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
 147                 if (state == AltosLib.ao_flight_pad)
 148                         return;
 149
 150                 if (state_series == null)
 151                         state_series = add_series(state_name, AltosConvert.state_name);
 152                 else if (this.state == state)
 153                         return;
 154                 this.state = state;
 155                 state_series.add(time(), state);
 156         }
 157
 158         public AltosTimeSeries  accel_series;
 159
 160         public static final String accel_name = "Accel";
 161
 162         public void set_acceleration(double acceleration) {
 163                 if (acceleration == AltosLib.MISSING)
 164                         return;
 165                 if (accel_series == null)
 166                         accel_series = add_series(accel_name, AltosConvert.accel);
 167
 168                 accel_series.add(time(), acceleration);
 169         }
 170
 171         private void compute_accel() {
 172                 if (accel_series != null)
 173                         return;
 174
 175                 if (speed_series != null) {
 176                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 177                         speed_series.filter(temp_series, accel_filter_width);
 178                         accel_series = add_series(accel_name, AltosConvert.accel);
 179                         temp_series.differentiate(accel_series);
 180                 }
 181         }
 182
 183         public void set_received_time(long received_time) {
 184         }
 185
 186         public AltosTimeSeries rssi_series;
 187
 188         public static final String rssi_name = "RSSI";
 189
 190         public void set_rssi(int rssi, int status) {
 191                 if (rssi_series == null) {
 192                         rssi_series = add_series(rssi_name, null);
 193                 }
 194                 rssi_series.add(time(), rssi);
 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 (pa == AltosLib.MISSING)
 211                         return;
 212
 213                 if (pressure_series == null)
 214                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 215                 pressure_series.add(time(), pa);
 216                 if (altitude_series == null)
 217                         altitude_series = add_series(altitude_name, AltosConvert.height);
 218
 219                 if (cal_data.ground_pressure == AltosLib.MISSING)
 220                         cal_data.set_ground_pressure(pa);
 221
 222                 double altitude = AltosConvert.pressure_to_altitude(pa);
 223                 altitude_series.add(time(), altitude);
 224         }
 225
 226         private void compute_height() {
 227                 double ground_altitude = cal_data.ground_altitude;
 228                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 229                         height_series = add_series(height_name, AltosConvert.height);
 230                         for (AltosTimeValue alt : altitude_series)
 231                                 height_series.add(alt.time, alt.value - ground_altitude);
 232                 }
 233
 234                 if (gps_height == null && cal_data.gps_pad != null && gps_altitude != null) {
 235                         double gps_ground_altitude = cal_data.gps_pad.alt;
 236                         gps_height = add_series(gps_height_name, AltosConvert.height);
 237                         for (AltosTimeValue gps_alt : gps_altitude)
 238                                 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
 239                 }
 240         }
 241
 242         public AltosTimeSeries speed_series;
 243
 244         public static final String speed_name = "Speed";
 245
 246         private void compute_speed() {
 247                 if (speed_series != null)
 248                         return;
 249
 250                 AltosTimeSeries alt_speed_series = null;
 251                 AltosTimeSeries accel_speed_series = null;
 252
 253                 if (altitude_series != null) {
 254                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 255                         altitude_series.filter(temp_series, speed_filter_width);
 256
 257                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 258                         temp_series.differentiate(alt_speed_series);
 259                 }
 260                 if (accel_series != null) {
 261                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 262                         accel_series.integrate(temp_series);
 263
 264                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 265                         temp_series.filter(accel_speed_series, 0.1);
 266                 }
 267
 268                 if (alt_speed_series != null && accel_speed_series != null) {
 269                         double  apogee_time = AltosLib.MISSING;
 270                         if (state_series != null) {
 271                                 for (AltosTimeValue d : state_series) {
 272                                         if (d.value >= AltosLib.ao_flight_drogue){
 273                                                 apogee_time = d.time;
 274                                                 break;
 275                                         }
 276                                 }
 277                         }
 278                         if (apogee_time == AltosLib.MISSING) {
 279                                 speed_series = alt_speed_series;
 280                         } else {
 281                                 speed_series = make_series(speed_name, AltosConvert.speed);
 282                                 for (AltosTimeValue d : accel_speed_series) {
 283                                         if (d.time <= apogee_time)
 284                                                 speed_series.add(d);
 285                                 }
 286                                 for (AltosTimeValue d : alt_speed_series) {
 287                                         if (d.time > apogee_time)
 288                                                 speed_series.add(d);
 289                                 }
 290
 291                         }
 292                 } else if (alt_speed_series != null) {
 293                         speed_series = alt_speed_series;
 294                 } else if (accel_speed_series != null) {
 295                         speed_series = accel_speed_series;
 296                 }
 297                 if (speed_series != null)
 298                         add_series(speed_series);
 299         }
 300
 301         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 302
 303         public static final String kalman_height_name = "Kalman Height";
 304         public static final String kalman_speed_name = "Kalman Speed";
 305         public static final String kalman_accel_name = "Kalman Accel";
 306
 307         public void set_kalman(double height, double speed, double acceleration) {
 308                 if (kalman_height_series == null) {
 309                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 310                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 311                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 312                 }
 313                 kalman_height_series.add(time(), height);
 314                 kalman_speed_series.add(time(), speed);
 315                 kalman_accel_series.add(time(), acceleration);
 316         }
 317
 318         public AltosTimeSeries thrust_series;
 319
 320         public static final String thrust_name = "Thrust";
 321
 322         public  void set_thrust(double N) {
 323                 if (thrust_series == null)
 324                         thrust_series = add_series(thrust_name, AltosConvert.force);
 325                 thrust_series.add(time(), N);
 326         }
 327
 328         public AltosTimeSeries temperature_series;
 329
 330         public static final String temperature_name = "Temperature";
 331
 332         public  void set_temperature(double deg_c) {
 333                 if (temperature_series == null)
 334                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 335                 temperature_series.add(time(), deg_c);
 336         }
 337
 338         public AltosTimeSeries battery_voltage_series;
 339
 340         public static final String battery_voltage_name = "Battery Voltage";
 341
 342         public void set_battery_voltage(double volts) {
 343                 if (volts == AltosLib.MISSING)
 344                         return;
 345                 if (battery_voltage_series == null)
 346                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 347                 battery_voltage_series.add(time(), volts);
 348         }
 349
 350         public AltosTimeSeries apogee_voltage_series;
 351
 352         public static final String apogee_voltage_name = "Apogee Voltage";
 353
 354         public void set_apogee_voltage(double volts) {
 355                 if (volts == AltosLib.MISSING)
 356                         return;
 357                 if (apogee_voltage_series == null)
 358                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 359                 apogee_voltage_series.add(time(), volts);
 360         }
 361
 362         public AltosTimeSeries main_voltage_series;
 363
 364         public static final String main_voltage_name = "Main Voltage";
 365
 366         public void set_main_voltage(double volts) {
 367                 if (volts == AltosLib.MISSING)
 368                         return;
 369                 if (main_voltage_series == null)
 370                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 371                 main_voltage_series.add(time(), volts);
 372         }
 373
 374         public ArrayList<AltosGPSTimeValue> gps_series;
 375
 376         public AltosGPS gps_before(double time) {
 377                 AltosGPS gps = null;
 378                 for (AltosGPSTimeValue gtv : gps_series)
 379                         if (gtv.time <= time)
 380                                 gps = gtv.gps;
 381                         else
 382                                 break;
 383                 return gps;
 384         }
 385
 386         public AltosTimeSeries  sats_in_view;
 387         public AltosTimeSeries sats_in_soln;
 388         public AltosTimeSeries gps_altitude;
 389         public AltosTimeSeries gps_height;
 390         public AltosTimeSeries gps_ground_speed;
 391         public AltosTimeSeries gps_ascent_rate;
 392         public AltosTimeSeries gps_course;
 393         public AltosTimeSeries gps_speed;
 394         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 395
 396         public static final String sats_in_view_name = "Satellites in view";
 397         public static final String sats_in_soln_name = "Satellites in solution";
 398         public static final String gps_altitude_name = "GPS Altitude";
 399         public static final String gps_height_name = "GPS Height";
 400         public static final String gps_ground_speed_name = "GPS Ground Speed";
 401         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 402         public static final String gps_course_name = "GPS Course";
 403         public static final String gps_speed_name = "GPS Speed";
 404         public static final String gps_pdop_name = "GPS Dilution of Precision";
 405         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 406         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 407
 408         public void set_gps(AltosGPS gps) {
 409                 if (gps_series == null)
 410                         gps_series = new ArrayList<AltosGPSTimeValue>();
 411                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 412
 413                 if (sats_in_soln == null) {
 414                         sats_in_soln = add_series(sats_in_soln_name, null);
 415                 }
 416                 sats_in_soln.add(time(), gps.nsat);
 417                 if (gps.pdop != AltosLib.MISSING) {
 418                         if (gps_pdop == null)
 419                                 gps_pdop = add_series(gps_pdop_name, null);
 420                         gps_pdop.add(time(), gps.pdop);
 421                 }
 422                 if (gps.hdop != AltosLib.MISSING) {
 423                         if (gps_hdop == null)
 424                                 gps_hdop = add_series(gps_hdop_name, null);
 425                         gps_hdop.add(time(), gps.hdop);
 426                 }
 427                 if (gps.vdop != AltosLib.MISSING) {
 428                         if (gps_vdop == null)
 429                                 gps_vdop = add_series(gps_vdop_name, null);
 430                         gps_vdop.add(time(), gps.vdop);
 431                 }
 432                 if (gps.locked) {
 433                         if (gps.alt != AltosLib.MISSING) {
 434                                 if (gps_altitude == null)
 435                                         gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 436                                 gps_altitude.add(time(), gps.alt);
 437                         }
 438                         if (gps.ground_speed != AltosLib.MISSING) {
 439                                 if (gps_ground_speed == null)
 440                                         gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 441                                 gps_ground_speed.add(time(), gps.ground_speed);
 442                         }
 443                         if (gps.climb_rate != AltosLib.MISSING) {
 444                                 if (gps_ascent_rate == null)
 445                                         gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 446                                 gps_ascent_rate.add(time(), gps.climb_rate);
 447                         }
 448                         if (gps.course != AltosLib.MISSING) {
 449                                 if (gps_course == null)
 450                                         gps_course = add_series(gps_course_name, null);
 451                                 gps_course.add(time(), gps.course);
 452                         }
 453                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
 454                                 if (gps_speed == null)
 455                                         gps_speed = add_series(gps_speed_name, null);
 456                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 457                                                                 gps.climb_rate * gps.climb_rate));
 458                         }
 459                 }
 460                 if (gps.cc_gps_sat != null) {
 461                         if (sats_in_view == null)
 462                                 sats_in_view = add_series(sats_in_view_name, null);
 463                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 464                 }
 465         }
 466
 467         public static final String accel_along_name = "Accel Along";
 468         public static final String accel_across_name = "Accel Across";
 469         public static final String accel_through_name = "Accel Through";
 470
 471         public AltosTimeSeries accel_along, accel_across, accel_through;
 472
 473         public static final String gyro_roll_name = "Roll Rate";
 474         public static final String gyro_pitch_name = "Pitch Rate";
 475         public static final String gyro_yaw_name = "Yaw Rate";
 476
 477         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 478
 479         public static final String mag_along_name = "Magnetic Field Along";
 480         public static final String mag_across_name = "Magnetic Field Across";
 481         public static final String mag_through_name = "Magnetic Field Through";
 482
 483         public AltosTimeSeries mag_along, mag_across, mag_through;
 484
 485         public  void set_accel(double along, double across, double through) {
 486                 if (accel_along == null) {
 487                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 488                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 489                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 490                 }
 491                 accel_along.add(time(), along);
 492                 accel_across.add(time(), across);
 493                 accel_through.add(time(), through);
 494         }
 495
 496         public  void set_accel_ground(double along, double across, double through) {
 497         }
 498
 499         public  void set_gyro(double roll, double pitch, double yaw) {
 500                 if (gyro_roll == null) {
 501                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 502                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 503                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 504                 }
 505                 gyro_roll.add(time(), roll);
 506                 gyro_pitch.add(time(), pitch);
 507                 gyro_yaw.add(time(), yaw);
 508         }
 509
 510         public  void set_mag(double along, double across, double through) {
 511                 if (mag_along == null) {
 512                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 513                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 514                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 515                 }
 516                 mag_along.add(time(), along);
 517                 mag_across.add(time(), across);
 518                 mag_through.add(time(), through);
 519         }
 520
 521         public static final String orient_name = "Tilt Angle";
 522
 523         public AltosTimeSeries orient_series;
 524
 525         public void set_orient(double orient) {
 526                 if (orient_series == null)
 527                         orient_series = add_series(orient_name, AltosConvert.orient);
 528                 orient_series.add(time(), orient);
 529         }
 530
 531         public static final String pyro_voltage_name = "Pyro Voltage";
 532
 533         public AltosTimeSeries pyro_voltage;
 534
 535         public  void set_pyro_voltage(double volts) {
 536                 if (pyro_voltage == null)
 537                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 538                 pyro_voltage.add(time(), volts);
 539         }
 540
 541         private static String[] igniter_voltage_names;
 542
 543         public String igniter_voltage_name(int channel) {
 544                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 545                         String[] new_igniter_voltage_names = new String[channel + 1];
 546                         int     i = 0;
 547
 548                         if (igniter_voltage_names != null) {
 549                                 for (; i < igniter_voltage_names.length; i++)
 550                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 551                         }
 552                         for (; i < channel+1; i++)
 553                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 554                         igniter_voltage_names = new_igniter_voltage_names;
 555                 }
 556                 return igniter_voltage_names[channel];
 557         }
 558
 559         public AltosTimeSeries[] igniter_voltage;
 560
 561         public  void set_igniter_voltage(double[] voltage) {
 562                 int channels = voltage.length;
 563                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 564                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 565                         int                     i = 0;
 566
 567                         if (igniter_voltage != null) {
 568                                 for (; i < igniter_voltage.length; i++)
 569                                         new_igniter_voltage[i] = igniter_voltage[i];
 570                         }
 571                         for (; i < channels; i++)
 572                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 573                         igniter_voltage = new_igniter_voltage;
 574                 }
 575                 for (int channel = 0; channel < voltage.length; channel++)
 576                         igniter_voltage[channel].add(time(), voltage[channel]);
 577         }
 578
 579         public static final String pyro_fired_name = "Pyro Channel State";
 580
 581         public AltosTimeSeries pyro_fired_series;
 582
 583         int     last_pyro_mask;
 584
 585         public  void set_pyro_fired(int pyro_mask) {
 586                 if (pyro_fired_series == null)
 587                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 588                 for (int channel = 0; channel < 32; channel++) {
 589                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 590                             (pyro_mask & (1 << channel)) != 0) {
 591                                 pyro_fired_series.add(time(), channel);
 592                         }
 593                 }
 594                 last_pyro_mask = pyro_mask;
 595         }
 596
 597         public void set_companion(AltosCompanion companion) {
 598         }
 599
 600         public void finish() {
 601                 compute_speed();
 602                 compute_accel();
 603                 compute_height();
 604         }
 605
 606         public AltosTimeSeries[] series() {
 607                 finish();
 608                 return series.toArray(new AltosTimeSeries[0]);
 609         }
 610
 611         public AltosFlightSeries(AltosCalData cal_data) {
 612                 super(cal_data);
 613         }
 614 }