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