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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_flight = 1;
  27         static final int        seen_sensor = 2;
  28         static final int        seen_temp_volt = 4;
  29         static final int        seen_deploy = 8;
  30         static final int        seen_gps_time = 16;
  31         static final int        seen_gps_lat = 32;
  32         static final int        seen_gps_lon = 64;
  33
  34         static final int        seen_basic = seen_flight|seen_sensor;
  35
  36         boolean                 has_accel;
  37         boolean                 has_gps;
  38         boolean                 has_ignite;
  39
  40         AltosEepromRecord       flight_record;
  41         AltosEepromRecord       gps_date_record;
  42
  43         TreeSet<AltosOrderedRecord>     records;
  44
  45         LinkedList<AltosRecord> list;
  46
  47         class EepromState {
  48                 int     seen;
  49                 int     n_pad_samples;
  50                 double  ground_pres;
  51                 int     gps_tick;
  52                 int     boost_tick;
  53                 int     sensor_tick;
  54
  55                 EepromState() {
  56                         seen = 0;
  57                         n_pad_samples = 0;
  58                         ground_pres = 0.0;
  59                         gps_tick = 0;
  60                 }
  61         }
  62
  63         void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) {
  64                 state.tick = record.tick;
  65                 switch (record.cmd) {
  66                 case AltosLib.AO_LOG_FLIGHT:
  67                         eeprom.seen |= seen_flight;
  68                         state.ground_accel = record.a;
  69                         state.flight_accel = record.a;
  70                         state.flight = record.b;
  71                         eeprom.boost_tick = record.tick;
  72                         break;
  73                 case AltosLib.AO_LOG_SENSOR:
  74                         state.accel = record.a;
  75                         state.pres = record.b;
  76                         if (state.state < AltosLib.ao_flight_boost) {
  77                                 eeprom.n_pad_samples++;
  78                                 eeprom.ground_pres += state.pres;
  79                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
  80                                 state.flight_pres = state.ground_pres;
  81                         } else {
  82                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
  83                         }
  84                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
  85                         if ((eeprom.seen & seen_sensor) == 0)
  86                                 eeprom.sensor_tick = record.tick - 1;
  87                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
  88                         eeprom.seen |= seen_sensor;
  89                         eeprom.sensor_tick = record.tick;
  90                         has_accel = true;
  91                         break;
  92                 case AltosLib.AO_LOG_PRESSURE:
  93                         state.pres = record.b;
  94                         state.flight_pres = state.pres;
  95                         if (eeprom.n_pad_samples == 0) {
  96                                 eeprom.n_pad_samples++;
  97                                 state.ground_pres = state.pres;
  98                         }
  99                         eeprom.seen |= seen_sensor;
 100                         break;
 101                 case AltosLib.AO_LOG_TEMP_VOLT:
 102                         state.temp = record.a;
 103                         state.batt = record.b;
 104                         eeprom.seen |= seen_temp_volt;
 105                         break;
 106                 case AltosLib.AO_LOG_DEPLOY:
 107                         state.drogue = record.a;
 108                         state.main = record.b;
 109                         eeprom.seen |= seen_deploy;
 110                         has_ignite = true;
 111                         break;
 112                 case AltosLib.AO_LOG_STATE:
 113                         state.state = record.a;
 114                         break;
 115                 case AltosLib.AO_LOG_GPS_TIME:
 116                         eeprom.gps_tick = state.tick;
 117                         AltosGPS old = state.gps;
 118                         state.gps = new AltosGPS();
 119
 120                         /* GPS date doesn't get repeated through the file */
 121                         if (old != null) {
 122                                 state.gps.year = old.year;
 123                                 state.gps.month = old.month;
 124                                 state.gps.day = old.day;
 125                         }
 126                         state.gps.hour = (record.a & 0xff);
 127                         state.gps.minute = (record.a >> 8);
 128                         state.gps.second = (record.b & 0xff);
 129
 130                         int flags = (record.b >> 8);
 131                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 132                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 133                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 134                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 135                         state.new_gps = true;
 136                         has_gps = true;
 137                         break;
 138                 case AltosLib.AO_LOG_GPS_LAT:
 139                         int lat32 = record.a | (record.b << 16);
 140                         state.gps.lat = (double) lat32 / 1e7;
 141                         break;
 142                 case AltosLib.AO_LOG_GPS_LON:
 143                         int lon32 = record.a | (record.b << 16);
 144                         state.gps.lon = (double) lon32 / 1e7;
 145                         break;
 146                 case AltosLib.AO_LOG_GPS_ALT:
 147                         state.gps.alt = record.a;
 148                         break;
 149                 case AltosLib.AO_LOG_GPS_SAT:
 150                         if (state.tick == eeprom.gps_tick) {
 151                                 int svid = record.a;
 152                                 int c_n0 = record.b >> 8;
 153                                 state.gps.add_sat(svid, c_n0);
 154                         }
 155                         break;
 156                 case AltosLib.AO_LOG_GPS_DATE:
 157                         state.gps.year = (record.a & 0xff) + 2000;
 158                         state.gps.month = record.a >> 8;
 159                         state.gps.day = record.b & 0xff;
 160                         break;
 161
 162                 case AltosLib.AO_LOG_CONFIG_VERSION:
 163                         break;
 164                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 165                         break;
 166                 case AltosLib.AO_LOG_APOGEE_DELAY:
 167                         break;
 168                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 169                         break;
 170                 case AltosLib.AO_LOG_CALLSIGN:
 171                         state.callsign = record.data;
 172                         break;
 173                 case AltosLib.AO_LOG_ACCEL_CAL:
 174                         state.accel_plus_g = record.a;
 175                         state.accel_minus_g = record.b;
 176                         break;
 177                 case AltosLib.AO_LOG_RADIO_CAL:
 178                         break;
 179                 case AltosLib.AO_LOG_MANUFACTURER:
 180                         break;
 181                 case AltosLib.AO_LOG_PRODUCT:
 182                         break;
 183                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 184                         state.serial = record.a;
 185                         break;
 186                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 187                         break;
 188                 }
 189                 state.seen |= eeprom.seen;
 190         }
 191
 192         LinkedList<AltosRecord> make_list() {
 193                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 194                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 195                 AltosOrderedRecord              record = null;
 196                 AltosRecordTM                   state = new AltosRecordTM();
 197                 //boolean                               last_reported = false;
 198                 EepromState                     eeprom = new EepromState();
 199
 200                 state.state = AltosLib.ao_flight_pad;
 201                 state.accel_plus_g = 15758;
 202                 state.accel_minus_g = 16294;
 203                 state.flight_vel = 0;
 204
 205                 /* Pull in static data from the flight and gps_date records */
 206                 if (flight_record != null)
 207                         update_state(state, flight_record, eeprom);
 208                 if (gps_date_record != null)
 209                         update_state(state, gps_date_record, eeprom);
 210
 211                 while (iterator.hasNext()) {
 212                         record = iterator.next();
 213                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 214                                 AltosRecordTM r = state.clone();
 215                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 216                                 list.add(r);
 217                         }
 218                         update_state(state, record, eeprom);
 219                 }
 220                 AltosRecordTM r = state.clone();
 221                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 222                 list.add(r);
 223         return list;
 224         }
 225
 226         public Iterator<AltosRecord> iterator() {
 227                 if (list == null)
 228                         list = make_list();
 229                 return list.iterator();
 230         }
 231
 232         public boolean has_gps() { return has_gps; }
 233         public boolean has_accel() { return has_accel; }
 234         public boolean has_ignite() { return has_ignite; }
 235
 236         public void write_comments(PrintStream out) {
 237                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 238                 out.printf("# Comments\n");
 239                 while (iterator.hasNext()) {
 240                         AltosOrderedRecord      record = iterator.next();
 241                         switch (record.cmd) {
 242                         case AltosLib.AO_LOG_CONFIG_VERSION:
 243                                 out.printf("# Config version: %s\n", record.data);
 244                                 break;
 245                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 246                                 out.printf("# Main deploy: %s\n", record.a);
 247                                 break;
 248                         case AltosLib.AO_LOG_APOGEE_DELAY:
 249                                 out.printf("# Apogee delay: %s\n", record.a);
 250                                 break;
 251                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 252                                 out.printf("# Radio channel: %s\n", record.a);
 253                                 break;
 254                         case AltosLib.AO_LOG_CALLSIGN:
 255                                 out.printf("# Callsign: %s\n", record.data);
 256                                 break;
 257                         case AltosLib.AO_LOG_ACCEL_CAL:
 258                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 259                                 break;
 260                         case AltosLib.AO_LOG_RADIO_CAL:
 261                                 out.printf ("# Radio cal: %d\n", record.a);
 262                                 break;
 263                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 264                                 out.printf ("# Max flight log: %d\n", record.a);
 265                                 break;
 266                         case AltosLib.AO_LOG_MANUFACTURER:
 267                                 out.printf ("# Manufacturer: %s\n", record.data);
 268                                 break;
 269                         case AltosLib.AO_LOG_PRODUCT:
 270                                 out.printf ("# Product: %s\n", record.data);
 271                                 break;
 272                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 273                                 out.printf ("# Serial number: %d\n", record.a);
 274                                 break;
 275                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 276                                 out.printf ("# Software version: %s\n", record.data);
 277                                 break;
 278                         case AltosLib.AO_LOG_BARO_RESERVED:
 279                                 out.printf ("# Baro reserved: %d\n", record.a);
 280                                 break;
 281                         case AltosLib.AO_LOG_BARO_SENS:
 282                                 out.printf ("# Baro sens: %d\n", record.a);
 283                                 break;
 284                         case AltosLib.AO_LOG_BARO_OFF:
 285                                 out.printf ("# Baro off: %d\n", record.a);
 286                                 break;
 287                         case AltosLib.AO_LOG_BARO_TCS:
 288                                 out.printf ("# Baro tcs: %d\n", record.a);
 289                                 break;
 290                         case AltosLib.AO_LOG_BARO_TCO:
 291                                 out.printf ("# Baro tco: %d\n", record.a);
 292                                 break;
 293                         case AltosLib.AO_LOG_BARO_TREF:
 294                                 out.printf ("# Baro tref: %d\n", record.a);
 295                                 break;
 296                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 297                                 out.printf ("# Baro tempsens: %d\n", record.a);
 298                                 break;
 299                         case AltosLib.AO_LOG_BARO_CRC:
 300                                 out.printf ("# Baro crc: %d\n", record.a);
 301                                 break;
 302                         }
 303                 }
 304         }
 305
 306         /*
 307          * Given an AO_LOG_GPS_TIME record with correct time, and one
 308          * missing time, rewrite the missing time values with the good
 309          * ones, assuming that the difference between them is 'diff' seconds
 310          */
 311         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 312
 313                 int diff = (bad.tick - good.tick + 50) / 100;
 314
 315                 int hour = (good.a & 0xff);
 316                 int minute = (good.a >> 8);
 317                 int second = (good.b & 0xff);
 318                 int flags = (good.b >> 8);
 319                 int seconds = hour * 3600 + minute * 60 + second;
 320
 321                 /* Make sure this looks like a good GPS value */
 322                 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
 323                         flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
 324                 flags |= AltosLib.AO_GPS_RUNNING;
 325                 flags |= AltosLib.AO_GPS_VALID;
 326
 327                 int new_seconds = seconds + diff;
 328                 if (new_seconds < 0)
 329                         new_seconds += 24 * 3600;
 330                 int new_second = (new_seconds % 60);
 331                 int new_minutes = (new_seconds / 60);
 332                 int new_minute = (new_minutes % 60);
 333                 int new_hours = (new_minutes / 60);
 334                 int new_hour = (new_hours % 24);
 335
 336                 bad.a = new_hour + (new_minute << 8);
 337                 bad.b = new_second + (flags << 8);
 338         }
 339
 340         /*
 341          * Read the whole file, dumping records into a RB tree so
 342          * we can enumerate them in time order -- the eeprom data
 343          * are sometimes out of order with GPS data getting timestamps
 344          * matching the first packet out of the GPS unit but not
 345          * written until the final GPS packet has been received.
 346          */
 347         public AltosEepromIterable (FileInputStream input) {
 348                 records = new TreeSet<AltosOrderedRecord>();
 349
 350                 AltosOrderedRecord last_gps_time = null;
 351
 352                 int index = 0;
 353                 int prev_tick = 0;
 354                 boolean prev_tick_valid = false;
 355                 boolean missing_time = false;
 356
 357                 try {
 358                         for (;;) {
 359                                 String line = AltosLib.gets(input);
 360                                 if (line == null)
 361                                         break;
 362                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
 363                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 364                                         continue;
 365                                 prev_tick = record.tick;
 366                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 367                                         prev_tick_valid = true;
 368                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 369                                         flight_record = record;
 370                                         continue;
 371                                 }
 372
 373                                 /* Two firmware bugs caused the loss of some GPS data.
 374                                  * The flight date would never be recorded, and often
 375                                  * the flight time would get overwritten by another
 376                                  * record. Detect the loss of the GPS date and fix up the
 377                                  * missing time records
 378                                  */
 379                                 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
 380                                         gps_date_record = record;
 381                                         continue;
 382                                 }
 383
 384                                 /* go back and fix up any missing time values */
 385                                 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
 386                                         last_gps_time = record;
 387                                         if (missing_time) {
 388                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 389                                                 while (iterator.hasNext()) {
 390                                                         AltosOrderedRecord old = iterator.next();
 391                                                         if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
 392                                                             old.a == -1 && old.b == -1)
 393                                                         {
 394                                                                 update_time(record, old);
 395                                                         }
 396                                                 }
 397                                                 missing_time = false;
 398                                         }
 399                                 }
 400
 401                                 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
 402                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 403                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
 404                                                                                                          record.tick,
 405                                                                                                          -1, -1, index-1);
 406                                                 if (last_gps_time != null)
 407                                                         update_time(last_gps_time, add_gps_time);
 408                                                 else
 409                                                         missing_time = true;
 410
 411                                                 records.add(add_gps_time);
 412                                                 record.index = index++;
 413                                         }
 414                                 }
 415                                 records.add(record);
 416
 417                                 /* Bail after reading the 'landed' record; we're all done */
 418                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 419                                     record.a == AltosLib.ao_flight_landed)
 420                                         break;
 421                         }
 422                 } catch (IOException io) {
 423                 } catch (ParseException pe) {
 424                 }
 425                 try {
 426                         input.close();
 427                 } catch (IOException ie) {
 428                 }
 429         }
 430 }