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