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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_11;
  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_basic;
  32         boolean                 has_battery;
  33         boolean                 has_flight_state;
  34         boolean                 has_advanced;
  35         boolean                 has_gps;
  36         boolean                 has_gps_sat;
  37         boolean                 has_companion;
  38
  39         AltosFlightSeries       series;
  40         int[]                   indices;
  41
  42         static final int ALTOS_CSV_VERSION = 5;
  43
  44         /* Version 4 format:
  45          *
  46          * General info
  47          *      version number
  48          *      serial number
  49          *      flight number
  50          *      callsign
  51          *      time (seconds since boost)
  52          *      clock (tick count / 100)
  53          *      rssi
  54          *      link quality
  55          *
  56          * Flight status
  57          *      state
  58          *      state name
  59          *
  60          * Basic sensors
  61          *      acceleration (m/s²)
  62          *      pressure (mBar)
  63          *      altitude (m)
  64          *      height (m)
  65          *      accelerometer speed (m/s)
  66          *      barometer speed (m/s)
  67          *      temp (°C)
  68          *      drogue (V)
  69          *      main (V)
  70          *
  71          * Battery
  72          *      battery (V)
  73          *
  74          * Advanced sensors (if available)
  75          *      accel_x (m/s²)
  76          *      accel_y (m/s²)
  77          *      accel_z (m/s²)
  78          *      gyro_x (d/s)
  79          *      gyro_y (d/s)
  80          *      gyro_z (d/s)
  81          *      mag_x (g)
  82          *      mag_y (g)
  83          *      mag_z (g)
  84          *
  85          * GPS data (if available)
  86          *      connected (1/0)
  87          *      locked (1/0)
  88          *      nsat (used for solution)
  89          *      latitude (°)
  90          *      longitude (°)
  91          *      altitude (m)
  92          *      year (e.g. 2010)
  93          *      month (1-12)
  94          *      day (1-31)
  95          *      hour (0-23)
  96          *      minute (0-59)
  97          *      second (0-59)
  98          *      from_pad_dist (m)
  99          *      from_pad_azimuth (deg true)
 100          *      from_pad_range (m)
 101          *      from_pad_elevation (deg from horizon)
 102          *      pdop
 103          *      hdop
 104          *      vdop
 105          *
 106          * GPS Sat data
 107          *      C/N0 data for all 32 valid SDIDs
 108          *
 109          * Companion data
 110          *      companion_id (1-255. 10 is TeleScience)
 111          *      time of last companion data (seconds since boost)
 112          *      update_period (0.1-2.55 minimum telemetry interval)
 113          *      channels (0-12)
 114          *      channel data for all 12 possible channels
 115          */
 116
 117         void write_general_header() {
 118                 out.printf("version,serial,flight,call,time,clock,rssi,lqi");
 119         }
 120
 121         double time() {
 122                 return series.time(indices);
 123         }
 124
 125         int rssi() {
 126                 return (int) series.value(AltosFlightSeries.rssi_name, indices);
 127         }
 128
 129         int status() {
 130                 return (int) series.value(AltosFlightSeries.status_name, indices);
 131         }
 132
 133         void write_general() {
 134                 double time = time();
 135                 out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
 136                            ALTOS_CSV_VERSION, series.cal_data.serial,
 137                            series.cal_data.flight, series.cal_data.callsign,
 138                            time, time,
 139                            rssi(), status() & 0x7f);
 140         }
 141
 142         void write_flight_header() {
 143                 out.printf("state,state_name");
 144         }
 145
 146         int state() {
 147                 return (int) series.value(AltosFlightSeries.state_name, indices);
 148         }
 149
 150         void write_flight() {
 151                 int state = state();
 152                 out.printf("%d,%8s", state, AltosLib.state_name(state));
 153         }
 154
 155         void write_basic_header() {
 156                 out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage");
 157         }
 158
 159         double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); }
 160         double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); }
 161         double altitude() { return series.value(AltosFlightSeries.altitude_name, indices); }
 162         double height() { return series.value(AltosFlightSeries.height_name, indices); }
 163         double speed() { return series.value(AltosFlightSeries.speed_name, indices); }
 164         double temperature() { return series.value(AltosFlightSeries.temperature_name, indices); }
 165         double apogee_voltage() { return series.value(AltosFlightSeries.apogee_voltage_name, indices); }
 166         double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); }
 167
 168         void write_basic() {
 169                 out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f",
 170                            acceleration(),
 171                            pressure(),
 172                            altitude(),
 173                            height(),
 174                            speed(),
 175                            speed(),
 176                            temperature(),
 177                            apogee_voltage(),
 178                            main_voltage());
 179         }
 180
 181         void write_battery_header() {
 182                 out.printf("battery_voltage");
 183         }
 184
 185         double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
 186
 187         void write_battery() {
 188                 out.printf("%5.2f", battery_voltage());
 189         }
 190
 191         void write_advanced_header() {
 192                 out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z");
 193         }
 194
 195         double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
 196         double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
 197         double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
 198
 199         double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
 200         double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
 201         double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
 202
 203         double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
 204         double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
 205         double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
 206
 207         void write_advanced() {
 208                 out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
 209                            accel_along(), accel_across(), accel_through(),
 210                            gyro_roll(), gyro_pitch(), gyro_yaw(),
 211                            mag_along(), mag_across(), mag_through());
 212         }
 213
 214         void write_gps_header() {
 215                 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");
 216         }
 217
 218         void write_gps() {
 219                 AltosGPS        gps = series.gps_before(series.time(indices));
 220
 221                 AltosGreatCircle from_pad;
 222
 223                 if (series.cal_data.gps_pad != null && gps != null)
 224                         from_pad = new AltosGreatCircle(series.cal_data.gps_pad, gps);
 225                 else
 226                         from_pad = new AltosGreatCircle();
 227
 228                 if (gps == null)
 229                         gps = new AltosGPS();
 230
 231                 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",
 232                            gps.connected?1:0,
 233                            gps.locked?1:0,
 234                            gps.nsat,
 235                            gps.lat,
 236                            gps.lon,
 237                            gps.alt,
 238                            gps.year,
 239                            gps.month,
 240                            gps.day,
 241                            gps.hour,
 242                            gps.minute,
 243                            gps.second,
 244                            from_pad.distance,
 245                            from_pad.range,
 246                            from_pad.bearing,
 247                            from_pad.elevation,
 248                            gps.pdop,
 249                            gps.hdop,
 250                            gps.vdop);
 251         }
 252
 253         void write_gps_sat_header() {
 254                 for(int i = 1; i <= 32; i++) {
 255                         out.printf("sat%02d", i);
 256                         if (i != 32)
 257                                 out.printf(",");
 258                 }
 259         }
 260
 261         void write_gps_sat() {
 262                 AltosGPS        gps = series.gps_before(series.time(indices));
 263                 for(int i = 1; i <= 32; i++) {
 264                         int     c_n0 = 0;
 265                         if (gps != null && gps.cc_gps_sat != null) {
 266                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 267                                         if (gps.cc_gps_sat[j].svid == i) {
 268                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 269                                                 break;
 270                                         }
 271                         }
 272                         out.printf ("%3d", c_n0);
 273                         if (i != 32)
 274                                 out.printf(",");
 275                 }
 276         }
 277
 278         void write_companion_header() {
 279 /*
 280                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 281                 for (int i = 0; i < 12; i++)
 282                         out.printf(",companion_%02d", i);
 283 */
 284         }
 285
 286         void write_companion() {
 287 /*
 288                 AltosCompanion companion = state.companion;
 289
 290                 int     channels_written = 0;
 291                 if (companion == null) {
 292                         out.printf("0,0,0,0");
 293                 } else {
 294                         out.printf("%3d,%5.2f,%5.2f,%2d",
 295                                    companion.board_id,
 296                                    (companion.tick - boost_tick) / 100.0,
 297                                    companion.update_period / 100.0,
 298                                    companion.channels);
 299                         for (; channels_written < companion.channels; channels_written++)
 300                                 out.printf(",%5d", companion.companion_data[channels_written]);
 301                 }
 302                 for (; channels_written < 12; channels_written++)
 303                         out.printf(",0");
 304 */
 305         }
 306
 307         void write_header() {
 308                 out.printf("#"); write_general_header();
 309                 if (has_flight_state) {
 310                         out.printf(",");
 311                         write_flight_header();
 312                 }
 313                 if (has_basic) {
 314                         out.printf(",");
 315                         write_basic_header();
 316                 }
 317                 if (has_battery) {
 318                         out.printf(",");
 319                         write_battery_header();
 320                 }
 321                 if (has_advanced) {
 322                         out.printf(",");
 323                         write_advanced_header();
 324                 }
 325                 if (has_gps) {
 326                         out.printf(",");
 327                         write_gps_header();
 328                 }
 329                 if (has_gps_sat) {
 330                         out.printf(",");
 331                         write_gps_sat_header();
 332                 }
 333                 if (has_companion) {
 334                         out.printf(",");
 335                         write_companion_header();
 336                 }
 337                 out.printf ("\n");
 338         }
 339
 340         void write_one() {
 341                 write_general();
 342                 if (has_flight_state) {
 343                         out.printf(",");
 344                         write_flight();
 345                 }
 346                 if (has_basic) {
 347                         out.printf(",");
 348                         write_basic();
 349                 }
 350                 if (has_battery) {
 351                         out.printf(",");
 352                         write_battery();
 353                 }
 354                 if (has_advanced) {
 355                         out.printf(",");
 356                         write_advanced();
 357                 }
 358                 if (has_gps) {
 359                         out.printf(",");
 360                         write_gps();
 361                 }
 362                 if (has_gps_sat) {
 363                         out.printf(",");
 364                         write_gps_sat();
 365                 }
 366                 if (has_companion) {
 367                         out.printf(",");
 368                         write_companion();
 369                 }
 370                 out.printf ("\n");
 371         }
 372
 373         private void write() {
 374                 if (state() == AltosLib.ao_flight_startup)
 375                         return;
 376                 if (!header_written) {
 377                         write_header();
 378                         header_written = true;
 379                 }
 380                 write_one();
 381         }
 382
 383         private PrintStream out() {
 384                 return out;
 385         }
 386
 387         public void close() {
 388                 out.close();
 389         }
 390
 391         public void write(AltosFlightSeries series) {
 392 //              series.write_comments(out());
 393
 394                 this.series = series;
 395
 396                 series.finish();
 397
 398                 has_flight_state = false;
 399                 has_basic = false;
 400                 has_battery = false;
 401                 has_advanced = false;
 402                 has_gps = false;
 403                 has_gps_sat = false;
 404                 has_companion = false;
 405
 406                 if (series.has_series(AltosFlightSeries.state_name))
 407                         has_flight_state = true;
 408                 if (series.has_series(AltosFlightSeries.accel_name) || series.has_series(AltosFlightSeries.pressure_name))
 409                         has_basic = true;
 410                 if (series.has_series(AltosFlightSeries.battery_voltage_name))
 411                         has_battery = true;
 412                 if (series.has_series(AltosFlightSeries.accel_across_name))
 413                         has_advanced = true;
 414
 415                 if (series.gps_series != null)
 416                         has_gps = true;
 417                 if (series.sats_in_view != null)
 418                         has_gps_sat = true;
 419                 /*
 420                 if (state.companion != null)
 421                         has_companion = true;
 422                 */
 423
 424                 indices = series.indices();
 425
 426                 for (;;) {
 427                         write();
 428                         if (!series.step_indices(indices))
 429                                 break;
 430                 }
 431         }
 432
 433         public AltosCSV(PrintStream in_out, File in_name) {
 434                 name = in_name;
 435                 out = in_out;
 436         }
 437
 438         public AltosCSV(File in_name) throws FileNotFoundException {
 439                 this(new PrintStream(in_name), in_name);
 440         }
 441
 442         public AltosCSV(String in_string) throws FileNotFoundException {
 443                 this(new File(in_string));
 444         }
 445 }