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   1 /*
   2  * Copyright © 2010 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 package org.altusmetrum.altoslib_14;
  20
  21 import java.io.*;
  22 import java.util.*;
  23
  24 public class AltosCSV implements AltosWriter {
  25         File                    name;
  26         PrintStream             out;
  27         boolean                 header_written;
  28         boolean                 seen_boost;
  29         int                     boost_tick;
  30
  31         boolean                 has_call;
  32         boolean                 has_basic;
  33         boolean                 has_accel;
  34         boolean                 has_baro;
  35         boolean                 has_pyro;
  36         boolean                 has_radio;
  37         boolean                 has_battery;
  38         boolean                 has_flight_state;
  39         boolean                 has_3d_accel;
  40         boolean                 has_imu;
  41         boolean                 has_igniter;
  42         boolean                 has_gps;
  43         boolean                 has_gps_sat;
  44         boolean                 has_companion;
  45         boolean                 has_motor_pressure;
  46
  47         AltosFlightSeries       series;
  48         int[]                   indices;
  49
  50         static final int ALTOS_CSV_VERSION = 6;
  51
  52         /* Version 4 format:
  53          *
  54          * General info
  55          *      version number
  56          *      serial number
  57          *      flight number
  58          *      callsign
  59          *      time (seconds since boost)
  60          *
  61          * Radio info (if available)
  62          *      rssi
  63          *      link quality
  64          *
  65          * Flight status
  66          *      state
  67          *      state name
  68          *
  69          * Basic sensors
  70          *      acceleration (m/s²)
  71          *      pressure (mBar)
  72          *      altitude (m)
  73          *      height (m)
  74          *      accelerometer speed (m/s)
  75          *      barometer speed (m/s)
  76          *      temp (°C)
  77          *      drogue (V)
  78          *      main (V)
  79          *
  80          * Battery
  81          *      battery (V)
  82          *
  83          * Advanced sensors (if available)
  84          *      accel_x (m/s²)
  85          *      accel_y (m/s²)
  86          *      accel_z (m/s²)
  87          *      gyro_x (d/s)
  88          *      gyro_y (d/s)
  89          *      gyro_z (d/s)
  90          *      mag_x (g)
  91          *      mag_y (g)
  92          *      mag_z (g)
  93          *      tilt (d)
  94          *
  95          * Extra igniter voltages (if available)
  96          *      pyro (V)
  97          *      igniter_a (V)
  98          *      igniter_b (V)
  99          *      igniter_c (V)
 100          *      igniter_d (V)
 101          *
 102          * GPS data (if available)
 103          *      connected (1/0)
 104          *      locked (1/0)
 105          *      nsat (used for solution)
 106          *      latitude (°)
 107          *      longitude (°)
 108          *      altitude (m)
 109          *      year (e.g. 2010)
 110          *      month (1-12)
 111          *      day (1-31)
 112          *      hour (0-23)
 113          *      minute (0-59)
 114          *      second (0-59)
 115          *      from_pad_dist (m)
 116          *      from_pad_azimuth (deg true)
 117          *      from_pad_range (m)
 118          *      from_pad_elevation (deg from horizon)
 119          *      pdop
 120          *      hdop
 121          *      vdop
 122          *
 123          * GPS Sat data
 124          *      C/N0 data for all 32 valid SDIDs
 125          *
 126          * Companion data
 127          *      companion_id (1-255. 10 is TeleScience)
 128          *      time of last companion data (seconds since boost)
 129          *      update_period (0.1-2.55 minimum telemetry interval)
 130          *      channels (0-12)
 131          *      channel data for all 12 possible channels
 132          */
 133
 134         void write_general_header() {
 135                 out.printf("version,serial,flight");
 136                 if (series.cal_data().callsign != null)
 137                         out.printf(",call");
 138                 out.printf(",time");
 139         }
 140
 141         double time() {
 142                 return series.time(indices);
 143         }
 144
 145         void write_general() {
 146                 out.printf("%s, %d, %d",
 147                            ALTOS_CSV_VERSION,
 148                            series.cal_data().serial,
 149                            series.cal_data().flight);
 150                 if (series.cal_data().callsign != null)
 151                         out.printf(",%s", series.cal_data().callsign);
 152                 out.printf(", %8.2f", time());
 153         }
 154
 155         void write_radio_header() {
 156                 out.printf("rssi,lqi");
 157         }
 158
 159         int rssi() {
 160                 return (int) series.value(AltosFlightSeries.rssi_name, indices);
 161         }
 162
 163         int status() {
 164                 return (int) series.value(AltosFlightSeries.status_name, indices);
 165         }
 166
 167         void write_radio() {
 168                 out.printf("%4d, %3d",
 169                            rssi(), status() & 0x7f);
 170         }
 171
 172         void write_flight_header() {
 173                 out.printf("state,state_name");
 174         }
 175
 176         int state() {
 177                 return (int) series.value(AltosFlightSeries.state_name, indices);
 178         }
 179
 180         void write_flight() {
 181                 int state = state();
 182                 out.printf("%2d,%8s", state, AltosLib.state_name(state));
 183         }
 184
 185         void write_basic_header() {
 186                 /* presence of thrust data means this is a test stand */
 187                 if (has_thrust)
 188                         out.printf("pressure,thrust");
 189                 else {
 190                         if (has_accel)
 191                                 out.printf("acceleration,");
 192                         if (has_baro)
 193                                 out.printf("pressure,altitude,");
 194                         out.printf("height,speed");
 195                         if (has_baro)
 196                                 out.printf(",temperature");
 197                         if (has_pyro)
 198                                 out.printf(",drogue_voltage,main_voltage");
 199                 }
 200         }
 201
 202         double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); }
 203         double thrust() { return series.value(AltosFlightSeries.thrust_name, indices); }
 204
 205         void write_basic() {
 206                 /* presence of thrust data means this is a test stand */
 207                 if (has_thrust)
 208                         out.printf("%10.2f,%10.2f",
 209                                 pressure(),
 210                                 thrust());
 211                 else {
 212                         if (has_accel)
 213                                 out.printf("%8.2f,", acceleration());
 214                         if (has_baro)
 215                                 out.printf("%10.2f,%8.2f,",
 216                                         pressure(), altitude());
 217                         out.printf("%8.2f,%8.2f",
 218                                 height(), speed());
 219                         if (has_baro)
 220                                 out.printf(",%5.1f", temperature());
 221                         if (has_pyro)
 222                                 out.printf(",%5.2f,%5.2f",
 223                                         apogee_voltage(),
 224                                         main_voltage());
 225                 }
 226         }
 227
 228         void write_battery_header() {
 229                 out.printf("battery_voltage");
 230         }
 231
 232         double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
 233
 234         void write_battery() {
 235                 out.printf("%5.2f", battery_voltage());
 236         }
 237
 238         void write_motor_pressure_header() {
 239                 out.printf("motor_pressure");
 240         }
 241
 242         double motor_pressure() { return series.value(AltosFlightSeries.motor_pressure_name, indices); }
 243
 244         void write_motor_pressure() {
 245                 out.printf("%10.1f", motor_pressure());
 246         }
 247
 248         void write_3d_accel_header() {
 249                 out.printf("accel_x,accel_y,accel_z");
 250         }
 251
 252         double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
 253         double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
 254         double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
 255
 256         void write_3d_accel() {
 257                 out.printf("%7.2f,%7.2f,%7.2f",
 258                            accel_along(), accel_across(), accel_through());
 259         }
 260
 261         void write_imu_header() {
 262                 out.printf("gyro_roll,gyro_pitch,gyro_yaw,mag_x,mag_y,mag_z,tilt");
 263         }
 264
 265         double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
 266         double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
 267         double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
 268
 269         double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
 270         double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
 271         double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
 272
 273         double tilt() { return series.value(AltosFlightSeries.orient_name, indices); }
 274
 275         void write_imu() {
 276                 out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
 277                            gyro_roll(), gyro_pitch(), gyro_yaw(),
 278                            mag_along(), mag_across(), mag_through(),
 279                            tilt());
 280         }
 281
 282         void write_igniter_header() {
 283                 out.printf("pyro");
 284                 for (int i = 0; i < series.igniter_voltage.length; i++)
 285                         out.printf(",%s", AltosLib.igniter_short_name(i));
 286         }
 287
 288         double pyro() { return series.value(AltosFlightSeries.pyro_voltage_name, indices); }
 289
 290         double igniter_value(int channel) { return series.value(series.igniter_voltage_name(channel), indices); }
 291
 292         void write_igniter() {
 293                 out.printf("%5.2f", pyro());
 294                 for (int i = 0; i < series.igniter_voltage.length; i++)
 295                         out.printf(",%5.2f", igniter_value(i));
 296         }
 297
 298         void write_gps_header() {
 299                 out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop");
 300         }
 301
 302         void write_gps() {
 303                 AltosGPS        gps = series.gps_before(series.time(indices));
 304
 305                 AltosGreatCircle from_pad;
 306
 307                 if (series.cal_data().gps_pad != null && gps != null)
 308                         from_pad = new AltosGreatCircle(series.cal_data().gps_pad, gps);
 309                 else
 310                         from_pad = new AltosGreatCircle();
 311
 312                 if (gps == null)
 313                         gps = new AltosGPS();
 314
 315                 out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f,%6.1f,%6.1f",
 316                            gps.connected?1:0,
 317                            gps.locked?1:0,
 318                            gps.nsat,
 319                            gps.lat,
 320                            gps.lon,
 321                            gps.alt,
 322                            gps.year,
 323                            gps.month,
 324                            gps.day,
 325                            gps.hour,
 326                            gps.minute,
 327                            gps.second,
 328                            from_pad.distance,
 329                            from_pad.range,
 330                            from_pad.bearing,
 331                            from_pad.elevation,
 332                            gps.pdop,
 333                            gps.hdop,
 334                            gps.vdop);
 335         }
 336
 337         void write_gps_sat_header() {
 338                 for(int i = 1; i <= 32; i++) {
 339                         out.printf("sat%02d", i);
 340                         if (i != 32)
 341                                 out.printf(",");
 342                 }
 343         }
 344
 345         void write_gps_sat() {
 346                 AltosGPS        gps = series.gps_before(series.time(indices));
 347                 for(int i = 1; i <= 32; i++) {
 348                         int     c_n0 = 0;
 349                         if (gps != null && gps.cc_gps_sat != null) {
 350                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 351                                         if (gps.cc_gps_sat[j].svid == i) {
 352                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 353                                                 break;
 354                                         }
 355                         }
 356                         out.printf ("%3d", c_n0);
 357                         if (i != 32)
 358                                 out.printf(",");
 359                 }
 360         }
 361
 362         void write_companion_header() {
 363 /*
 364                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 365                 for (int i = 0; i < 12; i++)
 366                         out.printf(",companion_%02d", i);
 367 */
 368         }
 369
 370         void write_companion() {
 371 /*
 372                 AltosCompanion companion = state.companion;
 373
 374                 int     channels_written = 0;
 375                 if (companion == null) {
 376                         out.printf("0,0,0,0");
 377                 } else {
 378                         out.printf("%3d,%5.2f,%5.2f,%2d",
 379                                    companion.board_id,
 380                                    (companion.tick - boost_tick) / 100.0,
 381                                    companion.update_period / 100.0,
 382                                    companion.channels);
 383                         for (; channels_written < companion.channels; channels_written++)
 384                                 out.printf(",%5d", companion.companion_data[channels_written]);
 385                 }
 386                 for (; channels_written < 12; channels_written++)
 387                         out.printf(",0");
 388 */
 389         }
 390
 391         void write_header() {
 392                 out.printf("#"); write_general_header();
 393                 if (has_radio) {
 394                         out.printf(",");
 395                         write_radio_header();
 396                 }
 397                 if (has_flight_state) {
 398                         out.printf(",");
 399                         write_flight_header();
 400                 }
 401                 if (has_basic) {
 402                         out.printf(",");
 403                         write_basic_header();
 404                 }
 405                 if (has_battery) {
 406                         out.printf(",");
 407                         write_battery_header();
 408                 }
 409                 if (has_motor_pressure) {
 410                         out.printf(",");
 411                         write_motor_pressure_header();
 412                 }
 413                 if (has_3d_accel) {
 414                         out.printf(",");
 415                         write_3d_accel_header();
 416                 }
 417                 if (has_imu) {
 418                         out.printf(",");
 419                         write_imu_header();
 420                 }
 421                 if (has_igniter) {
 422                         out.printf(",");
 423                         write_igniter_header();
 424                 }
 425                 if (has_gps) {
 426                         out.printf(",");
 427                         write_gps_header();
 428                 }
 429                 if (has_gps_sat) {
 430                         out.printf(",");
 431                         write_gps_sat_header();
 432                 }
 433                 if (has_companion) {
 434                         out.printf(",");
 435                         write_companion_header();
 436                 }
 437                 out.printf ("\n");
 438         }
 439
 440         void write_one() {
 441                 write_general();
 442                 if (has_radio) {
 443                         out.printf(",");
 444                         write_radio();
 445                 }
 446                 if (has_flight_state) {
 447                         out.printf(",");
 448                         write_flight();
 449                 }
 450                 if (has_basic) {
 451                         out.printf(",");
 452                         write_basic();
 453                 }
 454                 if (has_battery) {
 455                         out.printf(",");
 456                         write_battery();
 457                 }
 458                 if (has_motor_pressure) {
 459                         out.printf(",");
 460                         write_motor_pressure();
 461                 }
 462                 if (has_3d_accel) {
 463                         out.printf(",");
 464                         write_3d_accel();
 465                 }
 466                 if (has_imu) {
 467                         out.printf(",");
 468                         write_imu();
 469                 }
 470                 if (has_igniter) {
 471                         out.printf(",");
 472                         write_igniter();
 473                 }
 474                 if (has_gps) {
 475                         out.printf(",");
 476                         write_gps();
 477                 }
 478                 if (has_gps_sat) {
 479                         out.printf(",");
 480                         write_gps_sat();
 481                 }
 482                 if (has_companion) {
 483                         out.printf(",");
 484                         write_companion();
 485                 }
 486                 out.printf ("\n");
 487         }
 488
 489         private void write() {
 490                 if (state() == AltosLib.ao_flight_startup)
 491                         return;
 492                 if (!header_written) {
 493                         write_header();
 494                         header_written = true;
 495                 }
 496                 write_one();
 497         }
 498
 499         private PrintStream out() {
 500                 return out;
 501         }
 502
 503         public void close() {
 504                 out.close();
 505         }
 506
 507         public void write(AltosFlightSeries series) {
 508 //              series.write_comments(out());
 509
 510                 this.series = series;
 511
 512                 series.finish();
 513
 514                 has_radio = false;
 515                 has_flight_state = false;
 516                 has_basic = false;
 517                 has_accel = false;
 518                 has_baro = false;
 519                 has_pyro = false;
 520                 has_battery = false;
 521                 has_motor_pressure = false;
 522                 has_3d_accel = false;
 523                 has_imu = false;
 524                 has_igniter = false;
 525                 has_gps = false;
 526                 has_gps_sat = false;
 527                 has_companion = false;
 528
 529                 if (series.has_series(AltosFlightSeries.rssi_name))
 530                         has_radio = true;
 531                 if (series.has_series(AltosFlightSeries.state_name))
 532                         has_flight_state = true;
 533                 if (series.has_series(AltosFlightSeries.accel_name)) {
 534                         has_basic = true;
 535                         has_accel = true;
 536                 }
 537
 538                 if (series.has_series(AltosFlightSeries.thrust_name))
 539                         has_thrust = true;
 540
 541                 if (series.has_series(AltosFlightSeries.pressure_name)) {
 542                         has_basic = true;
 543                         has_baro = true;
 544                 }
 545                 if (series.has_series(AltosFlightSeries.apogee_voltage_name))
 546                         has_pyro = true;
 547                 if (series.has_series(AltosFlightSeries.battery_voltage_name))
 548                         has_battery = true;
 549                 if (series.has_series(AltosFlightSeries.motor_pressure_name))
 550                         has_motor_pressure = true;
 551                 if (series.has_series(AltosFlightSeries.accel_across_name))
 552                         has_3d_accel = true;
 553                 if (series.has_series(AltosFlightSeries.gyro_roll_name))
 554                         has_imu = true;
 555                 if (series.has_series(AltosFlightSeries.pyro_voltage_name))
 556                         has_igniter = true;
 557
 558                 if (series.gps_series != null)
 559                         has_gps = true;
 560                 if (series.sats_in_view != null)
 561                         has_gps_sat = true;
 562                 /*
 563                 if (state.companion != null)
 564                         has_companion = true;
 565                 */
 566
 567                 indices = series.indices();
 568
 569                 for (;;) {
 570                         write();
 571                         if (!series.step_indices(indices))
 572                                 break;
 573                 }
 574         }
 575
 576         public AltosCSV(PrintStream in_out, File in_name) {
 577                 name = in_name;
 578                 out = in_out;
 579         }
 580
 581         public AltosCSV(File in_name) throws FileNotFoundException {
 582                 this(new PrintStream(in_name), in_name);
 583         }
 584
 585         public AltosCSV(String in_string) throws FileNotFoundException {
 586                 this(new File(in_string));
 587         }
 588 }