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   1 /*
   2  * Copyright © 2010 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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 /*
  19  * Track flight state from telemetry or eeprom data stream
  20  */
  21
  22 package org.altusmetrum.altoslib_1;
  23
  24 public class AltosState implements Cloneable {
  25         public AltosRecord record;
  26
  27         public static final int set_position = 1;
  28         public static final int set_gps = 2;
  29         public static final int set_data = 4;
  30
  31         public int set;
  32
  33         /* derived data */
  34
  35         public long     report_time;
  36
  37         public double   time;
  38         public double   prev_time;
  39         public double   time_change;
  40         public int      tick;
  41         public int      boost_tick;
  42
  43         public int      state;
  44         public int      flight;
  45         public int      serial;
  46         public boolean  landed;
  47         public boolean  ascent; /* going up? */
  48         public boolean  boost;  /* under power */
  49         public int      rssi;
  50         public int      status;
  51
  52         public double   ground_altitude;
  53         public double   ground_pressure;
  54         public double   altitude;
  55         public double   height;
  56         public double   pressure;
  57         public double   acceleration;
  58         public double   battery_voltage;
  59         public double   pyro_voltage;
  60         public double   temperature;
  61         public double   apogee_voltage;
  62         public double   main_voltage;
  63         public double   speed;
  64
  65         public double   prev_height;
  66         public double   prev_speed;
  67         public double   prev_acceleration;
  68
  69         public double   max_height;
  70         public double   max_acceleration;
  71         public double   max_speed;
  72
  73         public double   kalman_height, kalman_speed, kalman_acceleration;
  74
  75         public AltosGPS gps;
  76         public AltosGPS temp_gps;
  77         public boolean  gps_pending;
  78         public int gps_sequence;
  79
  80         public AltosIMU imu;
  81         public AltosMag mag;
  82
  83         public static final int MIN_PAD_SAMPLES = 10;
  84
  85         public int      npad;
  86         public int      gps_waiting;
  87         public boolean  gps_ready;
  88
  89         public int      ngps;
  90
  91         public AltosGreatCircle from_pad;
  92         public double   elevation;      /* from pad */
  93         public double   range;          /* total distance */
  94
  95         public double   gps_height;
  96
  97         public double pad_lat, pad_lon, pad_alt;
  98
  99         public int      speak_tick;
 100         public double   speak_altitude;
 101
 102         public String   callsign;
 103         public double   accel_plus_g;
 104         public double   accel_minus_g;
 105         public double   accel;
 106         public double   ground_accel;
 107         public double   ground_accel_avg;
 108
 109         public int      log_format;
 110
 111         public AltosMs5607      baro;
 112
 113         public AltosRecordCompanion     companion;
 114
 115         public double speed() {
 116                 return speed;
 117         }
 118
 119         public double max_speed() {
 120                 return max_speed;
 121         }
 122
 123         public void set_npad(int npad) {
 124                 this.npad = npad;
 125                 gps_waiting = MIN_PAD_SAMPLES - npad;
 126                 if (this.gps_waiting < 0)
 127                         gps_waiting = 0;
 128                 gps_ready = gps_waiting == 0;
 129         }
 130
 131         public void init() {
 132                 record = null;
 133
 134                 set = 0;
 135
 136                 report_time = System.currentTimeMillis();
 137                 time = AltosRecord.MISSING;
 138                 time_change = AltosRecord.MISSING;
 139                 prev_time = AltosRecord.MISSING;
 140                 tick = AltosRecord.MISSING;
 141                 boost_tick = AltosRecord.MISSING;
 142                 state = AltosLib.ao_flight_invalid;
 143                 flight = AltosRecord.MISSING;
 144                 landed = false;
 145                 boost = false;
 146                 rssi = AltosRecord.MISSING;
 147                 status = 0;
 148
 149                 ground_altitude = AltosRecord.MISSING;
 150                 ground_pressure = AltosRecord.MISSING;
 151                 altitude = AltosRecord.MISSING;
 152                 height = AltosRecord.MISSING;
 153                 pressure = AltosRecord.MISSING;
 154                 acceleration = AltosRecord.MISSING;
 155                 temperature = AltosRecord.MISSING;
 156
 157                 prev_height = AltosRecord.MISSING;
 158                 prev_speed = AltosRecord.MISSING;
 159                 prev_acceleration = AltosRecord.MISSING;
 160
 161                 battery_voltage = AltosRecord.MISSING;
 162                 pyro_voltage = AltosRecord.MISSING;
 163                 apogee_voltage = AltosRecord.MISSING;
 164                 main_voltage = AltosRecord.MISSING;
 165
 166                 speed = AltosRecord.MISSING;
 167
 168                 kalman_height = AltosRecord.MISSING;
 169                 kalman_speed = AltosRecord.MISSING;
 170                 kalman_acceleration = AltosRecord.MISSING;
 171
 172                 max_speed = 0;
 173                 max_height = 0;
 174                 max_acceleration = 0;
 175
 176                 gps = null;
 177                 temp_gps = null;
 178                 gps_sequence = 0;
 179                 gps_pending = false;
 180
 181                 imu = null;
 182                 mag = null;
 183
 184                 set_npad(0);
 185                 ngps = 0;
 186
 187                 from_pad = null;
 188                 elevation = AltosRecord.MISSING;
 189                 range = AltosRecord.MISSING;
 190                 gps_height = AltosRecord.MISSING;
 191
 192                 pad_lat = AltosRecord.MISSING;
 193                 pad_lon = AltosRecord.MISSING;
 194                 pad_alt = AltosRecord.MISSING;
 195
 196                 speak_tick = AltosRecord.MISSING;
 197                 speak_altitude = AltosRecord.MISSING;
 198
 199                 callsign = null;
 200
 201                 accel_plus_g = AltosRecord.MISSING;
 202                 accel_minus_g = AltosRecord.MISSING;
 203                 accel = AltosRecord.MISSING;
 204                 ground_accel = AltosRecord.MISSING;
 205                 ground_accel_avg = AltosRecord.MISSING;
 206                 log_format = AltosRecord.MISSING;
 207                 serial = AltosRecord.MISSING;
 208
 209                 baro = null;
 210                 companion = null;
 211         }
 212
 213         void copy(AltosState old) {
 214
 215                 record = null;
 216
 217                 if (old == null) {
 218                         init();
 219                         return;
 220                 }
 221
 222                 report_time = old.report_time;
 223                 time = old.time;
 224                 time_change = 0;
 225                 tick = old.tick;
 226                 boost_tick = old.boost_tick;
 227
 228                 state = old.state;
 229                 flight = old.flight;
 230                 landed = old.landed;
 231                 ascent = old.ascent;
 232                 boost = old.boost;
 233                 rssi = old.rssi;
 234                 status = old.status;
 235
 236                 set = 0;
 237
 238                 ground_altitude = old.ground_altitude;
 239                 altitude = old.altitude;
 240                 height = old.height;
 241                 pressure = old.pressure;
 242                 acceleration = old.acceleration;
 243                 battery_voltage = old.battery_voltage;
 244                 pyro_voltage = old.pyro_voltage;
 245                 temperature = old.temperature;
 246                 apogee_voltage = old.apogee_voltage;
 247                 main_voltage = old.main_voltage;
 248                 speed = old.speed;
 249
 250                 prev_height = old.height;
 251                 prev_speed = old.speed;
 252                 prev_acceleration = old.acceleration;
 253                 prev_time = old.time;
 254
 255                 max_height = old.max_height;
 256                 max_acceleration = old.max_acceleration;
 257                 max_speed = old.max_speed;
 258
 259                 kalman_height = old.kalman_height;
 260                 kalman_speed = old.kalman_speed;
 261                 kalman_acceleration = old.kalman_acceleration;
 262
 263                 if (old.gps != null)
 264                         gps = old.gps.clone();
 265                 else
 266                         gps = null;
 267                 if (old.temp_gps != null)
 268                         temp_gps = old.temp_gps.clone();
 269                 else
 270                         temp_gps = null;
 271                 gps_sequence = old.gps_sequence;
 272                 gps_pending = old.gps_pending;
 273
 274                 if (old.imu != null)
 275                         imu = old.imu.clone();
 276                 else
 277                         imu = null;
 278
 279                 if (old.mag != null)
 280                         mag = old.mag.clone();
 281                 else
 282                         mag = null;
 283
 284                 npad = old.npad;
 285                 gps_waiting = old.gps_waiting;
 286                 gps_ready = old.gps_ready;
 287                 ngps = old.ngps;
 288
 289                 if (old.from_pad != null)
 290                         from_pad = old.from_pad.clone();
 291                 else
 292                         from_pad = null;
 293
 294                 elevation = old.elevation;
 295                 range = old.range;
 296
 297                 gps_height = old.gps_height;
 298                 pad_lat = old.pad_lat;
 299                 pad_lon = old.pad_lon;
 300                 pad_alt = old.pad_alt;
 301
 302                 speak_tick = old.speak_tick;
 303                 speak_altitude = old.speak_altitude;
 304
 305                 callsign = old.callsign;
 306
 307                 accel_plus_g = old.accel_plus_g;
 308                 accel_minus_g = old.accel_minus_g;
 309                 accel = old.accel;
 310                 ground_accel = old.ground_accel;
 311                 ground_accel_avg = old.ground_accel_avg;
 312
 313                 log_format = old.log_format;
 314                 serial = old.serial;
 315
 316                 baro = old.baro;
 317                 companion = old.companion;
 318         }
 319
 320         double altitude() {
 321                 if (altitude != AltosRecord.MISSING)
 322                         return altitude;
 323                 if (gps != null)
 324                         return gps.alt;
 325                 return AltosRecord.MISSING;
 326         }
 327
 328         void update_vertical_pos() {
 329
 330                 double  alt = altitude();
 331
 332                 if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
 333                         if (ground_altitude == AltosRecord.MISSING)
 334                                 ground_altitude = alt;
 335                         else
 336                                 ground_altitude = (ground_altitude * 7 + alt) / 8;
 337                 }
 338
 339                 if (kalman_height != AltosRecord.MISSING)
 340                         height = kalman_height;
 341                 else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
 342                         height = altitude - ground_altitude;
 343                 else
 344                         height = AltosRecord.MISSING;
 345
 346                 if (height != AltosRecord.MISSING && height > max_height)
 347                         max_height = height;
 348
 349                 update_speed();
 350         }
 351
 352         double motion_filter_value() {
 353                 return 1/ Math.exp(time_change/2.0);
 354         }
 355
 356         void update_speed() {
 357                 if (kalman_speed != AltosRecord.MISSING)
 358                         speed = kalman_speed;
 359                 else if (state != AltosLib.ao_flight_invalid &&
 360                          time_change != AltosRecord.MISSING)
 361                 {
 362                         if (ascent && acceleration != AltosRecord.MISSING)
 363                         {
 364                                 if (prev_speed == AltosRecord.MISSING)
 365                                         speed = acceleration * time_change;
 366                                 else
 367                                         speed = prev_speed + acceleration * time_change;
 368                         }
 369                         else if (height != AltosRecord.MISSING &&
 370                                  prev_height != AltosRecord.MISSING &&
 371                                  time_change != 0)
 372                         {
 373                                 double  new_speed = (height - prev_height) / time_change;
 374
 375                                 if (prev_speed == AltosRecord.MISSING)
 376                                         speed = new_speed;
 377                                 else {
 378                                         double  filter = motion_filter_value();
 379
 380                                         speed = prev_speed * filter + new_speed * (1-filter);
 381                                 }
 382                         }
 383                 }
 384                 if (acceleration == AltosRecord.MISSING) {
 385                         if (prev_speed != AltosRecord.MISSING && time_change != 0) {
 386                                 double  new_acceleration = (speed - prev_speed) / time_change;
 387
 388                                 if (prev_acceleration == AltosRecord.MISSING)
 389                                         acceleration = new_acceleration;
 390                                 else {
 391                                         double filter = motion_filter_value();
 392
 393                                         acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
 394                                 }
 395                         }
 396                 }
 397                 if (boost && speed != AltosRecord.MISSING && speed > max_speed)
 398                         max_speed = speed;
 399         }
 400
 401         void update_accel() {
 402                 double  ground = ground_accel;
 403
 404                 if (ground == AltosRecord.MISSING)
 405                         ground = ground_accel_avg;
 406                 if (accel == AltosRecord.MISSING)
 407                         return;
 408                 if (ground == AltosRecord.MISSING)
 409                         return;
 410                 if (accel_plus_g == AltosRecord.MISSING)
 411                         return;
 412                 if (accel_minus_g == AltosRecord.MISSING)
 413                         return;
 414
 415                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 416                 double counts_per_mss = counts_per_g / 9.80665;
 417
 418                 acceleration = (ground - accel) / counts_per_mss;
 419
 420                 /* Only look at accelerometer data under boost */
 421                 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
 422                         max_acceleration = acceleration;
 423                 update_speed();
 424         }
 425
 426         void update_time() {
 427                 if (tick != AltosRecord.MISSING) {
 428                         time = tick / 100.0;
 429                         if (prev_time != AltosRecord.MISSING)
 430                                 time_change = time - prev_time;
 431                 }
 432         }
 433
 434         void update_gps() {
 435                 elevation = 0;
 436                 range = -1;
 437                 gps_height = 0;
 438
 439                 if (gps == null)
 440                         return;
 441
 442                 if (gps.locked && gps.nsat >= 4) {
 443                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 444                         if (state == AltosLib.ao_flight_pad) {
 445                                 set_npad(npad+1);
 446                                 if (pad_lat != AltosRecord.MISSING) {
 447                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 448                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 449                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 450                                 }
 451                         }
 452                         if (pad_lat == AltosRecord.MISSING) {
 453                                 pad_lat = gps.lat;
 454                                 pad_lon = gps.lon;
 455                                 pad_alt = gps.alt;
 456                         }
 457                 }
 458                 if (gps.lat != 0 && gps.lon != 0 &&
 459                     pad_lat != AltosRecord.MISSING &&
 460                     pad_lon != AltosRecord.MISSING)
 461                 {
 462                         double h = height;
 463
 464                         if (h == AltosRecord.MISSING)
 465                                 h = 0;
 466                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 467                         elevation = from_pad.elevation;
 468                         range = from_pad.range;
 469                         gps_height = gps.alt - pad_alt;
 470                 }
 471         }
 472
 473         public void set_tick(int tick) {
 474                 if (tick != AltosRecord.MISSING) {
 475                         if (this.tick != AltosRecord.MISSING) {
 476                                 while (tick < this.tick)
 477                                         tick += 65536;
 478                                 time_change = (tick - this.tick) / 100.0;
 479                         } else
 480                                 time_change = 0;
 481                         this.tick = tick;
 482                         update_time();
 483                 }
 484         }
 485
 486         public void set_boost_tick(int boost_tick) {
 487                 if (boost_tick != AltosRecord.MISSING)
 488                         this.boost_tick = boost_tick;
 489         }
 490
 491         public String state_name() {
 492                 return AltosLib.state_name(state);
 493         }
 494
 495         public void set_state(int state) {
 496                 if (state != AltosLib.ao_flight_invalid) {
 497                         this.state = state;
 498                         ascent = (AltosLib.ao_flight_boost <= state &&
 499                                   state <= AltosLib.ao_flight_coast);
 500                         boost = (AltosLib.ao_flight_boost == state);
 501                 }
 502
 503         }
 504
 505         public void set_flight(int flight) {
 506
 507                 /* When the flight changes, reset the state */
 508                 if (flight != AltosRecord.MISSING) {
 509                         if (this.flight != AltosRecord.MISSING &&
 510                             this.flight != flight) {
 511                                 init();
 512                         }
 513                         this.flight = flight;
 514                 }
 515         }
 516
 517         public void set_serial(int serial) {
 518                 /* When the serial changes, reset the state */
 519                 if (serial != AltosRecord.MISSING) {
 520                         if (this.serial != AltosRecord.MISSING &&
 521                             this.serial != serial) {
 522                                 init();
 523                         }
 524                         this.serial = serial;
 525                 }
 526         }
 527
 528         public int rssi() {
 529                 if (rssi == AltosRecord.MISSING)
 530                         return 0;
 531                 return rssi;
 532         }
 533
 534         public void set_rssi(int rssi, int status) {
 535                 if (rssi != AltosRecord.MISSING) {
 536                         this.rssi = rssi;
 537                         this.status = status;
 538                 }
 539         }
 540
 541         public void set_altitude(double altitude) {
 542                 if (altitude != AltosRecord.MISSING) {
 543                         this.altitude = altitude;
 544                         update_vertical_pos();
 545                         set |= set_position;
 546                 }
 547         }
 548
 549         public void set_ground_altitude(double ground_altitude) {
 550                 if (ground_altitude != AltosRecord.MISSING) {
 551                         this.ground_altitude = ground_altitude;
 552                         update_vertical_pos();
 553                 }
 554         }
 555
 556         public void set_ground_pressure (double pressure) {
 557                 if (pressure != AltosRecord.MISSING) {
 558                         this.ground_pressure = pressure;
 559                         set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
 560                         update_vertical_pos();
 561                 }
 562         }
 563
 564         public void set_gps(AltosGPS gps, int sequence) {
 565                 if (gps != null) {
 566                         this.gps = gps.clone();
 567                         gps_sequence = sequence;
 568                         update_gps();
 569                         update_vertical_pos();
 570                         set |= set_gps;
 571                 }
 572         }
 573
 574         public void set_kalman(double height, double speed, double acceleration) {
 575                 if (height != AltosRecord.MISSING) {
 576                         kalman_height = height;
 577                         kalman_speed = speed;
 578                         kalman_acceleration = acceleration;
 579                         update_vertical_pos();
 580                 }
 581         }
 582
 583         public void set_pressure(double pressure) {
 584                 if (pressure != AltosRecord.MISSING) {
 585                         this.pressure = pressure;
 586                         set_altitude(AltosConvert.pressure_to_altitude(pressure));
 587                 }
 588         }
 589
 590         public void make_baro() {
 591                 if (baro == null)
 592                         baro = new AltosMs5607();
 593         }
 594
 595         public void set_ms5607(int pres, int temp) {
 596                 if (baro != null) {
 597                         baro.set(pres, temp);
 598
 599                         set_pressure(baro.pa);
 600                         set_temperature(baro.cc / 100.0);
 601                 }
 602         }
 603
 604         public void make_companion (int nchannels) {
 605                 if (companion == null)
 606                         companion = new AltosRecordCompanion(nchannels);
 607         }
 608
 609         public void set_companion(AltosRecordCompanion companion) {
 610                 this.companion = companion;
 611         }
 612
 613         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 614                 if (accel_plus_g != AltosRecord.MISSING) {
 615                         this.accel_plus_g = accel_plus_g;
 616                         this.accel_minus_g = accel_minus_g;
 617                         update_accel();
 618                 }
 619         }
 620         public void set_ground_accel(double ground_accel) {
 621                 if (ground_accel != AltosRecord.MISSING) {
 622                         this.ground_accel = ground_accel;
 623                         update_accel();
 624                 }
 625         }
 626
 627         public void set_accel(double accel) {
 628                 if (accel != AltosRecord.MISSING) {
 629                         this.accel = accel;
 630                         if (state == AltosLib.ao_flight_pad) {
 631                                 if (ground_accel_avg == AltosRecord.MISSING)
 632                                         ground_accel_avg = accel;
 633                                 else
 634                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 635                         }
 636                 }
 637                 update_accel();
 638         }
 639
 640         public void set_temperature(double temperature) {
 641                 if (temperature != AltosRecord.MISSING) {
 642                         this.temperature = temperature;
 643                         set |= set_data;
 644                 }
 645         }
 646
 647         public void set_battery_voltage(double battery_voltage) {
 648                 if (battery_voltage != AltosRecord.MISSING) {
 649                         this.battery_voltage = battery_voltage;
 650                         set |= set_data;
 651                 }
 652         }
 653
 654         public void set_pyro_voltage(double pyro_voltage) {
 655                 if (pyro_voltage != AltosRecord.MISSING) {
 656                         this.pyro_voltage = pyro_voltage;
 657                         set |= set_data;
 658                 }
 659         }
 660
 661         public void set_apogee_voltage(double apogee_voltage) {
 662                 if (apogee_voltage != AltosRecord.MISSING) {
 663                         this.apogee_voltage = apogee_voltage;
 664                         set |= set_data;
 665                 }
 666         }
 667
 668         public void set_main_voltage(double main_voltage) {
 669                 if (main_voltage != AltosRecord.MISSING) {
 670                         this.main_voltage = main_voltage;
 671                         set |= set_data;
 672                 }
 673         }
 674
 675
 676         public double time_since_boost() {
 677                 if (tick == AltosRecord.MISSING)
 678                         return 0.0;
 679
 680                 if (boost_tick != AltosRecord.MISSING) {
 681                         return (tick - boost_tick) / 100.0;
 682                 }
 683                 return tick / 100.0;
 684         }
 685
 686         public boolean valid() {
 687                 return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
 688         }
 689
 690         public AltosGPS make_temp_gps() {
 691                 if (temp_gps == null) {
 692                         temp_gps = new AltosGPS(gps);
 693                         temp_gps.cc_gps_sat = null;
 694                 }
 695                 gps_pending = true;
 696                 return temp_gps;
 697         }
 698
 699         public void set_temp_gps() {
 700                 set_gps(temp_gps, gps_sequence + 1);
 701                 gps_pending = false;
 702                 temp_gps = null;
 703         }
 704
 705         public void init (AltosRecord cur, AltosState prev_state) {
 706
 707                 System.out.printf ("init\n");
 708                 if (cur == null)
 709                         cur = new AltosRecord();
 710
 711                 record = cur;
 712
 713                 /* Discard previous state if it was for a different board */
 714                 if (prev_state != null && prev_state.serial != cur.serial)
 715                         prev_state = null;
 716
 717                 copy(prev_state);
 718
 719                 set_ground_altitude(cur.ground_altitude());
 720                 set_altitude(cur.altitude());
 721
 722                 set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
 723
 724                 report_time = System.currentTimeMillis();
 725
 726                 set_temperature(cur.temperature());
 727                 set_apogee_voltage(cur.drogue_voltage());
 728                 set_main_voltage(cur.main_voltage());
 729                 set_battery_voltage(cur.battery_voltage());
 730
 731                 set_pressure(cur.pressure());
 732
 733                 set_tick(cur.tick);
 734                 set_state(cur.state);
 735
 736                 set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
 737                 set_ground_accel(cur.ground_accel);
 738                 set_accel (cur.accel);
 739
 740                 if (cur.gps_sequence != gps_sequence)
 741                         set_gps(cur.gps, cur.gps_sequence);
 742
 743         }
 744
 745         public AltosState clone() {
 746                 AltosState s = new AltosState();
 747                 s.copy(this);
 748                 return s;
 749         }
 750
 751         public AltosState(AltosRecord cur) {
 752                 init(cur, null);
 753         }
 754
 755         public AltosState (AltosRecord cur, AltosState prev) {
 756                 init(cur, prev);
 757         }
 758
 759         public AltosState () {
 760                 init();
 761         }
 762 }