git.gag.com Git - fw/altos/blob - altoslib/AltosEepromIterable.java

   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 import java.util.prefs.*;
  24 import java.util.concurrent.LinkedBlockingQueue;
  25
  26 /*
  27  * AltosRecords with an index field so they can be sorted by tick while preserving
  28  * the original ordering for elements with matching ticks
  29  */
  30 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
  31
  32         public int      index;
  33
  34         public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
  35                 throws ParseException {
  36                 super(line);
  37                 if (prev_tick_valid) {
  38                         tick |= (prev_tick & ~0xffff);
  39                         if (tick < prev_tick) {
  40                                 if (prev_tick - tick > 0x8000)
  41                                         tick += 0x10000;
  42                         } else {
  43                                 if (tick - prev_tick > 0x8000)
  44                                         tick -= 0x10000;
  45                         }
  46                 }
  47                 index = in_index;
  48         }
  49
  50         public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  51                 super(in_cmd, in_tick, in_a, in_b);
  52                 index = in_index;
  53         }
  54
  55         public String toString() {
  56                 return String.format("%d.%d %04x %04x %04x",
  57                                      cmd, index, tick, a, b);
  58         }
  59
  60         public int compareTo(AltosOrderedRecord o) {
  61                 int     tick_diff = tick - o.tick;
  62                 if (tick_diff != 0)
  63                         return tick_diff;
  64                 return index - o.index;
  65         }
  66 }
  67
  68 public class AltosEepromIterable extends AltosRecordIterable {
  69
  70         static final int        seen_flight = 1;
  71         static final int        seen_sensor = 2;
  72         static final int        seen_temp_volt = 4;
  73         static final int        seen_deploy = 8;
  74         static final int        seen_gps_time = 16;
  75         static final int        seen_gps_lat = 32;
  76         static final int        seen_gps_lon = 64;
  77
  78         static final int        seen_basic = seen_flight|seen_sensor;
  79
  80         boolean                 has_accel;
  81         boolean                 has_gps;
  82         boolean                 has_ignite;
  83
  84         AltosEepromRecord       flight_record;
  85         AltosEepromRecord       gps_date_record;
  86
  87         TreeSet<AltosOrderedRecord>     records;
  88
  89         LinkedList<AltosRecord> list;
  90
  91         class EepromState {
  92                 int     seen;
  93                 int     n_pad_samples;
  94                 double  ground_pres;
  95                 int     gps_tick;
  96                 int     boost_tick;
  97                 int     sensor_tick;
  98
  99                 EepromState() {
 100                         seen = 0;
 101                         n_pad_samples = 0;
 102                         ground_pres = 0.0;
 103                         gps_tick = 0;
 104                 }
 105         }
 106
 107         void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) {
 108                 state.tick = record.tick;
 109                 switch (record.cmd) {
 110                 case AltosLib.AO_LOG_FLIGHT:
 111                         eeprom.seen |= seen_flight;
 112                         state.ground_accel = record.a;
 113                         state.flight_accel = record.a;
 114                         state.flight = record.b;
 115                         eeprom.boost_tick = record.tick;
 116                         break;
 117                 case AltosLib.AO_LOG_SENSOR:
 118                         state.accel = record.a;
 119                         state.pres = record.b;
 120                         if (state.state < AltosLib.ao_flight_boost) {
 121                                 eeprom.n_pad_samples++;
 122                                 eeprom.ground_pres += state.pres;
 123                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 124                                 state.flight_pres = state.ground_pres;
 125                         } else {
 126                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 127                         }
 128                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 129                         if ((eeprom.seen & seen_sensor) == 0)
 130                                 eeprom.sensor_tick = record.tick - 1;
 131                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
 132                         eeprom.seen |= seen_sensor;
 133                         eeprom.sensor_tick = record.tick;
 134                         has_accel = true;
 135                         break;
 136                 case AltosLib.AO_LOG_PRESSURE:
 137                         state.pres = record.b;
 138                         state.flight_pres = state.pres;
 139                         if (eeprom.n_pad_samples == 0) {
 140                                 eeprom.n_pad_samples++;
 141                                 state.ground_pres = state.pres;
 142                         }
 143                         eeprom.seen |= seen_sensor;
 144                         break;
 145                 case AltosLib.AO_LOG_TEMP_VOLT:
 146                         state.temp = record.a;
 147                         state.batt = record.b;
 148                         eeprom.seen |= seen_temp_volt;
 149                         break;
 150                 case AltosLib.AO_LOG_DEPLOY:
 151                         state.drogue = record.a;
 152                         state.main = record.b;
 153                         eeprom.seen |= seen_deploy;
 154                         has_ignite = true;
 155                         break;
 156                 case AltosLib.AO_LOG_STATE:
 157                         state.state = record.a;
 158                         break;
 159                 case AltosLib.AO_LOG_GPS_TIME:
 160                         eeprom.gps_tick = state.tick;
 161                         AltosGPS old = state.gps;
 162                         state.gps = new AltosGPS();
 163
 164                         /* GPS date doesn't get repeated through the file */
 165                         if (old != null) {
 166                                 state.gps.year = old.year;
 167                                 state.gps.month = old.month;
 168                                 state.gps.day = old.day;
 169                         }
 170                         state.gps.hour = (record.a & 0xff);
 171                         state.gps.minute = (record.a >> 8);
 172                         state.gps.second = (record.b & 0xff);
 173
 174                         int flags = (record.b >> 8);
 175                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 176                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 177                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 178                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 179                         state.new_gps = true;
 180                         has_gps = true;
 181                         break;
 182                 case AltosLib.AO_LOG_GPS_LAT:
 183                         int lat32 = record.a | (record.b << 16);
 184                         state.gps.lat = (double) lat32 / 1e7;
 185                         break;
 186                 case AltosLib.AO_LOG_GPS_LON:
 187                         int lon32 = record.a | (record.b << 16);
 188                         state.gps.lon = (double) lon32 / 1e7;
 189                         break;
 190                 case AltosLib.AO_LOG_GPS_ALT:
 191                         state.gps.alt = record.a;
 192                         break;
 193                 case AltosLib.AO_LOG_GPS_SAT:
 194                         if (state.tick == eeprom.gps_tick) {
 195                                 int svid = record.a;
 196                                 int c_n0 = record.b >> 8;
 197                                 state.gps.add_sat(svid, c_n0);
 198                         }
 199                         break;
 200                 case AltosLib.AO_LOG_GPS_DATE:
 201                         state.gps.year = (record.a & 0xff) + 2000;
 202                         state.gps.month = record.a >> 8;
 203                         state.gps.day = record.b & 0xff;
 204                         break;
 205
 206                 case AltosLib.AO_LOG_CONFIG_VERSION:
 207                         break;
 208                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 209                         break;
 210                 case AltosLib.AO_LOG_APOGEE_DELAY:
 211                         break;
 212                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 213                         break;
 214                 case AltosLib.AO_LOG_CALLSIGN:
 215                         state.callsign = record.data;
 216                         break;
 217                 case AltosLib.AO_LOG_ACCEL_CAL:
 218                         state.accel_plus_g = record.a;
 219                         state.accel_minus_g = record.b;
 220                         break;
 221                 case AltosLib.AO_LOG_RADIO_CAL:
 222                         break;
 223                 case AltosLib.AO_LOG_MANUFACTURER:
 224                         break;
 225                 case AltosLib.AO_LOG_PRODUCT:
 226                         break;
 227                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 228                         state.serial = record.a;
 229                         break;
 230                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 231                         break;
 232                 }
 233                 state.seen |= eeprom.seen;
 234         }
 235
 236         LinkedList<AltosRecord> make_list() {
 237                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 238                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 239                 AltosOrderedRecord              record = null;
 240                 AltosRecordTM                   state = new AltosRecordTM();
 241                 boolean                         last_reported = false;
 242                 EepromState                     eeprom = new EepromState();
 243
 244                 state.state = AltosLib.ao_flight_pad;
 245                 state.accel_plus_g = 15758;
 246                 state.accel_minus_g = 16294;
 247
 248                 /* Pull in static data from the flight and gps_date records */
 249                 if (flight_record != null)
 250                         update_state(state, flight_record, eeprom);
 251                 if (gps_date_record != null)
 252                         update_state(state, gps_date_record, eeprom);
 253
 254                 while (iterator.hasNext()) {
 255                         record = iterator.next();
 256                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 257                                 AltosRecordTM r = state.clone();
 258                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 259                                 list.add(r);
 260                         }
 261                         update_state(state, record, eeprom);
 262                 }
 263                 AltosRecordTM r = state.clone();
 264                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 265                 list.add(r);
 266         return list;
 267         }
 268
 269         public Iterator<AltosRecord> iterator() {
 270                 if (list == null)
 271                         list = make_list();
 272                 return list.iterator();
 273         }
 274
 275         public boolean has_gps() { return has_gps; }
 276         public boolean has_accel() { return has_accel; }
 277         public boolean has_ignite() { return has_ignite; }
 278
 279         public void write_comments(PrintStream out) {
 280                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 281                 out.printf("# Comments\n");
 282                 while (iterator.hasNext()) {
 283                         AltosOrderedRecord      record = iterator.next();
 284                         switch (record.cmd) {
 285                         case AltosLib.AO_LOG_CONFIG_VERSION:
 286                                 out.printf("# Config version: %s\n", record.data);
 287                                 break;
 288                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 289                                 out.printf("# Main deploy: %s\n", record.a);
 290                                 break;
 291                         case AltosLib.AO_LOG_APOGEE_DELAY:
 292                                 out.printf("# Apogee delay: %s\n", record.a);
 293                                 break;
 294                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 295                                 out.printf("# Radio channel: %s\n", record.a);
 296                                 break;
 297                         case AltosLib.AO_LOG_CALLSIGN:
 298                                 out.printf("# Callsign: %s\n", record.data);
 299                                 break;
 300                         case AltosLib.AO_LOG_ACCEL_CAL:
 301                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 302                                 break;
 303                         case AltosLib.AO_LOG_RADIO_CAL:
 304                                 out.printf ("# Radio cal: %d\n", record.a);
 305                                 break;
 306                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 307                                 out.printf ("# Max flight log: %d\n", record.a);
 308                                 break;
 309                         case AltosLib.AO_LOG_MANUFACTURER:
 310                                 out.printf ("# Manufacturer: %s\n", record.data);
 311                                 break;
 312                         case AltosLib.AO_LOG_PRODUCT:
 313                                 out.printf ("# Product: %s\n", record.data);
 314                                 break;
 315                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 316                                 out.printf ("# Serial number: %d\n", record.a);
 317                                 break;
 318                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 319                                 out.printf ("# Software version: %s\n", record.data);
 320                                 break;
 321                         case AltosLib.AO_LOG_BARO_RESERVED:
 322                                 out.printf ("# Baro reserved: %d\n", record.a);
 323                                 break;
 324                         case AltosLib.AO_LOG_BARO_SENS:
 325                                 out.printf ("# Baro sens: %d\n", record.a);
 326                                 break;
 327                         case AltosLib.AO_LOG_BARO_OFF:
 328                                 out.printf ("# Baro off: %d\n", record.a);
 329                                 break;
 330                         case AltosLib.AO_LOG_BARO_TCS:
 331                                 out.printf ("# Baro tcs: %d\n", record.a);
 332                                 break;
 333                         case AltosLib.AO_LOG_BARO_TCO:
 334                                 out.printf ("# Baro tco: %d\n", record.a);
 335                                 break;
 336                         case AltosLib.AO_LOG_BARO_TREF:
 337                                 out.printf ("# Baro tref: %d\n", record.a);
 338                                 break;
 339                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 340                                 out.printf ("# Baro tempsens: %d\n", record.a);
 341                                 break;
 342                         case AltosLib.AO_LOG_BARO_CRC:
 343                                 out.printf ("# Baro crc: %d\n", record.a);
 344                                 break;
 345                         }
 346                 }
 347         }
 348
 349         /*
 350          * Given an AO_LOG_GPS_TIME record with correct time, and one
 351          * missing time, rewrite the missing time values with the good
 352          * ones, assuming that the difference between them is 'diff' seconds
 353          */
 354         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 355
 356                 int diff = (bad.tick - good.tick + 50) / 100;
 357
 358                 int hour = (good.a & 0xff);
 359                 int minute = (good.a >> 8);
 360                 int second = (good.b & 0xff);
 361                 int flags = (good.b >> 8);
 362                 int seconds = hour * 3600 + minute * 60 + second;
 363
 364                 /* Make sure this looks like a good GPS value */
 365                 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
 366                         flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
 367                 flags |= AltosLib.AO_GPS_RUNNING;
 368                 flags |= AltosLib.AO_GPS_VALID;
 369
 370                 int new_seconds = seconds + diff;
 371                 if (new_seconds < 0)
 372                         new_seconds += 24 * 3600;
 373                 int new_second = (new_seconds % 60);
 374                 int new_minutes = (new_seconds / 60);
 375                 int new_minute = (new_minutes % 60);
 376                 int new_hours = (new_minutes / 60);
 377                 int new_hour = (new_hours % 24);
 378
 379                 bad.a = new_hour + (new_minute << 8);
 380                 bad.b = new_second + (flags << 8);
 381         }
 382
 383         /*
 384          * Read the whole file, dumping records into a RB tree so
 385          * we can enumerate them in time order -- the eeprom data
 386          * are sometimes out of order with GPS data getting timestamps
 387          * matching the first packet out of the GPS unit but not
 388          * written until the final GPS packet has been received.
 389          */
 390         public AltosEepromIterable (FileInputStream input) {
 391                 records = new TreeSet<AltosOrderedRecord>();
 392
 393                 AltosOrderedRecord last_gps_time = null;
 394
 395                 int index = 0;
 396                 int prev_tick = 0;
 397                 boolean prev_tick_valid = false;
 398                 boolean missing_time = false;
 399
 400                 try {
 401                         for (;;) {
 402                                 String line = AltosLib.gets(input);
 403                                 if (line == null)
 404                                         break;
 405                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
 406                                 if (record == null)
 407                                         break;
 408                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 409                                         continue;
 410                                 prev_tick = record.tick;
 411                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 412                                         prev_tick_valid = true;
 413                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 414                                         flight_record = record;
 415                                         continue;
 416                                 }
 417
 418                                 /* Two firmware bugs caused the loss of some GPS data.
 419                                  * The flight date would never be recorded, and often
 420                                  * the flight time would get overwritten by another
 421                                  * record. Detect the loss of the GPS date and fix up the
 422                                  * missing time records
 423                                  */
 424                                 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
 425                                         gps_date_record = record;
 426                                         continue;
 427                                 }
 428
 429                                 /* go back and fix up any missing time values */
 430                                 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
 431                                         last_gps_time = record;
 432                                         if (missing_time) {
 433                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 434                                                 while (iterator.hasNext()) {
 435                                                         AltosOrderedRecord old = iterator.next();
 436                                                         if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
 437                                                             old.a == -1 && old.b == -1)
 438                                                         {
 439                                                                 update_time(record, old);
 440                                                         }
 441                                                 }
 442                                                 missing_time = false;
 443                                         }
 444                                 }
 445
 446                                 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
 447                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 448                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
 449                                                                                                          record.tick,
 450                                                                                                          -1, -1, index-1);
 451                                                 if (last_gps_time != null)
 452                                                         update_time(last_gps_time, add_gps_time);
 453                                                 else
 454                                                         missing_time = true;
 455
 456                                                 records.add(add_gps_time);
 457                                                 record.index = index++;
 458                                         }
 459                                 }
 460                                 records.add(record);
 461
 462                                 /* Bail after reading the 'landed' record; we're all done */
 463                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 464                                     record.a == AltosLib.ao_flight_landed)
 465                                         break;
 466                         }
 467                 } catch (IOException io) {
 468                 } catch (ParseException pe) {
 469                 }
 470                 try {
 471                         input.close();
 472                 } catch (IOException ie) {
 473                 }
 474         }
 475 }