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 (acceleration == AltosLib.MISSING)
 160                         return;
 161                 if (accel_series == null)
 162                         accel_series = add_series(accel_name, AltosConvert.accel);
 163
 164                 accel_series.add(time(), acceleration);
 165         }
 166
 167         private void compute_accel() {
 168                 if (accel_series != null)
 169                         return;
 170
 171                 if (speed_series != null) {
 172                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 173                         speed_series.filter(temp_series, accel_filter_width);
 174                         accel_series = add_series(accel_name, AltosConvert.accel);
 175                         temp_series.differentiate(accel_series);
 176                 }
 177         }
 178
 179         public void set_received_time(long received_time) {
 180         }
 181
 182         public AltosTimeSeries rssi_series;
 183
 184         public static final String rssi_name = "RSSI";
 185
 186         public AltosTimeSeries status_series;
 187
 188         public static final String status_name = "Radio Status";
 189
 190         public void set_rssi(int rssi, int status) {
 191                 if (rssi_series == null) {
 192                         rssi_series = add_series(rssi_name, null);
 193                         status_series = add_series(status_name, null);
 194                 }
 195                 rssi_series.add(time(), rssi);
 196                 status_series.add(time(), status);
 197         }
 198
 199         public AltosTimeSeries pressure_series;
 200
 201         public static final String pressure_name = "Pressure";
 202
 203         public AltosTimeSeries altitude_series;
 204
 205         public static final String altitude_name = "Altitude";
 206
 207         public AltosTimeSeries height_series;
 208
 209         public static final String height_name = "Height";
 210
 211         public  void set_pressure(double pa) {
 212                 if (pa == AltosLib.MISSING)
 213                         return;
 214
 215                 if (pressure_series == null)
 216                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 217                 pressure_series.add(time(), pa);
 218                 if (altitude_series == null)
 219                         altitude_series = add_series(altitude_name, AltosConvert.height);
 220
 221                 if (cal_data.ground_pressure == AltosLib.MISSING)
 222                         cal_data.set_ground_pressure(pa);
 223
 224                 double altitude = AltosConvert.pressure_to_altitude(pa);
 225                 altitude_series.add(time(), altitude);
 226         }
 227
 228         private void compute_height() {
 229                 double ground_altitude = cal_data.ground_altitude;
 230                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 231                         height_series = add_series(height_name, AltosConvert.height);
 232                         for (AltosTimeValue alt : altitude_series)
 233                                 height_series.add(alt.time, alt.value - ground_altitude);
 234                 }
 235
 236                 if (gps_height == null && cal_data.gps_pad != null && gps_altitude != null) {
 237                         double gps_ground_altitude = cal_data.gps_pad.alt;
 238                         gps_height = add_series(gps_height_name, AltosConvert.height);
 239                         for (AltosTimeValue gps_alt : gps_altitude)
 240                                 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
 241                 }
 242         }
 243
 244         public AltosTimeSeries speed_series;
 245
 246         public static final String speed_name = "Speed";
 247
 248         private void compute_speed() {
 249                 if (speed_series != null)
 250                         return;
 251
 252                 AltosTimeSeries alt_speed_series = null;
 253                 AltosTimeSeries accel_speed_series = null;
 254
 255                 if (altitude_series != null) {
 256                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 257                         altitude_series.filter(temp_series, speed_filter_width);
 258
 259                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 260                         temp_series.differentiate(alt_speed_series);
 261                 }
 262                 if (accel_series != null) {
 263                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 264                         accel_series.integrate(temp_series);
 265
 266                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 267                         temp_series.filter(accel_speed_series, 0.1);
 268                 }
 269
 270                 if (alt_speed_series != null && accel_speed_series != null) {
 271                         double  apogee_time = AltosLib.MISSING;
 272                         if (state_series != null) {
 273                                 for (AltosTimeValue d : state_series) {
 274                                         if (d.value >= AltosLib.ao_flight_drogue){
 275                                                 apogee_time = d.time;
 276                                                 break;
 277                                         }
 278                                 }
 279                         }
 280                         if (apogee_time == AltosLib.MISSING) {
 281                                 speed_series = alt_speed_series;
 282                         } else {
 283                                 speed_series = make_series(speed_name, AltosConvert.speed);
 284                                 for (AltosTimeValue d : accel_speed_series) {
 285                                         if (d.time <= apogee_time)
 286                                                 speed_series.add(d);
 287                                 }
 288                                 for (AltosTimeValue d : alt_speed_series) {
 289                                         if (d.time > apogee_time)
 290                                                 speed_series.add(d);
 291                                 }
 292
 293                         }
 294                 } else if (alt_speed_series != null) {
 295                         speed_series = alt_speed_series;
 296                 } else if (accel_speed_series != null) {
 297                         speed_series = accel_speed_series;
 298                 }
 299                 if (speed_series != null)
 300                         add_series(speed_series);
 301         }
 302
 303         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 304
 305         public static final String kalman_height_name = "Kalman Height";
 306         public static final String kalman_speed_name = "Kalman Speed";
 307         public static final String kalman_accel_name = "Kalman Accel";
 308
 309         public void set_kalman(double height, double speed, double acceleration) {
 310                 if (kalman_height_series == null) {
 311                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 312                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 313                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 314                 }
 315                 kalman_height_series.add(time(), height);
 316                 kalman_speed_series.add(time(), speed);
 317                 kalman_accel_series.add(time(), acceleration);
 318         }
 319
 320         public AltosTimeSeries thrust_series;
 321
 322         public static final String thrust_name = "Thrust";
 323
 324         public  void set_thrust(double N) {
 325                 if (thrust_series == null)
 326                         thrust_series = add_series(thrust_name, AltosConvert.force);
 327                 thrust_series.add(time(), N);
 328         }
 329
 330         public AltosTimeSeries temperature_series;
 331
 332         public static final String temperature_name = "Temperature";
 333
 334         public  void set_temperature(double deg_c) {
 335                 if (temperature_series == null)
 336                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 337                 temperature_series.add(time(), deg_c);
 338         }
 339
 340         public AltosTimeSeries battery_voltage_series;
 341
 342         public static final String battery_voltage_name = "Battery Voltage";
 343
 344         public void set_battery_voltage(double volts) {
 345                 if (volts == AltosLib.MISSING)
 346                         return;
 347                 if (battery_voltage_series == null)
 348                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 349                 battery_voltage_series.add(time(), volts);
 350         }
 351
 352         public AltosTimeSeries apogee_voltage_series;
 353
 354         public static final String apogee_voltage_name = "Apogee Voltage";
 355
 356         public void set_apogee_voltage(double volts) {
 357                 if (volts == AltosLib.MISSING)
 358                         return;
 359                 if (apogee_voltage_series == null)
 360                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 361                 apogee_voltage_series.add(time(), volts);
 362         }
 363
 364         public AltosTimeSeries main_voltage_series;
 365
 366         public static final String main_voltage_name = "Main Voltage";
 367
 368         public void set_main_voltage(double volts) {
 369                 if (volts == AltosLib.MISSING)
 370                         return;
 371                 if (main_voltage_series == null)
 372                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 373                 main_voltage_series.add(time(), volts);
 374         }
 375
 376         public ArrayList<AltosGPSTimeValue> gps_series;
 377
 378         public AltosGPS gps_before(double time) {
 379                 AltosGPS gps = null;
 380                 for (AltosGPSTimeValue gtv : gps_series)
 381                         if (gtv.time <= time)
 382                                 gps = gtv.gps;
 383                         else
 384                                 break;
 385                 return gps;
 386         }
 387
 388         public AltosTimeSeries  sats_in_view;
 389         public AltosTimeSeries sats_in_soln;
 390         public AltosTimeSeries gps_altitude;
 391         public AltosTimeSeries gps_height;
 392         public AltosTimeSeries gps_ground_speed;
 393         public AltosTimeSeries gps_ascent_rate;
 394         public AltosTimeSeries gps_course;
 395         public AltosTimeSeries gps_speed;
 396         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 397
 398         public static final String sats_in_view_name = "Satellites in view";
 399         public static final String sats_in_soln_name = "Satellites in solution";
 400         public static final String gps_altitude_name = "GPS Altitude";
 401         public static final String gps_height_name = "GPS Height";
 402         public static final String gps_ground_speed_name = "GPS Ground Speed";
 403         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 404         public static final String gps_course_name = "GPS Course";
 405         public static final String gps_speed_name = "GPS Speed";
 406         public static final String gps_pdop_name = "GPS Dilution of Precision";
 407         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 408         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 409
 410         public void set_gps(AltosGPS gps) {
 411                 if (gps_series == null)
 412                         gps_series = new ArrayList<AltosGPSTimeValue>();
 413                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 414
 415                 if (sats_in_soln == null) {
 416                         sats_in_soln = add_series(sats_in_soln_name, null);
 417                 }
 418                 sats_in_soln.add(time(), gps.nsat);
 419                 if (gps.pdop != AltosLib.MISSING) {
 420                         if (gps_pdop == null)
 421                                 gps_pdop = add_series(gps_pdop_name, null);
 422                         gps_pdop.add(time(), gps.pdop);
 423                 }
 424                 if (gps.hdop != AltosLib.MISSING) {
 425                         if (gps_hdop == null)
 426                                 gps_hdop = add_series(gps_hdop_name, null);
 427                         gps_hdop.add(time(), gps.hdop);
 428                 }
 429                 if (gps.vdop != AltosLib.MISSING) {
 430                         if (gps_vdop == null)
 431                                 gps_vdop = add_series(gps_vdop_name, null);
 432                         gps_vdop.add(time(), gps.vdop);
 433                 }
 434                 if (gps.locked) {
 435                         if (gps.alt != AltosLib.MISSING) {
 436                                 if (gps_altitude == null)
 437                                         gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 438                                 gps_altitude.add(time(), gps.alt);
 439                         }
 440                         if (gps.ground_speed != AltosLib.MISSING) {
 441                                 if (gps_ground_speed == null)
 442                                         gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 443                                 gps_ground_speed.add(time(), gps.ground_speed);
 444                         }
 445                         if (gps.climb_rate != AltosLib.MISSING) {
 446                                 if (gps_ascent_rate == null)
 447                                         gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 448                                 gps_ascent_rate.add(time(), gps.climb_rate);
 449                         }
 450                         if (gps.course != AltosLib.MISSING) {
 451                                 if (gps_course == null)
 452                                         gps_course = add_series(gps_course_name, null);
 453                                 gps_course.add(time(), gps.course);
 454                         }
 455                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
 456                                 if (gps_speed == null)
 457                                         gps_speed = add_series(gps_speed_name, null);
 458                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 459                                                                 gps.climb_rate * gps.climb_rate));
 460                         }
 461                 }
 462                 if (gps.cc_gps_sat != null) {
 463                         if (sats_in_view == null)
 464                                 sats_in_view = add_series(sats_in_view_name, null);
 465                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 466                 }
 467         }
 468
 469         public static final String accel_along_name = "Accel Along";
 470         public static final String accel_across_name = "Accel Across";
 471         public static final String accel_through_name = "Accel Through";
 472
 473         public AltosTimeSeries accel_along, accel_across, accel_through;
 474
 475         public static final String gyro_roll_name = "Roll Rate";
 476         public static final String gyro_pitch_name = "Pitch Rate";
 477         public static final String gyro_yaw_name = "Yaw Rate";
 478
 479         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 480
 481         public static final String mag_along_name = "Magnetic Field Along";
 482         public static final String mag_across_name = "Magnetic Field Across";
 483         public static final String mag_through_name = "Magnetic Field Through";
 484
 485         public AltosTimeSeries mag_along, mag_across, mag_through;
 486
 487         public  void set_accel(double along, double across, double through) {
 488                 if (accel_along == null) {
 489                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 490                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 491                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 492                 }
 493                 accel_along.add(time(), along);
 494                 accel_across.add(time(), across);
 495                 accel_through.add(time(), through);
 496         }
 497
 498         public  void set_accel_ground(double along, double across, double through) {
 499         }
 500
 501         public  void set_gyro(double roll, double pitch, double yaw) {
 502                 if (gyro_roll == null) {
 503                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 504                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 505                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 506                 }
 507                 gyro_roll.add(time(), roll);
 508                 gyro_pitch.add(time(), pitch);
 509                 gyro_yaw.add(time(), yaw);
 510         }
 511
 512         public  void set_mag(double along, double across, double through) {
 513                 if (mag_along == null) {
 514                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 515                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 516                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 517                 }
 518                 mag_along.add(time(), along);
 519                 mag_across.add(time(), across);
 520                 mag_through.add(time(), through);
 521         }
 522
 523         public static final String orient_name = "Tilt Angle";
 524
 525         public AltosTimeSeries orient_series;
 526
 527         public void set_orient(double orient) {
 528                 if (orient_series == null)
 529                         orient_series = add_series(orient_name, AltosConvert.orient);
 530                 orient_series.add(time(), orient);
 531         }
 532
 533         public static final String pyro_voltage_name = "Pyro Voltage";
 534
 535         public AltosTimeSeries pyro_voltage;
 536
 537         public  void set_pyro_voltage(double volts) {
 538                 if (pyro_voltage == null)
 539                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 540                 pyro_voltage.add(time(), volts);
 541         }
 542
 543         private static String[] igniter_voltage_names;
 544
 545         public String igniter_voltage_name(int channel) {
 546                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 547                         String[] new_igniter_voltage_names = new String[channel + 1];
 548                         int     i = 0;
 549
 550                         if (igniter_voltage_names != null) {
 551                                 for (; i < igniter_voltage_names.length; i++)
 552                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 553                         }
 554                         for (; i < channel+1; i++)
 555                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 556                         igniter_voltage_names = new_igniter_voltage_names;
 557                 }
 558                 return igniter_voltage_names[channel];
 559         }
 560
 561         public AltosTimeSeries[] igniter_voltage;
 562
 563         public  void set_igniter_voltage(double[] voltage) {
 564                 int channels = voltage.length;
 565                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 566                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 567                         int                     i = 0;
 568
 569                         if (igniter_voltage != null) {
 570                                 for (; i < igniter_voltage.length; i++)
 571                                         new_igniter_voltage[i] = igniter_voltage[i];
 572                         }
 573                         for (; i < channels; i++)
 574                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 575                         igniter_voltage = new_igniter_voltage;
 576                 }
 577                 for (int channel = 0; channel < voltage.length; channel++)
 578                         igniter_voltage[channel].add(time(), voltage[channel]);
 579         }
 580
 581         public static final String pyro_fired_name = "Pyro Channel State";
 582
 583         public AltosTimeSeries pyro_fired_series;
 584
 585         int     last_pyro_mask;
 586
 587         public  void set_pyro_fired(int pyro_mask) {
 588                 if (pyro_fired_series == null)
 589                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 590                 for (int channel = 0; channel < 32; channel++) {
 591                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 592                             (pyro_mask & (1 << channel)) != 0) {
 593                                 pyro_fired_series.add(time(), channel);
 594                         }
 595                 }
 596                 last_pyro_mask = pyro_mask;
 597         }
 598
 599         public void set_companion(AltosCompanion companion) {
 600         }
 601
 602         public void finish() {
 603                 compute_speed();
 604                 compute_accel();
 605                 compute_height();
 606         }
 607
 608         public AltosTimeSeries[] series() {
 609                 finish();
 610                 return series.toArray(new AltosTimeSeries[0]);
 611         }
 612
 613         public AltosFlightSeries(AltosCalData cal_data) {
 614                 super(cal_data);
 615         }
 616 }