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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, "Flight:  %9d\nSerial:  %9d\n",
 208                 f->flight, f->serial);
 209         boost_start = f->accel.data[0].time;
 210         boost_stop = f->accel.data[f->accel.num-1].time;
 211         for (i = 0; i < f->state.num; i++) {
 212                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 213                         boost_start = f->state.data[i].time;
 214                         boost_start_set = 1;
 215                 }
 216                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 217                         boost_stop = f->state.data[i].time;
 218                         boost_stop_set = 1;
 219                 }
 220         }
 221
 222         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 223                                  f->pres.data[f->pres.num-1].time);
 224         if (pres_i >= 0)
 225         {
 226                 min_pres = f->pres.data[pres_i].value;
 227                 height = cc_barometer_to_altitude(min_pres) -
 228                         cc_barometer_to_altitude(f->ground_pres);
 229                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 230                         height, height * 100 / 2.54 / 12,
 231                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 232                 apogee = f->pres.data[pres_i].time;
 233         }
 234
 235         cooked = cc_flight_cook(f);
 236         if (cooked) {
 237                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 238                 if (speed_i >= 0) {
 239                         speed = cooked->accel_speed.data[speed_i];
 240                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 241                                speed, speed * 100 / 2.4 / 12.0,
 242                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 243                 }
 244         }
 245         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 246         if (accel_i >= 0)
 247         {
 248                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 249                                                          f->ground_accel);
 250                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 251                         accel, accel /  9.80665,
 252                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 253         }
 254
 255         for (i = 0; i < f->state.num; i++) {
 256                 state = f->state.data[i].value;
 257                 state_start = f->state.data[i].time;
 258                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 259                         i++;
 260                 if (i < f->state.num - 1)
 261                         state_stop = f->state.data[i + 1].time;
 262                 else
 263                         state_stop = f->accel.data[f->accel.num-1].time;
 264                 fprintf(summary_file, "State: %s\n", state_names[state]);
 265                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 266                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 267                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 268                 if (accel_i >= 0)
 269                 {
 270                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 271                                                                  f->ground_accel);
 272                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 273                                accel, accel / 9.80665,
 274                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 275                 }
 276
 277                 if (cooked) {
 278                         if (state < ao_flight_drogue) {
 279                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 280                                 if (speed_i >= 0)
 281                                         speed = cooked->accel_speed.data[speed_i];
 282                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 283                         } else {
 284                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 285                                 if (speed_i >= 0)
 286                                         speed = cooked->pres_speed.data[speed_i];
 287                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 288                         }
 289                         if (speed_i >= 0)
 290                         {
 291                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 292                                        speed, speed * 100 / 2.4 / 12.0,
 293                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 294                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 295                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 296                         }
 297                 }
 298                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 299                 if (pres_i >= 0)
 300                 {
 301                         min_pres = f->pres.data[pres_i].value;
 302                         height = cc_barometer_to_altitude(min_pres) -
 303                                 cc_barometer_to_altitude(f->ground_pres);
 304                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 305                                 height, height * 100 / 2.54 / 12,
 306                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 307                 }
 308         }
 309         if (cooked && detail_file) {
 310                 double  max_height = 0;
 311                 int     i;
 312                 double  *times;
 313
 314                 fprintf(detail_file, "%9s %9s %9s %9s\n",
 315                        "time", "height", "speed", "accel");
 316                 for (i = 0; i < cooked->pres_pos.num; i++) {
 317                         double  time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
 318                         double  accel = cooked->accel_accel.data[i];
 319                         double  pos = cooked->pres_pos.data[i];
 320                         double  speed;
 321                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 322                                 speed = cooked->accel_speed.data[i];
 323                         else
 324                                 speed = cooked->pres_speed.data[i];
 325                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
 326                                time, pos, speed, accel);
 327                 }
 328         }
 329         if (raw_file) {
 330                 fprintf(raw_file, "%9s %9s %9s\n",
 331                        "time", "height", "accel");
 332                 for (i = 0; i < cooked->pres.num; i++) {
 333                         double time = cooked->pres.data[i].time;
 334                         double pres = cooked->pres.data[i].value;
 335                         double accel = cooked->accel.data[i].value;
 336                         fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
 337                                 time, pres, accel);
 338                 }
 339         }
 340         if (gps_file) {
 341                 int     j = 0;
 342                 fprintf(gps_file, "%9s %12s %12s %12s\n",
 343                         "time", "lat", "lon", "alt");
 344                 for (i = 0; i < f->gps.num; i++) {
 345                         int     nsat = 0;
 346                         int     k;
 347                         while (j < f->gps.numsats - 1) {
 348                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 349                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 350                                         break;
 351                                 j++;
 352                         }
 353                         fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f",
 354                                 (f->gps.data[i].time - boost_start) / 100.0,
 355                                 f->gps.data[i].lat,
 356                                 f->gps.data[i].lon,
 357                                 f->gps.data[i].alt);
 358                         nsat = 0;
 359                         for (k = 0; k < f->gps.sats[j].nsat; k++) {
 360                                 fprintf (gps_file, " %12.7f", (double) f->gps.sats[j].sat[k].c_n);
 361                                 if (f->gps.sats[j].sat[k].state == 0xbf)
 362                                         nsat++;
 363                         }
 364                         fprintf(gps_file, " %d\n", nsat);
 365                 }
 366         }
 367         if (kml_file) {
 368                 int     j = 0;
 369
 370                 fprintf(kml_file, "%s", kml_header);
 371                 for (i = 0; i < f->gps.num; i++) {
 372                         int     nsat = 0;
 373                         int     k;
 374                         while (j < f->gps.numsats - 1) {
 375                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 376                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 377                                         break;
 378                                 j++;
 379                         }
 380                         nsat = 0;
 381                         for (k = 0; k < f->gps.sats[j].nsat; k++)
 382                                 if (f->gps.sats[j].sat[k].state == 0xbf)
 383                                         nsat++;
 384
 385                         fprintf(kml_file, "%12.7f, %12.7f, %12.7f <!-- time %12.7f sats %d -->",
 386                                 f->gps.data[i].lon,
 387                                 f->gps.data[i].lat,
 388                                 f->gps.data[i].alt,
 389                                 (f->gps.data[i].time - boost_start) / 100.0,
 390                                 nsat);
 391                         if (i < f->gps.num - 1)
 392                                 fprintf(kml_file, ",\n");
 393                         else
 394                                 fprintf(kml_file, "\n");
 395                 }
 396                 fprintf(kml_file, "%s", kml_footer);
 397         }
 398         if (cooked && plot_name) {
 399                 struct cc_perioddata    *speed;
 400                 plsdev("svgcairo");
 401                 plsfnam(plot_name);
 402 #define PLOT_DPI        96
 403                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 404                 plscolbg(0xff, 0xff, 0xff);
 405                 plscol0(1,0,0,0);
 406                 plstar(2, 3);
 407                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 408
 409                 plot_perioddata(&cooked->pres_pos, "meters", "Height",
 410                                 -1e10, 1e10, PLOT_HEIGHT);
 411                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
 412                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
 413                 plot_perioddata(speed, "meters/second", "Speed",
 414                                 -1e10, 1e10, PLOT_SPEED);
 415                 plot_perioddata(speed, "meters/second", "Speed to Apogee",
 416                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
 417                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
 418                                 -1e10, 1e10, PLOT_ACCEL);
 419 /*              plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
 420                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
 421                 plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
 422                                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 423                 free(speed->data);
 424                 free(speed);
 425                 plend();
 426         }
 427         if (cooked)
 428                 cc_flightcooked_free(cooked);
 429 }
 430
 431 static const struct option options[] = {
 432         { .name = "summary", .has_arg = 1, .val = 's' },
 433         { .name = "detail", .has_arg = 1, .val = 'd' },
 434         { .name = "plot", .has_arg = 1, .val = 'p' },
 435         { .name = "raw", .has_arg = 1, .val = 'r' },
 436         { .name = "gps", .has_arg = 1, .val = 'g' },
 437         { .name = "kml", .has_arg = 1, .val = 'k' },
 438         { 0, 0, 0, 0},
 439 };
 440
 441 static void usage(char *program)
 442 {
 443         fprintf(stderr, "usage: %s\n"
 444                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 445                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 446                 "\t[--raw=<raw-file> -r <raw-file]\n"
 447                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 448                 "\t[--gps=<gps-file> -g <gps-file>]\n"
 449                 "\t[--kml=<kml-file> -k <kml-file>]\n"
 450                 "\t{flight-log} ...\n", program);
 451         exit(1);
 452 }
 453
 454 int
 455 main (int argc, char **argv)
 456 {
 457         FILE                    *file;
 458         FILE                    *summary_file = NULL;
 459         FILE                    *detail_file = NULL;
 460         FILE                    *raw_file = NULL;
 461         FILE                    *gps_file = NULL;
 462         FILE                    *kml_file = NULL;
 463         int                     i;
 464         int                     ret = 0;
 465         struct cc_flightraw     *raw;
 466         int                     c;
 467         int                     serial;
 468         char                    *s;
 469         char                    *summary_name = NULL;
 470         char                    *detail_name = NULL;
 471         char                    *raw_name = NULL;
 472         char                    *plot_name = NULL;
 473         char                    *gps_name = NULL;
 474         char                    *kml_name = NULL;
 475
 476         while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:", options, NULL)) != -1) {
 477                 switch (c) {
 478                 case 's':
 479                         summary_name = optarg;
 480                         break;
 481                 case 'd':
 482                         detail_name = optarg;
 483                         break;
 484                 case 'p':
 485                         plot_name = optarg;
 486                         break;
 487                 case 'r':
 488                         raw_name = optarg;
 489                         break;
 490                 case 'g':
 491                         gps_name = optarg;
 492                         break;
 493                 case 'k':
 494                         kml_name = optarg;
 495                         break;
 496                 default:
 497                         usage(argv[0]);
 498                         break;
 499                 }
 500         }
 501         summary_file = stdout;
 502         if (summary_name) {
 503                 summary_file = fopen(summary_name, "w");
 504                 if (!summary_file) {
 505                         perror (summary_name);
 506                         exit(1);
 507                 }
 508         }
 509         if (detail_name) {
 510                 if (summary_name && !strcmp (summary_name, detail_name))
 511                         detail_file = summary_file;
 512                 else {
 513                         detail_file = fopen(detail_name, "w");
 514                         if (!detail_file) {
 515                                 perror(detail_name);
 516                                 exit(1);
 517                         }
 518                 }
 519         }
 520         if (raw_name) {
 521                 raw_file = fopen (raw_name, "w");
 522                 if (!raw_file) {
 523                         perror(raw_name);
 524                         exit(1);
 525                 }
 526         }
 527         if (gps_name) {
 528                 gps_file = fopen(gps_name, "w");
 529                 if (!gps_file) {
 530                         perror(gps_name);
 531                         exit(1);
 532                 }
 533         }
 534         if (kml_name) {
 535                 kml_file = fopen(kml_name, "w");
 536                 if (!kml_file) {
 537                         perror(kml_name);
 538                         exit(1);
 539                 }
 540         }
 541         for (i = optind; i < argc; i++) {
 542                 file = fopen(argv[i], "r");
 543                 if (!file) {
 544                         perror(argv[i]);
 545                         ret++;
 546                         continue;
 547                 }
 548                 s = strstr(argv[i], "-serial-");
 549                 if (s)
 550                         serial = atoi(s + 8);
 551                 else
 552                         serial = 0;
 553                 raw = cc_log_read(file);
 554                 if (!raw) {
 555                         perror(argv[i]);
 556                         ret++;
 557                         continue;
 558                 }
 559                 if (!raw->serial)
 560                         raw->serial = serial;
 561                 analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file, kml_file);
 562                 cc_flightraw_free(raw);
 563         }
 564         return ret;
 565 }