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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 void
 165 analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name, FILE *gps_file)
 166 {
 167         double  height;
 168         double  accel;
 169         double  speed;
 170         double  avg_speed;
 171         double  boost_start, boost_stop;
 172         double  min_pres;
 173         int     i;
 174         int     pres_i, accel_i, speed_i;
 175         int     boost_start_set = 0;
 176         int     boost_stop_set = 0;
 177         enum ao_flight_state    state;
 178         double  state_start, state_stop;
 179         struct cc_flightcooked *cooked;
 180         double  apogee;
 181
 182         fprintf(summary_file, "Flight:  %9d\nSerial:  %9d\n",
 183                 f->flight, f->serial);
 184         boost_start = f->accel.data[0].time;
 185         boost_stop = f->accel.data[f->accel.num-1].time;
 186         for (i = 0; i < f->state.num; i++) {
 187                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 188                         boost_start = f->state.data[i].time;
 189                         boost_start_set = 1;
 190                 }
 191                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 192                         boost_stop = f->state.data[i].time;
 193                         boost_stop_set = 1;
 194                 }
 195         }
 196
 197         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 198                                  f->pres.data[f->pres.num-1].time);
 199         if (pres_i >= 0)
 200         {
 201                 min_pres = f->pres.data[pres_i].value;
 202                 height = cc_barometer_to_altitude(min_pres) -
 203                         cc_barometer_to_altitude(f->ground_pres);
 204                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 205                         height, height * 100 / 2.54 / 12,
 206                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 207                 apogee = f->pres.data[pres_i].time;
 208         }
 209
 210         cooked = cc_flight_cook(f);
 211         if (cooked) {
 212                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 213                 if (speed_i >= 0) {
 214                         speed = cooked->accel_speed.data[speed_i];
 215                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 216                                speed, speed * 100 / 2.4 / 12.0,
 217                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 218                 }
 219         }
 220         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 221         if (accel_i >= 0)
 222         {
 223                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 224                                                          f->ground_accel);
 225                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 226                         accel, accel /  9.80665,
 227                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 228         }
 229
 230         for (i = 0; i < f->state.num; i++) {
 231                 state = f->state.data[i].value;
 232                 state_start = f->state.data[i].time;
 233                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 234                         i++;
 235                 if (i < f->state.num - 1)
 236                         state_stop = f->state.data[i + 1].time;
 237                 else
 238                         state_stop = f->accel.data[f->accel.num-1].time;
 239                 fprintf(summary_file, "State: %s\n", state_names[state]);
 240                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 241                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 242                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 243                 if (accel_i >= 0)
 244                 {
 245                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 246                                                                  f->ground_accel);
 247                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 248                                accel, accel / 9.80665,
 249                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 250                 }
 251
 252                 if (cooked) {
 253                         if (state < ao_flight_drogue) {
 254                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 255                                 if (speed_i >= 0)
 256                                         speed = cooked->accel_speed.data[speed_i];
 257                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 258                         } else {
 259                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 260                                 if (speed_i >= 0)
 261                                         speed = cooked->pres_speed.data[speed_i];
 262                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 263                         }
 264                         if (speed_i >= 0)
 265                         {
 266                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 267                                        speed, speed * 100 / 2.4 / 12.0,
 268                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 269                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 270                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 271                         }
 272                 }
 273                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 274                 if (pres_i >= 0)
 275                 {
 276                         min_pres = f->pres.data[pres_i].value;
 277                         height = cc_barometer_to_altitude(min_pres) -
 278                                 cc_barometer_to_altitude(f->ground_pres);
 279                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 280                                 height, height * 100 / 2.54 / 12,
 281                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 282                 }
 283         }
 284         if (cooked && detail_file) {
 285                 double  max_height = 0;
 286                 int     i;
 287                 double  *times;
 288
 289                 fprintf(detail_file, "%9s %9s %9s %9s\n",
 290                        "time", "height", "speed", "accel");
 291                 for (i = 0; i < cooked->pres_pos.num; i++) {
 292                         double  time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
 293                         double  accel = cooked->accel_accel.data[i];
 294                         double  pos = cooked->pres_pos.data[i];
 295                         double  speed;
 296                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 297                                 speed = cooked->accel_speed.data[i];
 298                         else
 299                                 speed = cooked->pres_speed.data[i];
 300                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
 301                                time, pos, speed, accel);
 302                 }
 303         }
 304         if (raw_file) {
 305                 fprintf(raw_file, "%9s %9s %9s\n",
 306                        "time", "height", "accel");
 307                 for (i = 0; i < cooked->pres.num; i++) {
 308                         double time = cooked->pres.data[i].time;
 309                         double pres = cooked->pres.data[i].value;
 310                         double accel = cooked->accel.data[i].value;
 311                         fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
 312                                 time, pres, accel);
 313                 }
 314         }
 315         if (gps_file) {
 316                 int     j = 0;
 317                 fprintf(gps_file, "%9s %12s %12s %12s\n",
 318                         "time", "lat", "lon", "alt");
 319                 for (i = 0; i < f->gps.num; i++) {
 320                         int     nsat = 0;
 321                         int     k;
 322                         while (j < f->gps.numsats - 1) {
 323                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 324                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 325                                         break;
 326                                 j++;
 327                         }
 328                         fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f",
 329                                 (f->gps.data[i].time - boost_start) / 100.0,
 330                                 f->gps.data[i].lat,
 331                                 f->gps.data[i].lon,
 332                                 f->gps.data[i].alt);
 333                         nsat = 0;
 334                         for (k = 0; k < f->gps.sats[j].nsat; k++) {
 335                                 fprintf (gps_file, " %12.7f", (double) f->gps.sats[j].sat[k].c_n);
 336                                 if (f->gps.sats[j].sat[k].state == 0xbf)
 337                                         nsat++;
 338                         }
 339                         fprintf(gps_file, " %d\n", nsat);
 340                 }
 341         }
 342         if (cooked && plot_name) {
 343                 struct cc_perioddata    *speed;
 344                 plsdev("svgcairo");
 345                 plsfnam(plot_name);
 346 #define PLOT_DPI        96
 347                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 348                 plscolbg(0xff, 0xff, 0xff);
 349                 plscol0(1,0,0,0);
 350                 plstar(2, 3);
 351                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 352
 353                 plot_perioddata(&cooked->pres_pos, "meters", "Height",
 354                                 -1e10, 1e10, PLOT_HEIGHT);
 355                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
 356                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
 357                 plot_perioddata(speed, "meters/second", "Speed",
 358                                 -1e10, 1e10, PLOT_SPEED);
 359                 plot_perioddata(speed, "meters/second", "Speed to Apogee",
 360                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
 361                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
 362                                 -1e10, 1e10, PLOT_ACCEL);
 363 /*              plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
 364                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
 365                 plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
 366                                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 367                 free(speed->data);
 368                 free(speed);
 369                 plend();
 370         }
 371         if (cooked)
 372                 cc_flightcooked_free(cooked);
 373 }
 374
 375 static const struct option options[] = {
 376         { .name = "summary", .has_arg = 1, .val = 's' },
 377         { .name = "detail", .has_arg = 1, .val = 'd' },
 378         { .name = "plot", .has_arg = 1, .val = 'p' },
 379         { .name = "raw", .has_arg = 1, .val = 'r' },
 380         { .name = "gps", .has_arg = 1, .val = 'g' },
 381         { 0, 0, 0, 0},
 382 };
 383
 384 static void usage(char *program)
 385 {
 386         fprintf(stderr, "usage: %s\n"
 387                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 388                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 389                 "\t[--raw=<raw-file> -r <raw-file]\n"
 390                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 391                 "\t[--gps=<gps-file> -g <gps-file>]\n"
 392                 "\t{flight-log} ...\n", program);
 393         exit(1);
 394 }
 395
 396 int
 397 main (int argc, char **argv)
 398 {
 399         FILE                    *file;
 400         FILE                    *summary_file = NULL;
 401         FILE                    *detail_file = NULL;
 402         FILE                    *raw_file = NULL;
 403         FILE                    *gps_file = NULL;
 404         int                     i;
 405         int                     ret = 0;
 406         struct cc_flightraw     *raw;
 407         int                     c;
 408         int                     serial;
 409         char                    *s;
 410         char                    *summary_name = NULL;
 411         char                    *detail_name = NULL;
 412         char                    *raw_name = NULL;
 413         char                    *plot_name = NULL;
 414         char                    *gps_name = NULL;
 415
 416         while ((c = getopt_long(argc, argv, "s:d:p:r:g:", options, NULL)) != -1) {
 417                 switch (c) {
 418                 case 's':
 419                         summary_name = optarg;
 420                         break;
 421                 case 'd':
 422                         detail_name = optarg;
 423                         break;
 424                 case 'p':
 425                         plot_name = optarg;
 426                         break;
 427                 case 'r':
 428                         raw_name = optarg;
 429                         break;
 430                 case 'g':
 431                         gps_name = optarg;
 432                         break;
 433                 default:
 434                         usage(argv[0]);
 435                         break;
 436                 }
 437         }
 438         summary_file = stdout;
 439         if (summary_name) {
 440                 summary_file = fopen(summary_name, "w");
 441                 if (!summary_file) {
 442                         perror (summary_name);
 443                         exit(1);
 444                 }
 445         }
 446         if (detail_name) {
 447                 if (summary_name && !strcmp (summary_name, detail_name))
 448                         detail_file = summary_file;
 449                 else {
 450                         detail_file = fopen(detail_name, "w");
 451                         if (!detail_file) {
 452                                 perror(detail_name);
 453                                 exit(1);
 454                         }
 455                 }
 456         }
 457         if (raw_name) {
 458                 raw_file = fopen (raw_name, "w");
 459                 if (!raw_file) {
 460                         perror(raw_name);
 461                         exit(1);
 462                 }
 463         }
 464         if (gps_name) {
 465                 gps_file = fopen(gps_name, "w");
 466                 if (!gps_file) {
 467                         perror(gps_name);
 468                         exit(1);
 469                 }
 470         }
 471         for (i = optind; i < argc; i++) {
 472                 file = fopen(argv[i], "r");
 473                 if (!file) {
 474                         perror(argv[i]);
 475                         ret++;
 476                         continue;
 477                 }
 478                 s = strstr(argv[i], "-serial-");
 479                 if (s)
 480                         serial = atoi(s + 8);
 481                 else
 482                         serial = 0;
 483                 raw = cc_log_read(file);
 484                 if (!raw) {
 485                         perror(argv[i]);
 486                         ret++;
 487                         continue;
 488                 }
 489                 if (!raw->serial)
 490                         raw->serial = serial;
 491                 analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file);
 492                 cc_flightraw_free(raw);
 493         }
 494         return ret;
 495 }