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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 AltosOrderedMegaRecord extends AltosEepromMega implements Comparable<AltosOrderedMegaRecord> {
  29
  30         public int      index;
  31
  32         public AltosOrderedMegaRecord(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 AltosOrderedMegaRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  49                 super(in_cmd, in_tick);
  50                 a = in_a;
  51                 b = 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(AltosOrderedMegaRecord 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 AltosEepromMegaIterable 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         AltosEepromMega flight_record;
  85         AltosEepromMega gps_date_record;
  86
  87         TreeSet<AltosOrderedMegaRecord> records;
  88
  89         AltosMs5607             baro;
  90
  91         LinkedList<AltosRecord> list;
  92
  93         class EepromState {
  94                 int     seen;
  95                 int     n_pad_samples;
  96                 double  ground_pres;
  97                 int     gps_tick;
  98                 int     boost_tick;
  99                 int     sensor_tick;
 100
 101                 EepromState() {
 102                         seen = 0;
 103                         n_pad_samples = 0;
 104                         ground_pres = 0.0;
 105                         gps_tick = 0;
 106                 }
 107         }
 108
 109         void update_state(AltosRecordMM state, AltosEepromMega record, EepromState eeprom) {
 110                 state.tick = record.tick;
 111                 switch (record.cmd) {
 112                 case AltosLib.AO_LOG_FLIGHT:
 113                         eeprom.seen |= seen_flight;
 114                         state.ground_accel = record.ground_accel();
 115                         state.flight_accel = record.ground_accel();
 116                         state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
 117                         state.flight_pres = state.ground_pres;
 118                         state.flight = record.data16(0);
 119                         eeprom.boost_tick = record.tick;
 120                         break;
 121                 case AltosLib.AO_LOG_SENSOR:
 122                         state.accel = record.accel();
 123                         baro.set(record.pres(), record.temp());
 124                         state.pres = baro.pa;
 125                         state.temp = baro.cc;
 126                         state.imu = new AltosIMU();
 127                         state.imu.accel_x = record.accel_x();
 128                         state.imu.accel_y = record.accel_y();
 129                         state.imu.accel_z = record.accel_z();
 130                         state.imu.gyro_x = record.gyro_x();
 131                         state.imu.gyro_y = record.gyro_y();
 132                         state.imu.gyro_z = record.gyro_z();
 133                         state.mag = new AltosMag();
 134                         state.mag.x = record.mag_x();
 135                         state.mag.y = record.mag_y();
 136                         state.mag.z = record.mag_z();
 137                         if (state.state < AltosLib.ao_flight_boost) {
 138                                 eeprom.n_pad_samples++;
 139                                 eeprom.ground_pres += state.pres;
 140                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 141                                 state.flight_pres = state.ground_pres;
 142                         } else {
 143                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 144                         }
 145                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 146                         if ((eeprom.seen & seen_sensor) == 0)
 147                                 eeprom.sensor_tick = record.tick - 1;
 148                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
 149                         eeprom.seen |= seen_sensor;
 150                         eeprom.sensor_tick = record.tick;
 151                         has_accel = true;
 152                         break;
 153                 case AltosLib.AO_LOG_PRESSURE:
 154                         state.pres = record.b;
 155                         state.flight_pres = state.pres;
 156                         if (eeprom.n_pad_samples == 0) {
 157                                 eeprom.n_pad_samples++;
 158                                 state.ground_pres = state.pres;
 159                         }
 160                         eeprom.seen |= seen_sensor;
 161                         break;
 162                 case AltosLib.AO_LOG_TEMP_VOLT:
 163                         state.v_batt = record.v_batt();
 164                         state.v_pyro = record.v_pbatt();
 165                         for (int i = 0; i < AltosRecordMM.num_sense; i++)
 166                                 state.sense[i] = record.sense(i);
 167                         eeprom.seen |= seen_temp_volt;
 168                         break;
 169 //
 170 //              case AltosLib.AO_LOG_DEPLOY:
 171 //                      state.drogue = record.a;
 172 //                      state.main = record.b;
 173 //                      eeprom.seen |= seen_deploy;
 174 //                      has_ignite = true;
 175 //                      break;
 176
 177                 case AltosLib.AO_LOG_STATE:
 178                         state.state = record.state();
 179                         break;
 180                 case AltosLib.AO_LOG_GPS_TIME:
 181                         eeprom.gps_tick = state.tick;
 182                         AltosGPS old = state.gps;
 183                         state.gps = new AltosGPS();
 184
 185                         /* GPS date doesn't get repeated through the file */
 186                         if (old != null) {
 187                                 state.gps.year = old.year;
 188                                 state.gps.month = old.month;
 189                                 state.gps.day = old.day;
 190                         }
 191                         state.gps.hour = (record.a & 0xff);
 192                         state.gps.minute = (record.a >> 8);
 193                         state.gps.second = (record.b & 0xff);
 194
 195                         int flags = (record.b >> 8);
 196                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 197                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 198                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 199                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 200                         state.new_gps = true;
 201                         has_gps = true;
 202                         break;
 203                 case AltosLib.AO_LOG_GPS_LAT:
 204                         int lat32 = record.a | (record.b << 16);
 205                         state.gps.lat = (double) lat32 / 1e7;
 206                         break;
 207                 case AltosLib.AO_LOG_GPS_LON:
 208                         int lon32 = record.a | (record.b << 16);
 209                         state.gps.lon = (double) lon32 / 1e7;
 210                         break;
 211                 case AltosLib.AO_LOG_GPS_ALT:
 212                         state.gps.alt = record.a;
 213                         break;
 214                 case AltosLib.AO_LOG_GPS_SAT:
 215                         if (state.tick == eeprom.gps_tick) {
 216                                 int svid = record.a;
 217                                 int c_n0 = record.b >> 8;
 218                                 state.gps.add_sat(svid, c_n0);
 219                         }
 220                         break;
 221                 case AltosLib.AO_LOG_GPS_DATE:
 222                         state.gps.year = (record.a & 0xff) + 2000;
 223                         state.gps.month = record.a >> 8;
 224                         state.gps.day = record.b & 0xff;
 225                         break;
 226
 227                 case AltosLib.AO_LOG_CONFIG_VERSION:
 228                         break;
 229                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 230                         break;
 231                 case AltosLib.AO_LOG_APOGEE_DELAY:
 232                         break;
 233                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 234                         break;
 235                 case AltosLib.AO_LOG_CALLSIGN:
 236                         state.callsign = record.data;
 237                         break;
 238                 case AltosLib.AO_LOG_ACCEL_CAL:
 239                         state.accel_plus_g = record.a;
 240                         state.accel_minus_g = record.b;
 241                         break;
 242                 case AltosLib.AO_LOG_RADIO_CAL:
 243                         break;
 244                 case AltosLib.AO_LOG_MANUFACTURER:
 245                         break;
 246                 case AltosLib.AO_LOG_PRODUCT:
 247                         break;
 248                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 249                         state.serial = record.a;
 250                         break;
 251                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 252                         break;
 253                 case AltosLib.AO_LOG_BARO_RESERVED:
 254                         baro.reserved = record.a;
 255                         break;
 256                 case AltosLib.AO_LOG_BARO_SENS:
 257                         baro.sens =record.a;
 258                         break;
 259                 case AltosLib.AO_LOG_BARO_OFF:
 260                         baro.off =record.a;
 261                         break;
 262                 case AltosLib.AO_LOG_BARO_TCS:
 263                         baro.tcs =record.a;
 264                         break;
 265                 case AltosLib.AO_LOG_BARO_TCO:
 266                         baro.tco =record.a;
 267                         break;
 268                 case AltosLib.AO_LOG_BARO_TREF:
 269                         baro.tref =record.a;
 270                         break;
 271                 case AltosLib.AO_LOG_BARO_TEMPSENS:
 272                         baro.tempsens =record.a;
 273                         break;
 274                 case AltosLib.AO_LOG_BARO_CRC:
 275                         baro.crc =record.a;
 276                         break;
 277                 }
 278                 state.seen |= eeprom.seen;
 279         }
 280
 281         LinkedList<AltosRecord> make_list() {
 282                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 283                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 284                 AltosOrderedMegaRecord          record = null;
 285                 AltosRecordMM                   state = new AltosRecordMM();
 286                 //boolean                               last_reported = false;
 287                 EepromState                     eeprom = new EepromState();
 288
 289                 state.state = AltosLib.ao_flight_pad;
 290                 state.accel_plus_g = 15758;
 291                 state.accel_minus_g = 16294;
 292
 293                 /* Pull in static data from the flight and gps_date records */
 294                 if (flight_record != null)
 295                         update_state(state, flight_record, eeprom);
 296                 if (gps_date_record != null)
 297                         update_state(state, gps_date_record, eeprom);
 298
 299                 while (iterator.hasNext()) {
 300                         record = iterator.next();
 301                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 302                                 AltosRecordMM r = state.clone();
 303                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 304                                 list.add(r);
 305                         }
 306                         update_state(state, record, eeprom);
 307                 }
 308                 AltosRecordMM r = state.clone();
 309                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 310                 list.add(r);
 311                 return list;
 312         }
 313
 314         public Iterator<AltosRecord> iterator() {
 315                 if (list == null)
 316                         list = make_list();
 317                 return list.iterator();
 318         }
 319
 320         public boolean has_gps() { return has_gps; }
 321         public boolean has_accel() { return has_accel; }
 322         public boolean has_ignite() { return has_ignite; }
 323
 324         public void write_comments(PrintStream out) {
 325                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 326                 out.printf("# Comments\n");
 327                 while (iterator.hasNext()) {
 328                         AltosOrderedMegaRecord  record = iterator.next();
 329                         switch (record.cmd) {
 330                         case AltosLib.AO_LOG_CONFIG_VERSION:
 331                                 out.printf("# Config version: %s\n", record.data);
 332                                 break;
 333                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 334                                 out.printf("# Main deploy: %s\n", record.a);
 335                                 break;
 336                         case AltosLib.AO_LOG_APOGEE_DELAY:
 337                                 out.printf("# Apogee delay: %s\n", record.a);
 338                                 break;
 339                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 340                                 out.printf("# Radio channel: %s\n", record.a);
 341                                 break;
 342                         case AltosLib.AO_LOG_CALLSIGN:
 343                                 out.printf("# Callsign: %s\n", record.data);
 344                                 break;
 345                         case AltosLib.AO_LOG_ACCEL_CAL:
 346                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 347                                 break;
 348                         case AltosLib.AO_LOG_RADIO_CAL:
 349                                 out.printf ("# Radio cal: %d\n", record.a);
 350                                 break;
 351                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 352                                 out.printf ("# Max flight log: %d\n", record.a);
 353                                 break;
 354                         case AltosLib.AO_LOG_MANUFACTURER:
 355                                 out.printf ("# Manufacturer: %s\n", record.data);
 356                                 break;
 357                         case AltosLib.AO_LOG_PRODUCT:
 358                                 out.printf ("# Product: %s\n", record.data);
 359                                 break;
 360                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 361                                 out.printf ("# Serial number: %d\n", record.a);
 362                                 break;
 363                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 364                                 out.printf ("# Software version: %s\n", record.data);
 365                                 break;
 366                         case AltosLib.AO_LOG_BARO_RESERVED:
 367                                 out.printf ("# Baro reserved: %d\n", record.a);
 368                                 break;
 369                         case AltosLib.AO_LOG_BARO_SENS:
 370                                 out.printf ("# Baro sens: %d\n", record.a);
 371                                 break;
 372                         case AltosLib.AO_LOG_BARO_OFF:
 373                                 out.printf ("# Baro off: %d\n", record.a);
 374                                 break;
 375                         case AltosLib.AO_LOG_BARO_TCS:
 376                                 out.printf ("# Baro tcs: %d\n", record.a);
 377                                 break;
 378                         case AltosLib.AO_LOG_BARO_TCO:
 379                                 out.printf ("# Baro tco: %d\n", record.a);
 380                                 break;
 381                         case AltosLib.AO_LOG_BARO_TREF:
 382                                 out.printf ("# Baro tref: %d\n", record.a);
 383                                 break;
 384                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 385                                 out.printf ("# Baro tempsens: %d\n", record.a);
 386                                 break;
 387                         case AltosLib.AO_LOG_BARO_CRC:
 388                                 out.printf ("# Baro crc: %d\n", record.a);
 389                                 break;
 390                         }
 391                 }
 392         }
 393
 394         /*
 395          * Given an AO_LOG_GPS_TIME record with correct time, and one
 396          * missing time, rewrite the missing time values with the good
 397          * ones, assuming that the difference between them is 'diff' seconds
 398          */
 399         void update_time(AltosOrderedMegaRecord good, AltosOrderedMegaRecord bad) {
 400
 401                 int diff = (bad.tick - good.tick + 50) / 100;
 402
 403                 int hour = (good.a & 0xff);
 404                 int minute = (good.a >> 8);
 405                 int second = (good.b & 0xff);
 406                 int flags = (good.b >> 8);
 407                 int seconds = hour * 3600 + minute * 60 + second;
 408
 409                 /* Make sure this looks like a good GPS value */
 410                 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
 411                         flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
 412                 flags |= AltosLib.AO_GPS_RUNNING;
 413                 flags |= AltosLib.AO_GPS_VALID;
 414
 415                 int new_seconds = seconds + diff;
 416                 if (new_seconds < 0)
 417                         new_seconds += 24 * 3600;
 418                 int new_second = (new_seconds % 60);
 419                 int new_minutes = (new_seconds / 60);
 420                 int new_minute = (new_minutes % 60);
 421                 int new_hours = (new_minutes / 60);
 422                 int new_hour = (new_hours % 24);
 423
 424                 bad.a = new_hour + (new_minute << 8);
 425                 bad.b = new_second + (flags << 8);
 426         }
 427
 428         /*
 429          * Read the whole file, dumping records into a RB tree so
 430          * we can enumerate them in time order -- the eeprom data
 431          * are sometimes out of order with GPS data getting timestamps
 432          * matching the first packet out of the GPS unit but not
 433          * written until the final GPS packet has been received.
 434          */
 435         public AltosEepromMegaIterable (FileInputStream input) {
 436                 records = new TreeSet<AltosOrderedMegaRecord>();
 437
 438                 AltosOrderedMegaRecord last_gps_time = null;
 439
 440                 baro = new AltosMs5607();
 441
 442                 int index = 0;
 443                 int prev_tick = 0;
 444                 boolean prev_tick_valid = false;
 445                 boolean missing_time = false;
 446
 447                 try {
 448                         for (;;) {
 449                                 String line = AltosLib.gets(input);
 450                                 if (line == null)
 451                                         break;
 452                                 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
 453                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 454                                         continue;
 455                                 prev_tick = record.tick;
 456                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 457                                         prev_tick_valid = true;
 458                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 459                                         flight_record = record;
 460                                         continue;
 461                                 }
 462
 463                                 /* Two firmware bugs caused the loss of some GPS data.
 464                                  * The flight date would never be recorded, and often
 465                                  * the flight time would get overwritten by another
 466                                  * record. Detect the loss of the GPS date and fix up the
 467                                  * missing time records
 468                                  */
 469                                 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
 470                                         gps_date_record = record;
 471                                         continue;
 472                                 }
 473
 474                                 /* go back and fix up any missing time values */
 475                                 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
 476                                         last_gps_time = record;
 477                                         if (missing_time) {
 478                                                 Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
 479                                                 while (iterator.hasNext()) {
 480                                                         AltosOrderedMegaRecord old = iterator.next();
 481                                                         if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
 482                                                             old.a == -1 && old.b == -1)
 483                                                         {
 484                                                                 update_time(record, old);
 485                                                         }
 486                                                 }
 487                                                 missing_time = false;
 488                                         }
 489                                 }
 490
 491                                 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
 492                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 493                                                 AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(AltosLib.AO_LOG_GPS_TIME,
 494                                                                                                          record.tick,
 495                                                                                                          -1, -1, index-1);
 496                                                 if (last_gps_time != null)
 497                                                         update_time(last_gps_time, add_gps_time);
 498                                                 else
 499                                                         missing_time = true;
 500
 501                                                 records.add(add_gps_time);
 502                                                 record.index = index++;
 503                                         }
 504                                 }
 505                                 records.add(record);
 506
 507                                 /* Bail after reading the 'landed' record; we're all done */
 508                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 509                                     record.a == AltosLib.ao_flight_landed)
 510                                         break;
 511                         }
 512                 } catch (IOException io) {
 513                 } catch (ParseException pe) {
 514                 }
 515                 try {
 516                         input.close();
 517                 } catch (IOException ie) {
 518                 }
 519         }
 520 }