final int seen_gps_lon = 64;
84 static final int seen_basic = seen_flight|seen_sensor;
90 AltosEepromRecord flight_record;
91 AltosEepromRecord gps_date_record;
93 TreeSet<AltosOrderedRecord> records;
95 LinkedList<AltosRecord> list;
113 void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
114 state.tick = record.tick;
115 switch (record.cmd) {
116 case Altos.AO_LOG_FLIGHT:
117 eeprom.seen |= seen_flight;
118 state.ground_accel = record.a;
119 state.flight_accel = record.a;
120 state.flight = record.b;
121 eeprom.boost_tick = record.tick;
123 case Altos.AO_LOG_SENSOR:
124 state.accel = record.a;
125 state.pres = record.b;
126 if (state.state < Altos.ao_flight_boost) {
127 eeprom.n_pad_samples++;
128 eeprom.ground_pres += state.pres;
129 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
130 state.flight_pres = state.ground_pres;
132 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
134 state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
135 if ((eeprom.seen & seen_sensor) == 0)
136 eeprom.sensor_tick = record.tick - 1;
137 state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
138 eeprom.seen |= seen_sensor;
139 eeprom.sensor_tick = record.tick;
142 case Altos.AO_LOG_PRESSURE:
143 state.pres = record.b;
144 state.flight_pres = state.pres;
145 if (eeprom.n_pad_samples == 0) {
146 eeprom.n_pad_samples++;
147 state.ground_pres = state.pres;
149 eeprom.seen |= seen_sensor;
151 case Altos.AO_LOG_TEMP_VOLT:
152 state.temp = record.a;
153 state.batt = record.b;
154 eeprom.seen |= seen_temp_volt;
156 case Altos.AO_LOG_DEPLOY:
157 state.drogue = record.a;
158 state.main = record.b;
159 eeprom.seen |= seen_deploy;
162 case Altos.AO_LOG_STATE:
163 state.state = record.a;
165 case Altos.AO_LOG_GPS_TIME:
166 eeprom.gps_tick = state.tick;
167 AltosGPS old = state.gps;
168 state.gps = new AltosGPS();
170 /* GPS date doesn't get repeated through the file */
172 state.gps.year = old.year;
173 state.gps.month = old.month;
174 state.gps.day = old.day;
176 state.gps.hour = (record.a & 0xff);
177 state.gps.minute = (record.a >> 8);
178 state.gps.second = (record.b & 0xff);
180 int flags = (record.b >> 8);
181 state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
182 state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
183 state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
184 Altos.AO_GPS_NUM_SAT_SHIFT;
185 state.new_gps = true;
188 case Altos.AO_LOG_GPS_LAT:
189 int lat32 = record.a | (record.b << 16);
190 state.gps.lat = (double) lat32 / 1e7;
192 case Altos.AO_LOG_GPS_LON:
193 int lon32 = record.a | (record.b << 16);
194 state.gps.lon = (double) lon32 / 1e7;
196 case Altos.AO_LOG_GPS_ALT:
197 state.gps.alt = record.a;
199 case Altos.AO_LOG_GPS_SAT:
200 if (state.tick == eeprom.gps_tick) {
202 int c_n0 = record.b >> 8;
203 state.gps.add_sat(svid, c_n0);
206 case Altos.AO_LOG_GPS_DATE:
207 state.gps.year = (record.a & 0xff) + 2000;
208 state.gps.month = record.a >> 8;
209 state.gps.day = record.b & 0xff;
212 case Altos.AO_LOG_CONFIG_VERSION:
214 case Altos.AO_LOG_MAIN_DEPLOY:
216 case Altos.AO_LOG_APOGEE_DELAY:
218 case Altos.AO_LOG_RADIO_CHANNEL:
220 case Altos.AO_LOG_CALLSIGN:
221 state.callsign = record.data;
223 case Altos.AO_LOG_ACCEL_CAL:
224 state.accel_plus_g = record.a;
225 state.accel_minus_g = record.b;
227 case Altos.AO_LOG_RADIO_CAL:
229 case Altos.AO_LOG_MANUFACTURER:
231 case Altos.AO_LOG_PRODUCT:
233 case Altos.AO_LOG_SERIAL_NUMBER:
234 state.serial = record.a;
236 case Altos.AO_LOG_SOFTWARE_VERSION:
239 state.seen |= eeprom.seen;
242 LinkedList<AltosRecord> make_list() {
243 LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
244 Iterator<AltosOrderedRecord> iterator = records.iterator();
245 AltosOrderedRecord record = null;
246 AltosRecord state = new AltosRecord();
247 boolean last_reported = false;
248 EepromState eeprom = new EepromState();
250 state.state = Altos.ao_flight_pad;
251 state.accel_plus_g = 15758;
252 state.accel_minus_g = 16294;
254 /* Pull in static data from the flight and gps_date records */
255 if (flight_record != null)
256 update_state(state, flight_record, eeprom);
257 if (gps_date_record != null)
258 update_state(state, gps_date_record, eeprom);
260 while (iterator.hasNext()) {
261 record = iterator.next();
262 if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
263 AltosRecord r = new AltosRecord(state);
264 r.time = (r.tick - eeprom.boost_tick) / 100.0;
267 update_state(state, record, eeprom);
269 AltosRecord r = new AltosRecord(state);
270 r.time = (r.tick - eeprom.boost_tick) / 100.0;
275 public Iterator<AltosRecord> iterator() {
278 return list.iterator();
281 public boolean has_gps() { return has_gps; }
282 public boolean has_accel() { return has_accel; }
283 public boolean has_ignite() { return has_ignite; }
285 public void write_comments(PrintStream out) {
286 Iterator<AltosOrderedRecord> iterator = records.iterator();
287 out.printf("# Comments\n");
288 while (iterator.hasNext()) {
289 AltosOrderedRecord record = iterator.next();
290 switch (record.cmd) {
291 case Altos.AO_LOG_CONFIG_VERSION:
292 out.printf("# Config version: %s\n", record.data);
294 case Altos.AO_LOG_MAIN_DEPLOY:
295 out.printf("# Main deploy: %s\n", record.a);
297 case Altos.AO_LOG_APOGEE_DELAY:
298 out.printf("# Apogee delay: %s\n", record.a);
300 case Altos.AO_LOG_RADIO_CHANNEL:
301 out.printf("# Radio channel: %s\n", record.a);
303 case Altos.AO_LOG_CALLSIGN:
304 out.printf("# Callsign: %s\n", record.data);
306 case Altos.AO_LOG_ACCEL_CAL:
307 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
309 case Altos.AO_LOG_RADIO_CAL:
310 out.printf ("# Radio cal: %d\n", record.a);
312 case Altos.AO_LOG_MAX_FLIGHT_LOG:
313 out.printf ("# Max flight log: %d\n", record.a);
315 case Altos.AO_LOG_MANUFACTURER:
316 out.printf ("# Manufacturer: %s\n", record.data);
318 case Altos.AO_LOG_PRODUCT:
319 out.printf ("# Product: %s\n", record.data);
321 case Altos.AO_LOG_SERIAL_NUMBER:
322 out.printf ("# Serial number: %d\n", record.a);
324 case Altos.AO_LOG_SOFTWARE_VERSION:
325 out.printf ("# Software version: %s\n", record.data);
327 case Altos.AO_LOG_BARO_RESERVED:
328 out.printf ("# Baro reserved: %d\n", record.a);
330 case Altos.AO_LOG_BARO_SENS:
331 out.printf ("# Baro sens: %d\n", record.a);
333 case Altos.AO_LOG_BARO_OFF:
334 out.printf ("# Baro off: %d\n", record.a);
336 case Altos.AO_LOG_BARO_TCS:
337 out.printf ("# Baro tcs: %d\n", record.a);
339 case Altos.AO_LOG_BARO_TCO:
340 out.printf ("# Baro tco: %d\n", record.a);
342 case Altos.AO_LOG_BARO_TREF:
343 out.printf ("# Baro tref: %d\n", record.a);
345 case Altos.AO_LOG_BARO_TEMPSENS:
346 out.printf ("# Baro tempsens: %d\n", record.a);
348 case Altos.AO_LOG_BARO_CRC:
349 out.printf ("# Baro crc: %d\n", record.a);
356 * Given an AO_LOG_GPS_TIME record with correct time, and one
357 * missing time, rewrite the missing time values with the good
358 * ones, assuming that the difference between them is 'diff' seconds
360 void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
362 int diff = (bad.tick - good.tick + 50) / 100;
364 int hour = (good.a & 0xff);
365 int minute = (good.a >> 8);
366 int second = (good.b & 0xff);
367 int flags = (good.b >> 8);
368 int seconds = hour * 3600 + minute * 60 + second;
370 /* Make sure this looks like a good GPS value */
371 if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
372 flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
373 flags |= Altos.AO_GPS_RUNNING;
374 flags |= Altos.AO_GPS_VALID;
376 int new_seconds = seconds + diff;
378 new_seconds += 24 * 3600;
379 int new_second = (new_seconds % 60);
380 int new_minutes = (new_seconds / 60);
381 int new_minute = (new_minutes % 60);
382 int new_hours = (new_minutes / 60);
383 int new_hour = (new_hours % 24);
385 bad.a = new_hour + (new_minute << 8);
386 bad.b = new_second + (flags << 8);
390 * Read the whole file, dumping records into a RB tree so
391 * we can enumerate them in time order -- the eeprom data
392 * are sometimes out of order with GPS data getting timestamps
393 * matching the first packet out of the GPS unit but not
394 * written until the final GPS packet has been received.
396 public AltosEepromIterable (FileInputStream input) {
397 records = new TreeSet<AltosOrderedRecord>();
399 AltosOrderedRecord last_gps_time = null;
403 boolean prev_tick_valid = false;
404 boolean missing_time = false;
408 String line = AltosRecord.gets(input);
411 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
414 if (record.cmd == Altos.AO_LOG_INVALID)
416 prev_tick = record.tick;
417 if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
418 prev_tick_valid = true;
419 if (record.cmd == Altos.AO_LOG_FLIGHT) {
420 flight_record = record;
424 /* Two firmware bugs caused the loss of some GPS data.
425 * The flight date would never be recorded, and often
426 * the flight time would get overwritten by another
427 * record. Detect the loss of the GPS date and fix up the
428 * missing time records
430 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
431 gps_date_record = record;
435 /* go back and fix up any missing time values */
436 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
437 last_gps_time = record;
439 Iterator<AltosOrderedRecord> iterator = records.iterator();
440 while (iterator.hasNext()) {
441 AltosOrderedRecord old = iterator.next();
442 if (old.cmd == Altos.AO_LOG_GPS_TIME &&
443 old.a == -1 && old.b == -1)
445 update_time(record, old);
448 missing_time = false;
452 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
453 if (last_gps_time == null || last_gps_time.tick != record.tick) {
454 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
457 if (last_gps_time != null)
458 update_time(last_gps_time, add_gps_time);
462 records.add(add_gps_time);
463 record.index = index++;
468 /* Bail after reading the 'landed' record; we're all done */
469 if (record.cmd == Altos.AO_LOG_STATE &&
470 record.a == Altos.ao_flight_landed)
473 } catch (IOException io) {
474 } catch (ParseException pe) {
478 } catch (IOException ie) {