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

   1 /*
   2  * Copyright © 2017 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, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  */
  14
  15 package org.altusmetrum.altoslib_11;
  16
  17 import java.util.*;
  18
  19 public class AltosFlightSeries extends AltosDataListener {
  20
  21         public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
  22
  23         public double   speed_filter_width = 4.0;
  24         public double   accel_filter_width = 4.0;
  25
  26         public int[] indices() {
  27                 int[] indices = new int[series.size()];
  28                 for (int i = 0; i < indices.length; i++)
  29                         indices[i] = -1;
  30                 step_indices(indices);
  31                 return indices;
  32         }
  33
  34         private double time(int id, int index) {
  35                 AltosTimeSeries         s = series.get(id);
  36
  37                 if (index < 0)
  38                         return Double.NEGATIVE_INFINITY;
  39
  40                 if (index < s.values.size())
  41                         return s.values.get(index).time;
  42                 return Double.POSITIVE_INFINITY;
  43         }
  44
  45         public boolean step_indices(int[] indices) {
  46                 double  min_next = time(0, indices[0]+1);
  47
  48                 for (int i = 1; i < indices.length; i++) {
  49                         double next = time(i, indices[i]+1);
  50                         if (next < min_next)
  51                                 min_next = next;
  52                 }
  53
  54                 if (min_next == Double.POSITIVE_INFINITY)
  55                         return false;
  56
  57                 for (int i = 0; i < indices.length; i++) {
  58                         double  t = time(i, indices[i] + 1);
  59
  60                         if (t <= min_next)
  61                                 indices[i]++;
  62                 }
  63                 return true;
  64         }
  65
  66         public double time(int[] indices) {
  67                 double max = time(0, indices[0]);
  68
  69                 for (int i = 1; i < indices.length; i++) {
  70                         double t = time(i, indices[i]);
  71                         if (t >= max)
  72                                 max = t;
  73                 }
  74                 return max;
  75         }
  76
  77         public double value(String name, int[] indices) {
  78                 for (int i = 0; i < indices.length; i++) {
  79                         AltosTimeSeries s = series.get(i);
  80                         if (s.label.equals(name)) {
  81                                 int index = indices[i];
  82                                 if (index < 0)
  83                                         index = 0;
  84                                 if (index >= s.values.size())
  85                                         index = s.values.size() - 1;
  86                                 return s.values.get(index).value;
  87                         }
  88                 }
  89                 return AltosLib.MISSING;
  90         }
  91
  92         public double value(String name, double time) {
  93                 for (AltosTimeSeries s : series) {
  94                         if (s.label.equals(name))
  95                                 return s.value(time);
  96                 }
  97                 return AltosLib.MISSING;
  98         }
  99
 100         public double value_before(String name, double time) {
 101                 for (AltosTimeSeries s : series) {
 102                         if (s.label.equals(name))
 103                                 return s.value_before(time);
 104                 }
 105                 return AltosLib.MISSING;
 106         }
 107
 108         public double value_after(String name, double time) {
 109                 for (AltosTimeSeries s : series) {
 110                         if (s.label.equals(name))
 111                                 return s.value_after(time);
 112                 }
 113                 return AltosLib.MISSING;
 114         }
 115
 116         public AltosTimeSeries make_series(String label, AltosUnits units) {
 117                 return new AltosTimeSeries(label, units);
 118         }
 119
 120         public void add_series(AltosTimeSeries s) {
 121                 series.add(s);
 122         }
 123
 124         public AltosTimeSeries add_series(String label, AltosUnits units) {
 125                 AltosTimeSeries s = make_series(label, units);
 126                 add_series(s);
 127                 return s;
 128         }
 129
 130         public void remove_series(AltosTimeSeries s) {
 131                 series.remove(s);
 132         }
 133
 134         public boolean has_series(String label) {
 135                 for (AltosTimeSeries s : series)
 136                         if (s.label.equals(label))
 137                                 return true;
 138                 return false;
 139         }
 140
 141         public AltosTimeSeries state_series;
 142
 143         public static final String state_name = "State";
 144
 145         public void set_state(int state) {
 146                 if (state_series == null)
 147                         state_series = add_series(state_name, AltosConvert.state_name);
 148                 else if (this.state == state)
 149                         return;
 150                 this.state = state;
 151                 state_series.add(time(), state);
 152         }
 153
 154         public AltosTimeSeries  accel_series;
 155
 156         public static final String accel_name = "Accel";
 157
 158         public void set_acceleration(double acceleration) {
 159                 if (accel_series == null) {
 160                         accel_series = add_series(accel_name, AltosConvert.accel);
 161                 }
 162                 accel_series.add(time(), acceleration);
 163         }
 164
 165         private void compute_accel() {
 166                 if (accel_series != null)
 167                         return;
 168
 169                 if (speed_series != null) {
 170                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 171                         speed_series.filter(temp_series, accel_filter_width);
 172                         accel_series = add_series(accel_name, AltosConvert.accel);
 173                         temp_series.differentiate(accel_series);
 174                 }
 175         }
 176
 177         public void set_received_time(long received_time) {
 178         }
 179
 180         public AltosTimeSeries rssi_series;
 181
 182         public static final String rssi_name = "RSSI";
 183
 184         public AltosTimeSeries status_series;
 185
 186         public static final String status_name = "Radio Status";
 187
 188         public void set_rssi(int rssi, int status) {
 189                 if (rssi_series == null) {
 190                         rssi_series = add_series(rssi_name, null);
 191                         status_series = add_series(status_name, null);
 192                 }
 193                 rssi_series.add(time(), rssi);
 194                 status_series.add(time(), status);
 195         }
 196
 197         public AltosTimeSeries pressure_series;
 198
 199         public static final String pressure_name = "Pressure";
 200
 201         public AltosTimeSeries altitude_series;
 202
 203         public static final String altitude_name = "Altitude";
 204
 205         public AltosTimeSeries height_series;
 206
 207         public static final String height_name = "Height";
 208
 209         public  void set_pressure(double pa) {
 210                 if (pressure_series == null)
 211                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 212                 pressure_series.add(time(), pa);
 213                 if (altitude_series == null)
 214                         altitude_series = add_series(altitude_name, AltosConvert.height);
 215
 216                 if (cal_data.ground_pressure == AltosLib.MISSING)
 217                         cal_data.set_ground_pressure(pa);
 218
 219                 double altitude = AltosConvert.pressure_to_altitude(pa);
 220                 altitude_series.add(time(), altitude);
 221         }
 222
 223         private void compute_height() {
 224                 double ground_altitude = cal_data.ground_altitude;
 225                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 226                         height_series = add_series(height_name, AltosConvert.height);
 227                         for (AltosTimeValue alt : altitude_series)
 228                                 height_series.add(alt.time, alt.value - ground_altitude);
 229                 }
 230         }
 231
 232         public AltosTimeSeries speed_series;
 233
 234         public static final String speed_name = "Speed";
 235
 236         private void compute_speed() {
 237                 if (speed_series != null)
 238                         return;
 239
 240                 AltosTimeSeries alt_speed_series = null;
 241                 AltosTimeSeries accel_speed_series = null;
 242
 243                 if (altitude_series != null) {
 244                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 245                         altitude_series.filter(temp_series, speed_filter_width);
 246
 247                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 248                         temp_series.differentiate(alt_speed_series);
 249                 }
 250                 if (accel_series != null) {
 251                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 252                         accel_series.integrate(temp_series);
 253
 254                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 255                         temp_series.filter(accel_speed_series, 0.1);
 256                 }
 257
 258                 if (alt_speed_series != null && accel_speed_series != null) {
 259                         double  apogee_time = AltosLib.MISSING;
 260                         if (state_series != null) {
 261                                 for (AltosTimeValue d : state_series) {
 262                                         if (d.value >= AltosLib.ao_flight_drogue){
 263                                                 apogee_time = d.time;
 264                                                 break;
 265                                         }
 266                                 }
 267                         }
 268                         if (apogee_time == AltosLib.MISSING) {
 269                                 speed_series = alt_speed_series;
 270                         } else {
 271                                 speed_series = make_series(speed_name, AltosConvert.speed);
 272                                 for (AltosTimeValue d : accel_speed_series) {
 273                                         if (d.time <= apogee_time)
 274                                                 speed_series.add(d);
 275                                 }
 276                                 for (AltosTimeValue d : alt_speed_series) {
 277                                         if (d.time > apogee_time)
 278                                                 speed_series.add(d);
 279                                 }
 280
 281                         }
 282                 } else if (alt_speed_series != null) {
 283                         speed_series = alt_speed_series;
 284                 } else if (accel_speed_series != null) {
 285                         speed_series = accel_speed_series;
 286                 }
 287                 if (speed_series != null)
 288                         add_series(speed_series);
 289         }
 290
 291         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 292
 293         public static final String kalman_height_name = "Kalman Height";
 294         public static final String kalman_speed_name = "Kalman Speed";
 295         public static final String kalman_accel_name = "Kalman Accel";
 296
 297         public void set_kalman(double height, double speed, double acceleration) {
 298                 if (kalman_height_series == null) {
 299                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 300                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 301                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 302                 }
 303                 kalman_height_series.add(time(), height);
 304                 kalman_speed_series.add(time(), speed);
 305                 kalman_accel_series.add(time(), acceleration);
 306         }
 307
 308         public AltosTimeSeries thrust_series;
 309
 310         public static final String thrust_name = "Thrust";
 311
 312         public  void set_thrust(double N) {
 313                 if (thrust_series == null)
 314                         thrust_series = add_series(thrust_name, AltosConvert.force);
 315                 thrust_series.add(time(), N);
 316         }
 317
 318         public AltosTimeSeries temperature_series;
 319
 320         public static final String temperature_name = "Temperature";
 321
 322         public  void set_temperature(double deg_c) {
 323                 if (temperature_series == null)
 324                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 325                 temperature_series.add(time(), deg_c);
 326         }
 327
 328         public AltosTimeSeries battery_voltage_series;
 329
 330         public static final String battery_voltage_name = "Battery Voltage";
 331
 332         public void set_battery_voltage(double volts) {
 333                 if (volts == AltosLib.MISSING)
 334                         return;
 335                 if (battery_voltage_series == null)
 336                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 337                 battery_voltage_series.add(time(), volts);
 338         }
 339
 340         public AltosTimeSeries apogee_voltage_series;
 341
 342         public static final String apogee_voltage_name = "Apogee Voltage";
 343
 344         public void set_apogee_voltage(double volts) {
 345                 if (volts == AltosLib.MISSING)
 346                         return;
 347                 if (apogee_voltage_series == null)
 348                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 349                 apogee_voltage_series.add(time(), volts);
 350         }
 351
 352         public AltosTimeSeries main_voltage_series;
 353
 354         public static final String main_voltage_name = "Main Voltage";
 355
 356         public void set_main_voltage(double volts) {
 357                 if (volts == AltosLib.MISSING)
 358                         return;
 359                 if (main_voltage_series == null)
 360                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 361                 main_voltage_series.add(time(), volts);
 362         }
 363
 364         public ArrayList<AltosGPSTimeValue> gps_series;
 365
 366         public AltosGPS gps_before(double time) {
 367                 AltosGPS gps = null;
 368                 for (AltosGPSTimeValue gtv : gps_series)
 369                         if (gtv.time <= time)
 370                                 gps = gtv.gps;
 371                         else
 372                                 break;
 373                 return gps;
 374         }
 375
 376         public AltosTimeSeries  sats_in_view;
 377         public AltosTimeSeries sats_in_soln;
 378         public AltosTimeSeries gps_altitude;
 379         public AltosTimeSeries gps_height;
 380         public AltosTimeSeries gps_ground_speed;
 381         public AltosTimeSeries gps_ascent_rate;
 382         public AltosTimeSeries gps_course;
 383         public AltosTimeSeries gps_speed;
 384         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 385
 386         public static final String sats_in_view_name = "Satellites in view";
 387         public static final String sats_in_soln_name = "Satellites in solution";
 388         public static final String gps_altitude_name = "GPS Altitude";
 389         public static final String gps_height_name = "GPS Height";
 390         public static final String gps_ground_speed_name = "GPS Ground Speed";
 391         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 392         public static final String gps_course_name = "GPS Course";
 393         public static final String gps_speed_name = "GPS Speed";
 394         public static final String gps_pdop_name = "GPS Dilution of Precision";
 395         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 396         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 397
 398         public void set_gps(AltosGPS gps) {
 399                 if (gps_series == null)
 400                         gps_series = new ArrayList<AltosGPSTimeValue>();
 401                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 402
 403                 if (sats_in_soln == null) {
 404                         sats_in_soln = add_series(sats_in_soln_name, null);
 405                 }
 406                 sats_in_soln.add(time(), gps.nsat);
 407                 if (gps.pdop != AltosLib.MISSING) {
 408                         if (gps_pdop == null)
 409                                 gps_pdop = add_series(gps_pdop_name, null);
 410                         gps_pdop.add(time(), gps.pdop);
 411                 }
 412                 if (gps.hdop != AltosLib.MISSING) {
 413                         if (gps_hdop == null)
 414                                 gps_hdop = add_series(gps_hdop_name, null);
 415                         gps_hdop.add(time(), gps.hdop);
 416                 }
 417                 if (gps.vdop != AltosLib.MISSING) {
 418                         if (gps_vdop == null)
 419                                 gps_vdop = add_series(gps_vdop_name, null);
 420                         gps_vdop.add(time(), gps.vdop);
 421                 }
 422                 if (gps.locked) {
 423                         if (gps_altitude == null) {
 424                                 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 425                                 gps_height = add_series(gps_height_name, AltosConvert.height);
 426                                 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 427                                 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 428                                 gps_course = add_series(gps_course_name, null);
 429                                 gps_speed = add_series(gps_speed_name, null);
 430                         }
 431                         if (gps.alt != AltosLib.MISSING) {
 432                                 gps_altitude.add(time(), gps.alt);
 433                                 if (cal_data.gps_pad != null)
 434                                         gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
 435                         }
 436                         if (gps.ground_speed != AltosLib.MISSING)
 437                                 gps_ground_speed.add(time(), gps.ground_speed);
 438                         if (gps.climb_rate != AltosLib.MISSING)
 439                                 gps_ascent_rate.add(time(), gps.climb_rate);
 440                         if (gps.course != AltosLib.MISSING)
 441                                 gps_course.add(time(), gps.course);
 442                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
 443                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 444                                                                 gps.climb_rate * gps.climb_rate));
 445                 }
 446                 if (gps.cc_gps_sat != null) {
 447                         if (sats_in_view == null)
 448                                 sats_in_view = add_series(sats_in_view_name, null);
 449                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 450                 }
 451         }
 452
 453         public static final String accel_along_name = "Accel Along";
 454         public static final String accel_across_name = "Accel Across";
 455         public static final String accel_through_name = "Accel Through";
 456
 457         public AltosTimeSeries accel_along, accel_across, accel_through;
 458
 459         public static final String gyro_roll_name = "Roll Rate";
 460         public static final String gyro_pitch_name = "Pitch Rate";
 461         public static final String gyro_yaw_name = "Yaw Rate";
 462
 463         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 464
 465         public static final String mag_along_name = "Magnetic Field Along";
 466         public static final String mag_across_name = "Magnetic Field Across";
 467         public static final String mag_through_name = "Magnetic Field Through";
 468
 469         public AltosTimeSeries mag_along, mag_across, mag_through;
 470
 471         public  void set_accel(double along, double across, double through) {
 472                 if (accel_along == null) {
 473                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 474                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 475                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 476                 }
 477                 accel_along.add(time(), along);
 478                 accel_across.add(time(), across);
 479                 accel_through.add(time(), through);
 480         }
 481
 482         public  void set_accel_ground(double along, double across, double through) {
 483         }
 484
 485         public  void set_gyro(double roll, double pitch, double yaw) {
 486                 if (gyro_roll == null) {
 487                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 488                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 489                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 490                 }
 491                 gyro_roll.add(time(), roll);
 492                 gyro_pitch.add(time(), pitch);
 493                 gyro_yaw.add(time(), yaw);
 494         }
 495
 496         public  void set_mag(double along, double across, double through) {
 497                 if (mag_along == null) {
 498                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 499                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 500                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 501                 }
 502                 mag_along.add(time(), along);
 503                 mag_across.add(time(), across);
 504                 mag_through.add(time(), through);
 505         }
 506
 507         public static final String orient_name = "Tilt Angle";
 508
 509         public AltosTimeSeries orient_series;
 510
 511         public void set_orient(double orient) {
 512                 if (orient_series == null)
 513                         orient_series = add_series(orient_name, AltosConvert.orient);
 514                 orient_series.add(time(), orient);
 515         }
 516
 517         public static final String pyro_voltage_name = "Pyro Voltage";
 518
 519         public AltosTimeSeries pyro_voltage;
 520
 521         public  void set_pyro_voltage(double volts) {
 522                 if (pyro_voltage == null)
 523                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 524                 pyro_voltage.add(time(), volts);
 525         }
 526
 527         private static String[] igniter_voltage_names;
 528
 529         public String igniter_voltage_name(int channel) {
 530                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 531                         String[] new_igniter_voltage_names = new String[channel + 1];
 532                         int     i = 0;
 533
 534                         if (igniter_voltage_names != null) {
 535                                 for (; i < igniter_voltage_names.length; i++)
 536                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 537                         }
 538                         for (; i < channel+1; i++)
 539                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 540                         igniter_voltage_names = new_igniter_voltage_names;
 541                 }
 542                 return igniter_voltage_names[channel];
 543         }
 544
 545         public AltosTimeSeries[] igniter_voltage;
 546
 547         public  void set_igniter_voltage(double[] voltage) {
 548                 int channels = voltage.length;
 549                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 550                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 551                         int                     i = 0;
 552
 553                         if (igniter_voltage != null) {
 554                                 for (; i < igniter_voltage.length; i++)
 555                                         new_igniter_voltage[i] = igniter_voltage[i];
 556                         }
 557                         for (; i < channels; i++)
 558                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 559                         igniter_voltage = new_igniter_voltage;
 560                 }
 561                 for (int channel = 0; channel < voltage.length; channel++)
 562                         igniter_voltage[channel].add(time(), voltage[channel]);
 563         }
 564
 565         public static final String pyro_fired_name = "Pyro Channel State";
 566
 567         public AltosTimeSeries pyro_fired_series;
 568
 569         int     last_pyro_mask;
 570
 571         public  void set_pyro_fired(int pyro_mask) {
 572                 if (pyro_fired_series == null)
 573                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 574                 for (int channel = 0; channel < 32; channel++) {
 575                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 576                             (pyro_mask & (1 << channel)) != 0) {
 577                                 pyro_fired_series.add(time(), channel);
 578                         }
 579                 }
 580                 last_pyro_mask = pyro_mask;
 581         }
 582
 583         public void set_companion(AltosCompanion companion) {
 584         }
 585
 586         public void finish() {
 587                 compute_speed();
 588                 compute_accel();
 589                 compute_height();
 590         }
 591
 592         public AltosTimeSeries[] series() {
 593                 finish();
 594                 return series.toArray(new AltosTimeSeries[0]);
 595         }
 596
 597         public AltosFlightSeries(AltosCalData cal_data) {
 598                 super(cal_data);
 599         }
 600 }