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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_5;
  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 boolean          has_basic;
  33         static boolean          has_battery;
  34         static boolean          has_flight_state;
  35         static boolean          has_advanced;
  36         static boolean          has_gps;
  37         static boolean          has_gps_sat;
  38         static boolean          has_companion;
  39
  40         static final int ALTOS_CSV_VERSION = 5;
  41
  42         /* Version 4 format:
  43          *
  44          * General info
  45          *      version number
  46          *      serial number
  47          *      flight number
  48          *      callsign
  49          *      time (seconds since boost)
  50          *      clock (tick count / 100)
  51          *      rssi
  52          *      link quality
  53          *
  54          * Flight status
  55          *      state
  56          *      state name
  57          *
  58          * Basic sensors
  59          *      acceleration (m/s²)
  60          *      pressure (mBar)
  61          *      altitude (m)
  62          *      height (m)
  63          *      accelerometer speed (m/s)
  64          *      barometer speed (m/s)
  65          *      temp (°C)
  66          *      drogue (V)
  67          *      main (V)
  68          *
  69          * Battery
  70          *      battery (V)
  71          *
  72          * Advanced sensors (if available)
  73          *      accel_x (m/s²)
  74          *      accel_y (m/s²)
  75          *      accel_z (m/s²)
  76          *      gyro_x (d/s)
  77          *      gyro_y (d/s)
  78          *      gyro_z (d/s)
  79          *      mag_x (g)
  80          *      mag_y (g)
  81          *      mag_z (g)
  82          *
  83          * GPS data (if available)
  84          *      connected (1/0)
  85          *      locked (1/0)
  86          *      nsat (used for solution)
  87          *      latitude (°)
  88          *      longitude (°)
  89          *      altitude (m)
  90          *      year (e.g. 2010)
  91          *      month (1-12)
  92          *      day (1-31)
  93          *      hour (0-23)
  94          *      minute (0-59)
  95          *      second (0-59)
  96          *      from_pad_dist (m)
  97          *      from_pad_azimuth (deg true)
  98          *      from_pad_range (m)
  99          *      from_pad_elevation (deg from horizon)
 100          *      pdop
 101          *      hdop
 102          *      vdop
 103          *
 104          * GPS Sat data
 105          *      C/N0 data for all 32 valid SDIDs
 106          *
 107          * Companion data
 108          *      companion_id (1-255. 10 is TeleScience)
 109          *      time of last companion data (seconds since boost)
 110          *      update_period (0.1-2.55 minimum telemetry interval)
 111          *      channels (0-12)
 112          *      channel data for all 12 possible channels
 113          */
 114
 115         void write_general_header() {
 116                 out.printf("version,serial,flight,call,time,clock,rssi,lqi");
 117         }
 118
 119         void write_general(AltosState state) {
 120                 out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
 121                            ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign,
 122                            (double) state.time_since_boost(), (double) state.tick / 100.0,
 123                            state.rssi,
 124                            state.status & 0x7f);
 125         }
 126
 127         void write_flight_header() {
 128                 out.printf("state,state_name");
 129         }
 130
 131         void write_flight(AltosState state) {
 132                 out.printf("%d,%8s", state.state, state.state_name());
 133         }
 134
 135         void write_basic_header() {
 136                 out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage");
 137         }
 138
 139         void write_basic(AltosState state) {
 140                 out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f",
 141                            state.acceleration(),
 142                            state.pressure(),
 143                            state.altitude(),
 144                            state.height(),
 145                            state.speed(),
 146                            state.speed(),
 147                            state.temperature,
 148                            state.apogee_voltage,
 149                            state.main_voltage);
 150         }
 151
 152         void write_battery_header() {
 153                 out.printf("battery_voltage");
 154         }
 155
 156         void write_battery(AltosState state) {
 157                 out.printf("%5.2f", state.battery_voltage);
 158         }
 159
 160         void write_advanced_header() {
 161                 out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
 162         }
 163
 164         void write_advanced(AltosState state) {
 165                 AltosIMU        imu = state.imu;
 166                 AltosMag        mag = state.mag;
 167
 168                 if (imu == null)
 169                         imu = new AltosIMU();
 170                 if (mag == null)
 171                         mag = new AltosMag();
 172                 out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
 173                            imu.accel_x, imu.accel_y, imu.accel_z,
 174                            imu.gyro_x, imu.gyro_y, imu.gyro_z,
 175                            mag.x, mag.y, mag.z);
 176         }
 177
 178         void write_gps_header() {
 179                 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");
 180         }
 181
 182         void write_gps(AltosState state) {
 183                 AltosGPS        gps = state.gps;
 184                 if (gps == null)
 185                         gps = new AltosGPS();
 186
 187                 AltosGreatCircle from_pad = state.from_pad;
 188                 if (from_pad == null)
 189                         from_pad = new AltosGreatCircle();
 190
 191                 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",
 192                            gps.connected?1:0,
 193                            gps.locked?1:0,
 194                            gps.nsat,
 195                            gps.lat,
 196                            gps.lon,
 197                            gps.alt,
 198                            gps.year,
 199                            gps.month,
 200                            gps.day,
 201                            gps.hour,
 202                            gps.minute,
 203                            gps.second,
 204                            from_pad.distance,
 205                            state.range,
 206                            from_pad.bearing,
 207                            state.elevation,
 208                            gps.pdop,
 209                            gps.hdop,
 210                            gps.vdop);
 211         }
 212
 213         void write_gps_sat_header() {
 214                 for(int i = 1; i <= 32; i++) {
 215                         out.printf("sat%02d", i);
 216                         if (i != 32)
 217                                 out.printf(",");
 218                 }
 219         }
 220
 221         void write_gps_sat(AltosState state) {
 222                 AltosGPS        gps = state.gps;
 223                 for(int i = 1; i <= 32; i++) {
 224                         int     c_n0 = 0;
 225                         if (gps != null && gps.cc_gps_sat != null) {
 226                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 227                                         if (gps.cc_gps_sat[j].svid == i) {
 228                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 229                                                 break;
 230                                         }
 231                         }
 232                         out.printf ("%3d", c_n0);
 233                         if (i != 32)
 234                                 out.printf(",");
 235                 }
 236         }
 237
 238         void write_companion_header() {
 239                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 240                 for (int i = 0; i < 12; i++)
 241                         out.printf(",companion_%02d", i);
 242         }
 243
 244         void write_companion(AltosState state) {
 245                 AltosCompanion companion = state.companion;
 246
 247                 int     channels_written = 0;
 248                 if (companion == null) {
 249                         out.printf("0,0,0,0");
 250                 } else {
 251                         out.printf("%3d,%5.2f,%5.2f,%2d",
 252                                    companion.board_id,
 253                                    (companion.tick - boost_tick) / 100.0,
 254                                    companion.update_period / 100.0,
 255                                    companion.channels);
 256                         for (; channels_written < companion.channels; channels_written++)
 257                                 out.printf(",%5d", companion.companion_data[channels_written]);
 258                 }
 259                 for (; channels_written < 12; channels_written++)
 260                         out.printf(",0");
 261         }
 262
 263         void write_header() {
 264                 out.printf("#"); write_general_header();
 265                 if (has_flight_state) {
 266                         out.printf(",");
 267                         write_flight_header();
 268                 }
 269                 if (has_basic) {
 270                         out.printf(",");
 271                         write_basic_header();
 272                 }
 273                 if (has_battery) {
 274                         out.printf(",");
 275                         write_battery_header();
 276                 }
 277                 if (has_advanced) {
 278                         out.printf(",");
 279                         write_advanced_header();
 280                 }
 281                 if (has_gps) {
 282                         out.printf(",");
 283                         write_gps_header();
 284                 }
 285                 if (has_gps_sat) {
 286                         out.printf(",");
 287                         write_gps_sat_header();
 288                 }
 289                 if (has_companion) {
 290                         out.printf(",");
 291                         write_companion_header();
 292                 }
 293                 out.printf ("\n");
 294         }
 295
 296         void write_one(AltosState state) {
 297                 write_general(state);
 298                 if (has_flight_state) {
 299                         out.printf(",");
 300                         write_flight(state);
 301                 }
 302                 if (has_basic) {
 303                         out.printf(",");
 304                         write_basic(state);
 305                 }
 306                 if (has_battery) {
 307                         out.printf(",");
 308                         write_battery(state);
 309                 }
 310                 if (has_advanced) {
 311                         out.printf(",");
 312                         write_advanced(state);
 313                 }
 314                 if (has_gps) {
 315                         out.printf(",");
 316                         write_gps(state);
 317                 }
 318                 if (has_gps_sat) {
 319                         out.printf(",");
 320                         write_gps_sat(state);
 321                 }
 322                 if (has_companion) {
 323                         out.printf(",");
 324                         write_companion(state);
 325                 }
 326                 out.printf ("\n");
 327         }
 328
 329         private void flush_pad() {
 330                 while (!pad_states.isEmpty()) {
 331                         write_one (pad_states.remove());
 332                 }
 333         }
 334
 335         private void write(AltosState state) {
 336                 if (state.state == AltosLib.ao_flight_startup)
 337                         return;
 338                 if (!header_written) {
 339                         write_header();
 340                         header_written = true;
 341                 }
 342                 if (!seen_boost) {
 343                         if (state.state >= AltosLib.ao_flight_boost) {
 344                                 seen_boost = true;
 345                                 boost_tick = state.tick;
 346                                 flush_pad();
 347                         }
 348                 }
 349                 if (seen_boost)
 350                         write_one(state);
 351                 else
 352                         pad_states.add(state);
 353         }
 354
 355         private PrintStream out() {
 356                 return out;
 357         }
 358
 359         public void close() {
 360                 if (!pad_states.isEmpty()) {
 361                         boost_tick = pad_states.element().tick;
 362                         flush_pad();
 363                 }
 364                 out.close();
 365         }
 366
 367         public void write(AltosStateIterable states) {
 368                 states.write_comments(out());
 369
 370                 has_flight_state = false;
 371                 has_basic = false;
 372                 has_battery = false;
 373                 has_advanced = false;
 374                 has_gps = false;
 375                 has_gps_sat = false;
 376                 has_companion = false;
 377                 for (AltosState state : states) {
 378                         if (state.state != AltosLib.ao_flight_stateless && state.state != AltosLib.ao_flight_invalid && state.state != AltosLib.ao_flight_startup)
 379                                 has_flight_state = true;
 380                         if (state.acceleration() != AltosLib.MISSING || state.pressure() != AltosLib.MISSING)
 381                                 has_basic = true;
 382                         if (state.battery_voltage != AltosLib.MISSING)
 383                                 has_battery = true;
 384                         if (state.imu != null || state.mag != null)
 385                                 has_advanced = true;
 386                         if (state.gps != null) {
 387                                 has_gps = true;
 388                                 if (state.gps.cc_gps_sat != null)
 389                                         has_gps_sat = true;
 390                         }
 391                         if (state.companion != null)
 392                                 has_companion = true;
 393                 }
 394                 for (AltosState state : states)
 395                         write(state);
 396         }
 397
 398         public AltosCSV(PrintStream in_out, File in_name) {
 399                 name = in_name;
 400                 out = in_out;
 401                 pad_states = new LinkedList<AltosState>();
 402         }
 403
 404         public AltosCSV(File in_name) throws FileNotFoundException {
 405                 this(new PrintStream(in_name), in_name);
 406         }
 407
 408         public AltosCSV(String in_string) throws FileNotFoundException {
 409                 this(new File(in_string));
 410         }
 411 }