X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=ao-tools%2Faltosui%2FAltosEepromReader.java;h=7a8ff5b036a2f3dc4811bcf607fa2adb81739794;hb=0e917f3ff822616adb147517ac961422e5fedbfd;hp=6fe9bfe44c69ce2887fb1204dcb351ecd76ae0d0;hpb=d8bf05f7ad55964c9bce0551e58f4ef6c9f721ad;p=fw%2Faltos diff --git a/ao-tools/altosui/AltosEepromReader.java b/ao-tools/altosui/AltosEepromReader.java index 6fe9bfe4..7a8ff5b0 100644 --- a/ao-tools/altosui/AltosEepromReader.java +++ b/ao-tools/altosui/AltosEepromReader.java @@ -36,75 +36,181 @@ import altosui.AltosLog; import altosui.AltosVoice; import altosui.AltosEepromMonitor; +class AltosOrderedRecord extends AltosEepromRecord implements Comparable { + + int index; + + public AltosOrderedRecord(String line, int in_index, int prev_tick) + throws ParseException { + super(line); + int new_tick = tick | (prev_tick & ~0xffff); + if (new_tick < prev_tick) { + if (prev_tick - new_tick > 0x8000) + new_tick += 0x10000; + } + tick = new_tick; + index = in_index; + } + + public int compareTo(AltosOrderedRecord o) { + int tick_diff = tick - o.tick; + if (tick_diff != 0) + return tick_diff; + return index - o.index; + } +} + public class AltosEepromReader { static final int seen_flight = 1; static final int seen_sensor = 2; static final int seen_temp_volt = 4; static final int seen_deploy = 8; + static final int seen_gps_time = 16; + static final int seen_gps_lat = 32; + static final int seen_gps_lon = 64; static final int seen_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy; - static final int seen_gps_time = 16; - AltosRecord state; - AltosEepromRecord record; + AltosOrderedRecord record; + + TreeSet records; + + Iterator record_iterator; int seen; - int tick; + int index; + + boolean last_reported; + + double ground_pres; + double ground_accel; + + int n_pad_samples; - boolean done; + int gps_tick; FileInputStream input; public AltosRecord read() throws IOException, ParseException { for (;;) { if (record == null) { - record = new AltosEepromRecord(AltosRecord.gets(input)); - if (record == null) { - if (done) + if (!record_iterator.hasNext()) { + if (last_reported) return null; + last_reported = true; return state; } + record = record_iterator.next(); - /* eeprom only records low 16 bits of tick count */ - int tick = record.tick | (state.tick & ~0xffff); - - if (tick < state.tick) { - if (state.tick - tick > 0x8000) - tick += 0x10000; - else - tick = state.tick; - } - - /* Accumulate data in the state record while - * the time stamp is not increasing - */ - - if ((seen & seen_basic) == seen_basic && tick > state.tick) + if ((seen & seen_basic) == seen_basic && record.tick != state.tick) return new AltosRecord(state); } - state.tick = tick; + state.tick = record.tick; switch (record.cmd) { case Altos.AO_LOG_FLIGHT: state.ground_accel = record.a; state.flight = record.b; + seen |= seen_flight; break; case Altos.AO_LOG_SENSOR: state.accel = record.a; state.pres = record.b; + if (state.state < Altos.ao_flight_boost) { + n_pad_samples++; + ground_pres += state.pres; + state.ground_pres = (int) (ground_pres / n_pad_samples); + state.flight_pres = state.ground_pres; + System.out.printf("ground pressure %d altitude %f\n", + record.b, state.altitude()); + ground_accel += state.accel; + state.ground_accel = (int) (ground_accel / n_pad_samples); + state.flight_accel = state.ground_accel; + } else { + state.flight_pres = (state.flight_pres * 15 + state.pres) / 16; + state.flight_accel = (state.flight_accel * 15 + state.accel) / 16; + state.flight_vel += (state.accel_plus_g - state.accel); + } + seen |= seen_sensor; break; case Altos.AO_LOG_TEMP_VOLT: state.temp = record.a; state.batt = record.b; + seen |= seen_temp_volt; break; case Altos.AO_LOG_DEPLOY: state.drogue = record.a; state.main = record.b; + seen |= seen_deploy; + break; + case Altos.AO_LOG_STATE: + System.out.printf("state %d\n", record.a); + state.state = record.a; break; case Altos.AO_LOG_GPS_TIME: + gps_tick = state.tick; + state.gps = new AltosGPS(); + state.gps.hour = (record.a & 0xff); + state.gps.minute = (record.a >> 8); + state.gps.second = (record.b & 0xff); + int flags = (record.b >> 8); + state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0; + state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0; + state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0; + state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >> + Altos.AO_GPS_NUM_SAT_SHIFT; + break; + case Altos.AO_LOG_GPS_LAT: + int lat32 = record.a | (record.b << 16); + state.gps.lat = (double) lat32 / 1e7; + break; + case Altos.AO_LOG_GPS_LON: + int lon32 = record.a | (record.b << 16); + state.gps.lon = (double) lon32 / 1e7; + break; + case Altos.AO_LOG_GPS_ALT: + state.gps.alt = record.a; + break; + case Altos.AO_LOG_GPS_SAT: + if (state.tick == gps_tick) { + int svid = record.a; + int c_n0 = record.b >> 8; + state.gps.add_sat(svid, c_n0); + } + break; + case Altos.AO_LOG_GPS_DATE: + state.gps.year = record.a & 0xff; + state.gps.month = record.a >> 8; + state.gps.day = record.b & 0xff; + break; + + case Altos.AO_LOG_CONFIG_VERSION: + break; + case Altos.AO_LOG_MAIN_DEPLOY: + break; + case Altos.AO_LOG_APOGEE_DELAY: + break; + case Altos.AO_LOG_RADIO_CHANNEL: + break; + case Altos.AO_LOG_CALLSIGN: + state.callsign = record.data; + break; + case Altos.AO_LOG_ACCEL_CAL: + state.accel_plus_g = record.a; + state.accel_minus_g = record.b; + break; + case Altos.AO_LOG_RADIO_CAL: + break; + case Altos.AO_LOG_MANUFACTURER: + break; + case Altos.AO_LOG_PRODUCT: + break; + case Altos.AO_LOG_SERIAL_NUMBER: + break; + case Altos.AO_LOG_SOFTWARE_VERSION: break; } record = null; @@ -113,8 +219,30 @@ public class AltosEepromReader { public AltosEepromReader (FileInputStream in_input) { state = new AltosRecord(); + state.state = Altos.ao_flight_pad; + state.accel_plus_g = 15758; + state.accel_minus_g = 16294; input = in_input; seen = 0; - done = false; + records = new TreeSet(); + + int index = 0; + int tick = 0; + + try { + for (;;) { + String line = AltosRecord.gets(input); + if (line == null) + break; + AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick); + if (record == null) + break; + tick = record.tick; + records.add(record); + } + } catch (IOException io) { + } catch (ParseException pe) { + } + record_iterator = records.iterator(); } }