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(String name, double time) {
  90                 for (AltosTimeSeries s : series) {
  91                         if (s.label.equals(name))
  92                                 return s.value(time);
  93                 }
  94                 return AltosLib.MISSING;
  95         }
  96
  97         public double value_before(String name, double time) {
  98                 for (AltosTimeSeries s : series) {
  99                         if (s.label.equals(name))
 100                                 return s.value_before(time);
 101                 }
 102                 return AltosLib.MISSING;
 103         }
 104
 105         public double value_after(String name, double time) {
 106                 for (AltosTimeSeries s : series) {
 107                         if (s.label.equals(name))
 108                                 return s.value_after(time);
 109                 }
 110                 return AltosLib.MISSING;
 111         }
 112
 113         public AltosTimeSeries make_series(String label, AltosUnits units) {
 114                 return new AltosTimeSeries(label, units);
 115         }
 116
 117         public void add_series(AltosTimeSeries s) {
 118                 series.add(s);
 119         }
 120
 121         public AltosTimeSeries add_series(String label, AltosUnits units) {
 122                 AltosTimeSeries s = make_series(label, units);
 123                 add_series(s);
 124                 return s;
 125         }
 126
 127         public void remove_series(AltosTimeSeries s) {
 128                 series.remove(s);
 129         }
 130
 131         public boolean has_series(String label) {
 132                 for (AltosTimeSeries s : series)
 133                         if (s.label.equals(label))
 134                                 return true;
 135                 return false;
 136         }
 137
 138         public AltosTimeSeries state_series;
 139
 140         public static final String state_name = "State";
 141
 142         public void set_state(int state) {
 143                 if (state_series == null)
 144                         state_series = add_series(state_name, AltosConvert.state_name);
 145                 else if (this.state == state)
 146                         return;
 147                 this.state = state;
 148                 state_series.add(time(), state);
 149         }
 150
 151         public AltosTimeSeries  accel_series;
 152
 153         public static final String accel_name = "Accel";
 154
 155         public void set_acceleration(double acceleration) {
 156                 if (accel_series == null) {
 157                         accel_series = add_series(accel_name, AltosConvert.accel);
 158                 }
 159                 accel_series.add(time(), acceleration);
 160         }
 161
 162         private void compute_accel() {
 163                 if (accel_series != null)
 164                         return;
 165
 166                 if (speed_series != null) {
 167                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 168                         speed_series.filter(temp_series, 2.0);
 169                         accel_series = add_series(accel_name, AltosConvert.accel);
 170                         temp_series.differentiate(accel_series);
 171                 }
 172         }
 173
 174         public void set_received_time(long received_time) {
 175         }
 176
 177         public AltosTimeSeries rssi_series;
 178
 179         public static final String rssi_name = "RSSI";
 180
 181         public AltosTimeSeries status_series;
 182
 183         public static final String status_name = "Radio Status";
 184
 185         public void set_rssi(int rssi, int status) {
 186                 if (rssi_series == null) {
 187                         rssi_series = add_series(rssi_name, null);
 188                         status_series = add_series(status_name, null);
 189                 }
 190                 rssi_series.add(time(), rssi);
 191                 status_series.add(time(), status);
 192         }
 193
 194         public AltosTimeSeries pressure_series;
 195
 196         public static final String pressure_name = "Pressure";
 197
 198         public AltosTimeSeries altitude_series;
 199
 200         public static final String altitude_name = "Altitude";
 201
 202         public AltosTimeSeries height_series;
 203
 204         public static final String height_name = "Height";
 205
 206         public  void set_pressure(double pa) {
 207                 if (pressure_series == null)
 208                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 209                 pressure_series.add(time(), pa);
 210                 if (altitude_series == null)
 211                         altitude_series = add_series(altitude_name, AltosConvert.height);
 212
 213                 double altitude = AltosConvert.pressure_to_altitude(pa);
 214                 altitude_series.add(time(), altitude);
 215         }
 216
 217         private void compute_height() {
 218                 double ground_altitude = cal_data.ground_altitude;
 219                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 220                         height_series = add_series(height_name, AltosConvert.height);
 221                         for (AltosTimeValue alt : altitude_series)
 222                                 height_series.add(alt.time, alt.value - ground_altitude);
 223                 }
 224         }
 225
 226         public AltosTimeSeries speed_series;
 227
 228         public static final String speed_name = "Speed";
 229
 230         private void compute_speed() {
 231                 if (speed_series != null)
 232                         return;
 233
 234                 AltosTimeSeries alt_speed_series = null;
 235                 AltosTimeSeries accel_speed_series = null;
 236
 237                 if (altitude_series != null) {
 238                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 239                         altitude_series.filter(temp_series, 1.0);
 240
 241                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 242                         temp_series.differentiate(alt_speed_series);
 243                 }
 244                 if (accel_series != null) {
 245                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 246                         accel_series.integrate(temp_series);
 247
 248                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 249                         temp_series.filter(accel_speed_series, 0.1);
 250                 }
 251
 252                 if (alt_speed_series != null && accel_speed_series != null) {
 253                         double  apogee_time = AltosLib.MISSING;
 254                         if (state_series != null) {
 255                                 for (AltosTimeValue d : state_series) {
 256                                         if (d.value >= AltosLib.ao_flight_drogue){
 257                                                 apogee_time = d.time;
 258                                                 break;
 259                                         }
 260                                 }
 261                         }
 262                         if (apogee_time == AltosLib.MISSING) {
 263                                 speed_series = alt_speed_series;
 264                         } else {
 265                                 speed_series = make_series(speed_name, AltosConvert.speed);
 266                                 for (AltosTimeValue d : accel_speed_series) {
 267                                         if (d.time <= apogee_time)
 268                                                 speed_series.add(d);
 269                                 }
 270                                 for (AltosTimeValue d : alt_speed_series) {
 271                                         if (d.time > apogee_time)
 272                                                 speed_series.add(d);
 273                                 }
 274
 275                         }
 276                 } else if (alt_speed_series != null) {
 277                         speed_series = alt_speed_series;
 278                 } else if (accel_speed_series != null) {
 279                         speed_series = accel_speed_series;
 280                 }
 281                 if (speed_series != null)
 282                         add_series(speed_series);
 283         }
 284
 285         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 286
 287         public static final String kalman_height_name = "Kalman Height";
 288         public static final String kalman_speed_name = "Kalman Speed";
 289         public static final String kalman_accel_name = "Kalman Accel";
 290
 291         public void set_kalman(double height, double speed, double acceleration) {
 292                 if (kalman_height_series == null) {
 293                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 294                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 295                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 296                 }
 297                 kalman_height_series.add(time(), height);
 298                 kalman_speed_series.add(time(), speed);
 299                 kalman_accel_series.add(time(), acceleration);
 300         }
 301
 302         public AltosTimeSeries thrust_series;
 303
 304         public static final String thrust_name = "Thrust";
 305
 306         public  void set_thrust(double N) {
 307                 if (thrust_series == null)
 308                         thrust_series = add_series(thrust_name, AltosConvert.force);
 309                 thrust_series.add(time(), N);
 310         }
 311
 312         public AltosTimeSeries temperature_series;
 313
 314         public static final String temperature_name = "Temperature";
 315
 316         public  void set_temperature(double deg_c) {
 317                 if (temperature_series == null)
 318                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 319                 temperature_series.add(time(), deg_c);
 320         }
 321
 322         public AltosTimeSeries battery_voltage_series;
 323
 324         public static final String battery_voltage_name = "Battery Voltage";
 325
 326         public void set_battery_voltage(double volts) {
 327                 if (volts == AltosLib.MISSING)
 328                         return;
 329                 if (battery_voltage_series == null)
 330                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 331                 battery_voltage_series.add(time(), volts);
 332         }
 333
 334         public AltosTimeSeries apogee_voltage_series;
 335
 336         public static final String apogee_voltage_name = "Apogee Voltage";
 337
 338         public void set_apogee_voltage(double volts) {
 339                 if (volts == AltosLib.MISSING)
 340                         return;
 341                 if (apogee_voltage_series == null)
 342                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 343                 apogee_voltage_series.add(time(), volts);
 344         }
 345
 346         public AltosTimeSeries main_voltage_series;
 347
 348         public static final String main_voltage_name = "Main Voltage";
 349
 350         public void set_main_voltage(double volts) {
 351                 if (volts == AltosLib.MISSING)
 352                         return;
 353                 if (main_voltage_series == null)
 354                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 355                 main_voltage_series.add(time(), volts);
 356         }
 357
 358         public ArrayList<AltosGPSTimeValue> gps_series;
 359
 360         public AltosGPS gps_before(double time) {
 361                 AltosGPS gps = null;
 362                 for (AltosGPSTimeValue gtv : gps_series)
 363                         if (gtv.time <= time)
 364                                 gps = gtv.gps;
 365                         else
 366                                 break;
 367                 return gps;
 368         }
 369
 370         public AltosTimeSeries  sats_in_view;
 371         public AltosTimeSeries sats_in_soln;
 372         public AltosTimeSeries gps_altitude;
 373         public AltosTimeSeries gps_height;
 374         public AltosTimeSeries gps_ground_speed;
 375         public AltosTimeSeries gps_ascent_rate;
 376         public AltosTimeSeries gps_course;
 377         public AltosTimeSeries gps_speed;
 378         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 379
 380         public static final String sats_in_view_name = "Satellites in view";
 381         public static final String sats_in_soln_name = "Satellites in solution";
 382         public static final String gps_altitude_name = "GPS Altitude";
 383         public static final String gps_height_name = "GPS Height";
 384         public static final String gps_ground_speed_name = "GPS Ground Speed";
 385         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 386         public static final String gps_course_name = "GPS Course";
 387         public static final String gps_speed_name = "GPS Speed";
 388         public static final String gps_pdop_name = "GPS Dilution of Precision";
 389         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 390         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 391
 392         public void set_gps(AltosGPS gps) {
 393                 if (gps_series == null)
 394                         gps_series = new ArrayList<AltosGPSTimeValue>();
 395                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 396
 397                 if (sats_in_soln == null) {
 398                         sats_in_soln = add_series(sats_in_soln_name, null);
 399                 }
 400                 sats_in_soln.add(time(), gps.nsat);
 401                 if (gps.pdop != AltosLib.MISSING) {
 402                         if (gps_pdop == null) {
 403                                 gps_pdop = add_series(gps_pdop_name, null);
 404                                 gps_hdop = add_series(gps_hdop_name, null);
 405                                 gps_vdop = add_series(gps_vdop_name, null);
 406                         }
 407                         gps_pdop.add(time(), gps.pdop);
 408                         gps_hdop.add(time(), gps.hdop);
 409                         gps_vdop.add(time(), gps.vdop);
 410                 }
 411                 if (gps.locked) {
 412                         if (gps_altitude == null) {
 413                                 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 414                                 gps_height = add_series(gps_height_name, AltosConvert.height);
 415                                 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 416                                 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 417                                 gps_course = add_series(gps_course_name, null);
 418                                 gps_speed = add_series(gps_speed_name, null);
 419                         }
 420                         if (gps.alt != AltosLib.MISSING) {
 421                                 gps_altitude.add(time(), gps.alt);
 422                                 if (cal_data.gps_pad != null)
 423                                         gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
 424                         }
 425                         if (gps.ground_speed != AltosLib.MISSING)
 426                                 gps_ground_speed.add(time(), gps.ground_speed);
 427                         if (gps.climb_rate != AltosLib.MISSING)
 428                                 gps_ascent_rate.add(time(), gps.climb_rate);
 429                         if (gps.course != AltosLib.MISSING)
 430                                 gps_course.add(time(), gps.course);
 431                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
 432                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 433                                                                 gps.climb_rate * gps.climb_rate));
 434                 }
 435                 if (gps.cc_gps_sat != null) {
 436                         if (sats_in_view == null)
 437                                 sats_in_view = add_series(sats_in_view_name, null);
 438                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 439                 }
 440         }
 441
 442         public static final String accel_along_name = "Accel Along";
 443         public static final String accel_across_name = "Accel Across";
 444         public static final String accel_through_name = "Accel Through";
 445
 446         public AltosTimeSeries accel_along, accel_across, accel_through;
 447
 448         public static final String gyro_roll_name = "Roll Rate";
 449         public static final String gyro_pitch_name = "Pitch Rate";
 450         public static final String gyro_yaw_name = "Yaw Rate";
 451
 452         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 453
 454         public static final String mag_along_name = "Magnetic Field Along";
 455         public static final String mag_across_name = "Magnetic Field Across";
 456         public static final String mag_through_name = "Magnetic Field Through";
 457
 458         public AltosTimeSeries mag_along, mag_across, mag_through;
 459
 460         public  void set_accel(double along, double across, double through) {
 461                 if (accel_along == null) {
 462                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 463                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 464                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 465                 }
 466                 accel_along.add(time(), along);
 467                 accel_across.add(time(), across);
 468                 accel_through.add(time(), through);
 469         }
 470
 471         public  void set_accel_ground(double along, double across, double through) {
 472         }
 473
 474         public  void set_gyro(double roll, double pitch, double yaw) {
 475                 if (gyro_roll == null) {
 476                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 477                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 478                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 479                 }
 480                 gyro_roll.add(time(), roll);
 481                 gyro_pitch.add(time(), pitch);
 482                 gyro_yaw.add(time(), yaw);
 483         }
 484
 485         public  void set_mag(double along, double across, double through) {
 486                 if (mag_along == null) {
 487                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 488                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 489                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 490                 }
 491                 mag_along.add(time(), along);
 492                 mag_across.add(time(), across);
 493                 mag_through.add(time(), through);
 494         }
 495
 496         public static final String orient_name = "Tilt Angle";
 497
 498         public AltosTimeSeries orient_series;
 499
 500         public void set_orient(double orient) {
 501                 if (orient_series == null)
 502                         orient_series = add_series(orient_name, AltosConvert.orient);
 503                 orient_series.add(time(), orient);
 504         }
 505
 506         public static final String pyro_voltage_name = "Pyro Voltage";
 507
 508         public AltosTimeSeries pyro_voltage;
 509
 510         public  void set_pyro_voltage(double volts) {
 511                 if (pyro_voltage == null)
 512                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 513                 pyro_voltage.add(time(), volts);
 514         }
 515
 516         private static String[] igniter_voltage_names;
 517
 518         public String igniter_voltage_name(int channel) {
 519                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 520                         String[] new_igniter_voltage_names = new String[channel + 1];
 521                         int     i = 0;
 522
 523                         if (igniter_voltage_names != null) {
 524                                 for (; i < igniter_voltage_names.length; i++)
 525                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 526                         }
 527                         for (; i < channel+1; i++)
 528                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 529                         igniter_voltage_names = new_igniter_voltage_names;
 530                 }
 531                 return igniter_voltage_names[channel];
 532         }
 533
 534         public AltosTimeSeries[] igniter_voltage;
 535
 536         public  void set_igniter_voltage(double[] voltage) {
 537                 int channels = voltage.length;
 538                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 539                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 540                         int                     i = 0;
 541
 542                         if (igniter_voltage != null) {
 543                                 for (; i < igniter_voltage.length; i++)
 544                                         new_igniter_voltage[i] = igniter_voltage[i];
 545                         }
 546                         for (; i < channels; i++)
 547                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 548                         igniter_voltage = new_igniter_voltage;
 549                 }
 550                 for (int channel = 0; channel < voltage.length; channel++)
 551                         igniter_voltage[channel].add(time(), voltage[channel]);
 552         }
 553
 554         public static final String pyro_fired_name = "Pyro Channel State";
 555
 556         public AltosTimeSeries pyro_fired_series;
 557
 558         int     last_pyro_mask;
 559
 560         public  void set_pyro_fired(int pyro_mask) {
 561                 if (pyro_fired_series == null)
 562                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 563                 for (int channel = 0; channel < 32; channel++) {
 564                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 565                             (pyro_mask & (1 << channel)) != 0) {
 566                                 pyro_fired_series.add(time(), channel);
 567                         }
 568                 }
 569                 last_pyro_mask = pyro_mask;
 570         }
 571
 572         public void set_companion(AltosCompanion companion) {
 573         }
 574
 575         public void finish() {
 576                 compute_speed();
 577                 compute_accel();
 578                 compute_height();
 579         }
 580
 581         public AltosTimeSeries[] series() {
 582                 finish();
 583                 return series.toArray(new AltosTimeSeries[0]);
 584         }
 585
 586         public AltosFlightSeries(AltosCalData cal_data) {
 587                 super(cal_data);
 588         }
 589 }