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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                 if (has_accel)
 187                         out.printf("acceleration,");
 188                 if (has_baro)
 189                         out.printf("pressure,altitude,");
 190                 out.printf("height,speed");
 191                 if (has_baro)
 192                         out.printf(",temperature");
 193                 if (has_pyro)
 194                         out.printf(",drogue_voltage,main_voltage");
 195         }
 196
 197         double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); }
 198         double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); }
 199         double altitude() { return series.value(AltosFlightSeries.altitude_name, indices); }
 200         double height() { return series.value(AltosFlightSeries.height_name, indices); }
 201         double speed() { return series.value(AltosFlightSeries.speed_name, indices); }
 202         double temperature() { return series.value(AltosFlightSeries.temperature_name, indices); }
 203         double apogee_voltage() { return series.value(AltosFlightSeries.apogee_voltage_name, indices); }
 204         double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); }
 205
 206         void write_basic() {
 207                 if (has_accel)
 208                         out.printf("%8.2f,", acceleration());
 209                 if (has_baro)
 210                         out.printf("%10.2f,%8.2f,",
 211                                    pressure(), altitude());
 212                 out.printf("%8.2f,%8.2f",
 213                            height(), speed());
 214                 if (has_baro)
 215                         out.printf(",%5.1f", temperature());
 216                 if (has_pyro)
 217                         out.printf(",%5.2f,%5.2f",
 218                                    apogee_voltage(),
 219                                    main_voltage());
 220         }
 221
 222         void write_battery_header() {
 223                 out.printf("battery_voltage");
 224         }
 225
 226         double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
 227
 228         void write_battery() {
 229                 out.printf("%5.2f", battery_voltage());
 230         }
 231
 232         void write_motor_pressure_header() {
 233                 out.printf("motor_pressure");
 234         }
 235
 236         double motor_pressure() { return series.value(AltosFlightSeries.motor_pressure_name, indices); }
 237
 238         void write_motor_pressure() {
 239                 out.printf("%10.1f", motor_pressure());
 240         }
 241
 242         void write_3d_accel_header() {
 243                 out.printf("accel_x,accel_y,accel_z");
 244         }
 245
 246         double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
 247         double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
 248         double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
 249
 250         void write_3d_accel() {
 251                 out.printf("%7.2f,%7.2f,%7.2f",
 252                            accel_along(), accel_across(), accel_through());
 253         }
 254
 255         void write_imu_header() {
 256                 out.printf("gyro_roll,gyro_pitch,gyro_yaw,mag_x,mag_y,mag_z,tilt");
 257         }
 258
 259         double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
 260         double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
 261         double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
 262
 263         double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
 264         double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
 265         double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
 266
 267         double tilt() { return series.value(AltosFlightSeries.orient_name, indices); }
 268
 269         void write_imu() {
 270                 out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
 271                            gyro_roll(), gyro_pitch(), gyro_yaw(),
 272                            mag_along(), mag_across(), mag_through(),
 273                            tilt());
 274         }
 275
 276         void write_igniter_header() {
 277                 out.printf("pyro");
 278                 for (int i = 0; i < series.igniter_voltage.length; i++)
 279                         out.printf(",%s", AltosLib.igniter_short_name(i));
 280         }
 281
 282         double pyro() { return series.value(AltosFlightSeries.pyro_voltage_name, indices); }
 283
 284         double igniter_value(int channel) { return series.value(series.igniter_voltage_name(channel), indices); }
 285
 286         void write_igniter() {
 287                 out.printf("%5.2f", pyro());
 288                 for (int i = 0; i < series.igniter_voltage.length; i++)
 289                         out.printf(",%5.2f", igniter_value(i));
 290         }
 291
 292         void write_gps_header() {
 293                 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");
 294         }
 295
 296         void write_gps() {
 297                 AltosGPS        gps = series.gps_before(series.time(indices));
 298
 299                 AltosGreatCircle from_pad;
 300
 301                 if (series.cal_data().gps_pad != null && gps != null)
 302                         from_pad = new AltosGreatCircle(series.cal_data().gps_pad, gps);
 303                 else
 304                         from_pad = new AltosGreatCircle();
 305
 306                 if (gps == null)
 307                         gps = new AltosGPS();
 308
 309                 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",
 310                            gps.connected?1:0,
 311                            gps.locked?1:0,
 312                            gps.nsat,
 313                            gps.lat,
 314                            gps.lon,
 315                            gps.alt,
 316                            gps.year,
 317                            gps.month,
 318                            gps.day,
 319                            gps.hour,
 320                            gps.minute,
 321                            gps.second,
 322                            from_pad.distance,
 323                            from_pad.range,
 324                            from_pad.bearing,
 325                            from_pad.elevation,
 326                            gps.pdop,
 327                            gps.hdop,
 328                            gps.vdop);
 329         }
 330
 331         void write_gps_sat_header() {
 332                 for(int i = 1; i <= 32; i++) {
 333                         out.printf("sat%02d", i);
 334                         if (i != 32)
 335                                 out.printf(",");
 336                 }
 337         }
 338
 339         void write_gps_sat() {
 340                 AltosGPS        gps = series.gps_before(series.time(indices));
 341                 for(int i = 1; i <= 32; i++) {
 342                         int     c_n0 = 0;
 343                         if (gps != null && gps.cc_gps_sat != null) {
 344                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 345                                         if (gps.cc_gps_sat[j].svid == i) {
 346                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 347                                                 break;
 348                                         }
 349                         }
 350                         out.printf ("%3d", c_n0);
 351                         if (i != 32)
 352                                 out.printf(",");
 353                 }
 354         }
 355
 356         void write_companion_header() {
 357 /*
 358                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 359                 for (int i = 0; i < 12; i++)
 360                         out.printf(",companion_%02d", i);
 361 */
 362         }
 363
 364         void write_companion() {
 365 /*
 366                 AltosCompanion companion = state.companion;
 367
 368                 int     channels_written = 0;
 369                 if (companion == null) {
 370                         out.printf("0,0,0,0");
 371                 } else {
 372                         out.printf("%3d,%5.2f,%5.2f,%2d",
 373                                    companion.board_id,
 374                                    (companion.tick - boost_tick) / 100.0,
 375                                    companion.update_period / 100.0,
 376                                    companion.channels);
 377                         for (; channels_written < companion.channels; channels_written++)
 378                                 out.printf(",%5d", companion.companion_data[channels_written]);
 379                 }
 380                 for (; channels_written < 12; channels_written++)
 381                         out.printf(",0");
 382 */
 383         }
 384
 385         void write_header() {
 386                 out.printf("#"); write_general_header();
 387                 if (has_radio) {
 388                         out.printf(",");
 389                         write_radio_header();
 390                 }
 391                 if (has_flight_state) {
 392                         out.printf(",");
 393                         write_flight_header();
 394                 }
 395                 if (has_basic) {
 396                         out.printf(",");
 397                         write_basic_header();
 398                 }
 399                 if (has_battery) {
 400                         out.printf(",");
 401                         write_battery_header();
 402                 }
 403                 if (has_motor_pressure) {
 404                         out.printf(",");
 405                         write_motor_pressure_header();
 406                 }
 407                 if (has_3d_accel) {
 408                         out.printf(",");
 409                         write_3d_accel_header();
 410                 }
 411                 if (has_igniter) {
 412                         out.printf(",");
 413                         write_igniter_header();
 414                 }
 415                 if (has_gps) {
 416                         out.printf(",");
 417                         write_gps_header();
 418                 }
 419                 if (has_gps_sat) {
 420                         out.printf(",");
 421                         write_gps_sat_header();
 422                 }
 423                 if (has_companion) {
 424                         out.printf(",");
 425                         write_companion_header();
 426                 }
 427                 out.printf ("\n");
 428         }
 429
 430         void write_one() {
 431                 write_general();
 432                 if (has_radio) {
 433                         out.printf(",");
 434                         write_radio();
 435                 }
 436                 if (has_flight_state) {
 437                         out.printf(",");
 438                         write_flight();
 439                 }
 440                 if (has_basic) {
 441                         out.printf(",");
 442                         write_basic();
 443                 }
 444                 if (has_battery) {
 445                         out.printf(",");
 446                         write_battery();
 447                 }
 448                 if (has_motor_pressure) {
 449                         out.printf(",");
 450                         write_motor_pressure();
 451                 }
 452                 if (has_3d_accel) {
 453                         out.printf(",");
 454                         write_3d_accel();
 455                 }
 456                 if (has_imu) {
 457                         out.printf(",");
 458                         write_imu();
 459                 }
 460                 if (has_igniter) {
 461                         out.printf(",");
 462                         write_igniter();
 463                 }
 464                 if (has_gps) {
 465                         out.printf(",");
 466                         write_gps();
 467                 }
 468                 if (has_gps_sat) {
 469                         out.printf(",");
 470                         write_gps_sat();
 471                 }
 472                 if (has_companion) {
 473                         out.printf(",");
 474                         write_companion();
 475                 }
 476                 out.printf ("\n");
 477         }
 478
 479         private void write() {
 480                 if (state() == AltosLib.ao_flight_startup)
 481                         return;
 482                 if (!header_written) {
 483                         write_header();
 484                         header_written = true;
 485                 }
 486                 write_one();
 487         }
 488
 489         private PrintStream out() {
 490                 return out;
 491         }
 492
 493         public void close() {
 494                 out.close();
 495         }
 496
 497         public void write(AltosFlightSeries series) {
 498 //              series.write_comments(out());
 499
 500                 this.series = series;
 501
 502                 series.finish();
 503
 504                 has_radio = false;
 505                 has_flight_state = false;
 506                 has_basic = false;
 507                 has_accel = false;
 508                 has_baro = false;
 509                 has_pyro = false;
 510                 has_battery = false;
 511                 has_motor_pressure = false;
 512                 has_3d_accel = false;
 513                 has_imu = false;
 514                 has_igniter = false;
 515                 has_gps = false;
 516                 has_gps_sat = false;
 517                 has_companion = false;
 518
 519                 if (series.has_series(AltosFlightSeries.rssi_name))
 520                         has_radio = true;
 521                 if (series.has_series(AltosFlightSeries.state_name))
 522                         has_flight_state = true;
 523                 if (series.has_series(AltosFlightSeries.accel_name)) {
 524                         has_basic = true;
 525                         has_accel = true;
 526                 }
 527                 if (series.has_series(AltosFlightSeries.pressure_name)) {
 528                         has_basic = true;
 529                         has_baro = true;
 530                 }
 531                 if (series.has_series(AltosFlightSeries.apogee_voltage_name))
 532                         has_pyro = true;
 533                 if (series.has_series(AltosFlightSeries.battery_voltage_name))
 534                         has_battery = true;
 535                 if (series.has_series(AltosFlightSeries.motor_pressure_name))
 536                         has_motor_pressure = true;
 537                 if (series.has_series(AltosFlightSeries.accel_across_name))
 538                         has_3d_accel = true;
 539                 if (series.has_series(AltosFlightSeries.gyro_roll_name))
 540                         has_imu = true;
 541                 if (series.has_series(AltosFlightSeries.pyro_voltage_name))
 542                         has_igniter = true;
 543
 544                 if (series.gps_series != null)
 545                         has_gps = true;
 546                 if (series.sats_in_view != null)
 547                         has_gps_sat = true;
 548                 /*
 549                 if (state.companion != null)
 550                         has_companion = true;
 551                 */
 552
 553                 indices = series.indices();
 554
 555                 for (;;) {
 556                         write();
 557                         if (!series.step_indices(indices))
 558                                 break;
 559                 }
 560         }
 561
 562         public AltosCSV(PrintStream in_out, File in_name) {
 563                 name = in_name;
 564                 out = in_out;
 565         }
 566
 567         public AltosCSV(File in_name) throws FileNotFoundException {
 568                 this(new PrintStream(in_name), in_name);
 569         }
 570
 571         public AltosCSV(String in_string) throws FileNotFoundException {
 572                 this(new File(in_string));
 573         }
 574 }