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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_PRESSURE:
 110                         state.pres = record.b;
 111                         state.flight_pres = state.pres;
 112                         if (eeprom.n_pad_samples == 0) {
 113                                 eeprom.n_pad_samples++;
 114                                 state.ground_pres = state.pres;
 115                         }
 116                         eeprom.seen |= seen_sensor;
 117                         break;
 118                 case AltosLib.AO_LOG_TEMP_VOLT:
 119                         state.v_batt = record.v_batt();
 120                         state.v_pyro = record.v_pbatt();
 121                         for (int i = 0; i < AltosRecordMM.num_sense; i++)
 122                                 state.sense[i] = record.sense(i);
 123                         eeprom.seen |= seen_temp_volt;
 124                         break;
 125 //
 126 //              case AltosLib.AO_LOG_DEPLOY:
 127 //                      state.drogue = record.a;
 128 //                      state.main = record.b;
 129 //                      eeprom.seen |= seen_deploy;
 130 //                      has_ignite = true;
 131 //                      break;
 132
 133                 case AltosLib.AO_LOG_STATE:
 134                         state.state = record.state();
 135                         break;
 136                 case AltosLib.AO_LOG_GPS_TIME:
 137                         eeprom.gps_tick = state.tick;
 138                         AltosGPS old = state.gps;
 139                         state.gps = new AltosGPS();
 140
 141                         /* GPS date doesn't get repeated through the file */
 142                         if (old != null) {
 143                                 state.gps.year = old.year;
 144                                 state.gps.month = old.month;
 145                                 state.gps.day = old.day;
 146                         }
 147                         state.gps.hour = (record.a & 0xff);
 148                         state.gps.minute = (record.a >> 8);
 149                         state.gps.second = (record.b & 0xff);
 150
 151                         int flags = (record.b >> 8);
 152                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 153                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 154                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 155                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 156                         state.new_gps = true;
 157                         has_gps = true;
 158                         break;
 159                 case AltosLib.AO_LOG_GPS_LAT:
 160                         int lat32 = record.a | (record.b << 16);
 161                         state.gps.lat = (double) lat32 / 1e7;
 162                         break;
 163                 case AltosLib.AO_LOG_GPS_LON:
 164                         int lon32 = record.a | (record.b << 16);
 165                         state.gps.lon = (double) lon32 / 1e7;
 166                         break;
 167                 case AltosLib.AO_LOG_GPS_ALT:
 168                         state.gps.alt = record.a;
 169                         break;
 170                 case AltosLib.AO_LOG_GPS_SAT:
 171                         if (state.tick == eeprom.gps_tick) {
 172                                 int svid = record.a;
 173                                 int c_n0 = record.b >> 8;
 174                                 state.gps.add_sat(svid, c_n0);
 175                         }
 176                         break;
 177                 case AltosLib.AO_LOG_GPS_DATE:
 178                         state.gps.year = (record.a & 0xff) + 2000;
 179                         state.gps.month = record.a >> 8;
 180                         state.gps.day = record.b & 0xff;
 181                         break;
 182
 183                 case AltosLib.AO_LOG_CONFIG_VERSION:
 184                         break;
 185                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 186                         break;
 187                 case AltosLib.AO_LOG_APOGEE_DELAY:
 188                         break;
 189                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 190                         break;
 191                 case AltosLib.AO_LOG_CALLSIGN:
 192                         state.callsign = record.data;
 193                         break;
 194                 case AltosLib.AO_LOG_ACCEL_CAL:
 195                         state.accel_plus_g = record.a;
 196                         state.accel_minus_g = record.b;
 197                         break;
 198                 case AltosLib.AO_LOG_RADIO_CAL:
 199                         break;
 200                 case AltosLib.AO_LOG_MANUFACTURER:
 201                         break;
 202                 case AltosLib.AO_LOG_PRODUCT:
 203                         break;
 204                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 205                         state.serial = record.a;
 206                         break;
 207                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 208                         break;
 209                 case AltosLib.AO_LOG_BARO_RESERVED:
 210                         baro.reserved = record.a;
 211                         break;
 212                 case AltosLib.AO_LOG_BARO_SENS:
 213                         baro.sens =record.a;
 214                         break;
 215                 case AltosLib.AO_LOG_BARO_OFF:
 216                         baro.off =record.a;
 217                         break;
 218                 case AltosLib.AO_LOG_BARO_TCS:
 219                         baro.tcs =record.a;
 220                         break;
 221                 case AltosLib.AO_LOG_BARO_TCO:
 222                         baro.tco =record.a;
 223                         break;
 224                 case AltosLib.AO_LOG_BARO_TREF:
 225                         baro.tref =record.a;
 226                         break;
 227                 case AltosLib.AO_LOG_BARO_TEMPSENS:
 228                         baro.tempsens =record.a;
 229                         break;
 230                 case AltosLib.AO_LOG_BARO_CRC:
 231                         baro.crc =record.a;
 232                         break;
 233                 }
 234                 state.seen |= eeprom.seen;
 235         }
 236
 237         LinkedList<AltosRecord> make_list() {
 238                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 239                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 240                 AltosOrderedMegaRecord          record = null;
 241                 AltosRecordMM                   state = new AltosRecordMM();
 242                 //boolean                               last_reported = false;
 243                 EepromState                     eeprom = new EepromState();
 244
 245                 state.state = AltosLib.ao_flight_pad;
 246                 state.accel_plus_g = 15758;
 247                 state.accel_minus_g = 16294;
 248
 249                 /* Pull in static data from the flight and gps_date records */
 250                 if (flight_record != null)
 251                         update_state(state, flight_record, eeprom);
 252                 if (gps_date_record != null)
 253                         update_state(state, gps_date_record, eeprom);
 254
 255                 while (iterator.hasNext()) {
 256                         record = iterator.next();
 257                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 258                                 AltosRecordMM r = state.clone();
 259                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 260                                 list.add(r);
 261                         }
 262                         update_state(state, record, eeprom);
 263                 }
 264                 AltosRecordMM r = state.clone();
 265                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 266                 list.add(r);
 267                 return list;
 268         }
 269
 270         public Iterator<AltosRecord> iterator() {
 271                 if (list == null)
 272                         list = make_list();
 273                 return list.iterator();
 274         }
 275
 276         public boolean has_gps() { return has_gps; }
 277         public boolean has_accel() { return has_accel; }
 278         public boolean has_ignite() { return has_ignite; }
 279
 280         public void write_comments(PrintStream out) {
 281                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 282                 out.printf("# Comments\n");
 283                 while (iterator.hasNext()) {
 284                         AltosOrderedMegaRecord  record = iterator.next();
 285                         switch (record.cmd) {
 286                         case AltosLib.AO_LOG_CONFIG_VERSION:
 287                                 out.printf("# Config version: %s\n", record.data);
 288                                 break;
 289                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 290                                 out.printf("# Main deploy: %s\n", record.a);
 291                                 break;
 292                         case AltosLib.AO_LOG_APOGEE_DELAY:
 293                                 out.printf("# Apogee delay: %s\n", record.a);
 294                                 break;
 295                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 296                                 out.printf("# Radio channel: %s\n", record.a);
 297                                 break;
 298                         case AltosLib.AO_LOG_CALLSIGN:
 299                                 out.printf("# Callsign: %s\n", record.data);
 300                                 break;
 301                         case AltosLib.AO_LOG_ACCEL_CAL:
 302                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 303                                 break;
 304                         case AltosLib.AO_LOG_RADIO_CAL:
 305                                 out.printf ("# Radio cal: %d\n", record.a);
 306                                 break;
 307                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 308                                 out.printf ("# Max flight log: %d\n", record.a);
 309                                 break;
 310                         case AltosLib.AO_LOG_MANUFACTURER:
 311                                 out.printf ("# Manufacturer: %s\n", record.data);
 312                                 break;
 313                         case AltosLib.AO_LOG_PRODUCT:
 314                                 out.printf ("# Product: %s\n", record.data);
 315                                 break;
 316                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 317                                 out.printf ("# Serial number: %d\n", record.a);
 318                                 break;
 319                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 320                                 out.printf ("# Software version: %s\n", record.data);
 321                                 break;
 322                         case AltosLib.AO_LOG_BARO_RESERVED:
 323                                 out.printf ("# Baro reserved: %d\n", record.a);
 324                                 break;
 325                         case AltosLib.AO_LOG_BARO_SENS:
 326                                 out.printf ("# Baro sens: %d\n", record.a);
 327                                 break;
 328                         case AltosLib.AO_LOG_BARO_OFF:
 329                                 out.printf ("# Baro off: %d\n", record.a);
 330                                 break;
 331                         case AltosLib.AO_LOG_BARO_TCS:
 332                                 out.printf ("# Baro tcs: %d\n", record.a);
 333                                 break;
 334                         case AltosLib.AO_LOG_BARO_TCO:
 335                                 out.printf ("# Baro tco: %d\n", record.a);
 336                                 break;
 337                         case AltosLib.AO_LOG_BARO_TREF:
 338                                 out.printf ("# Baro tref: %d\n", record.a);
 339                                 break;
 340                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 341                                 out.printf ("# Baro tempsens: %d\n", record.a);
 342                                 break;
 343                         case AltosLib.AO_LOG_BARO_CRC:
 344                                 out.printf ("# Baro crc: %d\n", record.a);
 345                                 break;
 346                         }
 347                 }
 348         }
 349
 350         /*
 351          * Given an AO_LOG_GPS_TIME record with correct time, and one
 352          * missing time, rewrite the missing time values with the good
 353          * ones, assuming that the difference between them is 'diff' seconds
 354          */
 355         void update_time(AltosOrderedMegaRecord good, AltosOrderedMegaRecord bad) {
 356
 357                 int diff = (bad.tick - good.tick + 50) / 100;
 358
 359                 int hour = (good.a & 0xff);
 360                 int minute = (good.a >> 8);
 361                 int second = (good.b & 0xff);
 362                 int flags = (good.b >> 8);
 363                 int seconds = hour * 3600 + minute * 60 + second;
 364
 365                 /* Make sure this looks like a good GPS value */
 366                 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
 367                         flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
 368                 flags |= AltosLib.AO_GPS_RUNNING;
 369                 flags |= AltosLib.AO_GPS_VALID;
 370
 371                 int new_seconds = seconds + diff;
 372                 if (new_seconds < 0)
 373                         new_seconds += 24 * 3600;
 374                 int new_second = (new_seconds % 60);
 375                 int new_minutes = (new_seconds / 60);
 376                 int new_minute = (new_minutes % 60);
 377                 int new_hours = (new_minutes / 60);
 378                 int new_hour = (new_hours % 24);
 379
 380                 bad.a = new_hour + (new_minute << 8);
 381                 bad.b = new_second + (flags << 8);
 382         }
 383
 384         /*
 385          * Read the whole file, dumping records into a RB tree so
 386          * we can enumerate them in time order -- the eeprom data
 387          * are sometimes out of order with GPS data getting timestamps
 388          * matching the first packet out of the GPS unit but not
 389          * written until the final GPS packet has been received.
 390          */
 391         public AltosEepromMegaIterable (FileInputStream input) {
 392                 records = new TreeSet<AltosOrderedMegaRecord>();
 393
 394                 AltosOrderedMegaRecord last_gps_time = null;
 395
 396                 baro = new AltosMs5607();
 397
 398                 int index = 0;
 399                 int prev_tick = 0;
 400                 boolean prev_tick_valid = false;
 401                 boolean missing_time = false;
 402
 403                 try {
 404                         for (;;) {
 405                                 String line = AltosLib.gets(input);
 406                                 if (line == null)
 407                                         break;
 408                                 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
 409                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 410                                         continue;
 411                                 prev_tick = record.tick;
 412                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 413                                         prev_tick_valid = true;
 414                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 415                                         flight_record = record;
 416                                         continue;
 417                                 }
 418
 419                                 /* Two firmware bugs caused the loss of some GPS data.
 420                                  * The flight date would never be recorded, and often
 421                                  * the flight time would get overwritten by another
 422                                  * record. Detect the loss of the GPS date and fix up the
 423                                  * missing time records
 424                                  */
 425                                 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
 426                                         gps_date_record = record;
 427                                         continue;
 428                                 }
 429
 430                                 /* go back and fix up any missing time values */
 431                                 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
 432                                         last_gps_time = record;
 433                                         if (missing_time) {
 434                                                 Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
 435                                                 while (iterator.hasNext()) {
 436                                                         AltosOrderedMegaRecord old = iterator.next();
 437                                                         if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
 438                                                             old.a == -1 && old.b == -1)
 439                                                         {
 440                                                                 update_time(record, old);
 441                                                         }
 442                                                 }
 443                                                 missing_time = false;
 444                                         }
 445                                 }
 446
 447                                 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
 448                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 449                                                 AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(AltosLib.AO_LOG_GPS_TIME,
 450                                                                                                          record.tick,
 451                                                                                                          -1, -1, index-1);
 452                                                 if (last_gps_time != null)
 453                                                         update_time(last_gps_time, add_gps_time);
 454                                                 else
 455                                                         missing_time = true;
 456
 457                                                 records.add(add_gps_time);
 458                                                 record.index = index++;
 459                                         }
 460                                 }
 461                                 records.add(record);
 462
 463                                 /* Bail after reading the 'landed' record; we're all done */
 464                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 465                                     record.a == AltosLib.ao_flight_landed)
 466                                         break;
 467                         }
 468                 } catch (IOException io) {
 469                 } catch (ParseException pe) {
 470                 }
 471                 try {
 472                         input.close();
 473                 } catch (IOException ie) {
 474                 }
 475         }
 476 }