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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 AltosEepromMegaIterable 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         AltosEepromMega flight_record;
  41         AltosEepromMega gps_date_record;
  42
  43         TreeSet<AltosOrderedMegaRecord> records;
  44
  45         AltosMs5607             baro;
  46
  47         LinkedList<AltosRecord> list;
  48
  49         class EepromState {
  50                 int     seen;
  51                 int     n_pad_samples;
  52                 double  ground_pres;
  53                 int     gps_tick;
  54                 int     boost_tick;
  55                 int     sensor_tick;
  56
  57                 EepromState() {
  58                         seen = 0;
  59                         n_pad_samples = 0;
  60                         ground_pres = 0.0;
  61                         gps_tick = 0;
  62                 }
  63         }
  64
  65         void update_state(AltosRecordMM state, AltosEepromMega record, EepromState eeprom) {
  66                 state.tick = record.tick;
  67                 switch (record.cmd) {
  68                 case AltosLib.AO_LOG_FLIGHT:
  69                         eeprom.seen |= seen_flight;
  70                         state.ground_accel = record.ground_accel();
  71                         state.flight_accel = record.ground_accel();
  72                         state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
  73                         state.flight_pres = state.ground_pres;
  74                         state.flight = record.data16(0);
  75                         eeprom.boost_tick = record.tick;
  76                         break;
  77                 case AltosLib.AO_LOG_SENSOR:
  78                         state.accel = record.accel();
  79                         baro.set(record.pres(), record.temp());
  80                         state.pres = baro.pa;
  81                         state.temp = baro.cc;
  82                         state.imu = new AltosIMU();
  83                         state.imu.accel_x = record.accel_x();
  84                         state.imu.accel_y = record.accel_y();
  85                         state.imu.accel_z = record.accel_z();
  86                         state.imu.gyro_x = record.gyro_x();
  87                         state.imu.gyro_y = record.gyro_y();
  88                         state.imu.gyro_z = record.gyro_z();
  89                         state.mag = new AltosMag();
  90                         state.mag.x = record.mag_x();
  91                         state.mag.y = record.mag_y();
  92                         state.mag.z = record.mag_z();
  93                         if (state.state < AltosLib.ao_flight_boost) {
  94                                 eeprom.n_pad_samples++;
  95                                 eeprom.ground_pres += state.pres;
  96                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
  97                                 state.flight_pres = state.ground_pres;
  98                         } else {
  99                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 100                         }
 101                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 102                         if ((eeprom.seen & seen_sensor) == 0)
 103                                 eeprom.sensor_tick = record.tick - 1;
 104                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
 105                         eeprom.seen |= seen_sensor;
 106                         eeprom.sensor_tick = record.tick;
 107                         has_accel = true;
 108                         break;
 109                 case AltosLib.AO_LOG_TEMP_VOLT:
 110                         state.v_batt = record.v_batt();
 111                         state.v_pyro = record.v_pbatt();
 112                         for (int i = 0; i < record.nsense(); i++)
 113                                 state.sense[i] = record.sense(i);
 114                         eeprom.seen |= seen_temp_volt;
 115                         break;
 116                 case AltosLib.AO_LOG_STATE:
 117                         state.state = record.state();
 118                         break;
 119                 case AltosLib.AO_LOG_GPS_TIME:
 120                         eeprom.gps_tick = state.tick;
 121                         state.gps = new AltosGPS();
 122
 123                         state.gps.lat = record.latitude() / 1e7;
 124                         state.gps.lon = record.longitude() / 1e7;
 125                         state.gps.alt = record.altitude();
 126                         state.gps.year = record.year() + 2000;
 127                         state.gps.month = record.month();
 128                         state.gps.day = record.day();
 129
 130                         state.gps.hour = record.hour();
 131                         state.gps.minute = record.minute();
 132                         state.gps.second = record.second();
 133
 134                         int flags = record.flags();
 135                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 136                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 137                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 138                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 139                         state.new_gps = true;
 140                         has_gps = true;
 141                         eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
 142                         break;
 143                 case AltosLib.AO_LOG_GPS_SAT:
 144                         if (state.tick == eeprom.gps_tick) {
 145                                 int nsat = record.nsat();
 146                                 for (int i = 0; i < nsat; i++)
 147                                         state.gps.add_sat(record.svid(i), record.c_n(i));
 148                         }
 149                         break;
 150                 case AltosLib.AO_LOG_CONFIG_VERSION:
 151                         break;
 152                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 153                         break;
 154                 case AltosLib.AO_LOG_APOGEE_DELAY:
 155                         break;
 156                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 157                         break;
 158                 case AltosLib.AO_LOG_CALLSIGN:
 159                         state.callsign = record.data;
 160                         break;
 161                 case AltosLib.AO_LOG_ACCEL_CAL:
 162                         state.accel_plus_g = record.config_a;
 163                         state.accel_minus_g = record.config_b;
 164                         break;
 165                 case AltosLib.AO_LOG_RADIO_CAL:
 166                         break;
 167                 case AltosLib.AO_LOG_MANUFACTURER:
 168                         break;
 169                 case AltosLib.AO_LOG_PRODUCT:
 170                         break;
 171                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 172                         state.serial = record.config_a;
 173                         break;
 174                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 175                         break;
 176                 case AltosLib.AO_LOG_BARO_RESERVED:
 177                         baro.reserved = record.config_a;
 178                         break;
 179                 case AltosLib.AO_LOG_BARO_SENS:
 180                         baro.sens =record.config_a;
 181                         break;
 182                 case AltosLib.AO_LOG_BARO_OFF:
 183                         baro.off =record.config_a;
 184                         break;
 185                 case AltosLib.AO_LOG_BARO_TCS:
 186                         baro.tcs =record.config_a;
 187                         break;
 188                 case AltosLib.AO_LOG_BARO_TCO:
 189                         baro.tco =record.config_a;
 190                         break;
 191                 case AltosLib.AO_LOG_BARO_TREF:
 192                         baro.tref =record.config_a;
 193                         break;
 194                 case AltosLib.AO_LOG_BARO_TEMPSENS:
 195                         baro.tempsens =record.config_a;
 196                         break;
 197                 case AltosLib.AO_LOG_BARO_CRC:
 198                         baro.crc =record.config_a;
 199                         break;
 200                 }
 201                 state.seen |= eeprom.seen;
 202         }
 203
 204         LinkedList<AltosRecord> make_list() {
 205                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 206                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 207                 AltosOrderedMegaRecord          record = null;
 208                 AltosRecordMM                   state = new AltosRecordMM();
 209                 //boolean                               last_reported = false;
 210                 EepromState                     eeprom = new EepromState();
 211
 212                 state.state = AltosLib.ao_flight_pad;
 213                 state.accel_plus_g = 15758;
 214                 state.accel_minus_g = 16294;
 215
 216                 /* Pull in static data from the flight and gps_date records */
 217                 if (flight_record != null)
 218                         update_state(state, flight_record, eeprom);
 219                 if (gps_date_record != null)
 220                         update_state(state, gps_date_record, eeprom);
 221
 222                 while (iterator.hasNext()) {
 223                         record = iterator.next();
 224                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 225                                 AltosRecordMM r = state.clone();
 226                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 227                                 list.add(r);
 228                         }
 229                         update_state(state, record, eeprom);
 230                 }
 231                 AltosRecordMM r = state.clone();
 232                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 233                 list.add(r);
 234                 return list;
 235         }
 236
 237         public Iterator<AltosRecord> iterator() {
 238                 if (list == null)
 239                         list = make_list();
 240                 return list.iterator();
 241         }
 242
 243         public boolean has_gps() { return has_gps; }
 244         public boolean has_accel() { return has_accel; }
 245         public boolean has_ignite() { return has_ignite; }
 246
 247         public void write_comments(PrintStream out) {
 248                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 249                 out.printf("# Comments\n");
 250                 while (iterator.hasNext()) {
 251                         AltosOrderedMegaRecord  record = iterator.next();
 252                         switch (record.cmd) {
 253                         case AltosLib.AO_LOG_CONFIG_VERSION:
 254                                 out.printf("# Config version: %s\n", record.data);
 255                                 break;
 256                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 257                                 out.printf("# Main deploy: %s\n", record.config_a);
 258                                 break;
 259                         case AltosLib.AO_LOG_APOGEE_DELAY:
 260                                 out.printf("# Apogee delay: %s\n", record.config_a);
 261                                 break;
 262                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 263                                 out.printf("# Radio channel: %s\n", record.config_a);
 264                                 break;
 265                         case AltosLib.AO_LOG_CALLSIGN:
 266                                 out.printf("# Callsign: %s\n", record.data);
 267                                 break;
 268                         case AltosLib.AO_LOG_ACCEL_CAL:
 269                                 out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
 270                                 break;
 271                         case AltosLib.AO_LOG_RADIO_CAL:
 272                                 out.printf ("# Radio cal: %d\n", record.config_a);
 273                                 break;
 274                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 275                                 out.printf ("# Max flight log: %d\n", record.config_a);
 276                                 break;
 277                         case AltosLib.AO_LOG_MANUFACTURER:
 278                                 out.printf ("# Manufacturer: %s\n", record.data);
 279                                 break;
 280                         case AltosLib.AO_LOG_PRODUCT:
 281                                 out.printf ("# Product: %s\n", record.data);
 282                                 break;
 283                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 284                                 out.printf ("# Serial number: %d\n", record.config_a);
 285                                 break;
 286                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 287                                 out.printf ("# Software version: %s\n", record.data);
 288                                 break;
 289                         case AltosLib.AO_LOG_BARO_RESERVED:
 290                                 out.printf ("# Baro reserved: %d\n", record.config_a);
 291                                 break;
 292                         case AltosLib.AO_LOG_BARO_SENS:
 293                                 out.printf ("# Baro sens: %d\n", record.config_a);
 294                                 break;
 295                         case AltosLib.AO_LOG_BARO_OFF:
 296                                 out.printf ("# Baro off: %d\n", record.config_a);
 297                                 break;
 298                         case AltosLib.AO_LOG_BARO_TCS:
 299                                 out.printf ("# Baro tcs: %d\n", record.config_a);
 300                                 break;
 301                         case AltosLib.AO_LOG_BARO_TCO:
 302                                 out.printf ("# Baro tco: %d\n", record.config_a);
 303                                 break;
 304                         case AltosLib.AO_LOG_BARO_TREF:
 305                                 out.printf ("# Baro tref: %d\n", record.config_a);
 306                                 break;
 307                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 308                                 out.printf ("# Baro tempsens: %d\n", record.config_a);
 309                                 break;
 310                         case AltosLib.AO_LOG_BARO_CRC:
 311                                 out.printf ("# Baro crc: %d\n", record.config_a);
 312                                 break;
 313                         }
 314                 }
 315         }
 316
 317         /*
 318          * Read the whole file, dumping records into a RB tree so
 319          * we can enumerate them in time order -- the eeprom data
 320          * are sometimes out of order with GPS data getting timestamps
 321          * matching the first packet out of the GPS unit but not
 322          * written until the final GPS packet has been received.
 323          */
 324         public AltosEepromMegaIterable (FileInputStream input) {
 325                 records = new TreeSet<AltosOrderedMegaRecord>();
 326
 327                 AltosOrderedMegaRecord last_gps_time = null;
 328
 329                 baro = new AltosMs5607();
 330
 331                 int index = 0;
 332                 int prev_tick = 0;
 333                 boolean prev_tick_valid = false;
 334                 boolean missing_time = false;
 335
 336                 try {
 337                         for (;;) {
 338                                 String line = AltosLib.gets(input);
 339                                 if (line == null)
 340                                         break;
 341                                 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
 342                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 343                                         continue;
 344                                 prev_tick = record.tick;
 345                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 346                                         prev_tick_valid = true;
 347                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 348                                         flight_record = record;
 349                                         continue;
 350                                 }
 351
 352                                 records.add(record);
 353
 354                                 /* Bail after reading the 'landed' record; we're all done */
 355                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 356                                     record.state() == AltosLib.ao_flight_landed)
 357                                         break;
 358                         }
 359                 } catch (IOException io) {
 360                 } catch (ParseException pe) {
 361                 }
 362                 try {
 363                         input.close();
 364                 } catch (IOException ie) {
 365                 }
 366         }
 367 }