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