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