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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 unsigned
 189 gps_daytime(struct cc_gpselt *gps)
 190 {
 191         return ((gps->hour * 60 +
 192                  gps->minute) * 60 +
 193                 gps->second) * 1000;
 194 }
 195
 196 int
 197 daytime_hour(unsigned daytime)
 198 {
 199         return daytime / 1000 / 60 / 60;
 200 }
 201
 202 int
 203 daytime_minute(unsigned daytime)
 204 {
 205         return (daytime / 1000 / 60) % 60;
 206 }
 207
 208 int
 209 daytime_second(unsigned daytime)
 210 {
 211         return (daytime / 1000) % 60;
 212 }
 213
 214 int
 215 daytime_millisecond(unsigned daytime)
 216 {
 217         return daytime % 1000;
 218 }
 219
 220 static unsigned
 221 compute_daytime_ms(double time, struct cc_gpsdata *gps)
 222 {
 223         int     i;
 224         unsigned        gps_start_daytime, gps_stop_daytime;
 225
 226         if (time <= gps->data[0].time) {
 227                 gps_stop_daytime = gps_daytime(&gps->data[0]);
 228                 return gps_stop_daytime - (gps->data[0].time - time) * 10;
 229         }
 230         for (i = 0; i < gps->num - 1; i++)
 231                 if (time > gps->data[i].time)
 232                         break;
 233         gps_start_daytime = gps_daytime(&gps->data[i]);
 234         if (i == gps->num - 1) {
 235                 return gps_start_daytime + (time - gps->data[i].time) * 10;
 236         } else {
 237                 unsigned        gps_period_daytime;
 238                 double          gps_period_time;
 239                 double          time_since_start;
 240
 241                 gps_stop_daytime = gps_daytime(&gps->data[i + 1]);
 242
 243                 /* range of gps daytime values */
 244                 gps_period_daytime = gps_stop_daytime - gps_start_daytime;
 245
 246                 /* range of gps time values */
 247                 gps_period_time = gps->data[i+1].time - gps->data[i].time;
 248
 249                 /* sample time after first gps time */
 250                 time_since_start = time - gps->data[i].time;
 251
 252                 return gps_start_daytime +
 253                         gps_period_daytime * time_since_start / gps_period_time;
 254         }
 255 }
 256
 257 static void
 258 analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file,
 259                FILE *raw_file, char *plot_name, FILE *gps_file, FILE *kml_file)
 260 {
 261         double  height;
 262         double  accel;
 263         double  speed;
 264         double  avg_speed;
 265         double  boost_start, boost_stop;
 266         double  min_pres;
 267         int     i;
 268         int     pres_i, accel_i, speed_i;
 269         int     boost_start_set = 0;
 270         int     boost_stop_set = 0;
 271         enum ao_flight_state    state;
 272         double  state_start, state_stop;
 273         struct cc_flightcooked *cooked;
 274         double  apogee;
 275
 276         fprintf(summary_file,
 277                 "Serial:  %9d\n"
 278                 "Flight:  %9d\n",
 279                 f->serial, f->flight);
 280         if (f->year) {
 281                 fprintf(summary_file,
 282                         "Date:   %04d-%02d-%02d\n",
 283                         f->year, f->month, f->day);
 284         }
 285         if (f->gps.num) {
 286                 fprintf(summary_file,
 287                         "Time:     %2d:%02d:%02d\n",
 288                         f->gps.data[0].hour,
 289                         f->gps.data[0].minute,
 290                         f->gps.data[0].second);
 291         }
 292         boost_start = f->accel.data[0].time;
 293         boost_stop = f->accel.data[f->accel.num-1].time;
 294         for (i = 0; i < f->state.num; i++) {
 295                 if (f->state.data[i].value == ao_flight_boost && !boost_start_set) {
 296                         boost_start = f->state.data[i].time;
 297                         boost_start_set = 1;
 298                 }
 299                 if (f->state.data[i].value > ao_flight_boost && !boost_stop_set) {
 300                         boost_stop = f->state.data[i].time;
 301                         boost_stop_set = 1;
 302                 }
 303         }
 304
 305         pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 306                                  f->pres.data[f->pres.num-1].time);
 307         if (pres_i >= 0)
 308         {
 309                 min_pres = f->pres.data[pres_i].value;
 310                 height = cc_barometer_to_altitude(min_pres) -
 311                         cc_barometer_to_altitude(f->ground_pres);
 312                 fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 313                         height, height * 100 / 2.54 / 12,
 314                         (f->pres.data[pres_i].time - boost_start) / 100.0);
 315                 apogee = f->pres.data[pres_i].time;
 316         }
 317
 318         cooked = cc_flight_cook(f);
 319         if (cooked) {
 320                 speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
 321                 if (speed_i >= 0) {
 322                         speed = cooked->accel_speed.data[speed_i];
 323                         fprintf(summary_file, "Max speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 324                                speed, speed * 100 / 2.4 / 12.0,
 325                                (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 326                 }
 327         }
 328         accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
 329         if (accel_i >= 0)
 330         {
 331                 accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 332                                                          f->ground_accel);
 333                 fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 334                         accel, accel /  9.80665,
 335                         (f->accel.data[accel_i].time - boost_start) / 100.0);
 336         }
 337
 338         for (i = 0; i < f->state.num; i++) {
 339                 state = f->state.data[i].value;
 340                 state_start = f->state.data[i].time;
 341                 while (i < f->state.num - 1 && f->state.data[i+1].value == state)
 342                         i++;
 343                 if (i < f->state.num - 1)
 344                         state_stop = f->state.data[i + 1].time;
 345                 else
 346                         state_stop = f->accel.data[f->accel.num-1].time;
 347                 fprintf(summary_file, "State: %s\n", state_names[state]);
 348                 fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
 349                 fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 350                 accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 351                 if (accel_i >= 0)
 352                 {
 353                         accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 354                                                                  f->ground_accel);
 355                         fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 356                                accel, accel / 9.80665,
 357                                (f->accel.data[accel_i].time - boost_start) / 100.0);
 358                 }
 359
 360                 if (cooked) {
 361                         if (state < ao_flight_drogue) {
 362                                 speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
 363                                 if (speed_i >= 0)
 364                                         speed = cooked->accel_speed.data[speed_i];
 365                                 avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
 366                         } else {
 367                                 speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
 368                                 if (speed_i >= 0)
 369                                         speed = cooked->pres_speed.data[speed_i];
 370                                 avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
 371                         }
 372                         if (speed_i >= 0)
 373                         {
 374                                 fprintf(summary_file, "\tMax speed:  %9.2fm/s  %9.2fft/s %9.2fs\n",
 375                                        speed, speed * 100 / 2.4 / 12.0,
 376                                        (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
 377                                 fprintf(summary_file, "\tAvg speed:  %9.2fm/s  %9.2fft/s\n",
 378                                         avg_speed, avg_speed * 100 / 2.4 / 12.0);
 379                         }
 380                 }
 381                 pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
 382                 if (pres_i >= 0)
 383                 {
 384                         min_pres = f->pres.data[pres_i].value;
 385                         height = cc_barometer_to_altitude(min_pres) -
 386                                 cc_barometer_to_altitude(f->ground_pres);
 387                         fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 388                                 height, height * 100 / 2.54 / 12,
 389                                 (f->pres.data[pres_i].time - boost_start) / 100.0);
 390                 }
 391         }
 392         if (cooked && detail_file) {
 393                 double  max_height = 0;
 394                 int     i;
 395                 double  *times;
 396
 397                 fprintf(detail_file, "%9s %9s %9s %9s %9s\n",
 398                         "time", "height", "speed", "accel", "daytime");
 399                 for (i = 0; i < cooked->pres_pos.num; i++) {
 400                         double  clock_time = cooked->accel_accel.start + i * cooked->accel_accel.step;
 401                         double  time = (clock_time - boost_start) / 100.0;
 402                         double  accel = cooked->accel_accel.data[i];
 403                         double  pos = cooked->pres_pos.data[i];
 404                         double  speed;
 405                         unsigned        daytime;
 406                         if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
 407                                 speed = cooked->accel_speed.data[i];
 408                         else
 409                                 speed = cooked->pres_speed.data[i];
 410                         if (f->gps.num)
 411                                 daytime = compute_daytime_ms(clock_time, &f->gps);
 412                         else
 413                                 daytime = 0;
 414                         fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f %02d:%02d:%02d.%03d\n",
 415                                 time, pos, speed, accel,
 416                                 daytime_hour(daytime),
 417                                 daytime_minute(daytime),
 418                                 daytime_second(daytime),
 419                                 daytime_millisecond(daytime));
 420                 }
 421         }
 422         if (raw_file) {
 423                 fprintf(raw_file, "%9s %9s %9s %9s\n",
 424                         "time", "height", "accel", "daytime");
 425                 for (i = 0; i < cooked->pres.num; i++) {
 426                         double time = cooked->pres.data[i].time;
 427                         double pres = cooked->pres.data[i].value;
 428                         double accel = cooked->accel.data[i].value;
 429                         unsigned        daytime;
 430                         if (f->gps.num)
 431                                 daytime = compute_daytime_ms(time, &f->gps);
 432                         else
 433                                 daytime = 0;
 434                         fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f %02d:%02d:%02d.%03d\n",
 435                                 time, pres, accel,
 436                                 daytime_hour(daytime),
 437                                 daytime_minute(daytime),
 438                                 daytime_second(daytime),
 439                                 daytime_millisecond(daytime));
 440                 }
 441         }
 442         if (gps_file || kml_file) {
 443                 int     j = 0, baro_pos;
 444                 double  baro_offset;
 445                 double  baro = 0.0;
 446
 447                 if (gps_file)
 448                         fprintf(gps_file, "%2s %2s %2s %9s %12s %12s %9s %8s %5s\n",
 449                                 "hr", "mn", "sc",
 450                                 "time", "lat", "lon", "alt", "baro", "nsat");
 451                 if (kml_file)
 452                         fprintf(kml_file, "%s", kml_header);
 453                 if (f->gps.num)
 454                         baro_offset = f->gps.data[0].alt;
 455                 else
 456                         baro_offset = 0;
 457                 baro_pos = 0;
 458                 for (i = 0; i < f->gps.num; i++) {
 459                         int     nsat = 0;
 460                         int     k;
 461                         while (j < f->gps.numsats - 1) {
 462                                 if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
 463                                     f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
 464                                         break;
 465                                 j++;
 466                         }
 467                         if (cooked) {
 468                                 while (baro_pos < cooked->pres_pos.num) {
 469                                         double  baro_time = cooked->accel_accel.start + baro_pos * cooked->accel_accel.step;
 470                                         if (baro_time >= f->gps.data[i].time)
 471                                                 break;
 472                                         baro_pos++;
 473                                 }
 474                                 if (baro_pos < cooked->pres_pos.num)
 475                                         baro = cooked->pres_pos.data[baro_pos];
 476                         }
 477                         if (gps_file)
 478                                 fprintf(gps_file, "%2d %2d %2d %12.7f %12.7f %12.7f %7.1f %7.1f",
 479                                         f->gps.data[i].hour,
 480                                         f->gps.data[i].minute,
 481                                         f->gps.data[i].second,
 482                                         (f->gps.data[i].time - boost_start) / 100.0,
 483                                         f->gps.data[i].lat,
 484                                         f->gps.data[i].lon,
 485                                         f->gps.data[i].alt,
 486                                         baro + baro_offset);
 487                         if (kml_file) {
 488                                 fprintf(kml_file, "%12.7f, %12.7f, %12.7f <!-- alt %12.7f time %12.7f sats %d -->",
 489                                         f->gps.data[i].lon,
 490                                         f->gps.data[i].lat,
 491                                         baro + baro_offset,
 492                                         f->gps.data[i].alt,
 493                                         (f->gps.data[i].time - boost_start) / 100.0,
 494                                         nsat);
 495                                 if (i < f->gps.num - 1)
 496                                         fprintf(kml_file, ",\n");
 497                                 else
 498                                         fprintf(kml_file, "\n");
 499                         }
 500
 501                         nsat = 0;
 502                         if (f->gps.sats) {
 503                                 for (k = 0; k < f->gps.sats[j].nsat; k++) {
 504                                         if (f->gps.sats[j].sat[k].svid != 0)
 505                                                 nsat++;
 506                                 }
 507                                 if (gps_file) {
 508                                         fprintf(gps_file, " %4d", nsat);
 509                                         for (k = 0; k < f->gps.sats[j].nsat; k++) {
 510                                                 if (f->gps.sats[j].sat[k].svid != 0) {
 511                                                         fprintf (gps_file, " %3d(%4.1f)",
 512                                                                  f->gps.sats[j].sat[k].svid,
 513                                                                  (double) f->gps.sats[j].sat[k].c_n);
 514                                                 }
 515                                         }
 516                                         fprintf(gps_file, "\n");
 517                                 }
 518                         }
 519                 }
 520                 if (kml_file)
 521                         fprintf(kml_file, "%s", kml_footer);
 522         }
 523         if (cooked && plot_name) {
 524                 struct cc_perioddata    *speed;
 525                 plsdev("svgcairo");
 526                 plsfnam(plot_name);
 527 #define PLOT_DPI        96
 528                 plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
 529                 plscolbg(0xff, 0xff, 0xff);
 530                 plscol0(1,0,0,0);
 531                 plstar(2, 3);
 532                 speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 533
 534                 plot_perioddata(&cooked->pres_pos, "meters", "Height",
 535                                 -1e10, 1e10, PLOT_HEIGHT);
 536                 plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
 537                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
 538                 plot_perioddata(speed, "meters/second", "Speed",
 539                                 -1e10, 1e10, PLOT_SPEED);
 540                 plot_perioddata(speed, "meters/second", "Speed to Apogee",
 541                                 boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
 542                 plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
 543                                 -1e10, 1e10, PLOT_ACCEL);
 544 /*              plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
 545                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
 546                 plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
 547                                 boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 548                 free(speed->data);
 549                 free(speed);
 550                 plend();
 551         }
 552         if (cooked)
 553                 cc_flightcooked_free(cooked);
 554 }
 555
 556 static const struct option options[] = {
 557         { .name = "summary", .has_arg = 2, .val = 's' },
 558         { .name = "detail", .has_arg = 2, .val = 'd' },
 559         { .name = "plot", .has_arg = 2, .val = 'p' },
 560         { .name = "raw", .has_arg = 2, .val = 'r' },
 561         { .name = "gps", .has_arg = 2, .val = 'g' },
 562         { .name = "kml", .has_arg = 2, .val = 'k' },
 563         { .name = "all", .has_arg = 0, .val = 'a' },
 564         { 0, 0, 0, 0},
 565 };
 566
 567 static void usage(char *program)
 568 {
 569         fprintf(stderr, "usage: %s\n"
 570                 "\t[--all] [-a]\n"
 571                 "\t[--summary=<summary-file>] [-s <summary-file>]\n"
 572                 "\t[--detail=<detail-file] [-d <detail-file>]\n"
 573                 "\t[--raw=<raw-file> -r <raw-file]\n"
 574                 "\t[--plot=<plot-file> -p <plot-file>]\n"
 575                 "\t[--gps=<gps-file> -g <gps-file>]\n"
 576                 "\t[--kml=<kml-file> -k <kml-file>]\n"
 577                 "\t{flight-log} ...\n", program);
 578         exit(1);
 579 }
 580
 581 char *
 582 replace_extension(char *file, char *extension)
 583 {
 584         char    *slash;
 585         char    *dot;
 586         char    *new;
 587         int     newlen;
 588
 589         slash = strrchr(file, '/');
 590         dot = strrchr(file, '.');
 591         if (!dot || (slash && dot < slash))
 592                 dot = file + strlen(file);
 593         newlen = (dot - file) + strlen (extension) + 1;
 594         new = malloc (newlen);
 595         strncpy (new, file, dot - file);
 596         new[dot-file] = '\0';
 597         strcat (new, extension);
 598         return new;
 599 }
 600
 601 FILE *
 602 open_output(char *outname, char *inname, char *extension)
 603 {
 604         char    *o;
 605         FILE    *out;
 606
 607         if (outname)
 608                 o = outname;
 609         else
 610                 o = replace_extension(inname, extension);
 611         out = fopen(o, "w");
 612         if (!out) {
 613                 perror (o);
 614                 exit(1);
 615         }
 616         if (o != outname)
 617                 free(o);
 618         return out;
 619 }
 620
 621 int
 622 main (int argc, char **argv)
 623 {
 624         FILE                    *file;
 625         FILE                    *summary_file = NULL;
 626         FILE                    *detail_file = NULL;
 627         FILE                    *raw_file = NULL;
 628         FILE                    *gps_file = NULL;
 629         FILE                    *kml_file = NULL;
 630         int                     i;
 631         int                     ret = 0;
 632         struct cc_flightraw     *raw;
 633         int                     c;
 634         int                     serial;
 635         char                    *s;
 636         char                    *summary_name = NULL;
 637         char                    *detail_name = NULL;
 638         char                    *raw_name = NULL;
 639         char                    *plot_name = NULL;
 640         char                    *gps_name = NULL;
 641         char                    *kml_name = NULL;
 642         int                     has_summary = 0;
 643         int                     has_detail = 0;
 644         int                     has_plot = 0;
 645         int                     has_raw = 0;
 646         int                     has_gps = 0;
 647         int                     has_kml = 0;
 648         char                    *this_plot_name = NULL;;
 649
 650         while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:a", options, NULL)) != -1) {
 651                 switch (c) {
 652                 case 's':
 653                         summary_name = optarg;
 654                         has_summary = 1;
 655                         break;
 656                 case 'd':
 657                         detail_name = optarg;
 658                         has_detail = 1;
 659                         break;
 660                 case 'p':
 661                         plot_name = optarg;
 662                         has_plot = 1;
 663                         break;
 664                 case 'r':
 665                         raw_name = optarg;
 666                         has_raw = 1;
 667                         break;
 668                 case 'g':
 669                         gps_name = optarg;
 670                         has_gps = 1;
 671                         break;
 672                 case 'k':
 673                         kml_name = optarg;
 674                         has_kml = 1;
 675                         break;
 676                 case 'a':
 677                         has_summary = has_detail = has_plot = has_raw = has_gps = has_kml = 1;
 678                         break;
 679                 default:
 680                         usage(argv[0]);
 681                         break;
 682                 }
 683         }
 684         if (!has_summary)
 685                 summary_file = stdout;
 686         for (i = optind; i < argc; i++) {
 687                 file = fopen(argv[i], "r");
 688                 if (!file) {
 689                         perror(argv[i]);
 690                         ret++;
 691                         continue;
 692                 }
 693                 if (has_summary && !summary_file)
 694                         summary_file = open_output(summary_name, argv[i], ".summary");
 695                 if (has_detail && !detail_file)
 696                         detail_file = open_output(detail_name, argv[i], ".detail");
 697                 if (has_plot) {
 698                         if (plot_name)
 699                                 this_plot_name = plot_name;
 700                         else
 701                                 this_plot_name = replace_extension(argv[i], ".plot");
 702                 }
 703                 if (has_raw && !raw_file)
 704                         raw_file = open_output(raw_name, argv[i], ".raw");
 705                 if (has_gps && !gps_file)
 706                         gps_file = open_output(gps_name, argv[i], ".gps");
 707                 if (has_kml && !kml_file)
 708                         kml_file = open_output(gps_name, argv[i], ".kml");
 709                 s = strstr(argv[i], "-serial-");
 710                 if (s)
 711                         serial = atoi(s + 8);
 712                 else
 713                         serial = 0;
 714                 raw = cc_log_read(file);
 715                 if (!raw) {
 716                         perror(argv[i]);
 717                         ret++;
 718                         continue;
 719                 }
 720                 if (!raw->serial)
 721                         raw->serial = serial;
 722                 analyse_flight(raw, summary_file, detail_file, raw_file, this_plot_name, gps_file, kml_file);
 723                 cc_flightraw_free(raw);
 724                 if (has_summary && !summary_name) {
 725                         fclose(summary_file); summary_file = NULL;
 726                 }
 727                 if (has_detail && !detail_name) {
 728                         fclose(detail_file); detail_file = NULL;
 729                 }
 730                 if (this_plot_name && this_plot_name != plot_name) {
 731                         free (this_plot_name); this_plot_name = NULL;
 732                 }
 733                 if (has_raw && !raw_name) {
 734                         fclose(raw_file); raw_file = NULL;
 735                 }
 736                 if (has_gps && !gps_name) {
 737                         fclose(gps_file); gps_file = NULL;
 738                 }
 739                 if (has_kml && !kml_name) {
 740                         fclose(kml_file); kml_file = NULL;
 741                 }
 742         }
 743         return ret;
 744 }