git.gag.com Git - fw/altos/blob - ao-tools/ao-postflight/ao-postflight.c

   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         boost_start = f->accel.data[0].time;
 212         boost_stop = f->accel.data[f->accel.num-1].time;
 213         for (i = 0; i < f->state.num; i++) {
 214                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 215                         boost_start = f->state.data[i].time;
 216                         boost_start_set = 1;
 217                 }
 218                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 219                         boost_stop = f->state.data[i].time;
 220                         boost_stop_set = 1;
 221                 }
 222         }
 223
 224         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 225                                  f->pres.data[f->pres.num-1].time);
 226         if (pres_i >= 0)
 227         {
 228                 min_pres = f->pres.data[pres_i].value;
 229                 height = cc_barometer_to_altitude(min_pres) -
 230                         cc_barometer_to_altitude(f->ground_pres);
 231                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 232                         height, height * 100 / 2.54 / 12,
 233                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 234                 apogee = f->pres.data[pres_i].time;
 235         }
 236
 237         cooked = cc_flight_cook(f);
 238         if (cooked) {
 239                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 240                 if (speed_i >= 0) {
 241                         speed = cooked->accel_speed.data[speed_i];
 242                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 243                                speed, speed * 100 / 2.4 / 12.0,
 244                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 245                 }
 246         }
 247         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 248         if (accel_i >= 0)
 249         {
 250                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 251                                                          f->ground_accel);
 252                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 253                         accel, accel /  9.80665,
 254                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 255         }
 256
 257         for (i = 0; i < f->state.num; i++) {
 258                 state = f->state.data[i].value;
 259                 state_start = f->state.data[i].time;
 260                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 261                         i++;
 262                 if (i < f->state.num - 1)
 263                         state_stop = f->state.data[i + 1].time;
 264                 else
 265                         state_stop = f->accel.data[f->accel.num-1].time;
 266                 fprintf(summary_file, "State: %s\n", state_names[state]);
 267                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 268                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 269                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 270                 if (accel_i >= 0)
 271                 {
 272                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 273                                                                  f->ground_accel);
 274                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 275                                accel, accel / 9.80665,
 276                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 277                 }
 278
 279                 if (cooked) {
 280                         if (state < ao_flight_drogue) {
 281                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 282                                 if (speed_i >= 0)
 283                                         speed = cooked->accel_speed.data[speed_i];
 284                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 285                         } else {
 286                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 287                                 if (speed_i >= 0)
 288                                         speed = cooked->pres_speed.data[speed_i];
 289                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 290                         }
 291                         if (speed_i >= 0)
 292                         {
 293                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 294                                        speed, speed * 100 / 2.4 / 12.0,
 295                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 296                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 297                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 298                         }
 299                 }
 300                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 301                 if (pres_i >= 0)
 302                 {
 303                         min_pres = f->pres.data[pres_i].value;
 304                         height = cc_barometer_to_altitude(min_pres) -
 305                                 cc_barometer_to_altitude(f->ground_pres);
 306                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 307                                 height, height * 100 / 2.54 / 12,
 308                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 309                 }
 310         }
 311         if (cooked && detail_file) {
 312                 double  max_height = 0;
 313                 int     i;
 314                 double  *times;
 315
 316                 fprintf(detail_file, "%9s %9s %9s %9s\n",
 317                        "time", "height", "speed", "accel");
 318                 for (i = 0; i < cooked->pres_pos.num; i++) {
 319                         double  time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
 320                         double  accel = cooked->accel_accel.data[i];
 321                         double  pos = cooked->pres_pos.data[i];
 322                         double  speed;
 323                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 324                                 speed = cooked->accel_speed.data[i];
 325                         else
 326                                 speed = cooked->pres_speed.data[i];
 327                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
 328                                time, pos, speed, accel);
 329                 }
 330         }
 331         if (raw_file) {
 332                 fprintf(raw_file, "%9s %9s %9s\n",
 333                        "time", "height", "accel");
 334                 for (i = 0; i < cooked->pres.num; i++) {
 335                         double time = cooked->pres.data[i].time;
 336                         double pres = cooked->pres.data[i].value;
 337                         double accel = cooked->accel.data[i].value;
 338                         fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
 339                                 time, pres, accel);
 340                 }
 341         }
 342         if (gps_file) {
 343                 int     j = 0;
 344                 fprintf(gps_file, "%9s %12s %12s %12s\n",
 345                         "time", "lat", "lon", "alt");
 346                 for (i = 0; i < f->gps.num; i++) {
 347                         int     nsat = 0;
 348                         int     k;
 349                         while (j < f->gps.numsats - 1) {
 350                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 351                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 352                                         break;
 353                                 j++;
 354                         }
 355                         fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f",
 356                                 (f->gps.data[i].time - boost_start) / 100.0,
 357                                 f->gps.data[i].lat,
 358                                 f->gps.data[i].lon,
 359                                 f->gps.data[i].alt);
 360                         nsat = 0;
 361                         for (k = 0; k < f->gps.sats[j].nsat; k++) {
 362                                 fprintf (gps_file, " %12.7f", (double) f->gps.sats[j].sat[k].c_n);
 363                                 if (f->gps.sats[j].sat[k].state == 0xbf)
 364                                         nsat++;
 365                         }
 366                         fprintf(gps_file, " %d\n", nsat);
 367                 }
 368         }
 369         if (kml_file) {
 370                 int     j = 0;
 371
 372                 fprintf(kml_file, "%s", kml_header);
 373                 for (i = 0; i < f->gps.num; i++) {
 374                         int     nsat = 0;
 375                         int     k;
 376                         while (j < f->gps.numsats - 1) {
 377                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 378                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 379                                         break;
 380                                 j++;
 381                         }
 382                         nsat = 0;
 383                         for (k = 0; k < f->gps.sats[j].nsat; k++)
 384                                 if (f->gps.sats[j].sat[k].state == 0xbf)
 385                                         nsat++;
 386
 387                         fprintf(kml_file, "%12.7f, %12.7f, %12.7f <!-- time %12.7f sats %d -->",
 388                                 f->gps.data[i].lon,
 389                                 f->gps.data[i].lat,
 390                                 f->gps.data[i].alt,
 391                                 (f->gps.data[i].time - boost_start) / 100.0,
 392                                 nsat);
 393                         if (i < f->gps.num - 1)
 394                                 fprintf(kml_file, ",\n");
 395                         else
 396                                 fprintf(kml_file, "\n");
 397                 }
 398                 fprintf(kml_file, "%s", kml_footer);
 399         }
 400         if (cooked && plot_name) {
 401                 struct cc_perioddata    *speed;
 402                 plsdev("svgcairo");
 403                 plsfnam(plot_name);
 404 #define PLOT_DPI        96
 405                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 406                 plscolbg(0xff, 0xff, 0xff);
 407                 plscol0(1,0,0,0);
 408                 plstar(2, 3);
 409                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 410
 411                 plot_perioddata(&cooked->pres_pos, "meters", "Height",
 412                                 -1e10, 1e10, PLOT_HEIGHT);
 413                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
 414                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
 415                 plot_perioddata(speed, "meters/second", "Speed",
 416                                 -1e10, 1e10, PLOT_SPEED);
 417                 plot_perioddata(speed, "meters/second", "Speed to Apogee",
 418                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
 419                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
 420                                 -1e10, 1e10, PLOT_ACCEL);
 421 /*              plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
 422                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
 423                 plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
 424                                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 425                 free(speed->data);
 426                 free(speed);
 427                 plend();
 428         }
 429         if (cooked)
 430                 cc_flightcooked_free(cooked);
 431 }
 432
 433 static const struct option options[] = {
 434         { .name = "summary", .has_arg = 1, .val = 's' },
 435         { .name = "detail", .has_arg = 1, .val = 'd' },
 436         { .name = "plot", .has_arg = 1, .val = 'p' },
 437         { .name = "raw", .has_arg = 1, .val = 'r' },
 438         { .name = "gps", .has_arg = 1, .val = 'g' },
 439         { .name = "kml", .has_arg = 1, .val = 'k' },
 440         { 0, 0, 0, 0},
 441 };
 442
 443 static void usage(char *program)
 444 {
 445         fprintf(stderr, "usage: %s\n"
 446                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 447                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 448                 "\t[--raw=<raw-file> -r <raw-file]\n"
 449                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 450                 "\t[--gps=<gps-file> -g <gps-file>]\n"
 451                 "\t[--kml=<kml-file> -k <kml-file>]\n"
 452                 "\t{flight-log} ...\n", program);
 453         exit(1);
 454 }
 455
 456 int
 457 main (int argc, char **argv)
 458 {
 459         FILE                    *file;
 460         FILE                    *summary_file = NULL;
 461         FILE                    *detail_file = NULL;
 462         FILE                    *raw_file = NULL;
 463         FILE                    *gps_file = NULL;
 464         FILE                    *kml_file = NULL;
 465         int                     i;
 466         int                     ret = 0;
 467         struct cc_flightraw     *raw;
 468         int                     c;
 469         int                     serial;
 470         char                    *s;
 471         char                    *summary_name = NULL;
 472         char                    *detail_name = NULL;
 473         char                    *raw_name = NULL;
 474         char                    *plot_name = NULL;
 475         char                    *gps_name = NULL;
 476         char                    *kml_name = NULL;
 477
 478         while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:", options, NULL)) != -1) {
 479                 switch (c) {
 480                 case 's':
 481                         summary_name = optarg;
 482                         break;
 483                 case 'd':
 484                         detail_name = optarg;
 485                         break;
 486                 case 'p':
 487                         plot_name = optarg;
 488                         break;
 489                 case 'r':
 490                         raw_name = optarg;
 491                         break;
 492                 case 'g':
 493                         gps_name = optarg;
 494                         break;
 495                 case 'k':
 496                         kml_name = optarg;
 497                         break;
 498                 default:
 499                         usage(argv[0]);
 500                         break;
 501                 }
 502         }
 503         summary_file = stdout;
 504         if (summary_name) {
 505                 summary_file = fopen(summary_name, "w");
 506                 if (!summary_file) {
 507                         perror (summary_name);
 508                         exit(1);
 509                 }
 510         }
 511         if (detail_name) {
 512                 if (summary_name && !strcmp (summary_name, detail_name))
 513                         detail_file = summary_file;
 514                 else {
 515                         detail_file = fopen(detail_name, "w");
 516                         if (!detail_file) {
 517                                 perror(detail_name);
 518                                 exit(1);
 519                         }
 520                 }
 521         }
 522         if (raw_name) {
 523                 raw_file = fopen (raw_name, "w");
 524                 if (!raw_file) {
 525                         perror(raw_name);
 526                         exit(1);
 527                 }
 528         }
 529         if (gps_name) {
 530                 gps_file = fopen(gps_name, "w");
 531                 if (!gps_file) {
 532                         perror(gps_name);
 533                         exit(1);
 534                 }
 535         }
 536         if (kml_name) {
 537                 kml_file = fopen(kml_name, "w");
 538                 if (!kml_file) {
 539                         perror(kml_name);
 540                         exit(1);
 541                 }
 542         }
 543         for (i = optind; i < argc; i++) {
 544                 file = fopen(argv[i], "r");
 545                 if (!file) {
 546                         perror(argv[i]);
 547                         ret++;
 548                         continue;
 549                 }
 550                 s = strstr(argv[i], "-serial-");
 551                 if (s)
 552                         serial = atoi(s + 8);
 553                 else
 554                         serial = 0;
 555                 raw = cc_log_read(file);
 556                 if (!raw) {
 557                         perror(argv[i]);
 558                         ret++;
 559                         continue;
 560                 }
 561                 if (!raw->serial)
 562                         raw->serial = serial;
 563                 analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file, kml_file);
 564                 cc_flightraw_free(raw);
 565         }
 566         return ret;
 567 }