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;
32 * AltosRecords with an index field so they can be sorted by tick while preserving
33 * the original ordering for elements with matching ticks
35 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
39 public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
40 throws ParseException {
42 if (prev_tick_valid) {
43 tick |= (prev_tick & ~0xffff);
44 if (tick < prev_tick) {
45 if (prev_tick - tick > 0x8000)
48 if (tick - prev_tick > 0x8000)
55 public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
56 super(in_cmd, in_tick, in_a, in_b);
60 public String toString() {
61 return String.format("%d.%d %04x %04x %04x",
62 cmd, index, tick, a, b);
65 public int compareTo(AltosOrderedRecord o) {
66 int tick_diff = tick - o.tick;
69 return index - o.index;
73 public class AltosEepromIterable extends AltosRecordIterable {
75 static final int seen_flight = 1;
76 static final int seen_sensor = 2;
77 static final int seen_temp_volt = 4;
78 static final int seen_deploy = 8;
79 static final int seen_gps_time = 16;
80 static final int seen_gps_lat = 32;
81 static final int seen_gps_lon = 64;
83 static final int seen_basic = seen_flight|seen_sensor;
89 AltosEepromRecord flight_record;
90 AltosEepromRecord gps_date_record;
92 TreeSet<AltosOrderedRecord> records;
94 LinkedList<AltosRecord> list;
111 void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
112 state.tick = record.tick;
113 switch (record.cmd) {
114 case Altos.AO_LOG_FLIGHT:
115 eeprom.seen |= seen_flight;
116 state.ground_accel = record.a;
117 state.flight_accel = record.a;
118 state.flight = record.b;
119 eeprom.boost_tick = record.tick;
121 case Altos.AO_LOG_SENSOR:
122 state.accel = record.a;
123 state.pres = record.b;
124 if (state.state < Altos.ao_flight_boost) {
125 eeprom.n_pad_samples++;
126 eeprom.ground_pres += state.pres;
127 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
128 state.flight_pres = state.ground_pres;
130 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
131 state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
132 state.flight_vel += (state.accel_plus_g - state.accel);
134 eeprom.seen |= seen_sensor;
137 case Altos.AO_LOG_HEIGHT:
138 state.height = (short) record.a;
139 eeprom.seen |= seen_sensor;
141 case Altos.AO_LOG_TEMP_VOLT:
142 state.temp = record.a;
143 state.batt = record.b;
144 eeprom.seen |= seen_temp_volt;
146 case Altos.AO_LOG_DEPLOY:
147 state.drogue = record.a;
148 state.main = record.b;
149 eeprom.seen |= seen_deploy;
152 case Altos.AO_LOG_STATE:
153 state.state = record.a;
155 case Altos.AO_LOG_GPS_TIME:
156 eeprom.gps_tick = state.tick;
157 AltosGPS old = state.gps;
158 state.gps = new AltosGPS();
160 /* GPS date doesn't get repeated through the file */
162 state.gps.year = old.year;
163 state.gps.month = old.month;
164 state.gps.day = old.day;
166 state.gps.hour = (record.a & 0xff);
167 state.gps.minute = (record.a >> 8);
168 state.gps.second = (record.b & 0xff);
170 int flags = (record.b >> 8);
171 state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
172 state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
173 state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
174 Altos.AO_GPS_NUM_SAT_SHIFT;
177 case Altos.AO_LOG_GPS_LAT:
178 int lat32 = record.a | (record.b << 16);
179 state.gps.lat = (double) lat32 / 1e7;
181 case Altos.AO_LOG_GPS_LON:
182 int lon32 = record.a | (record.b << 16);
183 state.gps.lon = (double) lon32 / 1e7;
185 case Altos.AO_LOG_GPS_ALT:
186 state.gps.alt = record.a;
188 case Altos.AO_LOG_GPS_SAT:
189 if (state.tick == eeprom.gps_tick) {
191 int c_n0 = record.b >> 8;
192 state.gps.add_sat(svid, c_n0);
195 case Altos.AO_LOG_GPS_DATE:
196 state.gps.year = (record.a & 0xff) + 2000;
197 state.gps.month = record.a >> 8;
198 state.gps.day = record.b & 0xff;
201 case Altos.AO_LOG_CONFIG_VERSION:
203 case Altos.AO_LOG_MAIN_DEPLOY:
205 case Altos.AO_LOG_APOGEE_DELAY:
207 case Altos.AO_LOG_RADIO_CHANNEL:
209 case Altos.AO_LOG_CALLSIGN:
210 state.callsign = record.data;
212 case Altos.AO_LOG_ACCEL_CAL:
213 state.accel_plus_g = record.a;
214 state.accel_minus_g = record.b;
216 case Altos.AO_LOG_RADIO_CAL:
218 case Altos.AO_LOG_MANUFACTURER:
220 case Altos.AO_LOG_PRODUCT:
222 case Altos.AO_LOG_SERIAL_NUMBER:
223 state.serial = record.a;
225 case Altos.AO_LOG_SOFTWARE_VERSION:
230 LinkedList<AltosRecord> make_list() {
231 LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
232 Iterator<AltosOrderedRecord> iterator = records.iterator();
233 AltosOrderedRecord record = null;
234 AltosRecord state = new AltosRecord();
235 boolean last_reported = false;
236 EepromState eeprom = new EepromState();
238 state.state = Altos.ao_flight_pad;
239 state.accel_plus_g = 15758;
240 state.accel_minus_g = 16294;
242 /* Pull in static data from the flight and gps_date records */
243 if (flight_record != null)
244 update_state(state, flight_record, eeprom);
245 if (gps_date_record != null)
246 update_state(state, gps_date_record, eeprom);
248 while (iterator.hasNext()) {
249 record = iterator.next();
250 if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
251 AltosRecord r = new AltosRecord(state);
252 r.time = (r.tick - eeprom.boost_tick) / 100.0;
255 update_state(state, record, eeprom);
257 AltosRecord r = new AltosRecord(state);
258 r.time = (r.tick - eeprom.boost_tick) / 100.0;
263 public Iterator<AltosRecord> iterator() {
266 return list.iterator();
269 public boolean has_gps() { return has_gps; }
270 public boolean has_accel() { return has_accel; }
271 public boolean has_ignite() { return has_ignite; }
273 public void write_comments(PrintStream out) {
274 Iterator<AltosOrderedRecord> iterator = records.iterator();
275 out.printf("# Comments\n");
276 while (iterator.hasNext()) {
277 AltosOrderedRecord record = iterator.next();
278 switch (record.cmd) {
279 case Altos.AO_LOG_CONFIG_VERSION:
280 out.printf("# Config version: %s\n", record.data);
282 case Altos.AO_LOG_MAIN_DEPLOY:
283 out.printf("# Main deploy: %s\n", record.a);
285 case Altos.AO_LOG_APOGEE_DELAY:
286 out.printf("# Apogee delay: %s\n", record.a);
288 case Altos.AO_LOG_RADIO_CHANNEL:
289 out.printf("# Radio channel: %s\n", record.a);
291 case Altos.AO_LOG_CALLSIGN:
292 out.printf("# Callsign: %s\n", record.data);
294 case Altos.AO_LOG_ACCEL_CAL:
295 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
297 case Altos.AO_LOG_RADIO_CAL:
298 out.printf ("# Radio cal: %d\n", record.a);
300 case Altos.AO_LOG_MAX_FLIGHT_LOG:
301 out.printf ("# Max flight log: %d\n", record.a);
303 case Altos.AO_LOG_MANUFACTURER:
304 out.printf ("# Manufacturer: %s\n", record.data);
306 case Altos.AO_LOG_PRODUCT:
307 out.printf ("# Product: %s\n", record.data);
309 case Altos.AO_LOG_SERIAL_NUMBER:
310 out.printf ("# Serial number: %d\n", record.a);
312 case Altos.AO_LOG_SOFTWARE_VERSION:
313 out.printf ("# Software version: %s\n", record.data);
320 * Given an AO_LOG_GPS_TIME record with correct time, and one
321 * missing time, rewrite the missing time values with the good
322 * ones, assuming that the difference between them is 'diff' seconds
324 void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
326 int diff = (bad.tick - good.tick + 50) / 100;
328 int hour = (good.a & 0xff);
329 int minute = (good.a >> 8);
330 int second = (good.b & 0xff);
331 int flags = (good.b >> 8);
332 int seconds = hour * 3600 + minute * 60 + second;
334 /* Make sure this looks like a good GPS value */
335 if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
336 flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
337 flags |= Altos.AO_GPS_RUNNING;
338 flags |= Altos.AO_GPS_VALID;
340 int new_seconds = seconds + diff;
342 new_seconds += 24 * 3600;
343 int new_second = (new_seconds % 60);
344 int new_minutes = (new_seconds / 60);
345 int new_minute = (new_minutes % 60);
346 int new_hours = (new_minutes / 60);
347 int new_hour = (new_hours % 24);
349 bad.a = new_hour + (new_minute << 8);
350 bad.b = new_second + (flags << 8);
354 * Read the whole file, dumping records into a RB tree so
355 * we can enumerate them in time order -- the eeprom data
356 * are sometimes out of order with GPS data getting timestamps
357 * matching the first packet out of the GPS unit but not
358 * written until the final GPS packet has been received.
360 public AltosEepromIterable (FileInputStream input) {
361 records = new TreeSet<AltosOrderedRecord>();
363 AltosOrderedRecord last_gps_time = null;
367 boolean prev_tick_valid = false;
368 boolean missing_time = false;
372 String line = AltosRecord.gets(input);
375 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
378 if (record.cmd == Altos.AO_LOG_INVALID)
380 prev_tick = record.tick;
381 if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
382 prev_tick_valid = true;
383 if (record.cmd == Altos.AO_LOG_FLIGHT) {
384 flight_record = record;
388 /* Two firmware bugs caused the loss of some GPS data.
389 * The flight date would never be recorded, and often
390 * the flight time would get overwritten by another
391 * record. Detect the loss of the GPS date and fix up the
392 * missing time records
394 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
395 gps_date_record = record;
399 /* go back and fix up any missing time values */
400 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
401 last_gps_time = record;
403 Iterator<AltosOrderedRecord> iterator = records.iterator();
404 while (iterator.hasNext()) {
405 AltosOrderedRecord old = iterator.next();
406 if (old.cmd == Altos.AO_LOG_GPS_TIME &&
407 old.a == -1 && old.b == -1)
409 update_time(record, old);
412 missing_time = false;
416 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
417 if (last_gps_time == null || last_gps_time.tick != record.tick) {
418 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
421 if (last_gps_time != null)
422 update_time(last_gps_time, add_gps_time);
426 records.add(add_gps_time);
427 record.index = index++;
432 /* Bail after reading the 'landed' record; we're all done */
433 if (record.cmd == Altos.AO_LOG_STATE &&
434 record.a == Altos.ao_flight_landed)
437 } catch (IOException io) {
438 } catch (ParseException pe) {
442 } catch (IOException ie) {