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