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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; version 2 of the License.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 package org.altusmetrum.altoslib_4;
  19
  20 import java.io.*;
  21 import java.util.*;
  22
  23 public class AltosCSV implements AltosWriter {
  24         File                    name;
  25         PrintStream             out;
  26         boolean                 header_written;
  27         boolean                 seen_boost;
  28         int                     boost_tick;
  29         LinkedList<AltosState>  pad_states;
  30         AltosState              state;
  31
  32         static final int ALTOS_CSV_VERSION = 5;
  33
  34         /* Version 4 format:
  35          *
  36          * General info
  37          *      version number
  38          *      serial number
  39          *      flight number
  40          *      callsign
  41          *      time (seconds since boost)
  42          *      clock (tick count / 100)
  43          *      rssi
  44          *      link quality
  45          *
  46          * Flight status
  47          *      state
  48          *      state name
  49          *
  50          * Basic sensors
  51          *      acceleration (m/s²)
  52          *      pressure (mBar)
  53          *      altitude (m)
  54          *      height (m)
  55          *      accelerometer speed (m/s)
  56          *      barometer speed (m/s)
  57          *      temp (°C)
  58          *      battery (V)
  59          *      drogue (V)
  60          *      main (V)
  61          *
  62          * Advanced sensors (if available)
  63          *      accel_x (m/s²)
  64          *      accel_y (m/s²)
  65          *      accel_z (m/s²)
  66          *      gyro_x (d/s)
  67          *      gyro_y (d/s)
  68          *      gyro_z (d/s)
  69          *      mag_x (g)
  70          *      mag_y (g)
  71          *      mag_z (g)
  72          *
  73          * GPS data (if available)
  74          *      connected (1/0)
  75          *      locked (1/0)
  76          *      nsat (used for solution)
  77          *      latitude (°)
  78          *      longitude (°)
  79          *      altitude (m)
  80          *      year (e.g. 2010)
  81          *      month (1-12)
  82          *      day (1-31)
  83          *      hour (0-23)
  84          *      minute (0-59)
  85          *      second (0-59)
  86          *      from_pad_dist (m)
  87          *      from_pad_azimuth (deg true)
  88          *      from_pad_range (m)
  89          *      from_pad_elevation (deg from horizon)
  90          *      hdop
  91          *
  92          * GPS Sat data
  93          *      C/N0 data for all 32 valid SDIDs
  94          *
  95          * Companion data
  96          *      companion_id (1-255. 10 is TeleScience)
  97          *      time of last companion data (seconds since boost)
  98          *      update_period (0.1-2.55 minimum telemetry interval)
  99          *      channels (0-12)
 100          *      channel data for all 12 possible channels
 101          */
 102
 103         void write_general_header() {
 104                 out.printf("version,serial,flight,call,time,clock,rssi,lqi");
 105         }
 106
 107         void write_general(AltosState state) {
 108                 out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
 109                            ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign,
 110                            (double) state.time, (double) state.tick / 100.0,
 111                            state.rssi,
 112                            state.status & 0x7f);
 113         }
 114
 115         void write_flight_header() {
 116                 out.printf("state,state_name");
 117         }
 118
 119         void write_flight(AltosState state) {
 120                 out.printf("%d,%8s", state.state, state.state_name());
 121         }
 122
 123         void write_basic_header() {
 124                 out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
 125         }
 126
 127         void write_basic(AltosState state) {
 128                 out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
 129                            state.acceleration(),
 130                            state.pressure(),
 131                            state.altitude(),
 132                            state.height(),
 133                            state.speed(),
 134                            state.speed(),
 135                            state.temperature,
 136                            state.battery_voltage,
 137                            state.apogee_voltage,
 138                            state.main_voltage);
 139         }
 140
 141         void write_advanced_header() {
 142                 out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
 143         }
 144
 145         void write_advanced(AltosState state) {
 146                 AltosIMU        imu = state.imu;
 147                 AltosMag        mag = state.mag;
 148
 149                 if (imu == null)
 150                         imu = new AltosIMU();
 151                 if (mag == null)
 152                         mag = new AltosMag();
 153                 out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
 154                            imu.accel_x, imu.accel_y, imu.accel_z,
 155                            imu.gyro_x, imu.gyro_y, imu.gyro_z,
 156                            mag.x, mag.y, mag.z);
 157         }
 158
 159         void write_gps_header() {
 160                 out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
 161         }
 162
 163         void write_gps(AltosState state) {
 164                 AltosGPS        gps = state.gps;
 165                 if (gps == null)
 166                         gps = new AltosGPS();
 167
 168                 AltosGreatCircle from_pad = state.from_pad;
 169                 if (from_pad == null)
 170                         from_pad = new AltosGreatCircle();
 171
 172                 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",
 173                            gps.connected?1:0,
 174                            gps.locked?1:0,
 175                            gps.nsat,
 176                            gps.lat,
 177                            gps.lon,
 178                            gps.alt,
 179                            gps.year,
 180                            gps.month,
 181                            gps.day,
 182                            gps.hour,
 183                            gps.minute,
 184                            gps.second,
 185                            from_pad.distance,
 186                            state.range,
 187                            from_pad.bearing,
 188                            state.elevation,
 189                            gps.hdop);
 190         }
 191
 192         void write_gps_sat_header() {
 193                 for(int i = 1; i <= 32; i++) {
 194                         out.printf("sat%02d", i);
 195                         if (i != 32)
 196                                 out.printf(",");
 197                 }
 198         }
 199
 200         void write_gps_sat(AltosState state) {
 201                 AltosGPS        gps = state.gps;
 202                 for(int i = 1; i <= 32; i++) {
 203                         int     c_n0 = 0;
 204                         if (gps != null && gps.cc_gps_sat != null) {
 205                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 206                                         if (gps.cc_gps_sat[j].svid == i) {
 207                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 208                                                 break;
 209                                         }
 210                         }
 211                         out.printf ("%3d", c_n0);
 212                         if (i != 32)
 213                                 out.printf(",");
 214                 }
 215         }
 216
 217         void write_companion_header() {
 218                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 219                 for (int i = 0; i < 12; i++)
 220                         out.printf(",companion_%02d", i);
 221         }
 222
 223         void write_companion(AltosState state) {
 224                 AltosCompanion companion = state.companion;
 225
 226                 int     channels_written = 0;
 227                 if (companion == null) {
 228                         out.printf("0,0,0,0");
 229                 } else {
 230                         out.printf("%3d,%5.2f,%5.2f,%2d",
 231                                    companion.board_id,
 232                                    (companion.tick - boost_tick) / 100.0,
 233                                    companion.update_period / 100.0,
 234                                    companion.channels);
 235                         for (; channels_written < companion.channels; channels_written++)
 236                                 out.printf(",%5d", companion.companion_data[channels_written]);
 237                 }
 238                 for (; channels_written < 12; channels_written++)
 239                         out.printf(",0");
 240         }
 241
 242         void write_header(boolean advanced, boolean gps, boolean companion) {
 243                 out.printf("#"); write_general_header();
 244                 out.printf(","); write_flight_header();
 245                 out.printf(","); write_basic_header();
 246                 if (advanced)
 247                         out.printf(","); write_advanced_header();
 248                 if (gps) {
 249                         out.printf(","); write_gps_header();
 250                         out.printf(","); write_gps_sat_header();
 251                 }
 252                 if (companion) {
 253                         out.printf(","); write_companion_header();
 254                 }
 255                 out.printf ("\n");
 256         }
 257
 258         void write_one(AltosState state) {
 259                 write_general(state); out.printf(",");
 260                 write_flight(state); out.printf(",");
 261                 write_basic(state); out.printf(",");
 262                 if (state.imu != null || state.mag != null)
 263                         write_advanced(state);
 264                 if (state.gps != null) {
 265                         out.printf(",");
 266                         write_gps(state); out.printf(",");
 267                         write_gps_sat(state);
 268                 }
 269                 if (state.companion != null) {
 270                         out.printf(",");
 271                         write_companion(state);
 272                 }
 273                 out.printf ("\n");
 274         }
 275
 276         void flush_pad() {
 277                 while (!pad_states.isEmpty()) {
 278                         write_one (pad_states.remove());
 279                 }
 280         }
 281
 282         public void write(AltosState state) {
 283                 if (state.state == AltosLib.ao_flight_startup)
 284                         return;
 285                 if (!header_written) {
 286                         write_header(state.imu != null || state.mag != null,
 287                                      state.gps != null, state.companion != null);
 288                         header_written = true;
 289                 }
 290                 if (!seen_boost) {
 291                         if (state.state >= AltosLib.ao_flight_boost) {
 292                                 seen_boost = true;
 293                                 boost_tick = state.tick;
 294                                 flush_pad();
 295                         }
 296                 }
 297                 if (seen_boost)
 298                         write_one(state);
 299                 else
 300                         pad_states.add(state);
 301         }
 302
 303         public PrintStream out() {
 304                 return out;
 305         }
 306
 307         public void close() {
 308                 if (!pad_states.isEmpty()) {
 309                         boost_tick = pad_states.element().tick;
 310                         flush_pad();
 311                 }
 312                 out.close();
 313         }
 314
 315         public void write(AltosStateIterable states) {
 316                 states.write_comments(out());
 317                 for (AltosState state : states)
 318                         write(state);
 319         }
 320
 321         public AltosCSV(PrintStream in_out, File in_name) {
 322                 name = in_name;
 323                 out = in_out;
 324                 pad_states = new LinkedList<AltosState>();
 325         }
 326
 327         public AltosCSV(File in_name) throws FileNotFoundException {
 328                 this(new PrintStream(in_name), in_name);
 329         }
 330
 331         public AltosCSV(String in_string) throws FileNotFoundException {
 332                 this(new File(in_string));
 333         }
 334 }