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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 void
  43 plot_perioddata(struct cc_perioddata *d, char *axis_label, char *plot_label,
  44                 double min_time, double max_time)
  45 {
  46         double  *times;
  47         double  ymin, ymax;
  48         int     ymin_i, ymax_i;
  49         int     i;
  50         int     start, stop;
  51
  52         if (!cc_perioddata_limits(d, min_time, max_time, &start, &stop))
  53                 return;
  54
  55         times = calloc(stop - start + 1, sizeof (double));
  56         for (i = start; i <= stop; i++)
  57                 times[i-start] = i * d->step / 100.0;
  58
  59         ymin_i = cc_perioddata_min(d, min_time, max_time);
  60         ymax_i = cc_perioddata_max(d, min_time, max_time);
  61         ymin = d->data[ymin_i];
  62         ymax = d->data[ymax_i];
  63         plenv(times[0], times[stop-start],
  64               ymin, ymax, 0, 2);
  65         plcol0(1);
  66         pllab("Time", axis_label, plot_label);
  67         plline(stop - start + 1, times, d->data + start);
  68 }
  69
  70 static struct cc_perioddata *
  71 merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split_time)
  72 {
  73         int                     i;
  74         struct cc_perioddata    *pd;
  75         int                     num;
  76         double                  start_time, stop_time;
  77         double                  t;
  78
  79         pd = calloc(1, sizeof (struct cc_perioddata));
  80         start_time = first->start;
  81         stop_time = last->start + last->step * last->num;
  82         num = (stop_time - start_time) / first->step;
  83         pd->num = num;
  84         pd->data = calloc(num, sizeof (double));
  85         pd->start = first->start;
  86         pd->step = first->step;
  87         for (i = 0; i < num; i++) {
  88                 t = pd->start + i * pd->step;
  89                 if (t <= split_time) {
  90                         pd->data[i] = first->data[i];
  91                 } else {
  92                         int     j;
  93
  94                         j = (t - last->start) / last->step;
  95                         if (j < 0 || j >= last->num)
  96                                 pd->data[i] = 0;
  97                         else
  98                                 pd->data[i] = last->data[j];
  99                 }
 100         }
 101         return pd;
 102 }
 103
 104 static void
 105 analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, char *plot_name)
 106 {
 107         double  height;
 108         double  accel;
 109         double  speed;
 110         double  avg_speed;
 111         double  boost_start, boost_stop;
 112         double  min_pres;
 113         int     i;
 114         int     pres_i, accel_i, speed_i;
 115         int     boost_start_set = 0;
 116         int     boost_stop_set = 0;
 117         enum ao_flight_state    state;
 118         double  state_start, state_stop;
 119         struct cc_flightcooked *cooked;
 120         double  apogee;
 121
 122         fprintf(summary_file, "Flight:  %9d\nSerial:  %9d\n",
 123                 f->flight, f->serial);
 124         boost_start = f->accel.data[0].time;
 125         boost_stop = f->accel.data[f->accel.num-1].time;
 126         for (i = 0; i < f->state.num; i++) {
 127                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 128                         boost_start = f->state.data[i].time;
 129                         boost_start_set = 1;
 130                 }
 131                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 132                         boost_stop = f->state.data[i].time;
 133                         boost_stop_set = 1;
 134                 }
 135         }
 136
 137         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 138                                  f->pres.data[f->pres.num-1].time);
 139         if (pres_i >= 0)
 140         {
 141                 min_pres = f->pres.data[pres_i].value;
 142                 height = cc_barometer_to_altitude(min_pres) -
 143                         cc_barometer_to_altitude(f->ground_pres);
 144                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 145                         height, height * 100 / 2.54 / 12,
 146                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 147                 apogee = f->pres.data[pres_i].time;
 148         }
 149
 150         cooked = cc_flight_cook(f);
 151         if (cooked) {
 152                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 153                 if (speed_i >= 0) {
 154                         speed = cooked->accel_speed.data[speed_i];
 155                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 156                                speed, speed * 100 / 2.4 / 12.0,
 157                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 158                 }
 159         }
 160         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 161         if (accel_i >= 0)
 162         {
 163                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 164                                                          f->ground_accel);
 165                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 166                         accel, accel /  9.80665,
 167                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 168         }
 169
 170         for (i = 0; i < f->state.num; i++) {
 171                 state = f->state.data[i].value;
 172                 state_start = f->state.data[i].time;
 173                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 174                         i++;
 175                 if (i < f->state.num - 1)
 176                         state_stop = f->state.data[i + 1].time;
 177                 else
 178                         state_stop = f->accel.data[f->accel.num-1].time;
 179                 fprintf(summary_file, "State: %s\n", state_names[state]);
 180                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 181                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 182                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 183                 if (accel_i >= 0)
 184                 {
 185                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 186                                                                  f->ground_accel);
 187                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 188                                accel, accel / 9.80665,
 189                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 190                 }
 191
 192                 if (cooked) {
 193                         if (state < ao_flight_drogue) {
 194                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 195                                 if (speed_i >= 0)
 196                                         speed = cooked->accel_speed.data[speed_i];
 197                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 198                         } else {
 199                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 200                                 if (speed_i >= 0)
 201                                         speed = cooked->pres_speed.data[speed_i];
 202                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 203                         }
 204                         if (speed_i >= 0)
 205                         {
 206                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 207                                        speed, speed * 100 / 2.4 / 12.0,
 208                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 209                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 210                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 211                         }
 212                 }
 213                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 214                 if (pres_i >= 0)
 215                 {
 216                         min_pres = f->pres.data[pres_i].value;
 217                         height = cc_barometer_to_altitude(min_pres) -
 218                                 cc_barometer_to_altitude(f->ground_pres);
 219                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 220                                 height, height * 100 / 2.54 / 12,
 221                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 222                 }
 223         }
 224         if (cooked && detail_file) {
 225                 double  max_height = 0;
 226                 int     i;
 227                 double  *times;
 228
 229                 fprintf(detail_file, "%9s %9s %9s %9s\n",
 230                        "time", "height", "speed", "accel");
 231                 for (i = 0; i < cooked->pres_pos.num; i++) {
 232                         double  time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
 233                         double  accel = cooked->accel_accel.data[i];
 234                         double  pos = cooked->pres_pos.data[i];
 235                         double  speed;
 236                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 237                                 speed = cooked->accel_speed.data[i];
 238                         else
 239                                 speed = cooked->pres_speed.data[i];
 240                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
 241                                time, pos, speed, accel);
 242                 }
 243         }
 244         if (cooked && plot_name) {
 245                 struct cc_perioddata    *speed;
 246                 plsdev("svgcairo");
 247                 plsfnam(plot_name);
 248 #define PLOT_DPI        96
 249                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 250                 plscolbg(0xff, 0xff, 0xff);
 251                 plscol0(1,0,0,0);
 252                 plstar(2, 3);
 253                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 254
 255                 plot_perioddata(&cooked->pres_pos, "meters", "Height", -1e10, 1e10);
 256                 plot_perioddata(&cooked->pres_pos, "meters", "Height", boost_start, apogee);
 257                 plot_perioddata(speed, "meters/second", "Speed", -1e10, 1e10);
 258                 plot_perioddata(speed, "meters/second", "Speed", boost_start, apogee);
 259                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration", -1e10, 1e10);
 260                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration", boost_start, apogee);
 261                 free(speed->data);
 262                 free(speed);
 263                 plend();
 264         }
 265         if (cooked)
 266                 cc_flightcooked_free(cooked);
 267 }
 268
 269 static const struct option options[] = {
 270         { .name = "summary", .has_arg = 1, .val = 's' },
 271         { .name = "detail", .has_arg = 1, .val = 'd' },
 272         { .name = "plot", .has_arg = 1, .val = 'p' },
 273         { 0, 0, 0, 0},
 274 };
 275
 276 static void usage(char *program)
 277 {
 278         fprintf(stderr, "usage: %s [--summary=<summary-file>] [-s <summary-file>] [--detail=<detail-file] [-d <detail-file>] [--plot=<plot-file> -p <plot-file>] {flight-log} ...\n", program);
 279         exit(1);
 280 }
 281
 282 int
 283 main (int argc, char **argv)
 284 {
 285         FILE                    *file;
 286         FILE                    *summary_file;
 287         FILE                    *detail_file;
 288         int                     i;
 289         int                     ret = 0;
 290         struct cc_flightraw     *raw;
 291         int                     c;
 292         int                     serial;
 293         char                    *s;
 294         char                    *summary_name = NULL, *detail_name = NULL;
 295         char                    *plot_name = NULL;
 296
 297         while ((c = getopt_long(argc, argv, "s:d:p:", options, NULL)) != -1) {
 298                 switch (c) {
 299                 case 's':
 300                         summary_name = optarg;
 301                         break;
 302                 case 'd':
 303                         detail_name = optarg;
 304                         break;
 305                 case 'p':
 306                         plot_name = optarg;
 307                         break;
 308                 default:
 309                         usage(argv[0]);
 310                         break;
 311                 }
 312         }
 313         summary_file = stdout;
 314         detail_file = NULL;
 315         if (summary_name) {
 316                 summary_file = fopen(summary_name, "w");
 317                 if (!summary_file) {
 318                         perror (summary_name);
 319                         exit(1);
 320                 }
 321         }
 322         if (detail_name) {
 323                 if (summary_name && !strcmp (summary_name, detail_name))
 324                         detail_file = summary_file;
 325                 else {
 326                         detail_file = fopen(detail_name, "w");
 327                         if (!detail_file) {
 328                                 perror(detail_name);
 329                                 exit(1);
 330                         }
 331                 }
 332         }
 333         for (i = optind; i < argc; i++) {
 334                 file = fopen(argv[i], "r");
 335                 if (!file) {
 336                         perror(argv[i]);
 337                         ret++;
 338                         continue;
 339                 }
 340                 s = strstr(argv[i], "-serial-");
 341                 if (s)
 342                         serial = atoi(s + 8);
 343                 else
 344                         serial = 0;
 345                 raw = cc_log_read(file);
 346                 if (!raw) {
 347                         perror(argv[i]);
 348                         ret++;
 349                         continue;
 350                 }
 351                 if (!raw->serial)
 352                         raw->serial = serial;
 353                 analyse_flight(raw, summary_file, detail_file, plot_name);
 354                 cc_flightraw_free(raw);
 355         }
 356         return ret;
 357 }