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         double                  ground_accel;
  99
 100         int                     n_pad_samples;
 101
 102         int                     gps_tick;
 103
 104         boolean                 saw_boost;
 105
 106         int                     boost_tick;
 107
 108         boolean                 saw_gps_date;
 109
 110         boolean                 missing_gps_time;
 111
 112         public AltosRecord read() throws IOException, ParseException {
 113                 for (;;) {
 114                         if (record == null) {
 115                                 if (!record_iterator.hasNext()) {
 116                                         if (last_reported)
 117                                                 return null;
 118                                         last_reported = true;
 119                                         return state;
 120                                 }
 121                                 record = record_iterator.next();
 122
 123                                 if ((seen & seen_basic) == seen_basic && record.tick != state.tick) {
 124                                         AltosRecord r = new AltosRecord(state);
 125                                         r.time = (r.tick - boost_tick) / 100.0;
 126                                         return r;
 127                                 }
 128                         }
 129
 130                         state.tick = record.tick;
 131                         switch (record.cmd) {
 132                         case Altos.AO_LOG_FLIGHT:
 133                                 state.ground_accel = record.a;
 134                                 state.flight = record.b;
 135                                 seen |= seen_flight;
 136                                 break;
 137                         case Altos.AO_LOG_SENSOR:
 138                                 state.accel = record.a;
 139                                 state.pres = record.b;
 140                                 if (state.state < Altos.ao_flight_boost) {
 141                                         n_pad_samples++;
 142                                         ground_pres += state.pres;
 143                                         state.ground_pres = (int) (ground_pres / n_pad_samples);
 144                                         state.flight_pres = state.ground_pres;
 145                                         ground_accel += state.accel;
 146                                         state.ground_accel = (int) (ground_accel / n_pad_samples);
 147                                         state.flight_accel = state.ground_accel;
 148                                 } else {
 149                                         state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
 150                                         state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
 151                                         state.flight_vel += (state.accel_plus_g - state.accel);
 152                                 }
 153                                 seen |= seen_sensor;
 154                                 break;
 155                         case Altos.AO_LOG_TEMP_VOLT:
 156                                 state.temp = record.a;
 157                                 state.batt = record.b;
 158                                 seen |= seen_temp_volt;
 159                                 break;
 160                         case Altos.AO_LOG_DEPLOY:
 161                                 state.drogue = record.a;
 162                                 state.main = record.b;
 163                                 seen |= seen_deploy;
 164                                 break;
 165                         case Altos.AO_LOG_STATE:
 166                                 state.state = record.a;
 167                                 break;
 168                         case Altos.AO_LOG_GPS_TIME:
 169                                 gps_tick = state.tick;
 170                                 state.gps = new AltosGPS();
 171                                 state.gps.hour = (record.a & 0xff);
 172                                 state.gps.minute = (record.a >> 8);
 173                                 state.gps.second = (record.b & 0xff);
 174                                 int flags = (record.b >> 8);
 175                                 state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
 176                                 state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
 177                                 state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
 178                                 state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
 179                                         Altos.AO_GPS_NUM_SAT_SHIFT;
 180                                 System.out.printf("GPS %2d:%02d:%02d%s%s%s %d\n",
 181                                                   state.gps.hour, state.gps.minute, state.gps.second,
 182                                                   state.gps.connected ? " connected" : "",
 183                                                   state.gps.locked ? " locked" : "",
 184                                                   state.gps.date_valid ? " date_valid" : "",
 185                                                   state.gps.nsat);
 186                                 break;
 187                         case Altos.AO_LOG_GPS_LAT:
 188                                 int lat32 = record.a | (record.b << 16);
 189                                 state.gps.lat = (double) lat32 / 1e7;
 190                                 break;
 191                         case Altos.AO_LOG_GPS_LON:
 192                                 int lon32 = record.a | (record.b << 16);
 193                                 state.gps.lon = (double) lon32 / 1e7;
 194                                 break;
 195                         case Altos.AO_LOG_GPS_ALT:
 196                                 state.gps.alt = record.a;
 197                                 break;
 198                         case Altos.AO_LOG_GPS_SAT:
 199                                 if (state.tick == gps_tick) {
 200                                         int svid = record.a;
 201                                         int c_n0 = record.b >> 8;
 202                                         state.gps.add_sat(svid, c_n0);
 203                                 }
 204                                 break;
 205                         case Altos.AO_LOG_GPS_DATE:
 206                                 state.gps.year = record.a & 0xff;
 207                                 state.gps.month = record.a >> 8;
 208                                 state.gps.day = record.b & 0xff;
 209                                 break;
 210
 211                         case Altos.AO_LOG_CONFIG_VERSION:
 212                                 break;
 213                         case Altos.AO_LOG_MAIN_DEPLOY:
 214                                 break;
 215                         case Altos.AO_LOG_APOGEE_DELAY:
 216                                 break;
 217                         case Altos.AO_LOG_RADIO_CHANNEL:
 218                                 break;
 219                         case Altos.AO_LOG_CALLSIGN:
 220                                 state.callsign = record.data;
 221                                 break;
 222                         case Altos.AO_LOG_ACCEL_CAL:
 223                                 state.accel_plus_g = record.a;
 224                                 state.accel_minus_g = record.b;
 225                                 break;
 226                         case Altos.AO_LOG_RADIO_CAL:
 227                                 break;
 228                         case Altos.AO_LOG_MANUFACTURER:
 229                                 break;
 230                         case Altos.AO_LOG_PRODUCT:
 231                                 break;
 232                         case Altos.AO_LOG_SERIAL_NUMBER:
 233                                 state.serial = record.a;
 234                                 break;
 235                         case Altos.AO_LOG_SOFTWARE_VERSION:
 236                                 break;
 237                         }
 238                         record = null;
 239                 }
 240         }
 241
 242         public void write_comments(PrintStream out) {
 243                 Iterator<AltosOrderedRecord>    iterator = records.iterator();
 244                 out.printf("# Comments\n");
 245                 while (iterator.hasNext()) {
 246                         AltosOrderedRecord      record = iterator.next();
 247                         switch (record.cmd) {
 248                         case Altos.AO_LOG_CONFIG_VERSION:
 249                                 out.printf("# Config version: %s\n", record.data);
 250                                 break;
 251                         case Altos.AO_LOG_MAIN_DEPLOY:
 252                                 out.printf("# Main deploy: %s\n", record.a);
 253                                 break;
 254                         case Altos.AO_LOG_APOGEE_DELAY:
 255                                 out.printf("# Apogee delay: %s\n", record.a);
 256                                 break;
 257                         case Altos.AO_LOG_RADIO_CHANNEL:
 258                                 out.printf("# Radio channel: %s\n", record.a);
 259                                 break;
 260                         case Altos.AO_LOG_CALLSIGN:
 261                                 out.printf("# Callsign: %s\n", record.data);
 262                                 break;
 263                         case Altos.AO_LOG_ACCEL_CAL:
 264                                 out.printf ("# Accel cal: %d %d\n", record.a, record.b);
 265                                 break;
 266                         case Altos.AO_LOG_RADIO_CAL:
 267                                 out.printf ("# Radio cal: %d\n", record.a);
 268                                 break;
 269                         case Altos.AO_LOG_MANUFACTURER:
 270                                 out.printf ("# Manufacturer: %s\n", record.data);
 271                                 break;
 272                         case Altos.AO_LOG_PRODUCT:
 273                                 out.printf ("# Product: %s\n", record.data);
 274                                 break;
 275                         case Altos.AO_LOG_SERIAL_NUMBER:
 276                                 out.printf ("# Serial number: %d\n", record.a);
 277                                 break;
 278                         case Altos.AO_LOG_SOFTWARE_VERSION:
 279                                 out.printf ("# Software version: %s\n", record.data);
 280                                 break;
 281                         }
 282                 }
 283         }
 284
 285         /*
 286          * Given an AO_LOG_GPS_TIME record with correct time, and one
 287          * missing time, rewrite the missing time values with the good
 288          * ones, assuming that the difference between them is 'diff' seconds
 289          */
 290         void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
 291
 292                 int diff = (bad.tick - good.tick + 50) / 100;
 293
 294                 int hour = (good.a & 0xff);
 295                 int minute = (good.a >> 8);
 296                 int second = (good.b & 0xff);
 297                 int flags = (good.b >> 8);
 298                 int seconds = hour * 3600 + minute * 60 + second;
 299
 300                 int new_seconds = seconds + diff;
 301                 if (new_seconds < 0)
 302                         new_seconds += 24 * 3600;
 303                 int new_second = (new_seconds % 60);
 304                 int new_minutes = (new_seconds / 60);
 305                 int new_minute = (new_minutes % 60);
 306                 int new_hours = (new_minutes / 60);
 307                 int new_hour = (new_hours % 24);
 308
 309                 System.out.printf("Synthesizing time good %2d:%02d:%02d bad %2d:%02d:%02d\n",
 310                                   hour, minute, second,
 311                                   new_hour, new_minute, new_second);
 312
 313                 bad.a = new_hour + (new_minute << 8);
 314                 bad.b = new_second + (flags << 8);
 315         }
 316
 317         /*
 318          * Read the whole file, dumping records into a RB tree so
 319          * we can enumerate them in time order -- the eeprom data
 320          * are sometimes out of order with GPS data getting timestamps
 321          * matching the first packet out of the GPS unit but not
 322          * written until the final GPS packet has been received.
 323          */
 324         public AltosEepromReader (FileInputStream input) {
 325                 state = new AltosRecord();
 326                 state.state = Altos.ao_flight_pad;
 327                 state.accel_plus_g = 15758;
 328                 state.accel_minus_g = 16294;
 329                 seen = 0;
 330                 records = new TreeSet<AltosOrderedRecord>();
 331
 332                 AltosOrderedRecord last_gps_time = null;
 333
 334                 int index = 0;
 335                 int tick = 0;
 336
 337                 boolean missing_time = false;
 338
 339                 try {
 340                         for (;;) {
 341                                 String line = AltosRecord.gets(input);
 342                                 if (line == null)
 343                                         break;
 344                                 AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick);
 345                                 if (record == null)
 346                                         break;
 347                                 tick = record.tick;
 348                                 if (!saw_boost && record.cmd == Altos.AO_LOG_STATE &&
 349                                     record.a >= Altos.ao_flight_boost)
 350                                 {
 351                                         saw_boost = true;
 352                                         boost_tick = tick;
 353                                 }
 354
 355                                 /* Two firmware bugs caused the loss of some GPS data.
 356                                  * The flight date would never be recorded, and often
 357                                  * the flight time would get overwritten by another
 358                                  * record. Detect the loss of the GPS date and fix up the
 359                                  * missing time records
 360                                  */
 361                                 if (record.cmd == Altos.AO_LOG_GPS_DATE)
 362                                         saw_gps_date = true;
 363
 364                                 /* go back and fix up any missing time values */
 365                                 if (record.cmd == Altos.AO_LOG_GPS_TIME) {
 366                                         last_gps_time = record;
 367                                         if (missing_time) {
 368                                                 System.out.printf("Going back to clean up broken GPS time records\n");
 369                                                 Iterator<AltosOrderedRecord> iterator = records.iterator();
 370                                                 while (iterator.hasNext()) {
 371                                                         AltosOrderedRecord old = iterator.next();
 372                                                         if (old.cmd == Altos.AO_LOG_GPS_TIME) {
 373                                                                 System.out.printf("Old time record %d, %d\n", old.a, old.b);
 374                                                         }
 375                                                         if (old.cmd == Altos.AO_LOG_GPS_TIME &&
 376                                                             old.a == -1 && old.b == -1)
 377                                                         {
 378                                                                 update_time(record, old);
 379                                                         }
 380                                                 }
 381                                                 missing_time = false;
 382                                         }
 383                                 }
 384
 385                                 if (record.cmd == Altos.AO_LOG_GPS_LAT) {
 386                                         if (last_gps_time == null || last_gps_time.tick != record.tick) {
 387                                                 AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
 388                                                                                                          record.tick,
 389                                                                                                          -1, -1, index-1);
 390                                                 if (last_gps_time != null)
 391                                                         update_time(last_gps_time, add_gps_time);
 392                                                 else {
 393                                                         System.out.printf("early GPS missing time\n");
 394                                                         missing_time = true;
 395                                                 }
 396                                                 records.add(add_gps_time);
 397                                                 record.index = index++;
 398                                         }
 399                                 }
 400                                 records.add(record);
 401                         }
 402                 } catch (IOException io) {
 403                 } catch (ParseException pe) {
 404                 }
 405                 record_iterator = records.iterator();
 406                 try {
 407                         input.close();
 408                 } catch (IOException ie) {
 409                 }
 410         }
 411 }