2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
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.
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.
15 package org.altusmetrum.altoslib_11;
19 public class AltosFlightSeries extends AltosDataListener {
21 public ArrayList<AltosTimeSeries> series;
23 public int[] indices() {
24 int[] indices = new int[series.size()];
25 for (int i = 0; i < indices.length; i++)
27 step_indices(indices);
31 private double time(int id, int index) {
32 AltosTimeSeries s = series.get(id);
35 return Double.NEGATIVE_INFINITY;
37 if (index < s.values.size())
38 return s.values.get(index).time;
39 return Double.POSITIVE_INFINITY;
42 public boolean step_indices(int[] indices) {
43 double min_next = time(0, indices[0]+1);
45 for (int i = 1; i < indices.length; i++) {
46 double next = time(i, indices[i]+1);
51 if (min_next == Double.POSITIVE_INFINITY)
54 for (int i = 0; i < indices.length; i++) {
55 double t = time(i, indices[i] + 1);
63 public double time(int[] indices) {
64 double max = time(0, indices[0]);
66 for (int i = 1; i < indices.length; i++) {
67 double t = time(i, indices[i]);
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];
81 if (index >= s.values.size())
82 index = s.values.size() - 1;
83 return s.values.get(index).value;
86 return AltosLib.MISSING;
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);
94 return AltosLib.MISSING;
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);
102 return AltosLib.MISSING;
105 public AltosTimeSeries make_series(String label, AltosUnits units) {
106 return new AltosTimeSeries(label, units);
109 public void add_series(AltosTimeSeries s) {
113 public AltosTimeSeries add_series(String label, AltosUnits units) {
114 AltosTimeSeries s = make_series(label, units);
119 public void remove_series(AltosTimeSeries s) {
123 public boolean has_series(String label) {
124 for (AltosTimeSeries s : series)
125 if (s.label.equals(label))
130 AltosTimeSeries state_series;
132 public static final String state_name = "State";
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)
140 state_series.add(time(), state);
143 AltosTimeSeries accel_series;
145 public static final String accel_name = "Accel";
147 public void set_acceleration(double acceleration) {
148 if (accel_series == null) {
149 accel_series = add_series(accel_name, AltosConvert.accel);
151 accel_series.add(time(), acceleration);
154 private void compute_accel() {
155 if (accel_series != null)
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);
166 public void set_received_time(long received_time) {
169 AltosTimeSeries rssi_series;
171 public static final String rssi_name = "RSSI";
173 AltosTimeSeries status_series;
175 public static final String status_name = "Radio Status";
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);
182 rssi_series.add(time(), rssi);
183 status_series.add(time(), status);
186 AltosTimeSeries pressure_series;
188 public static final String pressure_name = "Pressure";
190 AltosTimeSeries altitude_series;
192 public static final String altitude_name = "Altitude";
194 AltosTimeSeries height_series;
196 public static final String height_name = "Height";
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);
205 double altitude = AltosConvert.pressure_to_altitude(pa);
206 altitude_series.add(time(), altitude);
209 private void compute_height(double ground_altitude) {
210 if (height_series == null) {
211 height_series = add_series(height_name, AltosConvert.height);
212 for (AltosTimeValue alt : altitude_series)
213 height_series.add(alt.time, alt.value - ground_altitude);
217 AltosTimeSeries speed_series;
219 public static final String speed_name = "Speed";
221 private void compute_speed() {
222 if (speed_series != null)
225 AltosTimeSeries alt_speed_series = null;
226 AltosTimeSeries accel_speed_series = null;
228 if (altitude_series != null) {
229 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
230 altitude_series.differentiate(temp_series);
232 alt_speed_series = make_series(speed_name, AltosConvert.speed);
233 temp_series.filter(alt_speed_series, 10.0);
235 if (accel_series != null) {
236 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
237 accel_series.integrate(temp_series);
239 accel_speed_series = make_series(speed_name, AltosConvert.speed);
240 temp_series.filter(accel_speed_series, 0.1);
243 if (alt_speed_series != null && accel_speed_series != null) {
244 double apogee_time = AltosLib.MISSING;
245 if (state_series != null) {
246 for (AltosTimeValue d : state_series) {
247 if (d.value >= AltosLib.ao_flight_drogue){
248 apogee_time = d.time;
253 if (apogee_time == AltosLib.MISSING) {
254 speed_series = alt_speed_series;
256 speed_series = make_series(speed_name, AltosConvert.speed);
257 for (AltosTimeValue d : accel_speed_series) {
258 if (d.time <= apogee_time)
261 for (AltosTimeValue d : alt_speed_series) {
262 if (d.time > apogee_time)
267 } else if (alt_speed_series != null) {
268 speed_series = alt_speed_series;
269 } else if (accel_speed_series != null) {
270 speed_series = accel_speed_series;
272 if (speed_series != null)
273 add_series(speed_series);
276 AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
278 public static final String kalman_height_name = "Kalman Height";
279 public static final String kalman_speed_name = "Kalman Speed";
280 public static final String kalman_accel_name = "Kalman Accel";
282 public void set_kalman(double height, double speed, double acceleration) {
283 if (kalman_height_series == null) {
284 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
285 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
286 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
288 kalman_height_series.add(time(), height);
289 kalman_speed_series.add(time(), speed);
290 kalman_accel_series.add(time(), acceleration);
293 AltosTimeSeries thrust_series;
295 public static final String thrust_name = "Thrust";
297 public void set_thrust(double N) {
298 if (thrust_series == null)
299 thrust_series = add_series(thrust_name, AltosConvert.force);
300 thrust_series.add(time(), N);
303 AltosTimeSeries temperature_series;
305 public static final String temperature_name = "Temperature";
307 public void set_temperature(double deg_c) {
308 if (temperature_series == null)
309 temperature_series = add_series(temperature_name, AltosConvert.temperature);
310 temperature_series.add(time(), deg_c);
313 AltosTimeSeries battery_voltage_series;
315 public static final String battery_voltage_name = "Battery Voltage";
317 public void set_battery_voltage(double volts) {
318 if (volts == AltosLib.MISSING)
320 if (battery_voltage_series == null)
321 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
322 battery_voltage_series.add(time(), volts);
325 AltosTimeSeries apogee_voltage_series;
327 public static final String apogee_voltage_name = "Apogee Voltage";
329 public void set_apogee_voltage(double volts) {
330 if (volts == AltosLib.MISSING)
332 if (apogee_voltage_series == null)
333 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
334 apogee_voltage_series.add(time(), volts);
337 AltosTimeSeries main_voltage_series;
339 public static final String main_voltage_name = "Main Voltage";
341 public void set_main_voltage(double volts) {
342 if (volts == AltosLib.MISSING)
344 if (main_voltage_series == null)
345 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
346 main_voltage_series.add(time(), volts);
349 public ArrayList<AltosGPSTimeValue> gps_series;
351 public AltosGPS gps_before(double time) {
353 for (AltosGPSTimeValue gtv : gps_series)
354 if (gtv.time <= time)
361 AltosTimeSeries sats_in_view;
362 AltosTimeSeries sats_in_soln;
363 AltosTimeSeries gps_altitude;
364 AltosTimeSeries gps_height;
365 AltosTimeSeries gps_ground_speed;
366 AltosTimeSeries gps_ascent_rate;
367 AltosTimeSeries gps_course;
368 AltosTimeSeries gps_speed;
369 AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
371 public static final String sats_in_view_name = "Satellites in view";
372 public static final String sats_in_soln_name = "Satellites in solution";
373 public static final String gps_altitude_name = "GPS Altitude";
374 public static final String gps_height_name = "GPS Height";
375 public static final String gps_ground_speed_name = "GPS Ground Speed";
376 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
377 public static final String gps_course_name = "GPS Course";
378 public static final String gps_speed_name = "GPS Speed";
379 public static final String gps_pdop_name = "GPS Dilution of Precision";
380 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
381 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
383 public void set_gps(AltosGPS gps) {
384 if (gps_series == null)
385 gps_series = new ArrayList<AltosGPSTimeValue>();
386 gps_series.add(new AltosGPSTimeValue(time(), gps));
388 if (sats_in_soln == null) {
389 sats_in_soln = add_series(sats_in_soln_name, null);
391 sats_in_soln.add(time(), gps.nsat);
392 if (gps.pdop != AltosLib.MISSING) {
393 if (gps_pdop == null) {
394 gps_pdop = add_series(gps_pdop_name, null);
395 gps_hdop = add_series(gps_hdop_name, null);
396 gps_vdop = add_series(gps_vdop_name, null);
398 gps_pdop.add(time(), gps.pdop);
399 gps_hdop.add(time(), gps.hdop);
400 gps_vdop.add(time(), gps.vdop);
403 if (gps_altitude == null) {
404 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
405 gps_height = add_series(gps_height_name, AltosConvert.height);
406 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
407 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
408 gps_course = add_series(gps_course_name, null);
409 gps_speed = add_series(gps_speed_name, null);
411 if (gps.alt != AltosLib.MISSING) {
412 gps_altitude.add(time(), gps.alt);
413 if (cal_data.gps_pad != null)
414 gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
416 if (gps.ground_speed != AltosLib.MISSING)
417 gps_ground_speed.add(time(), gps.ground_speed);
418 if (gps.climb_rate != AltosLib.MISSING)
419 gps_ascent_rate.add(time(), gps.climb_rate);
420 if (gps.course != AltosLib.MISSING)
421 gps_course.add(time(), gps.course);
422 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
423 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
424 gps.climb_rate * gps.climb_rate));
426 if (gps.cc_gps_sat != null) {
427 if (sats_in_view == null)
428 sats_in_view = add_series(sats_in_view_name, null);
429 sats_in_view.add(time(), gps.cc_gps_sat.length);
433 public static final String accel_along_name = "Accel Along";
434 public static final String accel_across_name = "Accel Across";
435 public static final String accel_through_name = "Accel Through";
437 AltosTimeSeries accel_along, accel_across, accel_through;
439 public static final String gyro_roll_name = "Roll Rate";
440 public static final String gyro_pitch_name = "Pitch Rate";
441 public static final String gyro_yaw_name = "Yaw Rate";
443 AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
445 public static final String mag_along_name = "Magnetic Field Along";
446 public static final String mag_across_name = "Magnetic Field Across";
447 public static final String mag_through_name = "Magnetic Field Through";
449 AltosTimeSeries mag_along, mag_across, mag_through;
451 public void set_accel(double along, double across, double through) {
452 if (accel_along == null) {
453 accel_along = add_series(accel_along_name, AltosConvert.accel);
454 accel_across = add_series(accel_across_name, AltosConvert.accel);
455 accel_through = add_series(accel_through_name, AltosConvert.accel);
457 accel_along.add(time(), along);
458 accel_across.add(time(), across);
459 accel_through.add(time(), through);
462 public void set_accel_ground(double along, double across, double through) {
465 public void set_gyro(double roll, double pitch, double yaw) {
466 if (gyro_roll == null) {
467 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
468 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
469 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
471 gyro_roll.add(time(), roll);
472 gyro_pitch.add(time(), pitch);
473 gyro_yaw.add(time(), yaw);
476 public void set_mag(double along, double across, double through) {
477 if (mag_along == null) {
478 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
479 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
480 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
482 mag_along.add(time(), along);
483 mag_across.add(time(), across);
484 mag_through.add(time(), through);
487 public static final String orient_name = "Tilt Angle";
489 AltosTimeSeries orient_series;
491 public void set_orient(double orient) {
492 if (orient_series == null)
493 orient_series = add_series(orient_name, AltosConvert.orient);
494 orient_series.add(time(), orient);
497 public static final String pyro_voltage_name = "Pyro Voltage";
499 AltosTimeSeries pyro_voltage;
501 public void set_pyro_voltage(double volts) {
502 if (pyro_voltage == null)
503 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
504 pyro_voltage.add(time(), volts);
507 private static String[] igniter_voltage_names;
509 public String igniter_voltage_name(int channel) {
510 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
511 String[] new_igniter_voltage_names = new String[channel + 1];
514 if (igniter_voltage_names != null) {
515 for (; i < igniter_voltage_names.length; i++)
516 new_igniter_voltage_names[i] = igniter_voltage_names[i];
518 for (; i < channel+1; i++)
519 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
520 igniter_voltage_names = new_igniter_voltage_names;
522 return igniter_voltage_names[channel];
525 AltosTimeSeries[] igniter_voltage;
527 public void set_igniter_voltage(double[] voltage) {
528 int channels = voltage.length;
529 if (igniter_voltage == null || igniter_voltage.length <= channels) {
530 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
533 if (igniter_voltage != null) {
534 for (; i < igniter_voltage.length; i++)
535 new_igniter_voltage[i] = igniter_voltage[i];
537 for (; i < channels; i++)
538 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
539 igniter_voltage = new_igniter_voltage;
541 for (int channel = 0; channel < voltage.length; channel++)
542 igniter_voltage[channel].add(time(), voltage[channel]);
545 public static final String pyro_fired_name = "Pyro Channel State";
547 AltosTimeSeries pyro_fired_series;
551 public void set_pyro_fired(int pyro_mask) {
552 if (pyro_fired_series == null)
553 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
554 for (int channel = 0; channel < 32; channel++) {
555 if ((last_pyro_mask & (1 << channel)) == 0 &&
556 (pyro_mask & (1 << channel)) != 0) {
557 pyro_fired_series.add(time(), channel);
560 last_pyro_mask = pyro_mask;
563 public void set_companion(AltosCompanion companion) {
566 public void fill_in() {
569 if (cal_data.ground_altitude != AltosLib.MISSING)
570 compute_height(cal_data.ground_altitude);
574 time = AltosLib.MISSING;
575 series = new ArrayList<AltosTimeSeries>();
578 public AltosTimeSeries[] series() {
580 return series.toArray(new AltosTimeSeries[0]);
583 public AltosFlightSeries(AltosCalData cal_data) {