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