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   1 /*
   2  * Copyright © 2013 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_1;
  19
  20 import java.io.*;
  21 import java.util.*;
  22 import java.text.*;
  23
  24 public class AltosEepromMetrumIterable 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         AltosEepromMetrum       flight_record;
  41         AltosEepromMetrum       gps_date_record;
  42
  43         TreeSet<AltosOrderedMetrumRecord>       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(AltosRecordTM2 state, AltosEepromMetrum 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_STATE:
  78                         state.state = record.state();
  79                         break;
  80                 case AltosLib.AO_LOG_SENSOR:
  81                         state.accel = record.accel();
  82                         baro.set(record.pres(), record.temp());
  83                         state.pres = baro.pa;
  84                         state.temp = baro.cc;
  85                         if (state.state < AltosLib.ao_flight_boost) {
  86                                 eeprom.n_pad_samples++;
  87                                 eeprom.ground_pres += state.pres;
  88                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
  89                                 state.flight_pres = state.ground_pres;
  90                         } else {
  91                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
  92                         }
  93                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
  94                         if ((eeprom.seen & seen_sensor) == 0)
  95                                 eeprom.sensor_tick = record.tick - 1;
  96                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
  97                         eeprom.seen |= seen_sensor;
  98                         eeprom.sensor_tick = record.tick;
  99                         has_accel = true;
 100                         break;
 101                 case AltosLib.AO_LOG_TEMP_VOLT:
 102                         state.v_batt = record.v_batt();
 103                         state.sense_a = record.sense_a();
 104                         state.sense_m = record.sense_m();
 105                         eeprom.seen |= seen_temp_volt;
 106                         break;
 107                 case AltosLib.AO_LOG_GPS_POS:
 108                         eeprom.gps_tick = state.tick;
 109                         state.gps = new AltosGPS();
 110
 111                         state.gps.lat = record.latitude() / 1e7;
 112                         state.gps.lon = record.longitude() / 1e7;
 113                         state.gps.alt = record.altitude();
 114                         break;
 115
 116                 case AltosLib.AO_LOG_GPS_TIME:
 117                         state.gps.year = record.year() + 2000;
 118                         state.gps.month = record.month();
 119                         state.gps.day = record.day();
 120
 121                         state.gps.hour = record.hour();
 122                         state.gps.minute = record.minute();
 123                         state.gps.second = record.second();
 124
 125                         int flags = record.flags();
 126                         state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 127                         state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 128                         state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 129                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 130                         state.gps_sequence++;
 131                         has_gps = true;
 132                         eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
 133                         break;
 134                 case AltosLib.AO_LOG_GPS_SAT:
 135                         if (state.tick == eeprom.gps_tick) {
 136                                 int nsat = record.channels();
 137                                 for (int i = 0; i < nsat; i++)
 138                                         state.gps.add_sat(record.svid(i), record.c_n(i));
 139                         }
 140                         break;
 141                 case AltosLib.AO_LOG_CONFIG_VERSION:
 142                         break;
 143                 case AltosLib.AO_LOG_MAIN_DEPLOY:
 144                         break;
 145                 case AltosLib.AO_LOG_APOGEE_DELAY:
 146                         break;
 147                 case AltosLib.AO_LOG_RADIO_CHANNEL:
 148                         break;
 149                 case AltosLib.AO_LOG_CALLSIGN:
 150                         state.callsign = record.data;
 151                         break;
 152                 case AltosLib.AO_LOG_ACCEL_CAL:
 153                         state.accel_plus_g = record.config_a;
 154                         state.accel_minus_g = record.config_b;
 155                         break;
 156                 case AltosLib.AO_LOG_RADIO_CAL:
 157                         break;
 158                 case AltosLib.AO_LOG_MANUFACTURER:
 159                         break;
 160                 case AltosLib.AO_LOG_PRODUCT:
 161                         break;
 162                 case AltosLib.AO_LOG_SERIAL_NUMBER:
 163                         state.serial = record.config_a;
 164                         break;
 165                 case AltosLib.AO_LOG_SOFTWARE_VERSION:
 166                         break;
 167                 case AltosLib.AO_LOG_BARO_RESERVED:
 168                         baro.reserved = record.config_a;
 169                         break;
 170                 case AltosLib.AO_LOG_BARO_SENS:
 171                         baro.sens =record.config_a;
 172                         break;
 173                 case AltosLib.AO_LOG_BARO_OFF:
 174                         baro.off =record.config_a;
 175                         break;
 176                 case AltosLib.AO_LOG_BARO_TCS:
 177                         baro.tcs =record.config_a;
 178                         break;
 179                 case AltosLib.AO_LOG_BARO_TCO:
 180                         baro.tco =record.config_a;
 181                         break;
 182                 case AltosLib.AO_LOG_BARO_TREF:
 183                         baro.tref =record.config_a;
 184                         break;
 185                 case AltosLib.AO_LOG_BARO_TEMPSENS:
 186                         baro.tempsens =record.config_a;
 187                         break;
 188                 case AltosLib.AO_LOG_BARO_CRC:
 189                         baro.crc =record.config_a;
 190                         break;
 191                 }
 192                 state.seen |= eeprom.seen;
 193         }
 194
 195         LinkedList<AltosRecord> make_list() {
 196                 LinkedList<AltosRecord>                 list = new LinkedList<AltosRecord>();
 197                 Iterator<AltosOrderedMetrumRecord>      iterator = records.iterator();
 198                 AltosOrderedMetrumRecord                record = null;
 199                 AltosRecordTM2                          state = new AltosRecordTM2();
 200                 //boolean                               last_reported = false;
 201                 EepromState                             eeprom = new EepromState();
 202
 203                 state.state = AltosLib.ao_flight_pad;
 204                 state.accel_plus_g = 15758;
 205                 state.accel_minus_g = 16294;
 206
 207                 /* Pull in static data from the flight and gps_date records */
 208                 if (flight_record != null)
 209                         update_state(state, flight_record, eeprom);
 210                 if (gps_date_record != null)
 211                         update_state(state, gps_date_record, eeprom);
 212
 213                 while (iterator.hasNext()) {
 214                         record = iterator.next();
 215                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 216                                 AltosRecordTM2 r = state.clone();
 217                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 218                                 list.add(r);
 219                         }
 220                         update_state(state, record, eeprom);
 221                 }
 222                 AltosRecordTM2 r = state.clone();
 223                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 224                 list.add(r);
 225                 return list;
 226         }
 227
 228         public Iterator<AltosRecord> iterator() {
 229                 if (list == null)
 230                         list = make_list();
 231                 return list.iterator();
 232         }
 233
 234         public boolean has_gps() { return has_gps; }
 235         public boolean has_accel() { return has_accel; }
 236         public boolean has_ignite() { return has_ignite; }
 237
 238         public void write_comments(PrintStream out) {
 239                 Iterator<AltosOrderedMetrumRecord>      iterator = records.iterator();
 240                 out.printf("# Comments\n");
 241                 while (iterator.hasNext()) {
 242                         AltosOrderedMetrumRecord        record = iterator.next();
 243                         switch (record.cmd) {
 244                         case AltosLib.AO_LOG_CONFIG_VERSION:
 245                                 out.printf("# Config version: %s\n", record.data);
 246                                 break;
 247                         case AltosLib.AO_LOG_MAIN_DEPLOY:
 248                                 out.printf("# Main deploy: %s\n", record.config_a);
 249                                 break;
 250                         case AltosLib.AO_LOG_APOGEE_DELAY:
 251                                 out.printf("# Apogee delay: %s\n", record.config_a);
 252                                 break;
 253                         case AltosLib.AO_LOG_RADIO_CHANNEL:
 254                                 out.printf("# Radio channel: %s\n", record.config_a);
 255                                 break;
 256                         case AltosLib.AO_LOG_CALLSIGN:
 257                                 out.printf("# Callsign: %s\n", record.data);
 258                                 break;
 259                         case AltosLib.AO_LOG_ACCEL_CAL:
 260                                 out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
 261                                 break;
 262                         case AltosLib.AO_LOG_RADIO_CAL:
 263                                 out.printf ("# Radio cal: %d\n", record.config_a);
 264                                 break;
 265                         case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
 266                                 out.printf ("# Max flight log: %d\n", record.config_a);
 267                                 break;
 268                         case AltosLib.AO_LOG_MANUFACTURER:
 269                                 out.printf ("# Manufacturer: %s\n", record.data);
 270                                 break;
 271                         case AltosLib.AO_LOG_PRODUCT:
 272                                 out.printf ("# Product: %s\n", record.data);
 273                                 break;
 274                         case AltosLib.AO_LOG_SERIAL_NUMBER:
 275                                 out.printf ("# Serial number: %d\n", record.config_a);
 276                                 break;
 277                         case AltosLib.AO_LOG_SOFTWARE_VERSION:
 278                                 out.printf ("# Software version: %s\n", record.data);
 279                                 break;
 280                         case AltosLib.AO_LOG_BARO_RESERVED:
 281                                 out.printf ("# Baro reserved: %d\n", record.config_a);
 282                                 break;
 283                         case AltosLib.AO_LOG_BARO_SENS:
 284                                 out.printf ("# Baro sens: %d\n", record.config_a);
 285                                 break;
 286                         case AltosLib.AO_LOG_BARO_OFF:
 287                                 out.printf ("# Baro off: %d\n", record.config_a);
 288                                 break;
 289                         case AltosLib.AO_LOG_BARO_TCS:
 290                                 out.printf ("# Baro tcs: %d\n", record.config_a);
 291                                 break;
 292                         case AltosLib.AO_LOG_BARO_TCO:
 293                                 out.printf ("# Baro tco: %d\n", record.config_a);
 294                                 break;
 295                         case AltosLib.AO_LOG_BARO_TREF:
 296                                 out.printf ("# Baro tref: %d\n", record.config_a);
 297                                 break;
 298                         case AltosLib.AO_LOG_BARO_TEMPSENS:
 299                                 out.printf ("# Baro tempsens: %d\n", record.config_a);
 300                                 break;
 301                         case AltosLib.AO_LOG_BARO_CRC:
 302                                 out.printf ("# Baro crc: %d\n", record.config_a);
 303                                 break;
 304                         }
 305                 }
 306         }
 307
 308         /*
 309          * Read the whole file, dumping records into a RB tree so
 310          * we can enumerate them in time order -- the eeprom data
 311          * are sometimes out of order with GPS data getting timestamps
 312          * matching the first packet out of the GPS unit but not
 313          * written until the final GPS packet has been received.
 314          */
 315         public AltosEepromMetrumIterable (FileInputStream input) {
 316                 records = new TreeSet<AltosOrderedMetrumRecord>();
 317
 318                 AltosOrderedMetrumRecord last_gps_time = null;
 319
 320                 baro = new AltosMs5607();
 321
 322                 int index = 0;
 323                 int prev_tick = 0;
 324                 boolean prev_tick_valid = false;
 325                 boolean missing_time = false;
 326
 327                 try {
 328                         for (;;) {
 329                                 String line = AltosLib.gets(input);
 330                                 if (line == null)
 331                                         break;
 332                                 AltosOrderedMetrumRecord record = new AltosOrderedMetrumRecord(line, index++, prev_tick, prev_tick_valid);
 333                                 if (record.cmd == AltosLib.AO_LOG_INVALID)
 334                                         continue;
 335                                 prev_tick = record.tick;
 336                                 if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
 337                                         prev_tick_valid = true;
 338                                 if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
 339                                         flight_record = record;
 340                                         continue;
 341                                 }
 342
 343                                 records.add(record);
 344
 345                                 /* Bail after reading the 'landed' record; we're all done */
 346                                 if (record.cmd == AltosLib.AO_LOG_STATE &&
 347                                     record.state() == AltosLib.ao_flight_landed)
 348                                         break;
 349                         }
 350                 } catch (IOException io) {
 351                 } catch (ParseException pe) {
 352                 }
 353                 try {
 354                         input.close();
 355                 } catch (IOException ie) {
 356                 }
 357         }
 358 }