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 int[] indices() {
  24                 int[] indices = new int[series.size()];
  25                 for (int i = 0; i < indices.length; i++)
  26                         indices[i] = -1;
  27                 step_indices(indices);
  28                 return indices;
  29         }
  30
  31         private double time(int id, int index) {
  32                 AltosTimeSeries         s = series.get(id);
  33
  34                 if (index < 0)
  35                         return Double.NEGATIVE_INFINITY;
  36
  37                 if (index < s.values.size())
  38                         return s.values.get(index).time;
  39                 return Double.POSITIVE_INFINITY;
  40         }
  41
  42         public boolean step_indices(int[] indices) {
  43                 double  min_next = time(0, indices[0]+1);
  44
  45                 for (int i = 1; i < indices.length; i++) {
  46                         double next = time(i, indices[i]+1);
  47                         if (next < min_next)
  48                                 min_next = next;
  49                 }
  50
  51                 if (min_next == Double.POSITIVE_INFINITY)
  52                         return false;
  53
  54                 for (int i = 0; i < indices.length; i++) {
  55                         double  t = time(i, indices[i] + 1);
  56
  57                         if (t <= min_next)
  58                                 indices[i]++;
  59                 }
  60                 return true;
  61         }
  62
  63         public double time(int[] indices) {
  64                 double max = time(0, indices[0]);
  65
  66                 for (int i = 1; i < indices.length; i++) {
  67                         double t = time(i, indices[i]);
  68                         if (t >= max)
  69                                 max = t;
  70                 }
  71                 return max;
  72         }
  73
  74         public double value(String name, int[] indices) {
  75                 for (int i = 0; i < indices.length; i++) {
  76                         AltosTimeSeries s = series.get(i);
  77                         if (s.label.equals(name)) {
  78                                 int index = indices[i];
  79                                 if (index < 0)
  80                                         index = 0;
  81                                 if (index >= s.values.size())
  82                                         index = s.values.size() - 1;
  83                                 return s.values.get(index).value;
  84                         }
  85                 }
  86                 return AltosLib.MISSING;
  87         }
  88
  89         public double value_before(String name, double time) {
  90                 for (AltosTimeSeries s : series) {
  91                         if (s.label.equals(name))
  92                                 return s.value_before(time);
  93                 }
  94                 return AltosLib.MISSING;
  95         }
  96
  97         public double value_after(String name, double time) {
  98                 for (AltosTimeSeries s : series) {
  99                         if (s.label.equals(name))
 100                                 return s.value_after(time);
 101                 }
 102                 return AltosLib.MISSING;
 103         }
 104
 105         public AltosTimeSeries make_series(String label, AltosUnits units) {
 106                 return new AltosTimeSeries(label, units);
 107         }
 108
 109         public void add_series(AltosTimeSeries s) {
 110                 series.add(s);
 111         }
 112
 113         public AltosTimeSeries add_series(String label, AltosUnits units) {
 114                 AltosTimeSeries s = make_series(label, units);
 115                 add_series(s);
 116                 return s;
 117         }
 118
 119         public void remove_series(AltosTimeSeries s) {
 120                 series.remove(s);
 121         }
 122
 123         public boolean has_series(String label) {
 124                 for (AltosTimeSeries s : series)
 125                         if (s.label.equals(label))
 126                                 return true;
 127                 return false;
 128         }
 129
 130         AltosTimeSeries state_series;
 131
 132         public static final String state_name = "State";
 133
 134         public void set_state(int state) {
 135                 if (state_series == null)
 136                         state_series = add_series(state_name, AltosConvert.state_name);
 137                 else if (this.state == state)
 138                         return;
 139                 this.state = state;
 140                 state_series.add(time(), state);
 141         }
 142
 143         AltosTimeSeries accel_series;
 144
 145         public static final String accel_name = "Accel";
 146
 147         public void set_acceleration(double acceleration) {
 148                 if (accel_series == null) {
 149                         accel_series = add_series(accel_name, AltosConvert.accel);
 150                 }
 151                 accel_series.add(time(), acceleration);
 152         }
 153
 154         private void compute_accel() {
 155                 if (accel_series != null)
 156                         return;
 157
 158                 if (speed_series != null) {
 159                         AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
 160                         speed_series.differentiate(temp_series);
 161                         accel_series = add_series(accel_name, AltosConvert.accel);
 162                         temp_series.filter(accel_series, 0.25);
 163                 }
 164         }
 165
 166         public void set_received_time(long received_time) {
 167         }
 168
 169         AltosTimeSeries rssi_series;
 170
 171         public static final String rssi_name = "RSSI";
 172
 173         AltosTimeSeries status_series;
 174
 175         public static final String status_name = "Radio Status";
 176
 177         public void set_rssi(int rssi, int status) {
 178                 if (rssi_series == null) {
 179                         rssi_series = add_series(rssi_name, null);
 180                         status_series = add_series(status_name, null);
 181                 }
 182                 rssi_series.add(time(), rssi);
 183                 status_series.add(time(), status);
 184         }
 185
 186         AltosTimeSeries pressure_series;
 187
 188         public static final String pressure_name = "Pressure";
 189
 190         AltosTimeSeries altitude_series;
 191
 192         public static final String altitude_name = "Altitude";
 193
 194         AltosTimeSeries height_series;
 195
 196         public static final String height_name = "Height";
 197
 198         public  void set_pressure(double pa) {
 199                 if (pressure_series == null)
 200                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 201                 pressure_series.add(time(), pa);
 202                 if (altitude_series == null)
 203                         altitude_series = add_series(altitude_name, AltosConvert.height);
 204
 205                 double altitude = AltosConvert.pressure_to_altitude(pa);
 206                 altitude_series.add(time(), altitude);
 207         }
 208
 209         private void compute_height() {
 210                 double ground_altitude = cal_data.ground_altitude;
 211                 if (height_series == null && ground_altitude != AltosLib.MISSING) {
 212                         height_series = add_series(height_name, AltosConvert.height);
 213                         for (AltosTimeValue alt : altitude_series)
 214                                 height_series.add(alt.time, alt.value - ground_altitude);
 215                 }
 216         }
 217
 218         AltosTimeSeries speed_series;
 219
 220         public static final String speed_name = "Speed";
 221
 222         private void compute_speed() {
 223                 if (speed_series != null)
 224                         return;
 225
 226                 AltosTimeSeries alt_speed_series = null;
 227                 AltosTimeSeries accel_speed_series = null;
 228
 229                 if (altitude_series != null) {
 230                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 231                         altitude_series.differentiate(temp_series);
 232
 233                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 234                         temp_series.filter(alt_speed_series, 10.0);
 235                 }
 236                 if (accel_series != null) {
 237                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 238                         accel_series.integrate(temp_series);
 239
 240                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 241                         temp_series.filter(accel_speed_series, 0.1);
 242                 }
 243
 244                 if (alt_speed_series != null && accel_speed_series != null) {
 245                         double  apogee_time = AltosLib.MISSING;
 246                         if (state_series != null) {
 247                                 for (AltosTimeValue d : state_series) {
 248                                         if (d.value >= AltosLib.ao_flight_drogue){
 249                                                 apogee_time = d.time;
 250                                                 break;
 251                                         }
 252                                 }
 253                         }
 254                         if (apogee_time == AltosLib.MISSING) {
 255                                 speed_series = alt_speed_series;
 256                         } else {
 257                                 speed_series = make_series(speed_name, AltosConvert.speed);
 258                                 for (AltosTimeValue d : accel_speed_series) {
 259                                         if (d.time <= apogee_time)
 260                                                 speed_series.add(d);
 261                                 }
 262                                 for (AltosTimeValue d : alt_speed_series) {
 263                                         if (d.time > apogee_time)
 264                                                 speed_series.add(d);
 265                                 }
 266
 267                         }
 268                 } else if (alt_speed_series != null) {
 269                         speed_series = alt_speed_series;
 270                 } else if (accel_speed_series != null) {
 271                         speed_series = accel_speed_series;
 272                 }
 273                 if (speed_series != null)
 274                         add_series(speed_series);
 275         }
 276
 277         AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
 278
 279         public static final String kalman_height_name = "Kalman Height";
 280         public static final String kalman_speed_name = "Kalman Speed";
 281         public static final String kalman_accel_name = "Kalman Accel";
 282
 283         public void set_kalman(double height, double speed, double acceleration) {
 284                 if (kalman_height_series == null) {
 285                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 286                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 287                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 288                 }
 289                 kalman_height_series.add(time(), height);
 290                 kalman_speed_series.add(time(), speed);
 291                 kalman_accel_series.add(time(), acceleration);
 292         }
 293
 294         AltosTimeSeries thrust_series;
 295
 296         public static final String thrust_name = "Thrust";
 297
 298         public  void set_thrust(double N) {
 299                 if (thrust_series == null)
 300                         thrust_series = add_series(thrust_name, AltosConvert.force);
 301                 thrust_series.add(time(), N);
 302         }
 303
 304         AltosTimeSeries temperature_series;
 305
 306         public static final String temperature_name = "Temperature";
 307
 308         public  void set_temperature(double deg_c) {
 309                 if (temperature_series == null)
 310                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 311                 temperature_series.add(time(), deg_c);
 312         }
 313
 314         AltosTimeSeries battery_voltage_series;
 315
 316         public static final String battery_voltage_name = "Battery Voltage";
 317
 318         public void set_battery_voltage(double volts) {
 319                 if (volts == AltosLib.MISSING)
 320                         return;
 321                 if (battery_voltage_series == null)
 322                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 323                 battery_voltage_series.add(time(), volts);
 324         }
 325
 326         AltosTimeSeries apogee_voltage_series;
 327
 328         public static final String apogee_voltage_name = "Apogee Voltage";
 329
 330         public void set_apogee_voltage(double volts) {
 331                 if (volts == AltosLib.MISSING)
 332                         return;
 333                 if (apogee_voltage_series == null)
 334                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 335                 apogee_voltage_series.add(time(), volts);
 336         }
 337
 338         AltosTimeSeries main_voltage_series;
 339
 340         public static final String main_voltage_name = "Main Voltage";
 341
 342         public void set_main_voltage(double volts) {
 343                 if (volts == AltosLib.MISSING)
 344                         return;
 345                 if (main_voltage_series == null)
 346                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 347                 main_voltage_series.add(time(), volts);
 348         }
 349
 350         public ArrayList<AltosGPSTimeValue> gps_series;
 351
 352         public AltosGPS gps_before(double time) {
 353                 AltosGPS gps = null;
 354                 for (AltosGPSTimeValue gtv : gps_series)
 355                         if (gtv.time <= time)
 356                                 gps = gtv.gps;
 357                         else
 358                                 break;
 359                 return gps;
 360         }
 361
 362         AltosTimeSeries sats_in_view;
 363         AltosTimeSeries sats_in_soln;
 364         AltosTimeSeries gps_altitude;
 365         AltosTimeSeries gps_height;
 366         AltosTimeSeries gps_ground_speed;
 367         AltosTimeSeries gps_ascent_rate;
 368         AltosTimeSeries gps_course;
 369         AltosTimeSeries gps_speed;
 370         AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 371
 372         public static final String sats_in_view_name = "Satellites in view";
 373         public static final String sats_in_soln_name = "Satellites in solution";
 374         public static final String gps_altitude_name = "GPS Altitude";
 375         public static final String gps_height_name = "GPS Height";
 376         public static final String gps_ground_speed_name = "GPS Ground Speed";
 377         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 378         public static final String gps_course_name = "GPS Course";
 379         public static final String gps_speed_name = "GPS Speed";
 380         public static final String gps_pdop_name = "GPS Dilution of Precision";
 381         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 382         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 383
 384         public void set_gps(AltosGPS gps) {
 385                 if (gps_series == null)
 386                         gps_series = new ArrayList<AltosGPSTimeValue>();
 387                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 388
 389                 if (sats_in_soln == null) {
 390                         sats_in_soln = add_series(sats_in_soln_name, null);
 391                 }
 392                 sats_in_soln.add(time(), gps.nsat);
 393                 if (gps.pdop != AltosLib.MISSING) {
 394                         if (gps_pdop == null) {
 395                                 gps_pdop = add_series(gps_pdop_name, null);
 396                                 gps_hdop = add_series(gps_hdop_name, null);
 397                                 gps_vdop = add_series(gps_vdop_name, null);
 398                         }
 399                         gps_pdop.add(time(), gps.pdop);
 400                         gps_hdop.add(time(), gps.hdop);
 401                         gps_vdop.add(time(), gps.vdop);
 402                 }
 403                 if (gps.locked) {
 404                         if (gps_altitude == null) {
 405                                 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 406                                 gps_height = add_series(gps_height_name, AltosConvert.height);
 407                                 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 408                                 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 409                                 gps_course = add_series(gps_course_name, null);
 410                                 gps_speed = add_series(gps_speed_name, null);
 411                         }
 412                         if (gps.alt != AltosLib.MISSING) {
 413                                 gps_altitude.add(time(), gps.alt);
 414                                 if (cal_data.gps_pad != null)
 415                                         gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
 416                         }
 417                         if (gps.ground_speed != AltosLib.MISSING)
 418                                 gps_ground_speed.add(time(), gps.ground_speed);
 419                         if (gps.climb_rate != AltosLib.MISSING)
 420                                 gps_ascent_rate.add(time(), gps.climb_rate);
 421                         if (gps.course != AltosLib.MISSING)
 422                                 gps_course.add(time(), gps.course);
 423                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
 424                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 425                                                                 gps.climb_rate * gps.climb_rate));
 426                 }
 427                 if (gps.cc_gps_sat != null) {
 428                         if (sats_in_view == null)
 429                                 sats_in_view = add_series(sats_in_view_name, null);
 430                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 431                 }
 432         }
 433
 434         public static final String accel_along_name = "Accel Along";
 435         public static final String accel_across_name = "Accel Across";
 436         public static final String accel_through_name = "Accel Through";
 437
 438         AltosTimeSeries accel_along, accel_across, accel_through;
 439
 440         public static final String gyro_roll_name = "Roll Rate";
 441         public static final String gyro_pitch_name = "Pitch Rate";
 442         public static final String gyro_yaw_name = "Yaw Rate";
 443
 444         AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 445
 446         public static final String mag_along_name = "Magnetic Field Along";
 447         public static final String mag_across_name = "Magnetic Field Across";
 448         public static final String mag_through_name = "Magnetic Field Through";
 449
 450         AltosTimeSeries mag_along, mag_across, mag_through;
 451
 452         public  void set_accel(double along, double across, double through) {
 453                 if (accel_along == null) {
 454                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 455                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 456                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 457                 }
 458                 accel_along.add(time(), along);
 459                 accel_across.add(time(), across);
 460                 accel_through.add(time(), through);
 461         }
 462
 463         public  void set_accel_ground(double along, double across, double through) {
 464         }
 465
 466         public  void set_gyro(double roll, double pitch, double yaw) {
 467                 if (gyro_roll == null) {
 468                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 469                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 470                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 471                 }
 472                 gyro_roll.add(time(), roll);
 473                 gyro_pitch.add(time(), pitch);
 474                 gyro_yaw.add(time(), yaw);
 475         }
 476
 477         public  void set_mag(double along, double across, double through) {
 478                 if (mag_along == null) {
 479                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 480                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 481                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 482                 }
 483                 mag_along.add(time(), along);
 484                 mag_across.add(time(), across);
 485                 mag_through.add(time(), through);
 486         }
 487
 488         public static final String orient_name = "Tilt Angle";
 489
 490         AltosTimeSeries orient_series;
 491
 492         public void set_orient(double orient) {
 493                 if (orient_series == null)
 494                         orient_series = add_series(orient_name, AltosConvert.orient);
 495                 orient_series.add(time(), orient);
 496         }
 497
 498         public static final String pyro_voltage_name = "Pyro Voltage";
 499
 500         AltosTimeSeries pyro_voltage;
 501
 502         public  void set_pyro_voltage(double volts) {
 503                 if (pyro_voltage == null)
 504                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 505                 pyro_voltage.add(time(), volts);
 506         }
 507
 508         private static String[] igniter_voltage_names;
 509
 510         public String igniter_voltage_name(int channel) {
 511                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 512                         String[] new_igniter_voltage_names = new String[channel + 1];
 513                         int     i = 0;
 514
 515                         if (igniter_voltage_names != null) {
 516                                 for (; i < igniter_voltage_names.length; i++)
 517                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 518                         }
 519                         for (; i < channel+1; i++)
 520                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 521                         igniter_voltage_names = new_igniter_voltage_names;
 522                 }
 523                 return igniter_voltage_names[channel];
 524         }
 525
 526         AltosTimeSeries[] igniter_voltage;
 527
 528         public  void set_igniter_voltage(double[] voltage) {
 529                 int channels = voltage.length;
 530                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 531                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 532                         int                     i = 0;
 533
 534                         if (igniter_voltage != null) {
 535                                 for (; i < igniter_voltage.length; i++)
 536                                         new_igniter_voltage[i] = igniter_voltage[i];
 537                         }
 538                         for (; i < channels; i++)
 539                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 540                         igniter_voltage = new_igniter_voltage;
 541                 }
 542                 for (int channel = 0; channel < voltage.length; channel++)
 543                         igniter_voltage[channel].add(time(), voltage[channel]);
 544         }
 545
 546         public static final String pyro_fired_name = "Pyro Channel State";
 547
 548         AltosTimeSeries pyro_fired_series;
 549
 550         int     last_pyro_mask;
 551
 552         public  void set_pyro_fired(int pyro_mask) {
 553                 if (pyro_fired_series == null)
 554                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 555                 for (int channel = 0; channel < 32; channel++) {
 556                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 557                             (pyro_mask & (1 << channel)) != 0) {
 558                                 pyro_fired_series.add(time(), channel);
 559                         }
 560                 }
 561                 last_pyro_mask = pyro_mask;
 562         }
 563
 564         public void set_companion(AltosCompanion companion) {
 565         }
 566
 567         public void finish() {
 568                 compute_speed();
 569                 compute_accel();
 570                 compute_height();
 571         }
 572
 573         public AltosTimeSeries[] series() {
 574                 finish();
 575                 return series.toArray(new AltosTimeSeries[0]);
 576         }
 577
 578         public AltosFlightSeries(AltosCalData cal_data) {
 579                 super(cal_data);
 580         }
 581 }