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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 < AltosRecordMM.num_sense; 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                         AltosGPS old = state.gps;
 122                         state.gps = new AltosGPS();
 123
 124                         /* GPS date doesn't get repeated through the file */
 125                         if (old != null) {
 126                                 state.gps.year = old.year;
 127                                 state.gps.month = old.month;
 128                                 state.gps.day = old.day;
 129                         }
 130                         state.gps.hour = (record.a & 0xff);
 131                         state.gps.minute = (record.a >> 8);
 132                         state.gps.second = (record.b & 0xff);
 133
 134                         int flags = (record.b >> 8);
 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                         break;
 142                 case AltosLib.AO_LOG_GPS_LAT:
 143                         int lat32 = record.a | (record.b << 16);
 144                         state.gps.lat = (double) lat32 / 1e7;
 145                         break;
 146                 case AltosLib.AO_LOG_GPS_LON:
 147                         int lon32 = record.a | (record.b << 16);
 148                         state.gps.lon = (double) lon32 / 1e7;
 149                         break;
 150                 case AltosLib.AO_LOG_GPS_ALT:
 151                         state.gps.alt = record.a;
 152                         break;
 153                 case AltosLib.AO_LOG_GPS_SAT:
 154                         if (state.tick == eeprom.gps_tick) {
 155                                 int svid = record.a;
 156                                 int c_n0 = record.b >> 8;
 157                                 state.gps.add_sat(svid, c_n0);
 158                         }
 159                         break;
 160                 case AltosLib.AO_LOG_GPS_DATE:
 161                         state.gps.year = (record.a & 0xff) + 2000;
 162                         state.gps.month = record.a >> 8;
 163                         state.gps.day = record.b & 0xff;
 164                         break;
 165
 166                 case AltosLib.AO_LOG_CONFIG_VERSION:
 167                         break;
 168                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 169                         break;
 170                 case AltosLib.AO_LOG_APOGEE_DELAY:
 171                         break;
 172                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 173                         break;
 174                 case AltosLib.AO_LOG_CALLSIGN:
 175                         state.callsign = record.data;
 176                         break;
 177                 case AltosLib.AO_LOG_ACCEL_CAL:
 178                         state.accel_plus_g = record.a;
 179                         state.accel_minus_g = record.b;
 180                         break;
 181                 case AltosLib.AO_LOG_RADIO_CAL:
 182                         break;
 183                 case AltosLib.AO_LOG_MANUFACTURER:
 184                         break;
 185                 case AltosLib.AO_LOG_PRODUCT:
 186                         break;
 187                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 188                         state.serial = record.a;
 189                         break;
 190                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 191                         break;
 192                 case AltosLib.AO_LOG_BARO_RESERVED:
 193                         baro.reserved = record.a;
 194                         break;
 195                 case AltosLib.AO_LOG_BARO_SENS:
 196                         baro.sens =record.a;
 197                         break;
 198                 case AltosLib.AO_LOG_BARO_OFF:
 199                         baro.off =record.a;
 200                         break;
 201                 case AltosLib.AO_LOG_BARO_TCS:
 202                         baro.tcs =record.a;
 203                         break;
 204                 case AltosLib.AO_LOG_BARO_TCO:
 205                         baro.tco =record.a;
 206                         break;
 207                 case AltosLib.AO_LOG_BARO_TREF:
 208                         baro.tref =record.a;
 209                         break;
 210                 case AltosLib.AO_LOG_BARO_TEMPSENS:
 211                         baro.tempsens =record.a;
 212                         break;
 213                 case AltosLib.AO_LOG_BARO_CRC:
 214                         baro.crc =record.a;
 215                         break;
 216                 }
 217                 state.seen |= eeprom.seen;
 218         }
 219
 220         LinkedList<AltosRecord> make_list() {
 221                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 222                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 223                 AltosOrderedMegaRecord          record = null;
 224                 AltosRecordMM                   state = new AltosRecordMM();
 225                 //boolean                               last_reported = false;
 226                 EepromState                     eeprom = new EepromState();
 227
 228                 state.state = AltosLib.ao_flight_pad;
 229                 state.accel_plus_g = 15758;
 230                 state.accel_minus_g = 16294;
 231
 232                 /* Pull in static data from the flight and gps_date records */
 233                 if (flight_record != null)
 234                         update_state(state, flight_record, eeprom);
 235                 if (gps_date_record != null)
 236                         update_state(state, gps_date_record, eeprom);
 237
 238                 while (iterator.hasNext()) {
 239                         record = iterator.next();
 240                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 241                                 AltosRecordMM r = state.clone();
 242                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 243                                 list.add(r);
 244                         }
 245                         update_state(state, record, eeprom);
 246                 }
 247                 AltosRecordMM r = state.clone();
 248                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 249                 list.add(r);
 250                 return list;
 251         }
 252
 253         public Iterator<AltosRecord> iterator() {
 254                 if (list == null)
 255                         list = make_list();
 256                 return list.iterator();
 257         }
 258
 259         public boolean has_gps() { return has_gps; }
 260         public boolean has_accel() { return has_accel; }
 261         public boolean has_ignite() { return has_ignite; }
 262
 263         public void write_comments(PrintStream out) {
 264                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 265                 out.printf("# Comments\n");
 266                 while (iterator.hasNext()) {
 267                         AltosOrderedMegaRecord  record = iterator.next();
 268                         switch (record.cmd) {
 269                         case AltosLib.AO_LOG_CONFIG_VERSION:
 270                                 out.printf("# Config version: %s\n", record.data);
 271                                 break;
 272                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 273                                 out.printf("# Main deploy: %s\n", record.a);
 274                                 break;
 275                         case AltosLib.AO_LOG_APOGEE_DELAY:
 276                                 out.printf("# Apogee delay: %s\n", record.a);
 277                                 break;
 278                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 279                                 out.printf("# Radio channel: %s\n", record.a);
 280                                 break;
 281                         case AltosLib.AO_LOG_CALLSIGN:
 282                                 out.printf("# Callsign: %s\n", record.data);
 283                                 break;
 284                         case AltosLib.AO_LOG_ACCEL_CAL:
 285                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 286                                 break;
 287                         case AltosLib.AO_LOG_RADIO_CAL:
 288                                 out.printf ("# Radio cal: %d\n", record.a);
 289                                 break;
 290                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 291                                 out.printf ("# Max flight log: %d\n", record.a);
 292                                 break;
 293                         case AltosLib.AO_LOG_MANUFACTURER:
 294                                 out.printf ("# Manufacturer: %s\n", record.data);
 295                                 break;
 296                         case AltosLib.AO_LOG_PRODUCT:
 297                                 out.printf ("# Product: %s\n", record.data);
 298                                 break;
 299                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 300                                 out.printf ("# Serial number: %d\n", record.a);
 301                                 break;
 302                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 303                                 out.printf ("# Software version: %s\n", record.data);
 304                                 break;
 305                         case AltosLib.AO_LOG_BARO_RESERVED:
 306                                 out.printf ("# Baro reserved: %d\n", record.a);
 307                                 break;
 308                         case AltosLib.AO_LOG_BARO_SENS:
 309                                 out.printf ("# Baro sens: %d\n", record.a);
 310                                 break;
 311                         case AltosLib.AO_LOG_BARO_OFF:
 312                                 out.printf ("# Baro off: %d\n", record.a);
 313                                 break;
 314                         case AltosLib.AO_LOG_BARO_TCS:
 315                                 out.printf ("# Baro tcs: %d\n", record.a);
 316                                 break;
 317                         case AltosLib.AO_LOG_BARO_TCO:
 318                                 out.printf ("# Baro tco: %d\n", record.a);
 319                                 break;
 320                         case AltosLib.AO_LOG_BARO_TREF:
 321                                 out.printf ("# Baro tref: %d\n", record.a);
 322                                 break;
 323                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 324                                 out.printf ("# Baro tempsens: %d\n", record.a);
 325                                 break;
 326                         case AltosLib.AO_LOG_BARO_CRC:
 327                                 out.printf ("# Baro crc: %d\n", record.a);
 328                                 break;
 329                         }
 330                 }
 331         }
 332
 333         /*
 334          * Read the whole file, dumping records into a RB tree so
 335          * we can enumerate them in time order -- the eeprom data
 336          * are sometimes out of order with GPS data getting timestamps
 337          * matching the first packet out of the GPS unit but not
 338          * written until the final GPS packet has been received.
 339          */
 340         public AltosEepromMegaIterable (FileInputStream input) {
 341                 records = new TreeSet<AltosOrderedMegaRecord>();
 342
 343                 AltosOrderedMegaRecord last_gps_time = null;
 344
 345                 baro = new AltosMs5607();
 346
 347                 int index = 0;
 348                 int prev_tick = 0;
 349                 boolean prev_tick_valid = false;
 350                 boolean missing_time = false;
 351
 352                 try {
 353                         for (;;) {
 354                                 String line = AltosLib.gets(input);
 355                                 if (line == null)
 356                                         break;
 357                                 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
 358                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 359                                         continue;
 360                                 prev_tick = record.tick;
 361                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 362                                         prev_tick_valid = true;
 363                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 364                                         flight_record = record;
 365                                         continue;
 366                                 }
 367
 368                                 records.add(record);
 369
 370                                 /* Bail after reading the 'landed' record; we're all done */
 371                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 372                                     record.a == AltosLib.ao_flight_landed)
 373                                         break;
 374                         }
 375                 } catch (IOException io) {
 376                 } catch (ParseException pe) {
 377                 }
 378                 try {
 379                         input.close();
 380                 } catch (IOException ie) {
 381                 }
 382         }
 383 }