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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, int plot_type)
  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         for (i = start; i <= stop; i++) {
 116                 times[i-start] = (d->data[i].time - start_time)/100.0;
 117                 values[i-start] = d->data[i].value;
 118         }
 119         plscol0(1, 0, 0, 0);
 120         plscol0(2, plot_colors[plot_type][0],  plot_colors[plot_type][1],  plot_colors[plot_type][2]);
 121         plcol0(1);
 122         plenv(times[0], times[stop-start], ymin, ymax, 0, 2);
 123         pllab("Time", axis_label, plot_label);
 124         plcol0(2);
 125         plline(stop - start + 1, times, values);
 126         free(times);
 127         free(values);
 128 }
 129
 130 static struct cc_perioddata *
 131 merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split_time)
 132 {
 133         int                     i;
 134         struct cc_perioddata    *pd;
 135         int                     num;
 136         double                  start_time, stop_time;
 137         double                  t;
 138
 139         pd = calloc(1, sizeof (struct cc_perioddata));
 140         start_time = first->start;
 141         stop_time = last->start + last->step * last->num;
 142         num = (stop_time - start_time) / first->step;
 143         pd->num = num;
 144         pd->data = calloc(num, sizeof (double));
 145         pd->start = first->start;
 146         pd->step = first->step;
 147         for (i = 0; i < num; i++) {
 148                 t = pd->start + i * pd->step;
 149                 if (t <= split_time) {
 150                         pd->data[i] = first->data[i];
 151                 } else {
 152                         int     j;
 153
 154                         j = (t - last->start) / last->step;
 155                         if (j < 0 || j >= last->num)
 156                                 pd->data[i] = 0;
 157                         else
 158                                 pd->data[i] = last->data[j];
 159                 }
 160         }
 161         return pd;
 162 }
 163
 164 static const char kml_header[] =
 165         "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
 166         "<kml xmlns=\"http://earth.google.com/kml/2.0\">\n"
 167         "  <Placemark>\n"
 168         "    <name>gps</name>\n"
 169         "    <Style id=\"khStyle690\">\n"
 170         "      <LineStyle id=\"khLineStyle694\">\n"
 171         "        <color>ff00ffff</color>\n"
 172         "        <width>4</width>\n"
 173         "      </LineStyle>\n"
 174         "      </Style>\n"
 175         "    <MultiGeometry id=\"khMultiGeometry697\">\n"
 176         "      <LineString id=\"khLineString698\">\n"
 177         "        <tessellate>1</tessellate>\n"
 178         "        <altitudeMode>absolute</altitudeMode>\n"
 179         "        <coordinates>\n";
 180
 181 static const char kml_footer[] =
 182         "</coordinates>\n"
 183         "    </LineString>\n"
 184         "  </MultiGeometry>\n"
 185         "</Placemark>\n"
 186         "</kml>\n";
 187
 188 static void
 189 analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file,
 190                FILE *raw_file, char *plot_name, FILE *gps_file, FILE *kml_file)
 191 {
 192         double  height;
 193         double  accel;
 194         double  speed;
 195         double  avg_speed;
 196         double  boost_start, boost_stop;
 197         double  min_pres;
 198         int     i;
 199         int     pres_i, accel_i, speed_i;
 200         int     boost_start_set = 0;
 201         int     boost_stop_set = 0;
 202         enum ao_flight_state    state;
 203         double  state_start, state_stop;
 204         struct cc_flightcooked *cooked;
 205         double  apogee;
 206
 207         fprintf(summary_file,
 208                 "Serial:  %9d\n"
 209                 "Flight:  %9d\n",
 210                 f->serial, f->flight);
 211         if (f->year) {
 212                 fprintf(summary_file,
 213                         "Date:   %04d-%02d-%02d\n",
 214                         f->year, f->month, f->day);
 215         }
 216         if (f->gps.num) {
 217                 fprintf(summary_file,
 218                         "Time:     %2d:%02d:%02d\n",
 219                         f->gps.data[0].hour,
 220                         f->gps.data[0].minute,
 221                         f->gps.data[0].second);
 222         }
 223         boost_start = f->accel.data[0].time;
 224         boost_stop = f->accel.data[f->accel.num-1].time;
 225         for (i = 0; i < f->state.num; i++) {
 226                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 227                         boost_start = f->state.data[i].time;
 228                         boost_start_set = 1;
 229                 }
 230                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 231                         boost_stop = f->state.data[i].time;
 232                         boost_stop_set = 1;
 233                 }
 234         }
 235
 236         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 237                                  f->pres.data[f->pres.num-1].time);
 238         if (pres_i >= 0)
 239         {
 240                 min_pres = f->pres.data[pres_i].value;
 241                 height = cc_barometer_to_altitude(min_pres) -
 242                         cc_barometer_to_altitude(f->ground_pres);
 243                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 244                         height, height * 100 / 2.54 / 12,
 245                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 246                 apogee = f->pres.data[pres_i].time;
 247         }
 248
 249         cooked = cc_flight_cook(f);
 250         if (cooked) {
 251                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 252                 if (speed_i >= 0) {
 253                         speed = cooked->accel_speed.data[speed_i];
 254                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 255                                speed, speed * 100 / 2.4 / 12.0,
 256                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 257                 }
 258         }
 259         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 260         if (accel_i >= 0)
 261         {
 262                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 263                                                          f->ground_accel);
 264                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 265                         accel, accel /  9.80665,
 266                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 267         }
 268
 269         for (i = 0; i < f->state.num; i++) {
 270                 state = f->state.data[i].value;
 271                 state_start = f->state.data[i].time;
 272                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 273                         i++;
 274                 if (i < f->state.num - 1)
 275                         state_stop = f->state.data[i + 1].time;
 276                 else
 277                         state_stop = f->accel.data[f->accel.num-1].time;
 278                 fprintf(summary_file, "State: %s\n", state_names[state]);
 279                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 280                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 281                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 282                 if (accel_i >= 0)
 283                 {
 284                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 285                                                                  f->ground_accel);
 286                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 287                                accel, accel / 9.80665,
 288                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 289                 }
 290
 291                 if (cooked) {
 292                         if (state < ao_flight_drogue) {
 293                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 294                                 if (speed_i >= 0)
 295                                         speed = cooked->accel_speed.data[speed_i];
 296                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 297                         } else {
 298                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 299                                 if (speed_i >= 0)
 300                                         speed = cooked->pres_speed.data[speed_i];
 301                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 302                         }
 303                         if (speed_i >= 0)
 304                         {
 305                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 306                                        speed, speed * 100 / 2.4 / 12.0,
 307                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 308                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 309                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 310                         }
 311                 }
 312                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 313                 if (pres_i >= 0)
 314                 {
 315                         min_pres = f->pres.data[pres_i].value;
 316                         height = cc_barometer_to_altitude(min_pres) -
 317                                 cc_barometer_to_altitude(f->ground_pres);
 318                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 319                                 height, height * 100 / 2.54 / 12,
 320                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 321                 }
 322         }
 323         if (cooked && detail_file) {
 324                 double  max_height = 0;
 325                 int     i;
 326                 double  *times;
 327
 328                 fprintf(detail_file, "%9s %9s %9s %9s\n",
 329                        "time", "height", "speed", "accel");
 330                 for (i = 0; i < cooked->pres_pos.num; i++) {
 331                         double  time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
 332                         double  accel = cooked->accel_accel.data[i];
 333                         double  pos = cooked->pres_pos.data[i];
 334                         double  speed;
 335                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 336                                 speed = cooked->accel_speed.data[i];
 337                         else
 338                                 speed = cooked->pres_speed.data[i];
 339                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
 340                                time, pos, speed, accel);
 341                 }
 342         }
 343         if (raw_file) {
 344                 fprintf(raw_file, "%9s %9s %9s\n",
 345                        "time", "height", "accel");
 346                 for (i = 0; i < cooked->pres.num; i++) {
 347                         double time = cooked->pres.data[i].time;
 348                         double pres = cooked->pres.data[i].value;
 349                         double accel = cooked->accel.data[i].value;
 350                         fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
 351                                 time, pres, accel);
 352                 }
 353         }
 354         if (gps_file || kml_file) {
 355                 int     j = 0, baro_pos;
 356                 double  baro_offset;
 357                 double  baro = 0.0;
 358
 359                 if (gps_file)
 360                         fprintf(gps_file, "%9s %12s %12s %9s %8s %5s\n",
 361                                 "time", "lat", "lon", "alt", "baro", "nsat");
 362                 if (kml_file)
 363                         fprintf(kml_file, "%s", kml_header);
 364                 if (f->gps.num)
 365                         baro_offset = f->gps.data[0].alt;
 366                 else
 367                         baro_offset = 0;
 368                 baro_pos = 0;
 369                 for (i = 0; i < f->gps.num; i++) {
 370                         int     nsat = 0;
 371                         int     k;
 372                         while (j < f->gps.numsats - 1) {
 373                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 374                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 375                                         break;
 376                                 j++;
 377                         }
 378                         if (cooked) {
 379                                 while (baro_pos < cooked->pres_pos.num) {
 380                                         double  baro_time = cooked->accel_accel.start + baro_pos * cooked->accel_accel.step;
 381                                         if (baro_time >= f->gps.data[i].time)
 382                                                 break;
 383                                         baro_pos++;
 384                                 }
 385                                 if (baro_pos < cooked->pres_pos.num)
 386                                         baro = cooked->pres_pos.data[baro_pos];
 387                         }
 388                         if (gps_file)
 389                                 fprintf(gps_file, "%12.7f %12.7f %12.7f %7.1f %7.1f",
 390                                         (f->gps.data[i].time - boost_start) / 100.0,
 391                                         f->gps.data[i].lat,
 392                                         f->gps.data[i].lon,
 393                                         f->gps.data[i].alt,
 394                                         baro + baro_offset);
 395                         if (kml_file) {
 396                                 fprintf(kml_file, "%12.7f, %12.7f, %12.7f <!-- alt %12.7f time %12.7f sats %d -->",
 397                                         f->gps.data[i].lon,
 398                                         f->gps.data[i].lat,
 399                                         baro + baro_offset,
 400                                         f->gps.data[i].alt,
 401                                         (f->gps.data[i].time - boost_start) / 100.0,
 402                                         nsat);
 403                                 if (i < f->gps.num - 1)
 404                                         fprintf(kml_file, ",\n");
 405                                 else
 406                                         fprintf(kml_file, "\n");
 407                         }
 408
 409                         nsat = 0;
 410                         for (k = 0; k < f->gps.sats[j].nsat; k++) {
 411                                 if (f->gps.sats[j].sat[k].svid != 0)
 412                                         nsat++;
 413                         }
 414                         if (gps_file) {
 415                                 fprintf(gps_file, " %4d", nsat);
 416                                 for (k = 0; k < f->gps.sats[j].nsat; k++) {
 417                                         if (f->gps.sats[j].sat[k].svid != 0) {
 418                                                 fprintf (gps_file, " %3d(%4.1f)",
 419                                                          f->gps.sats[j].sat[k].svid,
 420                                                          (double) f->gps.sats[j].sat[k].c_n);
 421                                         }
 422                                 }
 423                                 fprintf(gps_file, "\n");
 424                         }
 425                 }
 426                 if (kml_file)
 427                         fprintf(kml_file, "%s", kml_footer);
 428         }
 429         if (cooked && plot_name) {
 430                 struct cc_perioddata    *speed;
 431                 plsdev("svgcairo");
 432                 plsfnam(plot_name);
 433 #define PLOT_DPI        96
 434                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 435                 plscolbg(0xff, 0xff, 0xff);
 436                 plscol0(1,0,0,0);
 437                 plstar(2, 3);
 438                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 439
 440                 plot_perioddata(&cooked->pres_pos, "meters", "Height",
 441                                 -1e10, 1e10, PLOT_HEIGHT);
 442                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
 443                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
 444                 plot_perioddata(speed, "meters/second", "Speed",
 445                                 -1e10, 1e10, PLOT_SPEED);
 446                 plot_perioddata(speed, "meters/second", "Speed to Apogee",
 447                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
 448                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
 449                                 -1e10, 1e10, PLOT_ACCEL);
 450 /*              plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
 451                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
 452                 plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
 453                                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 454                 free(speed->data);
 455                 free(speed);
 456                 plend();
 457         }
 458         if (cooked)
 459                 cc_flightcooked_free(cooked);
 460 }
 461
 462 static const struct option options[] = {
 463         { .name = "summary", .has_arg = 2, .val = 's' },
 464         { .name = "detail", .has_arg = 2, .val = 'd' },
 465         { .name = "plot", .has_arg = 2, .val = 'p' },
 466         { .name = "raw", .has_arg = 2, .val = 'r' },
 467         { .name = "gps", .has_arg = 2, .val = 'g' },
 468         { .name = "kml", .has_arg = 2, .val = 'k' },
 469         { .name = "all", .has_arg = 0, .val = 'a' },
 470         { 0, 0, 0, 0},
 471 };
 472
 473 static void usage(char *program)
 474 {
 475         fprintf(stderr, "usage: %s\n"
 476                 "\t[--all] [-a]\n"
 477                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 478                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 479                 "\t[--raw=<raw-file> -r <raw-file]\n"
 480                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 481                 "\t[--gps=<gps-file> -g <gps-file>]\n"
 482                 "\t[--kml=<kml-file> -k <kml-file>]\n"
 483                 "\t{flight-log} ...\n", program);
 484         exit(1);
 485 }
 486
 487 char *
 488 replace_extension(char *file, char *extension)
 489 {
 490         char    *slash;
 491         char    *dot;
 492         char    *new;
 493         int     newlen;
 494
 495         slash = strrchr(file, '/');
 496         dot = strrchr(file, '.');
 497         if (!dot || (slash && dot < slash))
 498                 dot = file + strlen(file);
 499         newlen = (dot - file) + strlen (extension) + 1;
 500         new = malloc (newlen);
 501         strncpy (new, file, dot - file);
 502         new[dot-file] = '\0';
 503         strcat (new, extension);
 504         return new;
 505 }
 506
 507 FILE *
 508 open_output(char *outname, char *inname, char *extension)
 509 {
 510         char    *o;
 511         FILE    *out;
 512
 513         if (outname)
 514                 o = outname;
 515         else
 516                 o = replace_extension(inname, extension);
 517         out = fopen(o, "w");
 518         if (!out) {
 519                 perror (o);
 520                 exit(1);
 521         }
 522         if (o != outname)
 523                 free(o);
 524         return out;
 525 }
 526
 527 int
 528 main (int argc, char **argv)
 529 {
 530         FILE                    *file;
 531         FILE                    *summary_file = NULL;
 532         FILE                    *detail_file = NULL;
 533         FILE                    *raw_file = NULL;
 534         FILE                    *gps_file = NULL;
 535         FILE                    *kml_file = NULL;
 536         int                     i;
 537         int                     ret = 0;
 538         struct cc_flightraw     *raw;
 539         int                     c;
 540         int                     serial;
 541         char                    *s;
 542         char                    *summary_name = NULL;
 543         char                    *detail_name = NULL;
 544         char                    *raw_name = NULL;
 545         char                    *plot_name = NULL;
 546         char                    *gps_name = NULL;
 547         char                    *kml_name = NULL;
 548         int                     has_summary = 0;
 549         int                     has_detail = 0;
 550         int                     has_plot = 0;
 551         int                     has_raw = 0;
 552         int                     has_gps = 0;
 553         int                     has_kml = 0;
 554         char                    *this_plot_name = NULL;;
 555
 556         while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:a", options, NULL)) != -1) {
 557                 switch (c) {
 558                 case 's':
 559                         summary_name = optarg;
 560                         has_summary = 1;
 561                         break;
 562                 case 'd':
 563                         detail_name = optarg;
 564                         has_detail = 1;
 565                         break;
 566                 case 'p':
 567                         plot_name = optarg;
 568                         has_plot = 1;
 569                         break;
 570                 case 'r':
 571                         raw_name = optarg;
 572                         has_raw = 1;
 573                         break;
 574                 case 'g':
 575                         gps_name = optarg;
 576                         has_gps = 1;
 577                         break;
 578                 case 'k':
 579                         kml_name = optarg;
 580                         has_kml = 1;
 581                         break;
 582                 case 'a':
 583                         has_summary = has_detail = has_plot = has_raw = has_gps = has_kml = 1;
 584                         break;
 585                 default:
 586                         usage(argv[0]);
 587                         break;
 588                 }
 589         }
 590         if (!has_summary)
 591                 summary_file = stdout;
 592         for (i = optind; i < argc; i++) {
 593                 file = fopen(argv[i], "r");
 594                 if (!file) {
 595                         perror(argv[i]);
 596                         ret++;
 597                         continue;
 598                 }
 599                 if (has_summary && !summary_file)
 600                         summary_file = open_output(summary_name, argv[i], ".summary");
 601                 if (has_detail && !detail_file)
 602                         detail_file = open_output(detail_name, argv[i], ".detail");
 603                 if (has_plot) {
 604                         if (plot_name)
 605                                 this_plot_name = plot_name;
 606                         else
 607                                 this_plot_name = replace_extension(argv[i], ".plot");
 608                 }
 609                 if (has_raw && !raw_file)
 610                         raw_file = open_output(raw_name, argv[i], ".raw");
 611                 if (has_gps && !gps_file)
 612                         gps_file = open_output(gps_name, argv[i], ".gps");
 613                 if (has_kml && !kml_file)
 614                         kml_file = open_output(gps_name, argv[i], ".kml");
 615                 s = strstr(argv[i], "-serial-");
 616                 if (s)
 617                         serial = atoi(s + 8);
 618                 else
 619                         serial = 0;
 620                 raw = cc_log_read(file);
 621                 if (!raw) {
 622                         perror(argv[i]);
 623                         ret++;
 624                         continue;
 625                 }
 626                 if (!raw->serial)
 627                         raw->serial = serial;
 628                 analyse_flight(raw, summary_file, detail_file, raw_file, this_plot_name, gps_file, kml_file);
 629                 cc_flightraw_free(raw);
 630                 if (has_summary && !summary_name) {
 631                         fclose(summary_file); summary_file = NULL;
 632                 }
 633                 if (has_detail && !detail_name) {
 634                         fclose(detail_file); detail_file = NULL;
 635                 }
 636                 if (this_plot_name && this_plot_name != plot_name) {
 637                         free (this_plot_name); this_plot_name = NULL;
 638                 }
 639                 if (has_raw && !raw_name) {
 640                         fclose(raw_file); raw_file = NULL;
 641                 }
 642                 if (has_gps && !gps_name) {
 643                         fclose(gps_file); gps_file = NULL;
 644                 }
 645                 if (has_kml && !kml_name) {
 646                         fclose(kml_file); kml_file = NULL;
 647                 }
 648         }
 649         return ret;
 650 }