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