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