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