git.gag.com Git - fw/altos/blob - altoslib/AltosEepromMegaIterable.java

   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 import java.util.prefs.*;
  24 import java.util.concurrent.LinkedBlockingQueue;
  25
  26 /*
  27  * AltosRecords with an index field so they can be sorted by tick while preserving
  28  * the original ordering for elements with matching ticks
  29  */
  30 class AltosOrderedMegaRecord extends AltosEepromMega implements Comparable<AltosOrderedMegaRecord> {
  31
  32         public int      index;
  33
  34         public AltosOrderedMegaRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
  35                 throws ParseException {
  36                 super(line);
  37                 if (prev_tick_valid) {
  38                         tick |= (prev_tick & ~0xffff);
  39                         if (tick < prev_tick) {
  40                                 if (prev_tick - tick > 0x8000)
  41                                         tick += 0x10000;
  42                         } else {
  43                                 if (tick - prev_tick > 0x8000)
  44                                         tick -= 0x10000;
  45                         }
  46                 }
  47                 index = in_index;
  48         }
  49
  50         public AltosOrderedMegaRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  51                 super(in_cmd, in_tick);
  52                 a = in_a;
  53                 b = in_b;
  54                 index = in_index;
  55         }
  56
  57         public String toString() {
  58                 return String.format("%d.%d %04x %04x %04x",
  59                                      cmd, index, tick, a, b);
  60         }
  61
  62         public int compareTo(AltosOrderedMegaRecord o) {
  63                 int     tick_diff = tick - o.tick;
  64                 if (tick_diff != 0)
  65                         return tick_diff;
  66                 return index - o.index;
  67         }
  68 }
  69
  70 public class AltosEepromMegaIterable extends AltosRecordIterable {
  71
  72         static final int        seen_flight = 1;
  73         static final int        seen_sensor = 2;
  74         static final int        seen_temp_volt = 4;
  75         static final int        seen_deploy = 8;
  76         static final int        seen_gps_time = 16;
  77         static final int        seen_gps_lat = 32;
  78         static final int        seen_gps_lon = 64;
  79
  80         static final int        seen_basic = seen_flight|seen_sensor;
  81
  82         boolean                 has_accel;
  83         boolean                 has_gps;
  84         boolean                 has_ignite;
  85
  86         AltosEepromMega flight_record;
  87         AltosEepromMega gps_date_record;
  88
  89         TreeSet<AltosOrderedMegaRecord> records;
  90
  91         AltosMs5607             baro;
  92
  93         LinkedList<AltosRecord> list;
  94
  95         class EepromState {
  96                 int     seen;
  97                 int     n_pad_samples;
  98                 double  ground_pres;
  99                 int     gps_tick;
 100                 int     boost_tick;
 101                 int     sensor_tick;
 102
 103                 EepromState() {
 104                         seen = 0;
 105                         n_pad_samples = 0;
 106                         ground_pres = 0.0;
 107                         gps_tick = 0;
 108                 }
 109         }
 110
 111         void update_state(AltosRecordMM state, AltosEepromMega record, EepromState eeprom) {
 112                 state.tick = record.tick;
 113                 switch (record.cmd) {
 114                 case AltosLib.AO_LOG_FLIGHT:
 115                         eeprom.seen |= seen_flight;
 116                         state.ground_accel = record.ground_accel();
 117                         state.flight_accel = record.ground_accel();
 118                         state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
 119                         state.flight_pres = state.ground_pres;
 120                         state.flight = record.data16(0);
 121                         eeprom.boost_tick = record.tick;
 122                         break;
 123                 case AltosLib.AO_LOG_SENSOR:
 124                         state.accel = record.accel();
 125                         baro.set(record.pres(), record.temp());
 126                         state.pres = baro.pa;
 127                         state.temp = baro.cc;
 128                         state.imu = new AltosIMU();
 129                         state.imu.accel_x = record.accel_x();
 130                         state.imu.accel_y = record.accel_y();
 131                         state.imu.accel_z = record.accel_z();
 132                         state.imu.gyro_x = record.gyro_x();
 133                         state.imu.gyro_y = record.gyro_y();
 134                         state.imu.gyro_z = record.gyro_z();
 135                         state.mag = new AltosMag();
 136                         state.mag.x = record.mag_x();
 137                         state.mag.y = record.mag_y();
 138                         state.mag.z = record.mag_z();
 139                         if (state.state < AltosLib.ao_flight_boost) {
 140                                 eeprom.n_pad_samples++;
 141                                 eeprom.ground_pres += state.pres;
 142                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 143                                 state.flight_pres = state.ground_pres;
 144                         } else {
 145                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 146                         }
 147                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 148                         if ((eeprom.seen & seen_sensor) == 0)
 149                                 eeprom.sensor_tick = record.tick - 1;
 150                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
 151                         eeprom.seen |= seen_sensor;
 152                         eeprom.sensor_tick = record.tick;
 153                         has_accel = true;
 154                         break;
 155                 case AltosLib.AO_LOG_PRESSURE:
 156                         state.pres = record.b;
 157                         state.flight_pres = state.pres;
 158                         if (eeprom.n_pad_samples == 0) {
 159                                 eeprom.n_pad_samples++;
 160                                 state.ground_pres = state.pres;
 161                         }
 162                         eeprom.seen |= seen_sensor;
 163                         break;
 164                 case AltosLib.AO_LOG_TEMP_VOLT:
 165                         state.v_batt = record.v_batt();
 166                         state.v_pyro = record.v_pbatt();
 167                         for (int i = 0; i < AltosRecordMM.num_sense; i++)
 168                                 state.sense[i] = record.sense(i);
 169                         eeprom.seen |= seen_temp_volt;
 170                         break;
 171 //
 172 //              case AltosLib.AO_LOG_DEPLOY:
 173 //                      state.drogue = record.a;
 174 //                      state.main = record.b;
 175 //                      eeprom.seen |= seen_deploy;
 176 //                      has_ignite = true;
 177 //                      break;
 178
 179                 case AltosLib.AO_LOG_STATE:
 180                         state.state = record.state();
 181                         break;
 182                 case AltosLib.AO_LOG_GPS_TIME:
 183                         eeprom.gps_tick = state.tick;
 184                         AltosGPS old = state.gps;
 185                         state.gps = new AltosGPS();
 186
 187                         /* GPS date doesn't get repeated through the file */
 188                         if (old != null) {
 189                                 state.gps.year = old.year;
 190                                 state.gps.month = old.month;
 191                                 state.gps.day = old.day;
 192                         }
 193                         state.gps.hour = (record.a & 0xff);
 194                         state.gps.minute = (record.a >> 8);
 195                         state.gps.second = (record.b & 0xff);
 196
 197                         int flags = (record.b >> 8);
 198                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 199                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 200                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 201                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 202                         state.new_gps = true;
 203                         has_gps = true;
 204                         break;
 205                 case AltosLib.AO_LOG_GPS_LAT:
 206                         int lat32 = record.a | (record.b << 16);
 207                         state.gps.lat = (double) lat32 / 1e7;
 208                         break;
 209                 case AltosLib.AO_LOG_GPS_LON:
 210                         int lon32 = record.a | (record.b << 16);
 211                         state.gps.lon = (double) lon32 / 1e7;
 212                         break;
 213                 case AltosLib.AO_LOG_GPS_ALT:
 214                         state.gps.alt = record.a;
 215                         break;
 216                 case AltosLib.AO_LOG_GPS_SAT:
 217                         if (state.tick == eeprom.gps_tick) {
 218                                 int svid = record.a;
 219                                 int c_n0 = record.b >> 8;
 220                                 state.gps.add_sat(svid, c_n0);
 221                         }
 222                         break;
 223                 case AltosLib.AO_LOG_GPS_DATE:
 224                         state.gps.year = (record.a & 0xff) + 2000;
 225                         state.gps.month = record.a >> 8;
 226                         state.gps.day = record.b & 0xff;
 227                         break;
 228
 229                 case AltosLib.AO_LOG_CONFIG_VERSION:
 230                         break;
 231                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 232                         break;
 233                 case AltosLib.AO_LOG_APOGEE_DELAY:
 234                         break;
 235                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 236                         break;
 237                 case AltosLib.AO_LOG_CALLSIGN:
 238                         state.callsign = record.data;
 239                         break;
 240                 case AltosLib.AO_LOG_ACCEL_CAL:
 241                         state.accel_plus_g = record.a;
 242                         state.accel_minus_g = record.b;
 243                         break;
 244                 case AltosLib.AO_LOG_RADIO_CAL:
 245                         break;
 246                 case AltosLib.AO_LOG_MANUFACTURER:
 247                         break;
 248                 case AltosLib.AO_LOG_PRODUCT:
 249                         break;
 250                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 251                         state.serial = record.a;
 252                         break;
 253                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 254                         break;
 255                 case AltosLib.AO_LOG_BARO_RESERVED:
 256                         baro.reserved = record.a;
 257                         break;
 258                 case AltosLib.AO_LOG_BARO_SENS:
 259                         baro.sens =record.a;
 260                         break;
 261                 case AltosLib.AO_LOG_BARO_OFF:
 262                         baro.off =record.a;
 263                         break;
 264                 case AltosLib.AO_LOG_BARO_TCS:
 265                         baro.tcs =record.a;
 266                         break;
 267                 case AltosLib.AO_LOG_BARO_TCO:
 268                         baro.tco =record.a;
 269                         break;
 270                 case AltosLib.AO_LOG_BARO_TREF:
 271                         baro.tref =record.a;
 272                         break;
 273                 case AltosLib.AO_LOG_BARO_TEMPSENS:
 274                         baro.tempsens =record.a;
 275                         break;
 276                 case AltosLib.AO_LOG_BARO_CRC:
 277                         baro.crc =record.a;
 278                         break;
 279                 }
 280                 state.seen |= eeprom.seen;
 281         }
 282
 283         LinkedList<AltosRecord> make_list() {
 284                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 285                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 286                 AltosOrderedMegaRecord          record = null;
 287                 AltosRecordMM                   state = new AltosRecordMM();
 288                 boolean                         last_reported = false;
 289                 EepromState                     eeprom = new EepromState();
 290
 291                 state.state = AltosLib.ao_flight_pad;
 292                 state.accel_plus_g = 15758;
 293                 state.accel_minus_g = 16294;
 294
 295                 /* Pull in static data from the flight and gps_date records */
 296                 if (flight_record != null)
 297                         update_state(state, flight_record, eeprom);
 298                 if (gps_date_record != null)
 299                         update_state(state, gps_date_record, eeprom);
 300
 301                 while (iterator.hasNext()) {
 302                         record = iterator.next();
 303                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 304                                 AltosRecordMM r = state.clone();
 305                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 306                                 list.add(r);
 307                         }
 308                         update_state(state, record, eeprom);
 309                 }
 310                 AltosRecordMM r = state.clone();
 311                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 312                 list.add(r);
 313                 return list;
 314         }
 315
 316         public Iterator<AltosRecord> iterator() {
 317                 if (list == null)
 318                         list = make_list();
 319                 return list.iterator();
 320         }
 321
 322         public boolean has_gps() { return has_gps; }
 323         public boolean has_accel() { return has_accel; }
 324         public boolean has_ignite() { return has_ignite; }
 325
 326         public void write_comments(PrintStream out) {
 327                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 328                 out.printf("# Comments\n");
 329                 while (iterator.hasNext()) {
 330                         AltosOrderedMegaRecord  record = iterator.next();
 331                         switch (record.cmd) {
 332                         case AltosLib.AO_LOG_CONFIG_VERSION:
 333                                 out.printf("# Config version: %s\n", record.data);
 334                                 break;
 335                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 336                                 out.printf("# Main deploy: %s\n", record.a);
 337                                 break;
 338                         case AltosLib.AO_LOG_APOGEE_DELAY:
 339                                 out.printf("# Apogee delay: %s\n", record.a);
 340                                 break;
 341                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 342                                 out.printf("# Radio channel: %s\n", record.a);
 343                                 break;
 344                         case AltosLib.AO_LOG_CALLSIGN:
 345                                 out.printf("# Callsign: %s\n", record.data);
 346                                 break;
 347                         case AltosLib.AO_LOG_ACCEL_CAL:
 348                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 349                                 break;
 350                         case AltosLib.AO_LOG_RADIO_CAL:
 351                                 out.printf ("# Radio cal: %d\n", record.a);
 352                                 break;
 353                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 354                                 out.printf ("# Max flight log: %d\n", record.a);
 355                                 break;
 356                         case AltosLib.AO_LOG_MANUFACTURER:
 357                                 out.printf ("# Manufacturer: %s\n", record.data);
 358                                 break;
 359                         case AltosLib.AO_LOG_PRODUCT:
 360                                 out.printf ("# Product: %s\n", record.data);
 361                                 break;
 362                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 363                                 out.printf ("# Serial number: %d\n", record.a);
 364                                 break;
 365                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 366                                 out.printf ("# Software version: %s\n", record.data);
 367                                 break;
 368                         case AltosLib.AO_LOG_BARO_RESERVED:
 369                                 out.printf ("# Baro reserved: %d\n", record.a);
 370                                 break;
 371                         case AltosLib.AO_LOG_BARO_SENS:
 372                                 out.printf ("# Baro sens: %d\n", record.a);
 373                                 break;
 374                         case AltosLib.AO_LOG_BARO_OFF:
 375                                 out.printf ("# Baro off: %d\n", record.a);
 376                                 break;
 377                         case AltosLib.AO_LOG_BARO_TCS:
 378                                 out.printf ("# Baro tcs: %d\n", record.a);
 379                                 break;
 380                         case AltosLib.AO_LOG_BARO_TCO:
 381                                 out.printf ("# Baro tco: %d\n", record.a);
 382                                 break;
 383                         case AltosLib.AO_LOG_BARO_TREF:
 384                                 out.printf ("# Baro tref: %d\n", record.a);
 385                                 break;
 386                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 387                                 out.printf ("# Baro tempsens: %d\n", record.a);
 388                                 break;
 389                         case AltosLib.AO_LOG_BARO_CRC:
 390                                 out.printf ("# Baro crc: %d\n", record.a);
 391                                 break;
 392                         }
 393                 }
 394         }
 395
 396         /*
 397          * Given an AO_LOG_GPS_TIME record with correct time, and one
 398          * missing time, rewrite the missing time values with the good
 399          * ones, assuming that the difference between them is 'diff' seconds
 400          */
 401         void update_time(AltosOrderedMegaRecord good, AltosOrderedMegaRecord bad) {
 402
 403                 int diff = (bad.tick - good.tick + 50) / 100;
 404
 405                 int hour = (good.a & 0xff);
 406                 int minute = (good.a >> 8);
 407                 int second = (good.b & 0xff);
 408                 int flags = (good.b >> 8);
 409                 int seconds = hour * 3600 + minute * 60 + second;
 410
 411                 /* Make sure this looks like a good GPS value */
 412                 if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
 413                         flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
 414                 flags |= AltosLib.AO_GPS_RUNNING;
 415                 flags |= AltosLib.AO_GPS_VALID;
 416
 417                 int new_seconds = seconds + diff;
 418                 if (new_seconds < 0)
 419                         new_seconds += 24 * 3600;
 420                 int new_second = (new_seconds % 60);
 421                 int new_minutes = (new_seconds / 60);
 422                 int new_minute = (new_minutes % 60);
 423                 int new_hours = (new_minutes / 60);
 424                 int new_hour = (new_hours % 24);
 425
 426                 bad.a = new_hour + (new_minute << 8);
 427                 bad.b = new_second + (flags << 8);
 428         }
 429
 430         /*
 431          * Read the whole file, dumping records into a RB tree so
 432          * we can enumerate them in time order -- the eeprom data
 433          * are sometimes out of order with GPS data getting timestamps
 434          * matching the first packet out of the GPS unit but not
 435          * written until the final GPS packet has been received.
 436          */
 437         public AltosEepromMegaIterable (FileInputStream input) {
 438                 records = new TreeSet<AltosOrderedMegaRecord>();
 439
 440                 AltosOrderedMegaRecord last_gps_time = null;
 441
 442                 baro = new AltosMs5607();
 443
 444                 int index = 0;
 445                 int prev_tick = 0;
 446                 boolean prev_tick_valid = false;
 447                 boolean missing_time = false;
 448
 449                 try {
 450                         for (;;) {
 451                                 String line = AltosLib.gets(input);
 452                                 if (line == null)
 453                                         break;
 454                                 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
 455                                 if (record == null)
 456                                         break;
 457                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 458                                         continue;
 459                                 prev_tick = record.tick;
 460                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 461                                         prev_tick_valid = true;
 462                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 463                                         flight_record = record;
 464                                         continue;
 465                                 }
 466
 467                                 /* Two firmware bugs caused the loss of some GPS data.
 468                                  * The flight date would never be recorded, and often
 469                                  * the flight time would get overwritten by another
 470                                  * record. Detect the loss of the GPS date and fix up the
 471                                  * missing time records
 472                                  */
 473                                 if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
 474                                         gps_date_record = record;
 475                                         continue;
 476                                 }
 477
 478                                 /* go back and fix up any missing time values */
 479                                 if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
 480                                         last_gps_time = record;
 481                                         if (missing_time) {
 482                                                 Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
 483                                                 while (iterator.hasNext()) {
 484                                                         AltosOrderedMegaRecord old = iterator.next();
 485                                                         if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
 486                                                             old.a == -1 && old.b == -1)
 487                                                         {
 488                                                                 update_time(record, old);
 489                                                         }
 490                                                 }
 491                                                 missing_time = false;
 492                                         }
 493                                 }
 494
 495                                 if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
 496                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 497                                                 AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(AltosLib.AO_LOG_GPS_TIME,
 498                                                                                                          record.tick,
 499                                                                                                          -1, -1, index-1);
 500                                                 if (last_gps_time != null)
 501                                                         update_time(last_gps_time, add_gps_time);
 502                                                 else
 503                                                         missing_time = true;
 504
 505                                                 records.add(add_gps_time);
 506                                                 record.index = index++;
 507                                         }
 508                                 }
 509                                 records.add(record);
 510
 511                                 /* Bail after reading the 'landed' record; we're all done */
 512                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 513                                     record.a == AltosLib.ao_flight_landed)
 514                                         break;
 515                         }
 516                 } catch (IOException io) {
 517                 } catch (ParseException pe) {
 518                 }
 519                 try {
 520                         input.close();
 521                 } catch (IOException ie) {
 522                 }
 523         }
 524 }