X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=fd2684db4c0ce6b06aa9392476b294a97ceb692d;hb=6804ead7f7e54ff34b257e10e381dc52d5a61b06;hp=ad032a1685af8548af8a3b763f6c8d447328b131;hpb=cb23b992be8ba40c97d8988c134a814a13ccd58c;p=fw%2Faltos diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index ad032a16..fd2684db 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -3,7 +3,8 @@ * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -19,11 +20,11 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_7; +package org.altusmetrum.altoslib_11; import java.io.*; -public class AltosState implements Cloneable, Serializable { +public class AltosState implements Cloneable { public static final int set_position = 1; public static final int set_gps = 2; @@ -31,8 +32,9 @@ public class AltosState implements Cloneable, Serializable { public int set; + static final double filter_len = 2.0; static final double ascent_filter_len = 0.5; - static final double descent_filter_len = 0.5; + static final double descent_filter_len = 5.0; /* derived data */ @@ -45,7 +47,7 @@ public class AltosState implements Cloneable, Serializable { private int prev_tick; public int boost_tick; - class AltosValue implements Serializable{ + class AltosValue { double value; double prev_value; private double max_value; @@ -64,8 +66,10 @@ public class AltosState implements Cloneable, Serializable { } void set_filtered(double new_value, double time) { - if (prev_value != AltosLib.MISSING) - new_value = (prev_value * 15.0 + new_value) / 16.0; + if (prev_value != AltosLib.MISSING) { + double f = 1/Math.exp((time - prev_set_time) / filter_len); + new_value = f * new_value + (1-f) * prev_value; + } set(new_value, time); } @@ -179,14 +183,19 @@ public class AltosState implements Cloneable, Serializable { prev_value = AltosLib.MISSING; max_value = AltosLib.MISSING; } + } - class AltosCValue implements Serializable { + class AltosCValue { - class AltosIValue extends AltosValue implements Serializable { + class AltosIValue extends AltosValue { boolean can_max() { return c_can_max(); } + + AltosIValue() { + super(); + } }; public AltosIValue measured; @@ -275,13 +284,13 @@ public class AltosState implements Cloneable, Serializable { computed.finish_update(); } - AltosCValue() { + public AltosCValue() { measured = new AltosIValue(); computed = new AltosIValue(); } } - public int state; + private int state; public int flight; public int serial; public int altitude_32; @@ -314,7 +323,7 @@ public class AltosState implements Cloneable, Serializable { ground_altitude.set_measured(a, time); } - class AltosGpsGroundAltitude extends AltosValue implements Serializable { + class AltosGpsGroundAltitude extends AltosValue { void set(double a, double t) { super.set(a, t); pad_alt = value(); @@ -326,6 +335,10 @@ public class AltosState implements Cloneable, Serializable { pad_alt = value(); gps_altitude.set_gps_height(); } + + AltosGpsGroundAltitude() { + super(); + } } private AltosGpsGroundAltitude gps_ground_altitude; @@ -338,7 +351,7 @@ public class AltosState implements Cloneable, Serializable { gps_ground_altitude.set(a, time); } - class AltosGroundPressure extends AltosCValue implements Serializable { + class AltosGroundPressure extends AltosCValue { void set_filtered(double p, double time) { computed.set_filtered(p, time); if (!is_measured()) @@ -349,6 +362,10 @@ public class AltosState implements Cloneable, Serializable { super.set_measured(p, time); ground_altitude.set_computed(pressure_to_altitude(p), time); } + + AltosGroundPressure () { + super(); + } } private AltosGroundPressure ground_pressure; @@ -361,7 +378,7 @@ public class AltosState implements Cloneable, Serializable { ground_pressure.set_measured(pressure, time); } - class AltosAltitude extends AltosCValue implements Serializable { + class AltosAltitude extends AltosCValue { private void set_speed(AltosValue v) { if (!acceleration.is_measured() || !ascent) @@ -379,11 +396,15 @@ public class AltosState implements Cloneable, Serializable { set_speed(measured); set |= set_position; } + + AltosAltitude() { + super(); + } } private AltosAltitude altitude; - class AltosGpsAltitude extends AltosValue implements Serializable { + class AltosGpsAltitude extends AltosValue { private void set_gps_height() { double a = value(); @@ -399,6 +420,10 @@ public class AltosState implements Cloneable, Serializable { super.set(a, t); set_gps_height(); } + + AltosGpsAltitude() { + super(); + } } private AltosGpsAltitude gps_altitude; @@ -466,7 +491,7 @@ public class AltosState implements Cloneable, Serializable { return gps_speed.max(); } - class AltosPressure extends AltosValue implements Serializable { + class AltosPressure extends AltosValue { void set(double p, double time) { super.set(p, time); if (state == AltosLib.ao_flight_pad) @@ -474,6 +499,10 @@ public class AltosState implements Cloneable, Serializable { double a = pressure_to_altitude(p); altitude.set_computed(a, time); } + + AltosPressure() { + super(); + } } private AltosPressure pressure; @@ -536,7 +565,7 @@ public class AltosState implements Cloneable, Serializable { return AltosLib.MISSING; } - class AltosSpeed extends AltosCValue implements Serializable { + class AltosSpeed extends AltosCValue { boolean can_max() { return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless; @@ -560,6 +589,10 @@ public class AltosState implements Cloneable, Serializable { super.set_measured(new_value, time); set_accel(); } + + AltosSpeed() { + super(); + } } private AltosSpeed speed; @@ -590,7 +623,7 @@ public class AltosState implements Cloneable, Serializable { return AltosLib.MISSING; } - class AltosAccel extends AltosCValue implements Serializable { + class AltosAccel extends AltosCValue { boolean can_max() { return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless; @@ -601,6 +634,10 @@ public class AltosState implements Cloneable, Serializable { if (ascent) speed.set_integral(this.measured); } + + AltosAccel() { + super(); + } } AltosAccel acceleration; @@ -681,6 +718,7 @@ public class AltosState implements Cloneable, Serializable { public double ground_accel_avg; public int log_format; + public int log_space; public String product; public AltosMs5607 baro; @@ -798,6 +836,7 @@ public class AltosState implements Cloneable, Serializable { ground_accel_avg = AltosLib.MISSING; log_format = AltosLib.MISSING; + log_space = AltosLib.MISSING; product = null; serial = AltosLib.MISSING; receiver_serial = AltosLib.MISSING; @@ -957,6 +996,7 @@ public class AltosState implements Cloneable, Serializable { ground_accel_avg = old.ground_accel_avg; log_format = old.log_format; + log_space = old.log_space; product = old.product; serial = old.serial; receiver_serial = old.receiver_serial; @@ -1040,6 +1080,10 @@ public class AltosState implements Cloneable, Serializable { return AltosLib.state_name(state); } + public void set_product(String product) { + this.product = product; + } + public void set_state(int state) { if (state != AltosLib.ao_flight_invalid) { this.state = state; @@ -1049,6 +1093,10 @@ public class AltosState implements Cloneable, Serializable { } } + public int state() { + return state; + } + public void set_device_type(int device_type) { this.device_type = device_type; switch (device_type) { @@ -1067,6 +1115,10 @@ public class AltosState implements Cloneable, Serializable { } } + public void set_log_space(int log_space) { + this.log_space = log_space; + } + public void set_flight_params(int apogee_delay, int main_deploy) { this.apogee_delay = apogee_delay; this.main_deploy = main_deploy; @@ -1351,11 +1403,6 @@ public class AltosState implements Cloneable, Serializable { } } - public void make_companion (int nchannels) { - if (companion == null) - companion = new AltosCompanion(nchannels); - } - public void set_companion(AltosCompanion companion) { this.companion = companion; } @@ -1477,6 +1524,31 @@ public class AltosState implements Cloneable, Serializable { public AltosState clone() { AltosState s = new AltosState(); s.copy(this); + + /* Code to test state save/restore. Enable only for that purpose + */ + if (false) { + AltosJson json = new AltosJson(this); + String onetrip = json.toPrettyString(); + AltosJson back = AltosJson.fromString(onetrip); + AltosState tripstate = (AltosState) back.make(this.getClass()); + AltosJson tripjson = new AltosJson(tripstate); + String twotrip = tripjson.toPrettyString(); + + if (!onetrip.equals(twotrip)) { + try { + FileWriter one_file = new FileWriter("one.json", true); + one_file.write(onetrip); + one_file.flush(); + FileWriter two_file = new FileWriter("two.json", true); + two_file.write(twotrip); + two_file.flush(); + } catch (Exception e) { + } + System.out.printf("json error\n"); + System.exit(1); + } + } return s; }