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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;
  19
  20 import java.io.*;
  21 import java.util.*;
  22 import java.text.*;
  23
  24 public class AltosEepromIterable extends AltosRecordIterable {
  25
  26         static final int        seen_basic = AltosRecord.seen_flight|AltosRecord.seen_sensor;
  27
  28         boolean                 has_accel;
  29         boolean                 has_gps;
  30         boolean                 has_ignite;
  31
  32         AltosEepromRecord       flight_record;
  33         AltosEepromRecord       gps_date_record;
  34
  35         TreeSet<AltosOrderedRecord>     records;
  36
  37         LinkedList<AltosRecord> list;
  38
  39         class EepromState {
  40                 int     seen;
  41                 int     n_pad_samples;
  42                 double  ground_pres;
  43                 int     gps_tick;
  44                 int     boost_tick;
  45                 int     sensor_tick;
  46
  47                 EepromState() {
  48                         seen = 0;
  49                         n_pad_samples = 0;
  50                         ground_pres = 0.0;
  51                         gps_tick = 0;
  52                 }
  53         }
  54
  55         void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) {
  56                 state.tick = record.tick;
  57                 switch (record.cmd) {
  58                 case AltosLib.AO_LOG_FLIGHT:
  59                         eeprom.seen |= AltosRecord.seen_flight;
  60                         state.ground_accel = record.a;
  61                         state.flight_accel = record.a;
  62                         state.flight = record.b;
  63                         eeprom.boost_tick = record.tick;
  64                         break;
  65                 case AltosLib.AO_LOG_SENSOR:
  66                         state.accel = record.a;
  67                         state.pres = record.b;
  68                         if (state.state < AltosLib.ao_flight_boost) {
  69                                 eeprom.n_pad_samples++;
  70                                 eeprom.ground_pres += state.pres;
  71                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
  72                                 state.flight_pres = state.ground_pres;
  73                         } else {
  74                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
  75                         }
  76                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
  77                         if ((eeprom.seen & AltosRecord.seen_sensor) == 0)
  78                                 eeprom.sensor_tick = record.tick - 1;
  79                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
  80                         eeprom.seen |= AltosRecord.seen_sensor;
  81                         eeprom.sensor_tick = record.tick;
  82                         has_accel = true;
  83                         break;
  84                 case AltosLib.AO_LOG_PRESSURE:
  85                         state.pres = record.b;
  86                         state.flight_pres = state.pres;
  87                         if (eeprom.n_pad_samples == 0) {
  88                                 eeprom.n_pad_samples++;
  89                                 state.ground_pres = state.pres;
  90                         }
  91                         eeprom.seen |= AltosRecord.seen_sensor;
  92                         break;
  93                 case AltosLib.AO_LOG_TEMP_VOLT:
  94                         state.temp = record.a;
  95                         state.batt = record.b;
  96                         eeprom.seen |= AltosRecord.seen_temp_volt;
  97                         break;
  98                 case AltosLib.AO_LOG_DEPLOY:
  99                         state.drogue = record.a;
 100                         state.main = record.b;
 101                         eeprom.seen |= AltosRecord.seen_deploy;
 102                         has_ignite = true;
 103                         break;
 104                 case AltosLib.AO_LOG_STATE:
 105                         state.state = record.a;
 106                         break;
 107                 case AltosLib.AO_LOG_GPS_TIME:
 108                         eeprom.gps_tick = state.tick;
 109                         AltosGPS old = state.gps;
 110                         state.gps = new AltosGPS();
 111
 112                         /* GPS date doesn't get repeated through the file */
 113                         if (old != null) {
 114                                 state.gps.year = old.year;
 115                                 state.gps.month = old.month;
 116                                 state.gps.day = old.day;
 117                         }
 118                         state.gps.hour = (record.a & 0xff);
 119                         state.gps.minute = (record.a >> 8);
 120                         state.gps.second = (record.b & 0xff);
 121
 122                         int flags = (record.b >> 8);
 123                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 124                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 125                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 126                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 127                         state.new_gps = true;
 128                         has_gps = true;
 129                         break;
 130                 case AltosLib.AO_LOG_GPS_LAT:
 131                         int lat32 = record.a | (record.b << 16);
 132                         state.gps.lat = (double) lat32 / 1e7;
 133                         break;
 134                 case AltosLib.AO_LOG_GPS_LON:
 135                         int lon32 = record.a | (record.b << 16);
 136                         state.gps.lon = (double) lon32 / 1e7;
 137                         break;
 138                 case AltosLib.AO_LOG_GPS_ALT:
 139                         state.gps.alt = record.a;
 140                         break;
 141                 case AltosLib.AO_LOG_GPS_SAT:
 142                         if (state.tick == eeprom.gps_tick) {
 143                                 int svid = record.a;
 144                                 int c_n0 = record.b >> 8;
 145                                 state.gps.add_sat(svid, c_n0);
 146                         }
 147                         break;
 148                 case AltosLib.AO_LOG_GPS_DATE:
 149                         state.gps.year = (record.a & 0xff) + 2000;
 150                         state.gps.month = record.a >> 8;
 151                         state.gps.day = record.b & 0xff;
 152                         break;
 153
 154                 case AltosLib.AO_LOG_CONFIG_VERSION:
 155                         break;
 156                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 157                         break;
 158                 case AltosLib.AO_LOG_APOGEE_DELAY:
 159                         break;
 160                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 161                         break;
 162                 case AltosLib.AO_LOG_CALLSIGN:
 163                         state.callsign = record.data;
 164                         break;
 165                 case AltosLib.AO_LOG_ACCEL_CAL:
 166                         state.accel_plus_g = record.a;
 167                         state.accel_minus_g = record.b;
 168                         break;
 169                 case AltosLib.AO_LOG_RADIO_CAL:
 170                         break;
 171                 case AltosLib.AO_LOG_MANUFACTURER:
 172                         break;
 173                 case AltosLib.AO_LOG_PRODUCT:
 174                         break;
 175                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 176                         state.serial = record.a;
 177                         break;
 178                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 179                         break;
 180                 }
 181                 state.seen |= eeprom.seen;
 182         }
 183
 184         LinkedList<AltosRecord> make_list() {
 185                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 186                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 187                 AltosOrderedRecord              record = null;
 188                 AltosRecordTM                   state = new AltosRecordTM();
 189                 //boolean                               last_reported = false;
 190                 EepromState                     eeprom = new EepromState();
 191
 192                 state.state = AltosLib.ao_flight_pad;
 193                 state.accel_plus_g = 15758;
 194                 state.accel_minus_g = 16294;
 195                 state.flight_vel = 0;
 196
 197                 /* Pull in static data from the flight and gps_date records */
 198                 if (flight_record != null)
 199                         update_state(state, flight_record, eeprom);
 200                 if (gps_date_record != null)
 201                         update_state(state, gps_date_record, eeprom);
 202
 203                 while (iterator.hasNext()) {
 204                         record = iterator.next();
 205                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 206                                 AltosRecordTM r = state.clone();
 207                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 208                                 list.add(r);
 209                         }
 210                         update_state(state, record, eeprom);
 211                 }
 212                 AltosRecordTM r = state.clone();
 213                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 214                 list.add(r);
 215         return list;
 216         }
 217
 218         public Iterator<AltosRecord> iterator() {
 219                 if (list == null)
 220                         list = make_list();
 221                 return list.iterator();
 222         }
 223
 224         public boolean has_gps() { return has_gps; }
 225         public boolean has_accel() { return has_accel; }
 226         public boolean has_ignite() { return has_ignite; }
 227
 228         public void write_comments(PrintStream out) {
 229                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 230                 out.printf("# Comments\n");
 231                 while (iterator.hasNext()) {
 232                         AltosOrderedRecord      record = iterator.next();
 233                         switch (record.cmd) {
 234                         case AltosLib.AO_LOG_CONFIG_VERSION:
 235                                 out.printf("# Config version: %s\n", record.data);
 236                                 break;
 237                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 238                                 out.printf("# Main deploy: %s\n", record.a);
 239                                 break;
 240                         case AltosLib.AO_LOG_APOGEE_DELAY:
 241                                 out.printf("# Apogee delay: %s\n", record.a);
 242                                 break;
 243                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 244                                 out.printf("# Radio channel: %s\n", record.a);
 245                                 break;
 246                         case AltosLib.AO_LOG_CALLSIGN:
 247                                 out.printf("# Callsign: %s\n", record.data);
 248                                 break;
 249                         case AltosLib.AO_LOG_ACCEL_CAL:
 250                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 251                                 break;
 252                         case AltosLib.AO_LOG_RADIO_CAL:
 253                                 out.printf ("# Radio cal: %d\n", record.a);
 254                                 break;
 255                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 256                                 out.printf ("# Max flight log: %d\n", record.a);
 257                                 break;
 258                         case AltosLib.AO_LOG_MANUFACTURER:
 259                                 out.printf ("# Manufacturer: %s\n", record.data);
 260                                 break;
 261                         case AltosLib.AO_LOG_PRODUCT:
 262                                 out.printf ("# Product: %s\n", record.data);
 263                                 break;
 264                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 265                                 out.printf ("# Serial number: %d\n", record.a);
 266                                 break;
 267                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 268                                 out.printf ("# Software version: %s\n", record.data);
 269                                 break;
 270                         case AltosLib.AO_LOG_BARO_RESERVED:
 271                                 out.printf ("# Baro reserved: %d\n", record.a);
 272                                 break;
 273                         case AltosLib.AO_LOG_BARO_SENS:
 274                                 out.printf ("# Baro sens: %d\n", record.a);
 275                                 break;
 276                         case AltosLib.AO_LOG_BARO_OFF:
 277                                 out.printf ("# Baro off: %d\n", record.a);
 278                                 break;
 279                         case AltosLib.AO_LOG_BARO_TCS:
 280                                 out.printf ("# Baro tcs: %d\n", record.a);
 281                                 break;
 282                         case AltosLib.AO_LOG_BARO_TCO:
 283                                 out.printf ("# Baro tco: %d\n", record.a);
 284                                 break;
 285                         case AltosLib.AO_LOG_BARO_TREF:
 286                                 out.printf ("# Baro tref: %d\n", record.a);
 287                                 break;
 288                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 289                                 out.printf ("# Baro tempsens: %d\n", record.a);
 290                                 break;
 291                         case AltosLib.AO_LOG_BARO_CRC:
 292                                 out.printf ("# Baro crc: %d\n", record.a);
 293                                 break;
 294                         }
 295                 }
 296         }
 297
 298         /*
 299          * Given an AO_LOG_GPS_TIME record with correct time, and one
 300          * missing time, rewrite the missing time values with the good
 301          * ones, assuming that the difference between them is 'diff' seconds
 302          */
 303         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 304
 305                 int diff = (bad.tick - good.tick + 50) / 100;
 306
 307                 int hour = (good.a & 0xff);
 308                 int minute = (good.a >> 8);
 309                 int second = (good.b & 0xff);
 310                 int flags = (good.b >> 8);
 311                 int seconds = hour * 3600 + minute * 60 + second;
 312
 313                 /* Make sure this looks like a good GPS value */
 314                 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
 315                         flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
 316                 flags |= AltosLib.AO_GPS_RUNNING;
 317                 flags |= AltosLib.AO_GPS_VALID;
 318
 319                 int new_seconds = seconds + diff;
 320                 if (new_seconds < 0)
 321                         new_seconds += 24 * 3600;
 322                 int new_second = (new_seconds % 60);
 323                 int new_minutes = (new_seconds / 60);
 324                 int new_minute = (new_minutes % 60);
 325                 int new_hours = (new_minutes / 60);
 326                 int new_hour = (new_hours % 24);
 327
 328                 bad.a = new_hour + (new_minute << 8);
 329                 bad.b = new_second + (flags << 8);
 330         }
 331
 332         /*
 333          * Read the whole file, dumping records into a RB tree so
 334          * we can enumerate them in time order -- the eeprom data
 335          * are sometimes out of order with GPS data getting timestamps
 336          * matching the first packet out of the GPS unit but not
 337          * written until the final GPS packet has been received.
 338          */
 339         public AltosEepromIterable (FileInputStream input) {
 340                 records = new TreeSet<AltosOrderedRecord>();
 341
 342                 AltosOrderedRecord last_gps_time = null;
 343
 344                 int index = 0;
 345                 int prev_tick = 0;
 346                 boolean prev_tick_valid = false;
 347                 boolean missing_time = false;
 348
 349                 try {
 350                         for (;;) {
 351                                 String line = AltosLib.gets(input);
 352                                 if (line == null)
 353                                         break;
 354                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
 355                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 356                                         continue;
 357                                 prev_tick = record.tick;
 358                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 359                                         prev_tick_valid = true;
 360                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 361                                         flight_record = record;
 362                                         continue;
 363                                 }
 364
 365                                 /* Two firmware bugs caused the loss of some GPS data.
 366                                  * The flight date would never be recorded, and often
 367                                  * the flight time would get overwritten by another
 368                                  * record. Detect the loss of the GPS date and fix up the
 369                                  * missing time records
 370                                  */
 371                                 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
 372                                         gps_date_record = record;
 373                                         continue;
 374                                 }
 375
 376                                 /* go back and fix up any missing time values */
 377                                 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
 378                                         last_gps_time = record;
 379                                         if (missing_time) {
 380                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 381                                                 while (iterator.hasNext()) {
 382                                                         AltosOrderedRecord old = iterator.next();
 383                                                         if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
 384                                                             old.a == -1 && old.b == -1)
 385                                                         {
 386                                                                 update_time(record, old);
 387                                                         }
 388                                                 }
 389                                                 missing_time = false;
 390                                         }
 391                                 }
 392
 393                                 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
 394                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 395                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
 396                                                                                                          record.tick,
 397                                                                                                          -1, -1, index-1);
 398                                                 if (last_gps_time != null)
 399                                                         update_time(last_gps_time, add_gps_time);
 400                                                 else
 401                                                         missing_time = true;
 402
 403                                                 records.add(add_gps_time);
 404                                                 record.index = index++;
 405                                         }
 406                                 }
 407                                 records.add(record);
 408
 409                                 /* Bail after reading the 'landed' record; we're all done */
 410                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 411                                     record.a == AltosLib.ao_flight_landed)
 412                                         break;
 413                         }
 414                 } catch (IOException io) {
 415                 } catch (ParseException pe) {
 416                 }
 417                 try {
 418                         input.close();
 419                 } catch (IOException ie) {
 420                 }
 421         }
 422 }