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   1 /*
   2  * Copyright © 2009 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 #define _GNU_SOURCE
  20 #include <string.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <unistd.h>
  24 #include <getopt.h>
  25 #include "cc-usb.h"
  26 #include "cc.h"
  27 #include <plplot/plplot.h>
  28
  29 static const char *state_names[] = {
  30         "startup",
  31         "idle",
  32         "pad",
  33         "boost",
  34         "fast",
  35         "coast",
  36         "drogue",
  37         "main",
  38         "landed",
  39         "invalid"
  40 };
  41
  42 static const char *kml_state_colours[] = {
  43         "FF000000",
  44         "FF000000",
  45         "FF000000",
  46         "FF0000FF",
  47         "FF4080FF",
  48         "FF00FFFF",
  49         "FFFF0000",
  50         "FF00FF00",
  51         "FF000000",
  52         "FFFFFFFF"
  53 };
  54
  55 static int plot_colors[3][3] = {
  56         { 0, 0x90, 0 }, /* height */
  57         { 0xa0, 0, 0 }, /* speed */
  58         { 0, 0, 0xc0 }, /* accel */
  59 };
  60
  61 #define PLOT_HEIGHT     0
  62 #define PLOT_SPEED      1
  63 #define PLOT_ACCEL      2
  64
  65 static void
  66 plot_perioddata(struct cc_perioddata *d, char *axis_label, char *plot_label,
  67                 double min_time, double max_time, int plot_type)
  68 {
  69         double  *times;
  70         double  ymin, ymax;
  71         int     ymin_i, ymax_i;
  72         int     i;
  73         int     start, stop;
  74
  75         if (!cc_perioddata_limits(d, min_time, max_time, &start, &stop))
  76                 return;
  77
  78         times = calloc(stop - start + 1, sizeof (double));
  79         for (i = start; i <= stop; i++)
  80                 times[i-start] = i * d->step / 100.0;
  81
  82         ymin_i = cc_perioddata_min(d, min_time, max_time);
  83         ymax_i = cc_perioddata_max(d, min_time, max_time);
  84         ymin = d->data[ymin_i];
  85         ymax = d->data[ymax_i];
  86         plscol0(1, 0, 0, 0);
  87         plscol0(2, plot_colors[plot_type][0],  plot_colors[plot_type][1],  plot_colors[plot_type][2]);
  88         plcol0(1);
  89         plenv(times[0], times[stop-start],
  90               ymin, ymax, 0, 2);
  91         pllab("Time", axis_label, plot_label);
  92         plcol0(2);
  93         plline(stop - start + 1, times, d->data + start);
  94         free(times);
  95 }
  96
  97 static void
  98 plot_timedata(struct cc_timedata *d, char *axis_label, char *plot_label,
  99               double min_time, double max_time, int plot_type)
 100 {
 101         double  *times;
 102         double  *values;
 103         double  ymin, ymax;
 104         int     ymin_i, ymax_i;
 105         int     i;
 106         int     start = -1, stop = -1;
 107         double  start_time = 0, stop_time = 0;
 108         int     num;
 109
 110         for (i = 0; i < d->num; i++) {
 111                 if (start < 0 && d->data[i].time >= min_time) {
 112                         start_time = d->data[i].time;
 113                         start = i;
 114                 }
 115                 if (d->data[i].time <= max_time) {
 116                         stop_time = d->data[i].time;
 117                         stop = i;
 118                 }
 119         }
 120
 121         times = calloc(stop - start + 1, sizeof (double));
 122         values = calloc(stop - start + 1, sizeof (double));
 123
 124         ymin_i = cc_timedata_min(d, min_time, max_time);
 125         ymax_i = cc_timedata_max(d, min_time, max_time);
 126         ymin = d->data[ymin_i].value;
 127         ymax = d->data[ymax_i].value;
 128         for (i = start; i <= stop; i++) {
 129                 times[i-start] = (d->data[i].time - start_time)/100.0;
 130                 values[i-start] = d->data[i].value;
 131         }
 132         plscol0(1, 0, 0, 0);
 133         plscol0(2, plot_colors[plot_type][0],  plot_colors[plot_type][1],  plot_colors[plot_type][2]);
 134         plcol0(1);
 135         plenv(times[0], times[stop-start], ymin, ymax, 0, 2);
 136         pllab("Time", axis_label, plot_label);
 137         plcol0(2);
 138         plline(stop - start + 1, times, values);
 139         free(times);
 140         free(values);
 141 }
 142
 143 static struct cc_perioddata *
 144 merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split_time)
 145 {
 146         int                     i;
 147         struct cc_perioddata    *pd;
 148         int                     num;
 149         double                  start_time, stop_time;
 150         double                  t;
 151
 152         pd = calloc(1, sizeof (struct cc_perioddata));
 153         start_time = first->start;
 154         stop_time = last->start + last->step * last->num;
 155         num = (stop_time - start_time) / first->step;
 156         pd->num = num;
 157         pd->data = calloc(num, sizeof (double));
 158         pd->start = first->start;
 159         pd->step = first->step;
 160         for (i = 0; i < num; i++) {
 161                 t = pd->start + i * pd->step;
 162                 if (t <= split_time) {
 163                         pd->data[i] = first->data[i];
 164                 } else {
 165                         int     j;
 166
 167                         j = (t - last->start) / last->step;
 168                         if (j < 0 || j >= last->num)
 169                                 pd->data[i] = 0;
 170                         else
 171                                 pd->data[i] = last->data[j];
 172                 }
 173         }
 174         return pd;
 175 }
 176
 177 static const char kml_header_start[] =
 178         "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
 179         "<kml xmlns=\"http://www.opengis.net/kml/2.2\">\n"
 180         "<Document>\n"
 181         "  <name>%s</name>\n"
 182         "  <description>\n";
 183 static const char kml_header_end[] =
 184         "  </description>\n"
 185         "  <open>0</open>\n";
 186
 187 static const char kml_style_start[] =
 188         "  <Style id=\"ao-flightstate-%s\">\n"
 189         "    <LineStyle><color>%s</color><width>4</width></LineStyle>\n"
 190         "    <BalloonStyle>\n"
 191         "      <text>\n";
 192 static const char kml_style_end[] =
 193         "      </text>\n"
 194         "    </BalloonStyle>\n"
 195         "  </Style>\n";
 196
 197 static const char kml_placemark_start[] =
 198         "  <Placemark>\n"
 199         "    <name>%s</name>\n"
 200         "    <styleUrl>#ao-flightstate-%s</styleUrl>\n"
 201         "    <LineString>\n"
 202         "      <tessellate>1</tessellate>\n"
 203         "      <altitudeMode>absolute</altitudeMode>\n"
 204         "      <coordinates>\n";
 205
 206 static const char kml_coord_fmt[] =
 207         "        %12.7f, %12.7f, %12.7f <!-- alt %12.7f time %12.7f sats %d -->\n";
 208
 209 static const char kml_placemark_end[] =
 210         "      </coordinates>\n"
 211         "    </LineString>\n"
 212         "  </Placemark>\n";
 213
 214 static const char kml_footer[] =
 215         "      </coordinates>\n"
 216         "    </LineString>\n"
 217         "  </Placemark>\n"
 218         "</Document>\n"
 219         "</kml>\n";
 220
 221 static unsigned
 222 gps_daytime(struct cc_gpselt *gps)
 223 {
 224         return ((gps->hour * 60 +
 225                  gps->minute) * 60 +
 226                 gps->second) * 1000;
 227 }
 228
 229 int
 230 daytime_hour(unsigned daytime)
 231 {
 232         return daytime / 1000 / 60 / 60;
 233 }
 234
 235 int
 236 daytime_minute(unsigned daytime)
 237 {
 238         return (daytime / 1000 / 60) % 60;
 239 }
 240
 241 int
 242 daytime_second(unsigned daytime)
 243 {
 244         return (daytime / 1000) % 60;
 245 }
 246
 247 int
 248 daytime_millisecond(unsigned daytime)
 249 {
 250         return daytime % 1000;
 251 }
 252
 253 static unsigned
 254 compute_daytime_ms(double time, struct cc_gpsdata *gps)
 255 {
 256         int     i;
 257         unsigned        gps_start_daytime, gps_stop_daytime;
 258
 259         if (time <= gps->data[0].time) {
 260                 gps_stop_daytime = gps_daytime(&gps->data[0]);
 261                 return gps_stop_daytime - (gps->data[0].time - time) * 10;
 262         }
 263         for (i = 0; i < gps->num - 1; i++)
 264                 if (time > gps->data[i].time)
 265                         break;
 266         gps_start_daytime = gps_daytime(&gps->data[i]);
 267         if (i == gps->num - 1) {
 268                 return gps_start_daytime + (time - gps->data[i].time) * 10;
 269         } else {
 270                 unsigned        gps_period_daytime;
 271                 double          gps_period_time;
 272                 double          time_since_start;
 273
 274                 gps_stop_daytime = gps_daytime(&gps->data[i + 1]);
 275
 276                 /* range of gps daytime values */
 277                 gps_period_daytime = gps_stop_daytime - gps_start_daytime;
 278
 279                 /* range of gps time values */
 280                 gps_period_time = gps->data[i+1].time - gps->data[i].time;
 281
 282                 /* sample time after first gps time */
 283                 time_since_start = time - gps->data[i].time;
 284
 285                 return gps_start_daytime +
 286                         gps_period_daytime * time_since_start / gps_period_time;
 287         }
 288 }
 289
 290 static void
 291 analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file,
 292                FILE *raw_file, char *plot_name, FILE *gps_file, FILE *kml_file)
 293 {
 294         double  height;
 295         double  accel;
 296         double  speed;
 297         double  avg_speed;
 298         double  boost_start, boost_stop;
 299         double  min_pres;
 300         int     i;
 301         int     pres_i, accel_i, speed_i;
 302         int     boost_start_set = 0;
 303         int     boost_stop_set = 0;
 304         enum ao_flight_state    state;
 305         double  state_start, state_stop;
 306         struct cc_flightcooked *cooked;
 307         double  apogee;
 308         char    buf[128];
 309
 310         if (kml_file) {
 311                 snprintf(buf, sizeof (buf), "AO Flight#%d S/N: %03d", f->flight, f->serial);
 312                 fprintf(kml_file, kml_header_start, buf);
 313         }
 314
 315         fprintf(summary_file,
 316                 "Serial:  %9d\n"
 317                 "Flight:  %9d\n",
 318                 f->serial, f->flight);
 319
 320         if (f->year) {
 321                 snprintf(buf, sizeof (buf),
 322                         "Date:   %04d-%02d-%02d\n",
 323                         f->year, f->month, f->day);
 324                 fprintf(summary_file, "%s", buf);
 325                 if (kml_file) fprintf(kml_file, "%s", buf);
 326         }
 327         if (f->gps.num) {
 328                 snprintf(buf, sizeof (buf),
 329                         "Time:     %2d:%02d:%02d\n",
 330                         f->gps.data[0].hour,
 331                         f->gps.data[0].minute,
 332                         f->gps.data[0].second);
 333                 fprintf(summary_file, "%s", buf);
 334                 if (kml_file) fprintf(kml_file, "%s", buf);
 335         }
 336         boost_start = f->accel.data[0].time;
 337         boost_stop = f->accel.data[f->accel.num-1].time;
 338         for (i = 0; i < f->state.num; i++) {
 339                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 340                         boost_start = f->state.data[i].time;
 341                         boost_start_set = 1;
 342                 }
 343                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 344                         boost_stop = f->state.data[i].time;
 345                         boost_stop_set = 1;
 346                 }
 347         }
 348
 349         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 350                                  f->pres.data[f->pres.num-1].time);
 351         if (pres_i >= 0)
 352         {
 353                 min_pres = f->pres.data[pres_i].value;
 354                 height = cc_barometer_to_altitude(min_pres) -
 355                         cc_barometer_to_altitude(f->ground_pres);
 356                 apogee = f->pres.data[pres_i].time;
 357                 snprintf(buf, sizeof (buf), "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 358                         height, height * 100 / 2.54 / 12,
 359                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 360                 fprintf(summary_file, "%s", buf);
 361                 if (kml_file) fprintf(kml_file, "%s", buf);
 362         }
 363
 364         cooked = cc_flight_cook(f);
 365         if (cooked) {
 366                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 367                 if (speed_i >= 0) {
 368                         speed = cooked->accel_speed.data[speed_i];
 369                         snprintf(buf, sizeof (buf), "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 370                                speed, speed * 100 / 2.4 / 12.0,
 371                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 372                         fprintf(summary_file, "%s", buf);
 373                         if (kml_file) fprintf(kml_file, "%s", buf);
 374                 }
 375         }
 376         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 377         if (accel_i >= 0)
 378         {
 379                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 380                                                          f->ground_accel);
 381                 snprintf(buf, sizeof (buf), "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 382                         accel, accel /  9.80665,
 383                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 384                 fprintf(summary_file, "%s", buf);
 385                 if (kml_file) fprintf(kml_file, "%s", buf);
 386         }
 387
 388         if (kml_file)
 389                 fprintf(kml_file, "%s", kml_header_end);
 390
 391         for (i = 0; i < f->state.num; i++) {
 392                 state = f->state.data[i].value;
 393                 state_start = f->state.data[i].time;
 394                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 395                         i++;
 396                 if (i < f->state.num - 1)
 397                         state_stop = f->state.data[i + 1].time;
 398                 else
 399                         state_stop = f->accel.data[f->accel.num-1].time;
 400                 fprintf(summary_file, "State: %s\n", state_names[state]);
 401                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 402                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 403                 if (kml_file) {
 404                         fprintf(kml_file, kml_style_start, state_names[state], kml_state_colours[state]);
 405                         fprintf(kml_file, "\tState: %s\n", state_names[state]);
 406                         fprintf(kml_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 407                         fprintf(kml_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 408                 }
 409
 410                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 411                 if (accel_i >= 0)
 412                 {
 413                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 414                                                                  f->ground_accel);
 415                         snprintf(buf, sizeof (buf), "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 416                                accel, accel / 9.80665,
 417                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 418                         fprintf(summary_file, "%s", buf);
 419                         if (kml_file) fprintf(kml_file, "%s", buf);
 420                 }
 421
 422                 if (cooked) {
 423                         if (state < ao_flight_drogue) {
 424                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 425                                 if (speed_i >= 0)
 426                                         speed = cooked->accel_speed.data[speed_i];
 427                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 428                         } else {
 429                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 430                                 if (speed_i >= 0)
 431                                         speed = cooked->pres_speed.data[speed_i];
 432                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 433                         }
 434                         if (speed_i >= 0)
 435                         {
 436                                 snprintf(buf, sizeof (buf), "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 437                                        speed, speed * 100 / 2.4 / 12.0,
 438                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 439                                 fprintf(summary_file, "%s", buf);
 440                                 if (kml_file) fprintf(kml_file, "%s", buf);
 441
 442                                 snprintf(buf, sizeof (buf), "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 443                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 444                                 fprintf(summary_file, "%s", buf);
 445                                 if (kml_file) fprintf(kml_file, "%s", buf);
 446                         }
 447                 }
 448                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 449                 if (pres_i >= 0)
 450                 {
 451                         min_pres = f->pres.data[pres_i].value;
 452                         height = cc_barometer_to_altitude(min_pres) -
 453                                 cc_barometer_to_altitude(f->ground_pres);
 454                         snprintf(buf, sizeof (buf), "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 455                                 height, height * 100 / 2.54 / 12,
 456                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 457                         fprintf(summary_file, "%s", buf);
 458                         if (kml_file) fprintf(kml_file, "%s", buf);
 459                 }
 460                 if (kml_file) fprintf(kml_file, "%s", kml_style_end);
 461         }
 462         if (cooked && detail_file) {
 463                 double  max_height = 0;
 464                 int     i;
 465                 double  *times;
 466
 467                 fprintf(detail_file, "%9s %9s %9s %9s %9s\n",
 468                         "time", "height", "speed", "accel", "daytime");
 469                 for (i = 0; i < cooked->pres_pos.num; i++) {
 470                         double  clock_time = cooked->accel_accel.start + i * cooked->accel_accel.step;
 471                         double  time = (clock_time - boost_start) / 100.0;
 472                         double  accel = cooked->accel_accel.data[i];
 473                         double  pos = cooked->pres_pos.data[i];
 474                         double  speed;
 475                         unsigned        daytime;
 476                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 477                                 speed = cooked->accel_speed.data[i];
 478                         else
 479                                 speed = cooked->pres_speed.data[i];
 480                         if (f->gps.num)
 481                                 daytime = compute_daytime_ms(clock_time, &f->gps);
 482                         else
 483                                 daytime = 0;
 484                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f %02d:%02d:%02d.%03d\n",
 485                                 time, pos, speed, accel,
 486                                 daytime_hour(daytime),
 487                                 daytime_minute(daytime),
 488                                 daytime_second(daytime),
 489                                 daytime_millisecond(daytime));
 490                 }
 491         }
 492         if (raw_file) {
 493                 fprintf(raw_file, "%9s %9s %9s %9s\n",
 494                         "time", "height", "accel", "daytime");
 495                 for (i = 0; i < cooked->pres.num; i++) {
 496                         double time = cooked->pres.data[i].time;
 497                         double pres = cooked->pres.data[i].value;
 498                         double accel = cooked->accel.data[i].value;
 499                         unsigned        daytime;
 500                         if (f->gps.num)
 501                                 daytime = compute_daytime_ms(time, &f->gps);
 502                         else
 503                                 daytime = 0;
 504                         fprintf(raw_file, "%9.2f %9.2f %9.2f %02d:%02d:%02d.%03d\n",
 505                                 time, pres, accel,
 506                                 daytime_hour(daytime),
 507                                 daytime_minute(daytime),
 508                                 daytime_second(daytime),
 509                                 daytime_millisecond(daytime));
 510                 }
 511         }
 512         if (gps_file || kml_file) {
 513                 int     j = 0, baro_pos;
 514                 double  baro_offset;
 515                 double  baro = 0.0;
 516                 int     state_idx = 0;
 517
 518                 if (gps_file)
 519                         fprintf(gps_file, "%2s %2s %2s %9s %12s %12s %9s %8s %5s\n",
 520                                 "hr", "mn", "sc",
 521                                 "time", "lat", "lon", "alt", "baro", "nsat");
 522                 if (kml_file)
 523                         fprintf(kml_file, kml_placemark_start,
 524                                 state_names[(int)f->state.data[state_idx].value],
 525                                 state_names[(int)f->state.data[state_idx].value]);
 526
 527                 if (f->gps.num)
 528                         baro_offset = f->gps.data[0].alt;
 529                 else
 530                         baro_offset = 0;
 531                 baro_pos = 0;
 532                 for (i = 0; i < f->gps.num; i++) {
 533                         int     nsat = 0;
 534                         int     k;
 535                         while (j < f->gps.numsats - 1) {
 536                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 537                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 538                                         break;
 539                                 j++;
 540                         }
 541                         if (cooked) {
 542                                 while (baro_pos < cooked->pres_pos.num) {
 543                                         double  baro_time = cooked->accel_accel.start + baro_pos * cooked->accel_accel.step;
 544                                         if (baro_time >= f->gps.data[i].time)
 545                                                 break;
 546                                         baro_pos++;
 547                                 }
 548                                 if (baro_pos < cooked->pres_pos.num)
 549                                         baro = cooked->pres_pos.data[baro_pos];
 550                         }
 551                         if (gps_file)
 552                                 fprintf(gps_file, "%2d %2d %2d %12.7f %12.7f %12.7f %7.1f %7.1f",
 553                                         f->gps.data[i].hour,
 554                                         f->gps.data[i].minute,
 555                                         f->gps.data[i].second,
 556                                         (f->gps.data[i].time - boost_start) / 100.0,
 557                                         f->gps.data[i].lat,
 558                                         f->gps.data[i].lon,
 559                                         f->gps.data[i].alt,
 560                                         baro + baro_offset);
 561
 562                         nsat = 0;
 563                         if (f->gps.sats) {
 564                                 for (k = 0; k < f->gps.sats[j].nsat; k++) {
 565                                         if (f->gps.sats[j].sat[k].svid != 0)
 566                                                 nsat++;
 567                                 }
 568                                 if (gps_file) {
 569                                         fprintf(gps_file, " %4d", nsat);
 570                                         for (k = 0; k < f->gps.sats[j].nsat; k++) {
 571                                                 if (f->gps.sats[j].sat[k].svid != 0) {
 572                                                         fprintf (gps_file, " %3d(%4.1f)",
 573                                                                  f->gps.sats[j].sat[k].svid,
 574                                                                  (double) f->gps.sats[j].sat[k].c_n);
 575                                                 }
 576                                         }
 577                                         fprintf(gps_file, "\n");
 578                                 }
 579                         }
 580
 581                         if (kml_file) {
 582                                 snprintf(buf, sizeof (buf), kml_coord_fmt,
 583                                         f->gps.data[i].lon,
 584                                         f->gps.data[i].lat,
 585                                         baro + baro_offset,
 586                                         f->gps.data[i].alt,
 587                                         (f->gps.data[i].time - boost_start) / 100.0,
 588                                         nsat);
 589                                 fprintf(kml_file, "%s", buf);
 590                                 if (state_idx + 1 < f->state.num && f->state.data[state_idx + 1].time <= f->gps.data[i].time) {
 591                                         state_idx++;
 592                                         if (f->state.data[state_idx - 1].value != f->state.data[state_idx].value) {
 593                                                 fprintf(kml_file, "%s", kml_placemark_end);
 594                                                 fprintf(kml_file, kml_placemark_start,
 595                                                         state_names[(int)f->state.data[state_idx].value],
 596                                                         state_names[(int)f->state.data[state_idx].value]);
 597                                                 fprintf(kml_file, "%s", buf);
 598                                         }
 599                                 }
 600                         }
 601
 602                 }
 603                 if (kml_file)
 604                         fprintf(kml_file, "%s", kml_footer);
 605         }
 606         if (cooked && plot_name) {
 607                 struct cc_perioddata    *speed;
 608                 plsdev("svgcairo");
 609                 plsfnam(plot_name);
 610 #define PLOT_DPI        96
 611                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 612                 plscolbg(0xff, 0xff, 0xff);
 613                 plscol0(1,0,0,0);
 614                 plstar(2, 3);
 615                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 616
 617                 plot_perioddata(&cooked->pres_pos, "meters", "Height",
 618                                 -1e10, 1e10, PLOT_HEIGHT);
 619                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
 620                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
 621                 plot_perioddata(speed, "meters/second", "Speed",
 622                                 -1e10, 1e10, PLOT_SPEED);
 623                 plot_perioddata(speed, "meters/second", "Speed to Apogee",
 624                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
 625                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
 626                                 -1e10, 1e10, PLOT_ACCEL);
 627 /*              plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
 628                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
 629                 plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
 630                                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 631                 free(speed->data);
 632                 free(speed);
 633                 plend();
 634         }
 635         if (cooked)
 636                 cc_flightcooked_free(cooked);
 637 }
 638
 639 static const struct option options[] = {
 640         { .name = "summary", .has_arg = 2, .val = 's' },
 641         { .name = "detail", .has_arg = 2, .val = 'd' },
 642         { .name = "plot", .has_arg = 2, .val = 'p' },
 643         { .name = "raw", .has_arg = 2, .val = 'r' },
 644         { .name = "gps", .has_arg = 2, .val = 'g' },
 645         { .name = "kml", .has_arg = 2, .val = 'k' },
 646         { .name = "all", .has_arg = 0, .val = 'a' },
 647         { 0, 0, 0, 0},
 648 };
 649
 650 static void usage(char *program)
 651 {
 652         fprintf(stderr, "usage: %s\n"
 653                 "\t[--all] [-a]\n"
 654                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 655                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 656                 "\t[--raw=<raw-file> -r <raw-file]\n"
 657                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 658                 "\t[--gps=<gps-file> -g <gps-file>]\n"
 659                 "\t[--kml=<kml-file> -k <kml-file>]\n"
 660                 "\t{flight-log} ...\n", program);
 661         exit(1);
 662 }
 663
 664 char *
 665 replace_extension(char *file, char *extension)
 666 {
 667         char    *slash;
 668         char    *dot;
 669         char    *new;
 670         int     newlen;
 671
 672         slash = strrchr(file, '/');
 673         dot = strrchr(file, '.');
 674         if (!dot || (slash && dot < slash))
 675                 dot = file + strlen(file);
 676         newlen = (dot - file) + strlen (extension) + 1;
 677         new = malloc (newlen);
 678         strncpy (new, file, dot - file);
 679         new[dot-file] = '\0';
 680         strcat (new, extension);
 681         return new;
 682 }
 683
 684 FILE *
 685 open_output(char *outname, char *inname, char *extension)
 686 {
 687         char    *o;
 688         FILE    *out;
 689
 690         if (outname)
 691                 o = outname;
 692         else
 693                 o = replace_extension(inname, extension);
 694         out = fopen(o, "w");
 695         if (!out) {
 696                 perror (o);
 697                 exit(1);
 698         }
 699         if (o != outname)
 700                 free(o);
 701         return out;
 702 }
 703
 704 int
 705 main (int argc, char **argv)
 706 {
 707         FILE                    *file;
 708         FILE                    *summary_file = NULL;
 709         FILE                    *detail_file = NULL;
 710         FILE                    *raw_file = NULL;
 711         FILE                    *gps_file = NULL;
 712         FILE                    *kml_file = NULL;
 713         int                     i;
 714         int                     ret = 0;
 715         struct cc_flightraw     *raw;
 716         int                     c;
 717         int                     serial;
 718         char                    *s;
 719         char                    *summary_name = NULL;
 720         char                    *detail_name = NULL;
 721         char                    *raw_name = NULL;
 722         char                    *plot_name = NULL;
 723         char                    *gps_name = NULL;
 724         char                    *kml_name = NULL;
 725         int                     has_summary = 0;
 726         int                     has_detail = 0;
 727         int                     has_plot = 0;
 728         int                     has_raw = 0;
 729         int                     has_gps = 0;
 730         int                     has_kml = 0;
 731         char                    *this_plot_name = NULL;;
 732
 733         while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:a", options, NULL)) != -1) {
 734                 switch (c) {
 735                 case 's':
 736                         summary_name = optarg;
 737                         has_summary = 1;
 738                         break;
 739                 case 'd':
 740                         detail_name = optarg;
 741                         has_detail = 1;
 742                         break;
 743                 case 'p':
 744                         plot_name = optarg;
 745                         has_plot = 1;
 746                         break;
 747                 case 'r':
 748                         raw_name = optarg;
 749                         has_raw = 1;
 750                         break;
 751                 case 'g':
 752                         gps_name = optarg;
 753                         has_gps = 1;
 754                         break;
 755                 case 'k':
 756                         kml_name = optarg;
 757                         has_kml = 1;
 758                         break;
 759                 case 'a':
 760                         has_summary = has_detail = has_plot = has_raw = has_gps = has_kml = 1;
 761                         break;
 762                 default:
 763                         usage(argv[0]);
 764                         break;
 765                 }
 766         }
 767         if (!has_summary)
 768                 summary_file = stdout;
 769         for (i = optind; i < argc; i++) {
 770                 file = fopen(argv[i], "r");
 771                 if (!file) {
 772                         perror(argv[i]);
 773                         ret++;
 774                         continue;
 775                 }
 776                 if (has_summary && !summary_file)
 777                         summary_file = open_output(summary_name, argv[i], ".summary");
 778                 if (has_detail && !detail_file)
 779                         detail_file = open_output(detail_name, argv[i], ".detail");
 780                 if (has_plot) {
 781                         if (plot_name)
 782                                 this_plot_name = plot_name;
 783                         else
 784                                 this_plot_name = replace_extension(argv[i], ".plot");
 785                 }
 786                 if (has_raw && !raw_file)
 787                         raw_file = open_output(raw_name, argv[i], ".raw");
 788                 if (has_gps && !gps_file)
 789                         gps_file = open_output(gps_name, argv[i], ".gps");
 790                 if (has_kml && !kml_file)
 791                         kml_file = open_output(kml_name, argv[i], ".kml");
 792                 s = strstr(argv[i], "-serial-");
 793                 if (s)
 794                         serial = atoi(s + 8);
 795                 else
 796                         serial = 0;
 797                 raw = cc_log_read(file);
 798                 if (!raw) {
 799                         perror(argv[i]);
 800                         ret++;
 801                         continue;
 802                 }
 803                 if (!raw->serial)
 804                         raw->serial = serial;
 805                 analyse_flight(raw, summary_file, detail_file, raw_file, this_plot_name, gps_file, kml_file);
 806                 cc_flightraw_free(raw);
 807                 if (has_summary && !summary_name) {
 808                         fclose(summary_file); summary_file = NULL;
 809                 }
 810                 if (has_detail && !detail_name) {
 811                         fclose(detail_file); detail_file = NULL;
 812                 }
 813                 if (this_plot_name && this_plot_name != plot_name) {
 814                         free (this_plot_name); this_plot_name = NULL;
 815                 }
 816                 if (has_raw && !raw_name) {
 817                         fclose(raw_file); raw_file = NULL;
 818                 }
 819                 if (has_gps && !gps_name) {
 820                         fclose(gps_file); gps_file = NULL;
 821                 }
 822                 if (has_kml && !kml_name) {
 823                         fclose(kml_file); kml_file = NULL;
 824                 }
 825         }
 826         return ret;
 827 }