git.gag.com Git - fw/altos/blob - ao-tools/altosui/AltosEepromReader.java

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