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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 AltosOrderedMegaRecord extends AltosEepromMega implements Comparable<AltosOrderedMegaRecord> {
  36
  37         public int      index;
  38
  39         public AltosOrderedMegaRecord(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 AltosOrderedMegaRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  56                 super(in_cmd, in_tick);
  57                 a = in_a;
  58                 b = in_b;
  59                 index = in_index;
  60         }
  61
  62         public String toString() {
  63                 return String.format("%d.%d %04x %04x %04x",
  64                                      cmd, index, tick, a, b);
  65         }
  66
  67         public int compareTo(AltosOrderedMegaRecord o) {
  68                 int     tick_diff = tick - o.tick;
  69                 if (tick_diff != 0)
  70                         return tick_diff;
  71                 return index - o.index;
  72         }
  73 }
  74
  75 public class AltosEepromMegaIterable extends AltosRecordIterable {
  76
  77         static final int        seen_flight = 1;
  78         static final int        seen_sensor = 2;
  79         static final int        seen_temp_volt = 4;
  80         static final int        seen_deploy = 8;
  81         static final int        seen_gps_time = 16;
  82         static final int        seen_gps_lat = 32;
  83         static final int        seen_gps_lon = 64;
  84
  85         static final int        seen_basic = seen_flight|seen_sensor;
  86
  87         boolean                 has_accel;
  88         boolean                 has_gps;
  89         boolean                 has_ignite;
  90
  91         AltosEepromMega flight_record;
  92         AltosEepromMega gps_date_record;
  93
  94         TreeSet<AltosOrderedMegaRecord> records;
  95
  96         AltosMs5607             baro;
  97
  98         LinkedList<AltosRecord> list;
  99
 100         class EepromState {
 101                 int     seen;
 102                 int     n_pad_samples;
 103                 double  ground_pres;
 104                 int     gps_tick;
 105                 int     boost_tick;
 106                 int     sensor_tick;
 107
 108                 EepromState() {
 109                         seen = 0;
 110                         n_pad_samples = 0;
 111                         ground_pres = 0.0;
 112                         gps_tick = 0;
 113                 }
 114         }
 115
 116         void update_state(AltosRecord state, AltosEepromMega record, EepromState eeprom) {
 117                 state.tick = record.tick;
 118                 switch (record.cmd) {
 119                 case Altos.AO_LOG_FLIGHT:
 120                         eeprom.seen |= seen_flight;
 121                         state.ground_accel = record.ground_accel();
 122                         state.flight_accel = record.ground_accel();
 123                         state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
 124                         state.flight_pres = state.ground_pres;
 125                         state.flight = record.data16(0);
 126                         eeprom.boost_tick = record.tick;
 127                         break;
 128                 case Altos.AO_LOG_SENSOR:
 129                         state.accel = record.accel();
 130                         state.pres = baro.set(record.pres(), record.temp());
 131                         state.temp = baro.cc;
 132                         state.imu = new AltosIMU();
 133                         state.imu.accel_x = record.accel_x();
 134                         state.imu.accel_y = record.accel_y();
 135                         state.imu.accel_z = record.accel_z();
 136                         state.imu.gyro_x = record.gyro_x();
 137                         state.imu.gyro_y = record.gyro_y();
 138                         state.imu.gyro_z = record.gyro_z();
 139                         state.mag = new AltosMag();
 140                         state.mag.x = record.mag_x();
 141                         state.mag.y = record.mag_y();
 142                         state.mag.z = record.mag_z();
 143                         if (state.state < Altos.ao_flight_boost) {
 144                                 eeprom.n_pad_samples++;
 145                                 eeprom.ground_pres += state.pres;
 146                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 147                                 state.flight_pres = state.ground_pres;
 148                         } else {
 149                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 150                         }
 151                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 152                         if ((eeprom.seen & seen_sensor) == 0)
 153                                 eeprom.sensor_tick = record.tick - 1;
 154                         state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
 155                         eeprom.seen |= seen_sensor;
 156                         eeprom.sensor_tick = record.tick;
 157                         has_accel = true;
 158                         break;
 159                 case Altos.AO_LOG_PRESSURE:
 160                         state.pres = record.b;
 161                         state.flight_pres = state.pres;
 162                         if (eeprom.n_pad_samples == 0) {
 163                                 eeprom.n_pad_samples++;
 164                                 state.ground_pres = state.pres;
 165                         }
 166                         eeprom.seen |= seen_sensor;
 167                         break;
 168                 case Altos.AO_LOG_TEMP_VOLT:
 169                         state.batt = record.v_batt();
 170                         eeprom.seen |= seen_temp_volt;
 171                         break;
 172                 case Altos.AO_LOG_DEPLOY:
 173                         state.drogue = record.a;
 174                         state.main = record.b;
 175                         eeprom.seen |= seen_deploy;
 176                         has_ignite = true;
 177                         break;
 178                 case Altos.AO_LOG_STATE:
 179                         state.state = record.state();
 180                         break;
 181                 case Altos.AO_LOG_GPS_TIME:
 182                         eeprom.gps_tick = state.tick;
 183                         AltosGPS old = state.gps;
 184                         state.gps = new AltosGPS();
 185
 186                         /* GPS date doesn't get repeated through the file */
 187                         if (old != null) {
 188                                 state.gps.year = old.year;
 189                                 state.gps.month = old.month;
 190                                 state.gps.day = old.day;
 191                         }
 192                         state.gps.hour = (record.a & 0xff);
 193                         state.gps.minute = (record.a >> 8);
 194                         state.gps.second = (record.b & 0xff);
 195
 196                         int flags = (record.b >> 8);
 197                         state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
 198                         state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
 199                         state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
 200                                 Altos.AO_GPS_NUM_SAT_SHIFT;
 201                         state.new_gps = true;
 202                         has_gps = true;
 203                         break;
 204                 case Altos.AO_LOG_GPS_LAT:
 205                         int lat32 = record.a | (record.b << 16);
 206                         state.gps.lat = (double) lat32 / 1e7;
 207                         break;
 208                 case Altos.AO_LOG_GPS_LON:
 209                         int lon32 = record.a | (record.b << 16);
 210                         state.gps.lon = (double) lon32 / 1e7;
 211                         break;
 212                 case Altos.AO_LOG_GPS_ALT:
 213                         state.gps.alt = record.a;
 214                         break;
 215                 case Altos.AO_LOG_GPS_SAT:
 216                         if (state.tick == eeprom.gps_tick) {
 217                                 int svid = record.a;
 218                                 int c_n0 = record.b >> 8;
 219                                 state.gps.add_sat(svid, c_n0);
 220                         }
 221                         break;
 222                 case Altos.AO_LOG_GPS_DATE:
 223                         state.gps.year = (record.a & 0xff) + 2000;
 224                         state.gps.month = record.a >> 8;
 225                         state.gps.day = record.b & 0xff;
 226                         break;
 227
 228                 case Altos.AO_LOG_CONFIG_VERSION:
 229                         break;
 230                 case Altos.AO_LOG_MAIN_DEPLOY:
 231                         break;
 232                 case Altos.AO_LOG_APOGEE_DELAY:
 233                         break;
 234                 case Altos.AO_LOG_RADIO_CHANNEL:
 235                         break;
 236                 case Altos.AO_LOG_CALLSIGN:
 237                         state.callsign = record.data;
 238                         break;
 239                 case Altos.AO_LOG_ACCEL_CAL:
 240                         state.accel_plus_g = record.a;
 241                         state.accel_minus_g = record.b;
 242                         break;
 243                 case Altos.AO_LOG_RADIO_CAL:
 244                         break;
 245                 case Altos.AO_LOG_MANUFACTURER:
 246                         break;
 247                 case Altos.AO_LOG_PRODUCT:
 248                         break;
 249                 case Altos.AO_LOG_SERIAL_NUMBER:
 250                         state.serial = record.a;
 251                         break;
 252                 case Altos.AO_LOG_SOFTWARE_VERSION:
 253                         break;
 254                 case Altos.AO_LOG_BARO_RESERVED:
 255                         baro.reserved = record.a;
 256                         break;
 257                 case Altos.AO_LOG_BARO_SENS:
 258                         baro.sens =record.a;
 259                         break;
 260                 case Altos.AO_LOG_BARO_OFF:
 261                         baro.off =record.a;
 262                         break;
 263                 case Altos.AO_LOG_BARO_TCS:
 264                         baro.tcs =record.a;
 265                         break;
 266                 case Altos.AO_LOG_BARO_TCO:
 267                         baro.tco =record.a;
 268                         break;
 269                 case Altos.AO_LOG_BARO_TREF:
 270                         baro.tref =record.a;
 271                         break;
 272                 case Altos.AO_LOG_BARO_TEMPSENS:
 273                         baro.tempsens =record.a;
 274                         break;
 275                 case Altos.AO_LOG_BARO_CRC:
 276                         baro.crc =record.a;
 277                         break;
 278                 }
 279                 state.seen |= eeprom.seen;
 280         }
 281
 282         LinkedList<AltosRecord> make_list() {
 283                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 284                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 285                 AltosOrderedMegaRecord          record = null;
 286                 AltosRecord                     state = new AltosRecord();
 287                 boolean                         last_reported = false;
 288                 EepromState                     eeprom = new EepromState();
 289
 290                 state.state = Altos.ao_flight_pad;
 291                 state.accel_plus_g = 15758;
 292                 state.accel_minus_g = 16294;
 293
 294                 /* Pull in static data from the flight and gps_date records */
 295                 if (flight_record != null)
 296                         update_state(state, flight_record, eeprom);
 297                 if (gps_date_record != null)
 298                         update_state(state, gps_date_record, eeprom);
 299
 300                 while (iterator.hasNext()) {
 301                         record = iterator.next();
 302                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 303                                 AltosRecord r = new AltosRecord(state);
 304                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 305                                 list.add(r);
 306                         }
 307                         update_state(state, record, eeprom);
 308                 }
 309                 AltosRecord r = new AltosRecord(state);
 310                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 311                 list.add(r);
 312                 return list;
 313         }
 314
 315         public Iterator<AltosRecord> iterator() {
 316                 if (list == null)
 317                         list = make_list();
 318                 return list.iterator();
 319         }
 320
 321         public boolean has_gps() { return has_gps; }
 322         public boolean has_accel() { return has_accel; }
 323         public boolean has_ignite() { return has_ignite; }
 324
 325         public void write_comments(PrintStream out) {
 326                 Iterator<AltosOrderedMegaRecord>        iterator = records.iterator();
 327                 out.printf("# Comments\n");
 328                 while (iterator.hasNext()) {
 329                         AltosOrderedMegaRecord  record = iterator.next();
 330                         switch (record.cmd) {
 331                         case Altos.AO_LOG_CONFIG_VERSION:
 332                                 out.printf("# Config version: %s\n", record.data);
 333                                 break;
 334                         case Altos.AO_LOG_MAIN_DEPLOY:
 335                                 out.printf("# Main deploy: %s\n", record.a);
 336                                 break;
 337                         case Altos.AO_LOG_APOGEE_DELAY:
 338                                 out.printf("# Apogee delay: %s\n", record.a);
 339                                 break;
 340                         case Altos.AO_LOG_RADIO_CHANNEL:
 341                                 out.printf("# Radio channel: %s\n", record.a);
 342                                 break;
 343                         case Altos.AO_LOG_CALLSIGN:
 344                                 out.printf("# Callsign: %s\n", record.data);
 345                                 break;
 346                         case Altos.AO_LOG_ACCEL_CAL:
 347                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 348                                 break;
 349                         case Altos.AO_LOG_RADIO_CAL:
 350                                 out.printf ("# Radio cal: %d\n", record.a);
 351                                 break;
 352                         case Altos.AO_LOG_MAX_FLIGHT_LOG:
 353                                 out.printf ("# Max flight log: %d\n", record.a);
 354                                 break;
 355                         case Altos.AO_LOG_MANUFACTURER:
 356                                 out.printf ("# Manufacturer: %s\n", record.data);
 357                                 break;
 358                         case Altos.AO_LOG_PRODUCT:
 359                                 out.printf ("# Product: %s\n", record.data);
 360                                 break;
 361                         case Altos.AO_LOG_SERIAL_NUMBER:
 362                                 out.printf ("# Serial number: %d\n", record.a);
 363                                 break;
 364                         case Altos.AO_LOG_SOFTWARE_VERSION:
 365                                 out.printf ("# Software version: %s\n", record.data);
 366                                 break;
 367                         case Altos.AO_LOG_BARO_RESERVED:
 368                                 out.printf ("# Baro reserved: %d\n", record.a);
 369                                 break;
 370                         case Altos.AO_LOG_BARO_SENS:
 371                                 out.printf ("# Baro sens: %d\n", record.a);
 372                                 break;
 373                         case Altos.AO_LOG_BARO_OFF:
 374                                 out.printf ("# Baro off: %d\n", record.a);
 375                                 break;
 376                         case Altos.AO_LOG_BARO_TCS:
 377                                 out.printf ("# Baro tcs: %d\n", record.a);
 378                                 break;
 379                         case Altos.AO_LOG_BARO_TCO:
 380                                 out.printf ("# Baro tco: %d\n", record.a);
 381                                 break;
 382                         case Altos.AO_LOG_BARO_TREF:
 383                                 out.printf ("# Baro tref: %d\n", record.a);
 384                                 break;
 385                         case Altos.AO_LOG_BARO_TEMPSENS:
 386                                 out.printf ("# Baro tempsens: %d\n", record.a);
 387                                 break;
 388                         case Altos.AO_LOG_BARO_CRC:
 389                                 out.printf ("# Baro crc: %d\n", record.a);
 390                                 break;
 391                         }
 392                 }
 393         }
 394
 395         /*
 396          * Given an AO_LOG_GPS_TIME record with correct time, and one
 397          * missing time, rewrite the missing time values with the good
 398          * ones, assuming that the difference between them is 'diff' seconds
 399          */
 400         void update_time(AltosOrderedMegaRecord good, AltosOrderedMegaRecord bad) {
 401
 402                 int diff = (bad.tick - good.tick + 50) / 100;
 403
 404                 int hour = (good.a & 0xff);
 405                 int minute = (good.a >> 8);
 406                 int second = (good.b & 0xff);
 407                 int flags = (good.b >> 8);
 408                 int seconds = hour * 3600 + minute * 60 + second;
 409
 410                 /* Make sure this looks like a good GPS value */
 411                 if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
 412                         flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
 413                 flags |= Altos.AO_GPS_RUNNING;
 414                 flags |= Altos.AO_GPS_VALID;
 415
 416                 int new_seconds = seconds + diff;
 417                 if (new_seconds < 0)
 418                         new_seconds += 24 * 3600;
 419                 int new_second = (new_seconds % 60);
 420                 int new_minutes = (new_seconds / 60);
 421                 int new_minute = (new_minutes % 60);
 422                 int new_hours = (new_minutes / 60);
 423                 int new_hour = (new_hours % 24);
 424
 425                 bad.a = new_hour + (new_minute << 8);
 426                 bad.b = new_second + (flags << 8);
 427         }
 428
 429         /*
 430          * Read the whole file, dumping records into a RB tree so
 431          * we can enumerate them in time order -- the eeprom data
 432          * are sometimes out of order with GPS data getting timestamps
 433          * matching the first packet out of the GPS unit but not
 434          * written until the final GPS packet has been received.
 435          */
 436         public AltosEepromMegaIterable (FileInputStream input) {
 437                 records = new TreeSet<AltosOrderedMegaRecord>();
 438
 439                 AltosOrderedMegaRecord last_gps_time = null;
 440
 441                 baro = new AltosMs5607();
 442
 443                 int index = 0;
 444                 int prev_tick = 0;
 445                 boolean prev_tick_valid = false;
 446                 boolean missing_time = false;
 447
 448                 try {
 449                         for (;;) {
 450                                 String line = AltosRecord.gets(input);
 451                                 if (line == null)
 452                                         break;
 453                                 AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
 454                                 if (record == null)
 455                                         break;
 456                                 if (record.cmd == Altos.AO_LOG_INVALID)
 457                                         continue;
 458                                 prev_tick = record.tick;
 459                                 if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
 460                                         prev_tick_valid = true;
 461                                 if (record.cmd == Altos.AO_LOG_FLIGHT) {
 462                                         flight_record = record;
 463                                         continue;
 464                                 }
 465
 466                                 /* Two firmware bugs caused the loss of some GPS data.
 467                                  * The flight date would never be recorded, and often
 468                                  * the flight time would get overwritten by another
 469                                  * record. Detect the loss of the GPS date and fix up the
 470                                  * missing time records
 471                                  */
 472                                 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
 473                                         gps_date_record = record;
 474                                         continue;
 475                                 }
 476
 477                                 /* go back and fix up any missing time values */
 478                                 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
 479                                         last_gps_time = record;
 480                                         if (missing_time) {
 481                                                 Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
 482                                                 while (iterator.hasNext()) {
 483                                                         AltosOrderedMegaRecord old = iterator.next();
 484                                                         if (old.cmd == Altos.AO_LOG_GPS_TIME &&
 485                                                             old.a == -1 && old.b == -1)
 486                                                         {
 487                                                                 update_time(record, old);
 488                                                         }
 489                                                 }
 490                                                 missing_time = false;
 491                                         }
 492                                 }
 493
 494                                 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
 495                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 496                                                 AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(Altos.AO_LOG_GPS_TIME,
 497                                                                                                          record.tick,
 498                                                                                                          -1, -1, index-1);
 499                                                 if (last_gps_time != null)
 500                                                         update_time(last_gps_time, add_gps_time);
 501                                                 else
 502                                                         missing_time = true;
 503
 504                                                 records.add(add_gps_time);
 505                                                 record.index = index++;
 506                                         }
 507                                 }
 508                                 records.add(record);
 509
 510                                 /* Bail after reading the 'landed' record; we're all done */
 511                                 if (record.cmd == Altos.AO_LOG_STATE &&
 512                                     record.a == Altos.ao_flight_landed)
 513                                         break;
 514                         }
 515                 } catch (IOException io) {
 516                 } catch (ParseException pe) {
 517                 }
 518                 try {
 519                         input.close();
 520                 } catch (IOException ie) {
 521                 }
 522         }
 523 }