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   1 /*
   2  * Copyright © 2009 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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20 #include <string.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <unistd.h>
  24 #include <getopt.h>
  25 #include "cc-usb.h"
  26 #include "cc.h"
  27 #include <plplot/plplot.h>
  28
  29 static const char *state_names[] = {
  30         "startup",
  31         "idle",
  32         "pad",
  33         "boost",
  34         "fast",
  35         "coast",
  36         "drogue",
  37         "main",
  38         "landed",
  39         "invalid"
  40 };
  41
  42 static int plot_colors[3][3] = {
  43         { 0, 0x90, 0 }, /* height */
  44         { 0xa0, 0, 0 }, /* speed */
  45         { 0, 0, 0xc0 }, /* accel */
  46 };
  47
  48 #define PLOT_HEIGHT     0
  49 #define PLOT_SPEED      1
  50 #define PLOT_ACCEL      2
  51
  52 static void
  53 plot_perioddata(struct cc_perioddata *d, char *axis_label, char *plot_label,
  54                 double min_time, double max_time, int plot_type)
  55 {
  56         double  *times;
  57         double  ymin, ymax;
  58         int     ymin_i, ymax_i;
  59         int     i;
  60         int     start, stop;
  61
  62         if (!cc_perioddata_limits(d, min_time, max_time, &start, &stop))
  63                 return;
  64
  65         times = calloc(stop - start + 1, sizeof (double));
  66         for (i = start; i <= stop; i++)
  67                 times[i-start] = i * d->step / 100.0;
  68
  69         ymin_i = cc_perioddata_min(d, min_time, max_time);
  70         ymax_i = cc_perioddata_max(d, min_time, max_time);
  71         ymin = d->data[ymin_i];
  72         ymax = d->data[ymax_i];
  73         plscol0(1, 0, 0, 0);
  74         plscol0(2, plot_colors[plot_type][0],  plot_colors[plot_type][1],  plot_colors[plot_type][2]);
  75         plcol0(1);
  76         plenv(times[0], times[stop-start],
  77               ymin, ymax, 0, 2);
  78         pllab("Time", axis_label, plot_label);
  79         plcol0(2);
  80         plline(stop - start + 1, times, d->data + start);
  81         free(times);
  82 }
  83
  84 static void
  85 plot_timedata(struct cc_timedata *d, char *axis_label, char *plot_label,
  86                 double min_time, double max_time)
  87 {
  88         double  *times;
  89         double  *values;
  90         double  ymin, ymax;
  91         int     ymin_i, ymax_i;
  92         int     i;
  93         int     start = -1, stop = -1;
  94         double  start_time = 0, stop_time = 0;
  95         int     num;
  96
  97         for (i = 0; i < d->num; i++) {
  98                 if (start < 0 && d->data[i].time >= min_time) {
  99                         start_time = d->data[i].time;
 100                         start = i;
 101                 }
 102                 if (d->data[i].time <= max_time) {
 103                         stop_time = d->data[i].time;
 104                         stop = i;
 105                 }
 106         }
 107
 108         times = calloc(stop - start + 1, sizeof (double));
 109         values = calloc(stop - start + 1, sizeof (double));
 110
 111         ymin_i = cc_timedata_min(d, min_time, max_time);
 112         ymax_i = cc_timedata_max(d, min_time, max_time);
 113         ymin = d->data[ymin_i].value;
 114         ymax = d->data[ymax_i].value;
 115         plcol0(1);
 116         pllab("Time", axis_label, plot_label);
 117         for (i = start; i <= stop; i++) {
 118                 times[i-start] = (d->data[i].time - start_time)/100.0;
 119                 values[i-start] = d->data[i].value;
 120         }
 121         plenv(times[0], times[stop-start], ymin, ymax, 0, 2);
 122         plline(stop - start + 1, times, values);
 123         free(times);
 124         free(values);
 125 }
 126
 127 static struct cc_perioddata *
 128 merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split_time)
 129 {
 130         int                     i;
 131         struct cc_perioddata    *pd;
 132         int                     num;
 133         double                  start_time, stop_time;
 134         double                  t;
 135
 136         pd = calloc(1, sizeof (struct cc_perioddata));
 137         start_time = first->start;
 138         stop_time = last->start + last->step * last->num;
 139         num = (stop_time - start_time) / first->step;
 140         pd->num = num;
 141         pd->data = calloc(num, sizeof (double));
 142         pd->start = first->start;
 143         pd->step = first->step;
 144         for (i = 0; i < num; i++) {
 145                 t = pd->start + i * pd->step;
 146                 if (t <= split_time) {
 147                         pd->data[i] = first->data[i];
 148                 } else {
 149                         int     j;
 150
 151                         j = (t - last->start) / last->step;
 152                         if (j < 0 || j >= last->num)
 153                                 pd->data[i] = 0;
 154                         else
 155                                 pd->data[i] = last->data[j];
 156                 }
 157         }
 158         return pd;
 159 }
 160
 161 static void
 162 analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name)
 163 {
 164         double  height;
 165         double  accel;
 166         double  speed;
 167         double  avg_speed;
 168         double  boost_start, boost_stop;
 169         double  min_pres;
 170         int     i;
 171         int     pres_i, accel_i, speed_i;
 172         int     boost_start_set = 0;
 173         int     boost_stop_set = 0;
 174         enum ao_flight_state    state;
 175         double  state_start, state_stop;
 176         struct cc_flightcooked *cooked;
 177         double  apogee;
 178
 179         fprintf(summary_file, "Flight:  %9d\nSerial:  %9d\n",
 180                 f->flight, f->serial);
 181         boost_start = f->accel.data[0].time;
 182         boost_stop = f->accel.data[f->accel.num-1].time;
 183         for (i = 0; i < f->state.num; i++) {
 184                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 185                         boost_start = f->state.data[i].time;
 186                         boost_start_set = 1;
 187                 }
 188                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 189                         boost_stop = f->state.data[i].time;
 190                         boost_stop_set = 1;
 191                 }
 192         }
 193
 194         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 195                                  f->pres.data[f->pres.num-1].time);
 196         if (pres_i >= 0)
 197         {
 198                 min_pres = f->pres.data[pres_i].value;
 199                 height = cc_barometer_to_altitude(min_pres) -
 200                         cc_barometer_to_altitude(f->ground_pres);
 201                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 202                         height, height * 100 / 2.54 / 12,
 203                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 204                 apogee = f->pres.data[pres_i].time;
 205         }
 206
 207         cooked = cc_flight_cook(f);
 208         if (cooked) {
 209                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 210                 if (speed_i >= 0) {
 211                         speed = cooked->accel_speed.data[speed_i];
 212                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 213                                speed, speed * 100 / 2.4 / 12.0,
 214                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 215                 }
 216         }
 217         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 218         if (accel_i >= 0)
 219         {
 220                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 221                                                          f->ground_accel);
 222                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 223                         accel, accel /  9.80665,
 224                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 225         }
 226
 227         for (i = 0; i < f->state.num; i++) {
 228                 state = f->state.data[i].value;
 229                 state_start = f->state.data[i].time;
 230                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 231                         i++;
 232                 if (i < f->state.num - 1)
 233                         state_stop = f->state.data[i + 1].time;
 234                 else
 235                         state_stop = f->accel.data[f->accel.num-1].time;
 236                 fprintf(summary_file, "State: %s\n", state_names[state]);
 237                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 238                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 239                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 240                 if (accel_i >= 0)
 241                 {
 242                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 243                                                                  f->ground_accel);
 244                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 245                                accel, accel / 9.80665,
 246                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 247                 }
 248
 249                 if (cooked) {
 250                         if (state < ao_flight_drogue) {
 251                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 252                                 if (speed_i >= 0)
 253                                         speed = cooked->accel_speed.data[speed_i];
 254                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 255                         } else {
 256                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 257                                 if (speed_i >= 0)
 258                                         speed = cooked->pres_speed.data[speed_i];
 259                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 260                         }
 261                         if (speed_i >= 0)
 262                         {
 263                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 264                                        speed, speed * 100 / 2.4 / 12.0,
 265                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 266                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 267                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 268                         }
 269                 }
 270                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 271                 if (pres_i >= 0)
 272                 {
 273                         min_pres = f->pres.data[pres_i].value;
 274                         height = cc_barometer_to_altitude(min_pres) -
 275                                 cc_barometer_to_altitude(f->ground_pres);
 276                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 277                                 height, height * 100 / 2.54 / 12,
 278                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 279                 }
 280         }
 281         if (cooked && detail_file) {
 282                 double  max_height = 0;
 283                 int     i;
 284                 double  *times;
 285
 286                 fprintf(detail_file, "%9s %9s %9s %9s\n",
 287                        "time", "height", "speed", "accel");
 288                 for (i = 0; i < cooked->pres_pos.num; i++) {
 289                         double  time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
 290                         double  accel = cooked->accel_accel.data[i];
 291                         double  pos = cooked->pres_pos.data[i];
 292                         double  speed;
 293                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 294                                 speed = cooked->accel_speed.data[i];
 295                         else
 296                                 speed = cooked->pres_speed.data[i];
 297                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
 298                                time, pos, speed, accel);
 299                 }
 300         }
 301         if (raw_file) {
 302                 fprintf(raw_file, "%9s %9s %9s\n",
 303                        "time", "height", "accel");
 304                 for (i = 0; i < cooked->pres.num; i++) {
 305                         double time = cooked->pres.data[i].time;
 306                         double pres = cooked->pres.data[i].value;
 307                         double accel = cooked->accel.data[i].value;
 308                         fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
 309                                 time, pres, accel);
 310                 }
 311         }
 312         if (cooked && plot_name) {
 313                 struct cc_perioddata    *speed;
 314                 plsdev("svgcairo");
 315                 plsfnam(plot_name);
 316 #define PLOT_DPI        96
 317                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 318                 plscolbg(0xff, 0xff, 0xff);
 319                 plscol0(1,0,0,0);
 320                 plstar(2, 3);
 321                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 322
 323                 plot_perioddata(&cooked->pres_pos, "meters", "Height", -1e10, 1e10, PLOT_HEIGHT);
 324                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee", boost_start, apogee, PLOT_HEIGHT);
 325                 plot_perioddata(speed, "meters/second", "Speed", -1e10, 1e10, PLOT_SPEED);
 326                 plot_perioddata(speed, "meters/second", "Speed to Apogee", boost_start, apogee, PLOT_SPEED);
 327                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration", -1e10, 1e10, PLOT_ACCEL);
 328                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost", boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 329                 free(speed->data);
 330                 free(speed);
 331                 plend();
 332         }
 333         if (cooked)
 334                 cc_flightcooked_free(cooked);
 335 }
 336
 337 static const struct option options[] = {
 338         { .name = "summary", .has_arg = 1, .val = 's' },
 339         { .name = "detail", .has_arg = 1, .val = 'd' },
 340         { .name = "plot", .has_arg = 1, .val = 'p' },
 341         { .name = "raw", .has_arg = 1, .val = 'r' },
 342         { 0, 0, 0, 0},
 343 };
 344
 345 static void usage(char *program)
 346 {
 347         fprintf(stderr, "usage: %s\n"
 348                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 349                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 350                 "\t[--raw=<raw-file> -r <raw-file]\n"
 351                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 352                 "\t{flight-log} ...\n", program);
 353         exit(1);
 354 }
 355
 356 int
 357 main (int argc, char **argv)
 358 {
 359         FILE                    *file;
 360         FILE                    *summary_file = NULL;
 361         FILE                    *detail_file = NULL;
 362         FILE                    *raw_file = NULL;
 363         int                     i;
 364         int                     ret = 0;
 365         struct cc_flightraw     *raw;
 366         int                     c;
 367         int                     serial;
 368         char                    *s;
 369         char                    *summary_name = NULL;
 370         char                    *detail_name = NULL;
 371         char                    *raw_name = NULL;
 372         char                    *plot_name = NULL;
 373
 374         while ((c = getopt_long(argc, argv, "s:d:p:r:", options, NULL)) != -1) {
 375                 switch (c) {
 376                 case 's':
 377                         summary_name = optarg;
 378                         break;
 379                 case 'd':
 380                         detail_name = optarg;
 381                         break;
 382                 case 'p':
 383                         plot_name = optarg;
 384                         break;
 385                 case 'r':
 386                         raw_name = optarg;
 387                         break;
 388                 default:
 389                         usage(argv[0]);
 390                         break;
 391                 }
 392         }
 393         summary_file = stdout;
 394         if (summary_name) {
 395                 summary_file = fopen(summary_name, "w");
 396                 if (!summary_file) {
 397                         perror (summary_name);
 398                         exit(1);
 399                 }
 400         }
 401         if (detail_name) {
 402                 if (summary_name && !strcmp (summary_name, detail_name))
 403                         detail_file = summary_file;
 404                 else {
 405                         detail_file = fopen(detail_name, "w");
 406                         if (!detail_file) {
 407                                 perror(detail_name);
 408                                 exit(1);
 409                         }
 410                 }
 411         }
 412         if (raw_name) {
 413                 raw_file = fopen (raw_name, "w");
 414                 if (!raw_file) {
 415                         perror(raw_name);
 416                         exit(1);
 417                 }
 418         }
 419         for (i = optind; i < argc; i++) {
 420                 file = fopen(argv[i], "r");
 421                 if (!file) {
 422                         perror(argv[i]);
 423                         ret++;
 424                         continue;
 425                 }
 426                 s = strstr(argv[i], "-serial-");
 427                 if (s)
 428                         serial = atoi(s + 8);
 429                 else
 430                         serial = 0;
 431                 raw = cc_log_read(file);
 432                 if (!raw) {
 433                         perror(argv[i]);
 434                         ret++;
 435                         continue;
 436                 }
 437                 if (!raw->serial)
 438                         raw->serial = serial;
 439                 analyse_flight(raw, summary_file, detail_file, raw_file, plot_name);
 440                 cc_flightraw_free(raw);
 441         }
 442         return ret;
 443 }