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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30
  31 /*
  32  * AltosRecords with an index field so they can be sorted by tick while preserving
  33  * the original ordering for elements with matching ticks
  34  */
  35 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
  36
  37         public int      index;
  38
  39         public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
  40                 throws ParseException {
  41                 super(line);
  42                 if (prev_tick_valid) {
  43                         tick |= (prev_tick & ~0xffff);
  44                         if (tick < prev_tick) {
  45                                 if (prev_tick - tick > 0x8000)
  46                                         tick += 0x10000;
  47                         } else {
  48                                 if (tick - prev_tick > 0x8000)
  49                                         tick -= 0x10000;
  50                         }
  51                 }
  52                 index = in_index;
  53         }
  54
  55         public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
  56                 super(in_cmd, in_tick, in_a, in_b);
  57                 index = in_index;
  58         }
  59
  60         public int compareTo(AltosOrderedRecord o) {
  61                 int     tick_diff = tick - o.tick;
  62                 if (tick_diff != 0)
  63                         return tick_diff;
  64                 return index - o.index;
  65         }
  66 }
  67
  68 public class AltosEepromIterable extends AltosRecordIterable {
  69
  70         static final int        seen_flight = 1;
  71         static final int        seen_sensor = 2;
  72         static final int        seen_temp_volt = 4;
  73         static final int        seen_deploy = 8;
  74         static final int        seen_gps_time = 16;
  75         static final int        seen_gps_lat = 32;
  76         static final int        seen_gps_lon = 64;
  77
  78         static final int        seen_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy;
  79
  80         AltosEepromRecord       flight_record;
  81         AltosEepromRecord       gps_date_record;
  82
  83         TreeSet<AltosOrderedRecord>     records;
  84
  85         LinkedList<AltosRecord> list;
  86
  87         class EepromState {
  88                 int     seen;
  89                 int     n_pad_samples;
  90                 double  ground_pres;
  91                 int     gps_tick;
  92                 int     boost_tick;
  93
  94                 EepromState() {
  95                         seen = 0;
  96                         n_pad_samples = 0;
  97                         ground_pres = 0.0;
  98                         gps_tick = 0;
  99                 }
 100         }
 101
 102         void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
 103                 state.tick = record.tick;
 104                 switch (record.cmd) {
 105                 case Altos.AO_LOG_FLIGHT:
 106                         eeprom.seen |= seen_flight;
 107                         state.ground_accel = record.a;
 108                         state.flight_accel = record.a;
 109                         state.flight = record.b;
 110                         eeprom.boost_tick = record.tick;
 111                         break;
 112                 case Altos.AO_LOG_SENSOR:
 113                         state.accel = record.a;
 114                         state.pres = record.b;
 115                         if (state.state < Altos.ao_flight_boost) {
 116                                 eeprom.n_pad_samples++;
 117                                 eeprom.ground_pres += state.pres;
 118                                 state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
 119                                 state.flight_pres = state.ground_pres;
 120                         } else {
 121                                 state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 122                                 state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 123                                 state.flight_vel += (state.accel_plus_g - state.accel);
 124                         }
 125                         eeprom.seen |= seen_sensor;
 126                         break;
 127                 case Altos.AO_LOG_TEMP_VOLT:
 128                         state.temp = record.a;
 129                         state.batt = record.b;
 130                         eeprom.seen |= seen_temp_volt;
 131                         break;
 132                 case Altos.AO_LOG_DEPLOY:
 133                         state.drogue = record.a;
 134                         state.main = record.b;
 135                         eeprom.seen |= seen_deploy;
 136                         break;
 137                 case Altos.AO_LOG_STATE:
 138                         state.state = record.a;
 139                         break;
 140                 case Altos.AO_LOG_GPS_TIME:
 141                         eeprom.gps_tick = state.tick;
 142                         AltosGPS old = state.gps;
 143                         state.gps = new AltosGPS();
 144
 145                         /* GPS date doesn't get repeated through the file */
 146                         if (old != null) {
 147                                 state.gps.year = old.year;
 148                                 state.gps.month = old.month;
 149                                 state.gps.day = old.day;
 150                         }
 151                         state.gps.hour = (record.a & 0xff);
 152                         state.gps.minute = (record.a >> 8);
 153                         state.gps.second = (record.b & 0xff);
 154
 155                         int flags = (record.b >> 8);
 156                         state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
 157                         state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
 158                         state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
 159                         state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
 160                                 Altos.AO_GPS_NUM_SAT_SHIFT;
 161                         break;
 162                 case Altos.AO_LOG_GPS_LAT:
 163                         int lat32 = record.a | (record.b << 16);
 164                         state.gps.lat = (double) lat32 / 1e7;
 165                         break;
 166                 case Altos.AO_LOG_GPS_LON:
 167                         int lon32 = record.a | (record.b << 16);
 168                         state.gps.lon = (double) lon32 / 1e7;
 169                         break;
 170                 case Altos.AO_LOG_GPS_ALT:
 171                         state.gps.alt = record.a;
 172                         break;
 173                 case Altos.AO_LOG_GPS_SAT:
 174                         if (state.tick == eeprom.gps_tick) {
 175                                 int svid = record.a;
 176                                 int c_n0 = record.b >> 8;
 177                                 state.gps.add_sat(svid, c_n0);
 178                         }
 179                         break;
 180                 case Altos.AO_LOG_GPS_DATE:
 181                         state.gps.year = (record.a & 0xff) + 2000;
 182                         state.gps.month = record.a >> 8;
 183                         state.gps.day = record.b & 0xff;
 184                         break;
 185
 186                 case Altos.AO_LOG_CONFIG_VERSION:
 187                         break;
 188                 case Altos.AO_LOG_MAIN_DEPLOY:
 189                         break;
 190                 case Altos.AO_LOG_APOGEE_DELAY:
 191                         break;
 192                 case Altos.AO_LOG_RADIO_CHANNEL:
 193                         break;
 194                 case Altos.AO_LOG_CALLSIGN:
 195                         state.callsign = record.data;
 196                         break;
 197                 case Altos.AO_LOG_ACCEL_CAL:
 198                         state.accel_plus_g = record.a;
 199                         state.accel_minus_g = record.b;
 200                         break;
 201                 case Altos.AO_LOG_RADIO_CAL:
 202                         break;
 203                 case Altos.AO_LOG_MANUFACTURER:
 204                         break;
 205                 case Altos.AO_LOG_PRODUCT:
 206                         break;
 207                 case Altos.AO_LOG_SERIAL_NUMBER:
 208                         state.serial = record.a;
 209                         break;
 210                 case Altos.AO_LOG_SOFTWARE_VERSION:
 211                         break;
 212                 }
 213         }
 214
 215         LinkedList<AltosRecord> make_list() {
 216                 LinkedList<AltosRecord>         list = new LinkedList<AltosRecord>();
 217                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 218                 AltosOrderedRecord              record = null;
 219                 AltosRecord                     state = new AltosRecord();
 220                 boolean                         last_reported = false;
 221                 EepromState                     eeprom = new EepromState();
 222
 223                 state.state = Altos.ao_flight_pad;
 224                 state.accel_plus_g = 15758;
 225                 state.accel_minus_g = 16294;
 226
 227                 /* Pull in static data from the flight and gps_date records */
 228                 if (flight_record != null)
 229                         update_state(state, flight_record, eeprom);
 230                 if (gps_date_record != null)
 231                         update_state(state, gps_date_record, eeprom);
 232
 233                 while (iterator.hasNext()) {
 234                         record = iterator.next();
 235                         if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
 236                                 AltosRecord r = new AltosRecord(state);
 237                                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 238                                 list.add(r);
 239                         }
 240                         update_state(state, record, eeprom);
 241                 }
 242                 AltosRecord r = new AltosRecord(state);
 243                 r.time = (r.tick - eeprom.boost_tick) / 100.0;
 244                 list.add(r);
 245                 return list;
 246         }
 247
 248         public Iterator<AltosRecord> iterator() {
 249                 if (list == null)
 250                         list = make_list();
 251                 return list.iterator();
 252         }
 253
 254         public void write_comments(PrintStream out) {
 255                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 256                 out.printf("# Comments\n");
 257                 while (iterator.hasNext()) {
 258                         AltosOrderedRecord      record = iterator.next();
 259                         switch (record.cmd) {
 260                         case Altos.AO_LOG_CONFIG_VERSION:
 261                                 out.printf("# Config version: %s\n", record.data);
 262                                 break;
 263                         case Altos.AO_LOG_MAIN_DEPLOY:
 264                                 out.printf("# Main deploy: %s\n", record.a);
 265                                 break;
 266                         case Altos.AO_LOG_APOGEE_DELAY:
 267                                 out.printf("# Apogee delay: %s\n", record.a);
 268                                 break;
 269                         case Altos.AO_LOG_RADIO_CHANNEL:
 270                                 out.printf("# Radio channel: %s\n", record.a);
 271                                 break;
 272                         case Altos.AO_LOG_CALLSIGN:
 273                                 out.printf("# Callsign: %s\n", record.data);
 274                                 break;
 275                         case Altos.AO_LOG_ACCEL_CAL:
 276                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 277                                 break;
 278                         case Altos.AO_LOG_RADIO_CAL:
 279                                 out.printf ("# Radio cal: %d\n", record.a);
 280                                 break;
 281                         case Altos.AO_LOG_MANUFACTURER:
 282                                 out.printf ("# Manufacturer: %s\n", record.data);
 283                                 break;
 284                         case Altos.AO_LOG_PRODUCT:
 285                                 out.printf ("# Product: %s\n", record.data);
 286                                 break;
 287                         case Altos.AO_LOG_SERIAL_NUMBER:
 288                                 out.printf ("# Serial number: %d\n", record.a);
 289                                 break;
 290                         case Altos.AO_LOG_SOFTWARE_VERSION:
 291                                 out.printf ("# Software version: %s\n", record.data);
 292                                 break;
 293                         }
 294                 }
 295         }
 296
 297         /*
 298          * Given an AO_LOG_GPS_TIME record with correct time, and one
 299          * missing time, rewrite the missing time values with the good
 300          * ones, assuming that the difference between them is 'diff' seconds
 301          */
 302         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 303
 304                 int diff = (bad.tick - good.tick + 50) / 100;
 305
 306                 int hour = (good.a & 0xff);
 307                 int minute = (good.a >> 8);
 308                 int second = (good.b & 0xff);
 309                 int flags = (good.b >> 8);
 310                 int seconds = hour * 3600 + minute * 60 + second;
 311
 312                 /* Make sure this looks like a good GPS value */
 313                 if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
 314                         flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
 315                 flags |= Altos.AO_GPS_RUNNING;
 316                 flags |= Altos.AO_GPS_VALID;
 317
 318                 int new_seconds = seconds + diff;
 319                 if (new_seconds < 0)
 320                         new_seconds += 24 * 3600;
 321                 int new_second = (new_seconds % 60);
 322                 int new_minutes = (new_seconds / 60);
 323                 int new_minute = (new_minutes % 60);
 324                 int new_hours = (new_minutes / 60);
 325                 int new_hour = (new_hours % 24);
 326
 327                 bad.a = new_hour + (new_minute << 8);
 328                 bad.b = new_second + (flags << 8);
 329         }
 330
 331         /*
 332          * Read the whole file, dumping records into a RB tree so
 333          * we can enumerate them in time order -- the eeprom data
 334          * are sometimes out of order with GPS data getting timestamps
 335          * matching the first packet out of the GPS unit but not
 336          * written until the final GPS packet has been received.
 337          */
 338         public AltosEepromIterable (FileInputStream input) {
 339                 records = new TreeSet<AltosOrderedRecord>();
 340
 341                 AltosOrderedRecord last_gps_time = null;
 342
 343                 int index = 0;
 344                 int prev_tick = 0;
 345                 boolean prev_tick_valid = false;
 346                 boolean missing_time = false;
 347
 348                 try {
 349                         for (;;) {
 350                                 String line = AltosRecord.gets(input);
 351                                 if (line == null)
 352                                         break;
 353                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
 354                                 if (record == null)
 355                                         break;
 356                                 if (record.cmd == Altos.AO_LOG_INVALID)
 357                                         continue;
 358                                 prev_tick = record.tick;
 359                                 if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
 360                                         prev_tick_valid = true;
 361                                 if (record.cmd == Altos.AO_LOG_FLIGHT) {
 362                                         flight_record = record;
 363                                         continue;
 364                                 }
 365
 366                                 /* Two firmware bugs caused the loss of some GPS data.
 367                                  * The flight date would never be recorded, and often
 368                                  * the flight time would get overwritten by another
 369                                  * record. Detect the loss of the GPS date and fix up the
 370                                  * missing time records
 371                                  */
 372                                 if (record.cmd == Altos.AO_LOG_GPS_DATE) {
 373                                         gps_date_record = record;
 374                                         continue;
 375                                 }
 376
 377                                 /* go back and fix up any missing time values */
 378                                 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
 379                                         last_gps_time = record;
 380                                         if (missing_time) {
 381                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 382                                                 while (iterator.hasNext()) {
 383                                                         AltosOrderedRecord old = iterator.next();
 384                                                         if (old.cmd == Altos.AO_LOG_GPS_TIME &&
 385                                                             old.a == -1 && old.b == -1)
 386                                                         {
 387                                                                 update_time(record, old);
 388                                                         }
 389                                                 }
 390                                                 missing_time = false;
 391                                         }
 392                                 }
 393
 394                                 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
 395                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 396                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
 397                                                                                                          record.tick,
 398                                                                                                          -1, -1, index-1);
 399                                                 if (last_gps_time != null)
 400                                                         update_time(last_gps_time, add_gps_time);
 401                                                 else
 402                                                         missing_time = true;
 403
 404                                                 records.add(add_gps_time);
 405                                                 record.index = index++;
 406                                         }
 407                                 }
 408                                 records.add(record);
 409
 410                                 /* Bail after reading the 'landed' record; we're all done */
 411                                 if (record.cmd == Altos.AO_LOG_STATE &&
 412                                     record.a == Altos.ao_flight_landed)
 413                                         break;
 414                         }
 415                 } catch (IOException io) {
 416                 } catch (ParseException pe) {
 417                 }
 418                 try {
 419                         input.close();
 420                 } catch (IOException ie) {
 421                 }
 422         }
 423 }