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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 import org.altusmetrum.AltosLib.*;
  25
  26 public class AltosCSV implements AltosWriter {
  27         File                    name;
  28         PrintStream             out;
  29         boolean                 header_written;
  30         boolean                 seen_boost;
  31         int                     boost_tick;
  32         LinkedList<AltosRecord> pad_records;
  33         AltosState              state;
  34
  35         static final int ALTOS_CSV_VERSION = 5;
  36
  37         /* Version 4 format:
  38          *
  39          * General info
  40          *      version number
  41          *      serial number
  42          *      flight number
  43          *      callsign
  44          *      time (seconds since boost)
  45          *      clock (tick count / 100)
  46          *      rssi
  47          *      link quality
  48          *
  49          * Flight status
  50          *      state
  51          *      state name
  52          *
  53          * Basic sensors
  54          *      acceleration (m/s²)
  55          *      pressure (mBar)
  56          *      altitude (m)
  57          *      height (m)
  58          *      accelerometer speed (m/s)
  59          *      barometer speed (m/s)
  60          *      temp (°C)
  61          *      battery (V)
  62          *      drogue (V)
  63          *      main (V)
  64          *
  65          * Advanced sensors (if available)
  66          *      accel_x (m/s²)
  67          *      accel_y (m/s²)
  68          *      accel_z (m/s²)
  69          *      gyro_x (d/s)
  70          *      gyro_y (d/s)
  71          *      gyro_z (d/s)
  72          *      mag_x (g)
  73          *      mag_y (g)
  74          *      mag_z (g)
  75          *
  76          * GPS data (if available)
  77          *      connected (1/0)
  78          *      locked (1/0)
  79          *      nsat (used for solution)
  80          *      latitude (°)
  81          *      longitude (°)
  82          *      altitude (m)
  83          *      year (e.g. 2010)
  84          *      month (1-12)
  85          *      day (1-31)
  86          *      hour (0-23)
  87          *      minute (0-59)
  88          *      second (0-59)
  89          *      from_pad_dist (m)
  90          *      from_pad_azimuth (deg true)
  91          *      from_pad_range (m)
  92          *      from_pad_elevation (deg from horizon)
  93          *      hdop
  94          *
  95          * GPS Sat data
  96          *      C/N0 data for all 32 valid SDIDs
  97          *
  98          * Companion data
  99          *      companion_id (1-255. 10 is TeleScience)
 100          *      time of last companion data (seconds since boost)
 101          *      update_period (0.1-2.55 minimum telemetry interval)
 102          *      channels (0-12)
 103          *      channel data for all 12 possible channels
 104          */
 105
 106         void write_general_header() {
 107                 out.printf("version,serial,flight,call,time,clock,rssi,lqi");
 108         }
 109
 110         void write_general(AltosRecord record) {
 111                 out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
 112                            ALTOS_CSV_VERSION, record.serial, record.flight, record.callsign,
 113                            (double) record.time, (double) record.tick / 100.0,
 114                            record.rssi,
 115                            record.status & 0x7f);
 116         }
 117
 118         void write_flight_header() {
 119                 out.printf("state,state_name");
 120         }
 121
 122         void write_flight(AltosRecord record) {
 123                 out.printf("%d,%8s", record.state, record.state());
 124         }
 125
 126         void write_basic_header() {
 127                 out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
 128         }
 129
 130         void write_basic(AltosRecord record) {
 131                 out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
 132                            record.acceleration(),
 133                            record.raw_pressure(),
 134                            record.raw_altitude(),
 135                            record.raw_height(),
 136                            record.accel_speed(),
 137                            state.baro_speed,
 138                            record.temperature(),
 139                            record.battery_voltage(),
 140                            record.drogue_voltage(),
 141                            record.main_voltage());
 142         }
 143
 144         void write_advanced_header() {
 145                 out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
 146         }
 147
 148         void write_advanced(AltosRecord record) {
 149                 AltosIMU        imu = record.imu();
 150                 AltosMag        mag = record.mag();
 151
 152                 if (imu == null)
 153                         imu = new AltosIMU();
 154                 if (mag == null)
 155                         mag = new AltosMag();
 156                 out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
 157                            imu.accel_x, imu.accel_y, imu.accel_z,
 158                            imu.gyro_x, imu.gyro_y, imu.gyro_z,
 159                            mag.x, mag.y, mag.z);
 160         }
 161
 162         void write_gps_header() {
 163                 out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
 164         }
 165
 166         void write_gps(AltosRecord record) {
 167                 AltosGPS        gps = record.gps;
 168                 if (gps == null)
 169                         gps = new AltosGPS();
 170
 171                 AltosGreatCircle from_pad = state.from_pad;
 172                 if (from_pad == null)
 173                         from_pad = new AltosGreatCircle();
 174
 175                 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",
 176                            gps.connected?1:0,
 177                            gps.locked?1:0,
 178                            gps.nsat,
 179                            gps.lat,
 180                            gps.lon,
 181                            gps.alt,
 182                            gps.year,
 183                            gps.month,
 184                            gps.day,
 185                            gps.hour,
 186                            gps.minute,
 187                            gps.second,
 188                            from_pad.distance,
 189                            state.range,
 190                            from_pad.bearing,
 191                            state.elevation,
 192                            gps.hdop);
 193         }
 194
 195         void write_gps_sat_header() {
 196                 for(int i = 1; i <= 32; i++) {
 197                         out.printf("sat%02d", i);
 198                         if (i != 32)
 199                                 out.printf(",");
 200                 }
 201         }
 202
 203         void write_gps_sat(AltosRecord record) {
 204                 AltosGPS        gps = record.gps;
 205                 for(int i = 1; i <= 32; i++) {
 206                         int     c_n0 = 0;
 207                         if (gps != null && gps.cc_gps_sat != null) {
 208                                 for(int j = 0; j < gps.cc_gps_sat.length; j++)
 209                                         if (gps.cc_gps_sat[j].svid == i) {
 210                                                 c_n0 = gps.cc_gps_sat[j].c_n0;
 211                                                 break;
 212                                         }
 213                         }
 214                         out.printf ("%3d", c_n0);
 215                         if (i != 32)
 216                                 out.printf(",");
 217                 }
 218         }
 219
 220         void write_companion_header() {
 221                 out.printf("companion_id,companion_time,companion_update,companion_channels");
 222                 for (int i = 0; i < 12; i++)
 223                         out.printf(",companion_%02d", i);
 224         }
 225
 226         void write_companion(AltosRecord record) {
 227                 AltosRecordCompanion companion = record.companion;
 228
 229                 int     channels_written = 0;
 230                 if (companion == null) {
 231                         out.printf("0,0,0,0");
 232                 } else {
 233                         out.printf("%3d,%5.2f,%5.2f,%2d",
 234                                    companion.board_id,
 235                                    (companion.tick - boost_tick) / 100.0,
 236                                    companion.update_period / 100.0,
 237                                    companion.channels);
 238                         for (; channels_written < companion.channels; channels_written++)
 239                                 out.printf(",%5d", companion.companion_data[channels_written]);
 240                 }
 241                 for (; channels_written < 12; channels_written++)
 242                         out.printf(",0");
 243         }
 244
 245         void write_header(boolean advanced, boolean gps, boolean companion) {
 246                 out.printf("#"); write_general_header();
 247                 out.printf(","); write_flight_header();
 248                 out.printf(","); write_basic_header();
 249                 if (advanced)
 250                         out.printf(","); write_advanced_header();
 251                 if (gps) {
 252                         out.printf(","); write_gps_header();
 253                         out.printf(","); write_gps_sat_header();
 254                 }
 255                 if (companion) {
 256                         out.printf(","); write_companion_header();
 257                 }
 258                 out.printf ("\n");
 259         }
 260
 261         void write_one(AltosRecord record) {
 262                 state = new AltosState(record, state);
 263                 write_general(record); out.printf(",");
 264                 write_flight(record); out.printf(",");
 265                 write_basic(record); out.printf(",");
 266                 if (record.imu() != null || record.mag() != null)
 267                         write_advanced(record);
 268                 if (record.gps != null) {
 269                         out.printf(",");
 270                         write_gps(record); out.printf(",");
 271                         write_gps_sat(record);
 272                 }
 273                 if (record.companion != null) {
 274                         out.printf(",");
 275                         write_companion(record);
 276                 }
 277                 out.printf ("\n");
 278         }
 279
 280         void flush_pad() {
 281                 while (!pad_records.isEmpty()) {
 282                         write_one (pad_records.remove());
 283                 }
 284         }
 285
 286         public void write(AltosRecord record) {
 287                 if (record.state == Altos.ao_flight_startup)
 288                         return;
 289                 if (!header_written) {
 290                         write_header(record.imu() != null || record.mag() != null,
 291                                      record.gps != null, record.companion != null);
 292                         header_written = true;
 293                 }
 294                 if (!seen_boost) {
 295                         if (record.state >= Altos.ao_flight_boost) {
 296                                 seen_boost = true;
 297                                 boost_tick = record.tick;
 298                                 flush_pad();
 299                         }
 300                 }
 301                 if (seen_boost)
 302                         write_one(record);
 303                 else
 304                         pad_records.add(record);
 305         }
 306
 307         public PrintStream out() {
 308                 return out;
 309         }
 310
 311         public void close() {
 312                 if (!pad_records.isEmpty()) {
 313                         boost_tick = pad_records.element().tick;
 314                         flush_pad();
 315                 }
 316                 out.close();
 317         }
 318
 319         public void write(AltosRecordIterable iterable) {
 320                 iterable.write_comments(out());
 321                 for (AltosRecord r : iterable)
 322                         write(r);
 323         }
 324
 325         public AltosCSV(PrintStream in_out, File in_name) {
 326                 name = in_name;
 327                 out = in_out;
 328                 pad_records = new LinkedList<AltosRecord>();
 329         }
 330
 331         public AltosCSV(File in_name) throws FileNotFoundException {
 332                 this(new PrintStream(in_name), in_name);
 333         }
 334
 335         public AltosCSV(String in_string) throws FileNotFoundException {
 336                 this(new File(in_string));
 337         }
 338 }