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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.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30 import org.altusmetrum.AltosLib.*;
  31
  32 /*
  33  * AltosRecords with an index field so they can be sorted by tick while preserving
  34  * the original ordering for elements with matching ticks
  35  */
  36 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
  37
  38         public int      index;
  39
  40         public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
  41                 throws ParseException {
  42                 super(line);
  43                 if (prev_tick_valid) {
  44                         tick |= (prev_tick & ~0xffff);
  45                         if (tick < prev_tick) {
  46                                 if (prev_tick - tick > 0x8000)
  47                                         tick += 0x10000;
  48                         } else {
  49                                 if (tick - prev_tick > 0x8000)
  50                                         tick -= 0x10000;
  51                         }
  52                 }
  53                 index = in_index;
  54         }
  55
  56         public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  57                 super(in_cmd, in_tick, in_a, in_b);
  58                 index = in_index;
  59         }
  60
  61         public String toString() {
  62                 return String.format("%d.%d %04x %04x %04x",
  63                                      cmd, index, tick, a, b);
  64         }
  65
  66         public int compareTo(AltosOrderedRecord o) {
  67                 int     tick_diff = tick - o.tick;
  68                 if (tick_diff != 0)
  69                         return tick_diff;
  70                 return index - o.index;
  71         }
  72 }
  73
  74 public class AltosEepromIterable extends AltosRecordIterable {
  75
  76         static final int        seen_flight = 1;
  77         static final int        seen_sensor = 2;
  78         static final int        seen_temp_volt = 4;
  79         static final int        seen_deploy = 8;
  80         static final int        seen_gps_time = 16;
  81         static final int        seen_gps_lat = 32;
  82         static final int        seen_gps_lon = 64;
  83
  84         static final int        seen_basic = seen_flight|seen_sensor;
  85
  86         boolean                 has_accel;
  87         boolean                 has_gps;
  88         boolean                 has_ignite;
  89
  90         AltosEepromRecord       flight_record;
  91         AltosEepromRecord       gps_date_record;
  92
  93         TreeSet<AltosOrderedRecord>     records;
  94
  95         LinkedList<AltosRecord> list;
  96
  97         class EepromState {
  98                 int     seen;
  99                 int     n_pad_samples;
 100                 double  ground_pres;
 101                 int     gps_tick;
 102                 int     boost_tick;
 103                 int     sensor_tick;
 104
 105                 EepromState() {
 106                         seen = 0;
 107                         n_pad_samples = 0;
 108                         ground_pres = 0.0;
 109                         gps_tick = 0;
 110                 }
 111         }
 112
 113         void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
 114                 state.tick = record.tick;
 115                 switch (record.cmd) {
 116                 case Altos.AO_LOG_FLIGHT:
 117                         eeprom.seen |= seen_flight;
 118                         state.ground_accel = record.a;
 119                         state.flight_accel = record.a;
 120                         state.flight = record.b;
 121                         eeprom.boost_tick = record.tick;
 122                         break;
 123                 case Altos.AO_LOG_SENSOR:
 124                         state.accel = record.a;
 125                         state.pres = record.b;
 126                         if (state.state < Altos.ao_flight_boost) {
 127                                 eeprom.n_pad_samples++;
 128                                 eeprom.ground_pres += state.pres;
 129                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 130                                 state.flight_pres = state.ground_pres;
 131                         } else {
 132                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 133                         }
 134                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 135                         if ((eeprom.seen & seen_sensor) == 0)
 136                                 eeprom.sensor_tick = record.tick - 1;
 137                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
 138                         eeprom.seen |= seen_sensor;
 139                         eeprom.sensor_tick = record.tick;
 140                         has_accel = true;
 141                         break;
 142                 case Altos.AO_LOG_PRESSURE:
 143                         state.pres = record.b;
 144                         state.flight_pres = state.pres;
 145                         if (eeprom.n_pad_samples == 0) {
 146                                 eeprom.n_pad_samples++;
 147                                 state.ground_pres = state.pres;
 148                         }
 149                         eeprom.seen |= seen_sensor;
 150                         break;
 151                 case Altos.AO_LOG_TEMP_VOLT:
 152                         state.temp = record.a;
 153                         state.batt = record.b;
 154                         eeprom.seen |= seen_temp_volt;
 155                         break;
 156                 case Altos.AO_LOG_DEPLOY:
 157                         state.drogue = record.a;
 158                         state.main = record.b;
 159                         eeprom.seen |= seen_deploy;
 160                         has_ignite = true;
 161                         break;
 162                 case Altos.AO_LOG_STATE:
 163                         state.state = record.a;
 164                         break;
 165                 case Altos.AO_LOG_GPS_TIME:
 166                         eeprom.gps_tick = state.tick;
 167                         AltosGPS old = state.gps;
 168                         state.gps = new AltosGPS();
 169
 170                         /* GPS date doesn't get repeated through the file */
 171                         if (old != null) {
 172                                 state.gps.year = old.year;
 173                                 state.gps.month = old.month;
 174                                 state.gps.day = old.day;
 175                         }
 176                         state.gps.hour = (record.a & 0xff);
 177                         state.gps.minute = (record.a >> 8);
 178                         state.gps.second = (record.b & 0xff);
 179
 180                         int flags = (record.b >> 8);
 181                         state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
 182                         state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
 183                         state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
 184                                 Altos.AO_GPS_NUM_SAT_SHIFT;
 185                         state.new_gps = true;
 186                         has_gps = true;
 187                         break;
 188                 case Altos.AO_LOG_GPS_LAT:
 189                         int lat32 = record.a | (record.b << 16);
 190                         state.gps.lat = (double) lat32 / 1e7;
 191                         break;
 192                 case Altos.AO_LOG_GPS_LON:
 193                         int lon32 = record.a | (record.b << 16);
 194                         state.gps.lon = (double) lon32 / 1e7;
 195                         break;
 196                 case Altos.AO_LOG_GPS_ALT:
 197                         state.gps.alt = record.a;
 198                         break;
 199                 case Altos.AO_LOG_GPS_SAT:
 200                         if (state.tick == eeprom.gps_tick) {
 201                                 int svid = record.a;
 202                                 int c_n0 = record.b >> 8;
 203                                 state.gps.add_sat(svid, c_n0);
 204                         }
 205                         break;
 206                 case Altos.AO_LOG_GPS_DATE:
 207                         state.gps.year = (record.a & 0xff) + 2000;
 208                         state.gps.month = record.a >> 8;
 209                         state.gps.day = record.b & 0xff;
 210                         break;
 211
 212                 case Altos.AO_LOG_CONFIG_VERSION:
 213                         break;
 214                 case Altos.AO_LOG_MAIN_DEPLOY:
 215                         break;
 216                 case Altos.AO_LOG_APOGEE_DELAY:
 217                         break;
 218                 case Altos.AO_LOG_RADIO_CHANNEL:
 219                         break;
 220                 case Altos.AO_LOG_CALLSIGN:
 221                         state.callsign = record.data;
 222                         break;
 223                 case Altos.AO_LOG_ACCEL_CAL:
 224                         state.accel_plus_g = record.a;
 225                         state.accel_minus_g = record.b;
 226                         break;
 227                 case Altos.AO_LOG_RADIO_CAL:
 228                         break;
 229                 case Altos.AO_LOG_MANUFACTURER:
 230                         break;
 231                 case Altos.AO_LOG_PRODUCT:
 232                         break;
 233                 case Altos.AO_LOG_SERIAL_NUMBER:
 234                         state.serial = record.a;
 235                         break;
 236                 case Altos.AO_LOG_SOFTWARE_VERSION:
 237                         break;
 238                 }
 239                 state.seen |= eeprom.seen;
 240         }
 241
 242         LinkedList<AltosRecord> make_list() {
 243                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 244                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 245                 AltosOrderedRecord              record = null;
 246                 AltosRecord                     state = new AltosRecord();
 247                 boolean                         last_reported = false;
 248                 EepromState                     eeprom = new EepromState();
 249
 250                 state.state = Altos.ao_flight_pad;
 251                 state.accel_plus_g = 15758;
 252                 state.accel_minus_g = 16294;
 253
 254                 /* Pull in static data from the flight and gps_date records */
 255                 if (flight_record != null)
 256                         update_state(state, flight_record, eeprom);
 257                 if (gps_date_record != null)
 258                         update_state(state, gps_date_record, eeprom);
 259
 260                 while (iterator.hasNext()) {
 261                         record = iterator.next();
 262                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 263                                 AltosRecord r = new AltosRecord(state);
 264                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 265                                 list.add(r);
 266                         }
 267                         update_state(state, record, eeprom);
 268                 }
 269                 AltosRecord r = new AltosRecord(state);
 270                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 271                 list.add(r);
 272         return list;
 273         }
 274
 275         public Iterator<AltosRecord> iterator() {
 276                 if (list == null)
 277                         list = make_list();
 278                 return list.iterator();
 279         }
 280
 281         public boolean has_gps() { return has_gps; }
 282         public boolean has_accel() { return has_accel; }
 283         public boolean has_ignite() { return has_ignite; }
 284
 285         public void write_comments(PrintStream out) {
 286                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 287                 out.printf("# Comments\n");
 288                 while (iterator.hasNext()) {
 289                         AltosOrderedRecord      record = iterator.next();
 290                         switch (record.cmd) {
 291                         case Altos.AO_LOG_CONFIG_VERSION:
 292                                 out.printf("# Config version: %s\n", record.data);
 293                                 break;
 294                         case Altos.AO_LOG_MAIN_DEPLOY:
 295                                 out.printf("# Main deploy: %s\n", record.a);
 296                                 break;
 297                         case Altos.AO_LOG_APOGEE_DELAY:
 298                                 out.printf("# Apogee delay: %s\n", record.a);
 299                                 break;
 300                         case Altos.AO_LOG_RADIO_CHANNEL:
 301                                 out.printf("# Radio channel: %s\n", record.a);
 302                                 break;
 303                         case Altos.AO_LOG_CALLSIGN:
 304                                 out.printf("# Callsign: %s\n", record.data);
 305                                 break;
 306                         case Altos.AO_LOG_ACCEL_CAL:
 307                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 308                                 break;
 309                         case Altos.AO_LOG_RADIO_CAL:
 310                                 out.printf ("# Radio cal: %d\n", record.a);
 311                                 break;
 312                         case Altos.AO_LOG_MAX_FLIGHT_LOG:
 313                                 out.printf ("# Max flight log: %d\n", record.a);
 314                                 break;
 315                         case Altos.AO_LOG_MANUFACTURER:
 316                                 out.printf ("# Manufacturer: %s\n", record.data);
 317                                 break;
 318                         case Altos.AO_LOG_PRODUCT:
 319                                 out.printf ("# Product: %s\n", record.data);
 320                                 break;
 321                         case Altos.AO_LOG_SERIAL_NUMBER:
 322                                 out.printf ("# Serial number: %d\n", record.a);
 323                                 break;
 324                         case Altos.AO_LOG_SOFTWARE_VERSION:
 325                                 out.printf ("# Software version: %s\n", record.data);
 326                                 break;
 327                         case Altos.AO_LOG_BARO_RESERVED:
 328                                 out.printf ("# Baro reserved: %d\n", record.a);
 329                                 break;
 330                         case Altos.AO_LOG_BARO_SENS:
 331                                 out.printf ("# Baro sens: %d\n", record.a);
 332                                 break;
 333                         case Altos.AO_LOG_BARO_OFF:
 334                                 out.printf ("# Baro off: %d\n", record.a);
 335                                 break;
 336                         case Altos.AO_LOG_BARO_TCS:
 337                                 out.printf ("# Baro tcs: %d\n", record.a);
 338                                 break;
 339                         case Altos.AO_LOG_BARO_TCO:
 340                                 out.printf ("# Baro tco: %d\n", record.a);
 341                                 break;
 342                         case Altos.AO_LOG_BARO_TREF:
 343                                 out.printf ("# Baro tref: %d\n", record.a);
 344                                 break;
 345                         case Altos.AO_LOG_BARO_TEMPSENS:
 346                                 out.printf ("# Baro tempsens: %d\n", record.a);
 347                                 break;
 348                         case Altos.AO_LOG_BARO_CRC:
 349                                 out.printf ("# Baro crc: %d\n", record.a);
 350                                 break;
 351                         }
 352                 }
 353         }
 354
 355         /*
 356          * Given an AO_LOG_GPS_TIME record with correct time, and one
 357          * missing time, rewrite the missing time values with the good
 358          * ones, assuming that the difference between them is 'diff' seconds
 359          */
 360         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 361
 362                 int diff = (bad.tick - good.tick + 50) / 100;
 363
 364                 int hour = (good.a & 0xff);
 365                 int minute = (good.a >> 8);
 366                 int second = (good.b & 0xff);
 367                 int flags = (good.b >> 8);
 368                 int seconds = hour * 3600 + minute * 60 + second;
 369
 370                 /* Make sure this looks like a good GPS value */
 371                 if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
 372                         flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
 373                 flags |= Altos.AO_GPS_RUNNING;
 374                 flags |= Altos.AO_GPS_VALID;
 375
 376                 int new_seconds = seconds + diff;
 377                 if (new_seconds < 0)
 378                         new_seconds += 24 * 3600;
 379                 int new_second = (new_seconds % 60);
 380                 int new_minutes = (new_seconds / 60);
 381                 int new_minute = (new_minutes % 60);
 382                 int new_hours = (new_minutes / 60);
 383                 int new_hour = (new_hours % 24);
 384
 385                 bad.a = new_hour + (new_minute << 8);
 386                 bad.b = new_second + (flags << 8);
 387         }
 388
 389         /*
 390          * Read the whole file, dumping records into a RB tree so
 391          * we can enumerate them in time order -- the eeprom data
 392          * are sometimes out of order with GPS data getting timestamps
 393          * matching the first packet out of the GPS unit but not
 394          * written until the final GPS packet has been received.
 395          */
 396         public AltosEepromIterable (FileInputStream input) {
 397                 records = new TreeSet<AltosOrderedRecord>();
 398
 399                 AltosOrderedRecord last_gps_time = null;
 400
 401                 int index = 0;
 402                 int prev_tick = 0;
 403                 boolean prev_tick_valid = false;
 404                 boolean missing_time = false;
 405
 406                 try {
 407                         for (;;) {
 408                                 String line = AltosRecord.gets(input);
 409                                 if (line == null)
 410                                         break;
 411                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
 412                                 if (record == null)
 413                                         break;
 414                                 if (record.cmd == Altos.AO_LOG_INVALID)
 415                                         continue;
 416                                 prev_tick = record.tick;
 417                                 if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
 418                                         prev_tick_valid = true;
 419                                 if (record.cmd == Altos.AO_LOG_FLIGHT) {
 420                                         flight_record = record;
 421                                         continue;
 422                                 }
 423
 424                                 /* Two firmware bugs caused the loss of some GPS data.
 425                                  * The flight date would never be recorded, and often
 426                                  * the flight time would get overwritten by another
 427                                  * record. Detect the loss of the GPS date and fix up the
 428                                  * missing time records
 429                                  */
 430                                 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
 431                                         gps_date_record = record;
 432                                         continue;
 433                                 }
 434
 435                                 /* go back and fix up any missing time values */
 436                                 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
 437                                         last_gps_time = record;
 438                                         if (missing_time) {
 439                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 440                                                 while (iterator.hasNext()) {
 441                                                         AltosOrderedRecord old = iterator.next();
 442                                                         if (old.cmd == Altos.AO_LOG_GPS_TIME &&
 443                                                             old.a == -1 && old.b == -1)
 444                                                         {
 445                                                                 update_time(record, old);
 446                                                         }
 447                                                 }
 448                                                 missing_time = false;
 449                                         }
 450                                 }
 451
 452                                 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
 453                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 454                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
 455                                                                                                          record.tick,
 456                                                                                                          -1, -1, index-1);
 457                                                 if (last_gps_time != null)
 458                                                         update_time(last_gps_time, add_gps_time);
 459                                                 else
 460                                                         missing_time = true;
 461
 462                                                 records.add(add_gps_time);
 463                                                 record.index = index++;
 464                                         }
 465                                 }
 466                                 records.add(record);
 467
 468                                 /* Bail after reading the 'landed' record; we're all done */
 469                                 if (record.cmd == Altos.AO_LOG_STATE &&
 470                                     record.a == Altos.ao_flight_landed)
 471                                         break;
 472                         }
 473                 } catch (IOException io) {
 474                 } catch (ParseException pe) {
 475                 }
 476                 try {
 477                         input.close();
 478                 } catch (IOException ie) {
 479                 }
 480         }
 481 }