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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 package altosui;
  19
  20 import java.lang.*;
  21 import java.io.*;
  22 import java.text.*;
  23 import java.util.*;
  24
  25 public class AltosCSV implements AltosWriter {
  26         File                    name;
  27         PrintStream             out;
  28         boolean                 header_written;
  29         boolean                 seen_boost;
  30         int                     boost_tick;
  31         LinkedList<AltosRecord> pad_records;
  32         AltosState              state;
  33
  34         static final int ALTOS_CSV_VERSION = 5;
  35
  36         /* Version 4 format:
  37          *
  38          * General info
  39          *      version number
  40          *      serial number
  41          *      flight number
  42          *      callsign
  43          *      time (seconds since boost)
  44          *      clock (tick count / 100)
  45          *      rssi
  46          *      link quality
  47          *
  48          * Flight status
  49          *      state
  50          *      state name
  51          *
  52          * Basic sensors
  53          *      acceleration (m/s²)
  54          *      pressure (mBar)
  55          *      altitude (m)
  56          *      height (m)
  57          *      accelerometer speed (m/s)
  58          *      barometer speed (m/s)
  59          *      temp (°C)
  60          *      battery (V)
  61          *      drogue (V)
  62          *      main (V)
  63          *
  64          * Advanced sensors (if available)
  65          *      accel_x (m/s²)
  66          *      accel_y (m/s²)
  67          *      accel_z (m/s²)
  68          *      gyro_x (d/s)
  69          *      gyro_y (d/s)
  70          *      gyro_z (d/s)
  71          *      mag_x (g)
  72          *      mag_y (g)
  73          *      mag_z (g)
  74          *
  75          * GPS data (if available)
  76          *      connected (1/0)
  77          *      locked (1/0)
  78          *      nsat (used for solution)
  79          *      latitude (°)
  80          *      longitude (°)
  81          *      altitude (m)
  82          *      year (e.g. 2010)
  83          *      month (1-12)
  84          *      day (1-31)
  85          *      hour (0-23)
  86          *      minute (0-59)
  87          *      second (0-59)
  88          *      from_pad_dist (m)
  89          *      from_pad_azimuth (deg true)
  90          *      from_pad_range (m)
  91          *      from_pad_elevation (deg from horizon)
  92          *      hdop
  93          *
  94          * GPS Sat data
  95          *      C/N0 data for all 32 valid SDIDs
  96          *
  97          * Companion data
  98          *      companion_id (1-255. 10 is TeleScience)
  99          *      time of last companion data (seconds since boost)
 100          *      update_period (0.1-2.55 minimum telemetry interval)
 101          *      channels (0-12)
 102          *      channel data for all 12 possible channels
 103          */
 104
 105         void write_general_header() {
 106                 out.printf("version,serial,flight,call,time,clock,rssi,lqi");
 107         }
 108
 109         void write_general(AltosRecord record) {
 110                 out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
 111                            ALTOS_CSV_VERSION, record.serial, record.flight, record.callsign,
 112                            (double) record.time, (double) record.tick / 100.0,
 113                            record.rssi,
 114                            record.status & 0x7f);
 115         }
 116
 117         void write_flight_header() {
 118                 out.printf("state,state_name");
 119         }
 120
 121         void write_flight(AltosRecord record) {
 122                 out.printf("%d,%8s", record.state, record.state());
 123         }
 124
 125         void write_basic_header() {
 126                 out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
 127         }
 128
 129         void write_basic(AltosRecord record) {
 130                 out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
 131                            record.acceleration(),
 132                            record.raw_pressure(),
 133                            record.raw_altitude(),
 134                            record.raw_height(),
 135                            record.accel_speed(),
 136                            state.baro_speed,
 137                            record.temperature(),
 138                            record.battery_voltage(),
 139                            record.drogue_voltage(),
 140                            record.main_voltage());
 141         }
 142
 143         void write_advanced_header() {
 144                 out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
 145         }
 146
 147         void write_advanced(AltosRecord record) {
 148                 AltosIMU        imu = record.imu;
 149                 AltosMag        mag = record.mag;
 150
 151                 if (imu == null)
 152                         imu = new AltosIMU();
 153                 if (mag == null)
 154                         mag = new AltosMag();
 155                 out.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d",
 156                            imu.accel_x, imu.accel_y, imu.accel_z,
 157                            imu.gyro_x, imu.gyro_y, imu.gyro_z,
 158                            mag.x, mag.y, mag.z);
 159         }
 160
 161         void write_gps_header() {
 162                 out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
 163         }
 164
 165         void write_gps(AltosRecord record) {
 166                 AltosGPS        gps = record.gps;
 167                 if (gps == null)
 168                         gps = new AltosGPS();
 169
 170                 AltosGreatCircle from_pad = state.from_pad;
 171                 if (from_pad == null)
 172                         from_pad = new AltosGreatCircle();
 173
 174                 out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
 175                            gps.connected?1:0,
 176                            gps.locked?1:0,
 177                            gps.nsat,
 178                            gps.lat,
 179                            gps.lon,
 180                            gps.alt,
 181                            gps.year,
 182                            gps.month,
 183                            gps.day,
 184                            gps.hour,
 185                            gps.minute,
 186                            gps.second,
 187                            from_pad.distance,
 188                            state.range,
 189                            from_pad.bearing,
 190                            state.elevation,
 191                            gps.hdop);
 192         }
 193
 194         void write_gps_sat_header() {
 195                 for(int i = 1; i <= 32; i++) {
 196                         out.printf("sat%02d", i);
 197                         if (i != 32)
 198                                 out.printf(",");
 199                 }
 200         }
 201
 202         void write_gps_sat(AltosRecord record) {
 203                 AltosGPS        gps = record.gps;
 204                 for(int i = 1; i <= 32; i++) {
 205                         int     c_n0 = 0;
 206                         if (gps != null && gps.cc_gps_sat != null) {
 207                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 208                                         if (gps.cc_gps_sat[j].svid == i) {
 209                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 210                                                 break;
 211                                         }
 212                         }
 213                         out.printf ("%3d", c_n0);
 214                         if (i != 32)
 215                                 out.printf(",");
 216                 }
 217         }
 218
 219         void write_companion_header() {
 220                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 221                 for (int i = 0; i < 12; i++)
 222                         out.printf(",companion_%02d", i);
 223         }
 224
 225         void write_companion(AltosRecord record) {
 226                 AltosRecordCompanion companion = record.companion;
 227
 228                 int     channels_written = 0;
 229                 if (companion == null) {
 230                         out.printf("0,0,0,0");
 231                 } else {
 232                         out.printf("%3d,%5.2f,%5.2f,%2d",
 233                                    companion.board_id,
 234                                    (companion.tick - boost_tick) / 100.0,
 235                                    companion.update_period / 100.0,
 236                                    companion.channels);
 237                         for (; channels_written < companion.channels; channels_written++)
 238                                 out.printf(",%5d", companion.companion_data[channels_written]);
 239                 }
 240                 for (; channels_written < 12; channels_written++)
 241                         out.printf(",0");
 242         }
 243
 244         void write_header(boolean advanced, boolean gps, boolean companion) {
 245                 out.printf("#"); write_general_header();
 246                 out.printf(","); write_flight_header();
 247                 out.printf(","); write_basic_header();
 248                 if (advanced)
 249                         out.printf(","); write_advanced_header();
 250                 if (gps) {
 251                         out.printf(","); write_gps_header();
 252                         out.printf(","); write_gps_sat_header();
 253                 }
 254                 if (companion) {
 255                         out.printf(","); write_companion_header();
 256                 }
 257                 out.printf ("\n");
 258         }
 259
 260         void write_one(AltosRecord record) {
 261                 state = new AltosState(record, state);
 262                 write_general(record); out.printf(",");
 263                 write_flight(record); out.printf(",");
 264                 write_basic(record); out.printf(",");
 265                 if (record.imu != null || record.mag != null)
 266                         write_advanced(record);
 267                 if (record.gps != null) {
 268                         out.printf(",");
 269                         write_gps(record); out.printf(",");
 270                         write_gps_sat(record);
 271                 }
 272                 if (record.companion != null) {
 273                         out.printf(",");
 274                         write_companion(record);
 275                 }
 276                 out.printf ("\n");
 277         }
 278
 279         void flush_pad() {
 280                 while (!pad_records.isEmpty()) {
 281                         write_one (pad_records.remove());
 282                 }
 283         }
 284
 285         public void write(AltosRecord record) {
 286                 if (record.state == Altos.ao_flight_startup)
 287                         return;
 288                 if (!header_written) {
 289                         write_header(record.imu != null || record.mag != null,
 290                                      record.gps != null, record.companion != null);
 291                         header_written = true;
 292                 }
 293                 if (!seen_boost) {
 294                         if (record.state >= Altos.ao_flight_boost) {
 295                                 seen_boost = true;
 296                                 boost_tick = record.tick;
 297                                 flush_pad();
 298                         }
 299                 }
 300                 if (seen_boost)
 301                         write_one(record);
 302                 else
 303                         pad_records.add(record);
 304         }
 305
 306         public PrintStream out() {
 307                 return out;
 308         }
 309
 310         public void close() {
 311                 if (!pad_records.isEmpty()) {
 312                         boost_tick = pad_records.element().tick;
 313                         flush_pad();
 314                 }
 315                 out.close();
 316         }
 317
 318         public void write(AltosRecordIterable iterable) {
 319                 iterable.write_comments(out());
 320                 for (AltosRecord r : iterable)
 321                         write(r);
 322         }
 323
 324         public AltosCSV(PrintStream in_out, File in_name) {
 325                 name = in_name;
 326                 out = in_out;
 327                 pad_records = new LinkedList<AltosRecord>();
 328         }
 329
 330         public AltosCSV(File in_name) throws FileNotFoundException {
 331                 this(new PrintStream(in_name), in_name);
 332         }
 333
 334         public AltosCSV(String in_string) throws FileNotFoundException {
 335                 this(new File(in_string));
 336         }
 337 }