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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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "aoview.h"
  19 #include <math.h>
  20
  21 static double   pad_lat_total;
  22 static double   pad_lon_total;
  23 static int      pad_alt_total;
  24 static int      npad_gps;
  25 static int      prev_tick;
  26 static double   prev_accel;
  27 static double   pad_lat;
  28 static double   pad_lon;
  29 static double   pad_alt;
  30 static double   min_pres;
  31 static double   min_accel;
  32
  33 #define NUM_PAD_SAMPLES 10
  34
  35 static void
  36 aoview_great_circle (double start_lat, double start_lon,
  37                      double end_lat, double end_lon,
  38                      double *dist, double *bearing)
  39 {
  40         double rad = M_PI / 180;
  41         double earth_radius = 6371.2;
  42         double lat1 = rad * start_lat;
  43         double lon1 = -rad * start_lon;
  44         double lat2 = rad * end_lat;
  45         double lon2 = -rad * end_lon;
  46
  47         double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
  48         double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
  49         double crs;
  50         if (sin(lon2-lon1) < 0)
  51                 crs = acos(argacos);
  52         else
  53                 crs = 2 * M_PI - acos(argacos);
  54         *dist = d * earth_radius;
  55         *bearing = crs * 180/M_PI;
  56 }
  57
  58 static void
  59 aoview_state_add_deg(char *label, double deg, char pos, char neg)
  60 {
  61         double  int_part;
  62         double  min;
  63         char    sign = pos;
  64
  65         if (deg < 0) {
  66                 deg = -deg;
  67                 sign = neg;
  68         }
  69         int_part = floor (deg);
  70         min = (deg - int_part) * 60.0;
  71         aoview_table_add_row(label, "%d°%lf'%c",
  72                              (int) int_part, min, sign);
  73
  74 }
  75
  76 static char *ascent_states[] = {
  77         "boost",
  78         "fast",
  79         "coast",
  80         0,
  81 };
  82
  83 void
  84 aoview_state_speak(struct aostate *state)
  85 {
  86         static char     last_state[32];
  87         int             i;
  88         gboolean        report = FALSE;
  89         static time_t   last_time;
  90         time_t          this_time;
  91         static int      last_altitude;
  92         int             this_altitude;
  93
  94         if (strcmp(state->state, last_state)) {
  95                 aoview_voice_speak("rocket state now %s\n", state->state);
  96                 if (!strcmp(state->state, "drogue"))
  97                         aoview_voice_speak("maximum altitude %d meters\n",
  98                                            aoview_pres_to_altitude(min_pres) -
  99                                            aoview_pres_to_altitude(state->ground_pres));
 100                 report = TRUE;
 101                 strcpy(last_state, state->state);
 102         }
 103         this_time = time(NULL);
 104         this_altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
 105         if (this_time - last_time >= 10)
 106                 report = TRUE;
 107         if (this_altitude / 1000 != last_altitude / 1000)
 108                 report = TRUE;
 109
 110         if (report) {
 111                 aoview_voice_speak("altitude %d meters\n",
 112                                    this_altitude);
 113                 for (i = 0; ascent_states[i]; i++)
 114                         if (!strcmp(ascent_states[i], state->state)) {
 115                                 aoview_voice_speak("speed %d meters per second\n",
 116                                                    state->flight_vel / 2700);
 117                                 break;
 118                         }
 119         }
 120
 121         last_time = this_time;
 122         last_altitude = this_altitude;
 123 }
 124
 125 void
 126 aoview_state_notify(struct aostate *state)
 127 {
 128         int     altitude;
 129         double  accel;
 130         int     ticks;
 131         double  dist;
 132         double  bearing;
 133         double  temp;
 134         double  velocity;
 135         double  battery;
 136         double  drogue_sense, main_sense;
 137         double  max_accel;
 138
 139         if (!strcmp(state->state, "pad")) {
 140                 if (state->locked && npad_gps < NUM_PAD_SAMPLES) {
 141                         pad_lat_total += state->lat;
 142                         pad_lon_total += state->lon;
 143                         pad_alt_total += state->alt;
 144                         npad_gps++;
 145                 }
 146                 if (state->locked && npad_gps <= NUM_PAD_SAMPLES) {
 147                         pad_lat = pad_lat_total / npad_gps;
 148                         pad_lon = pad_lon_total / npad_gps;
 149                         pad_alt = pad_alt_total / npad_gps;
 150                 }
 151                 min_pres = state->ground_pres;
 152                 min_accel = state->ground_accel;
 153         }
 154         if (state->flight_pres < min_pres)
 155                 min_pres = state->flight_pres;
 156         if (state->flight_accel < min_accel)
 157                 min_accel = state->flight_accel;
 158         altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
 159         accel = (state->ground_accel - state->flight_accel) / 27.0;
 160         velocity = state->flight_vel / 2700.0;
 161         max_accel = (state->ground_accel - min_accel) / 27.0;
 162         ticks = state->tick - prev_tick;
 163         temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
 164         battery = (state->batt / 32767.0 * 5.0);
 165         drogue_sense = (state->drogue / 32767.0 * 15.0);
 166         main_sense = (state->main / 32767.0 * 15.0);
 167
 168         prev_accel = accel;
 169         prev_tick = state->tick;
 170         aoview_table_start();
 171
 172         if (npad_gps >= NUM_PAD_SAMPLES)
 173                 aoview_table_add_row("Ground state", "ready");
 174         else
 175                 aoview_table_add_row("Ground state", "waiting for gps (%d)",
 176                                      NUM_PAD_SAMPLES - npad_gps);
 177         aoview_table_add_row("Rocket state", "%s", state->state);
 178         aoview_table_add_row("Callsign", "%s", state->callsign);
 179         aoview_table_add_row("Rocket serial", "%d", state->serial);
 180
 181         aoview_table_add_row("RSSI", "%ddBm", state->rssi);
 182         aoview_table_add_row("Height", "%dm", altitude);
 183         aoview_table_add_row("Max height", "%dm",
 184                              aoview_pres_to_altitude(min_pres) -
 185                              aoview_pres_to_altitude(state->ground_pres));
 186         aoview_table_add_row("Acceleration", "%gm/s²", accel);
 187         aoview_table_add_row("Max acceleration", "%gm/s²", max_accel);
 188         aoview_table_add_row("Velocity", "%gm/s", velocity);
 189         aoview_table_add_row("Temperature", "%g°C", temp);
 190         aoview_table_add_row("Battery", "%gV", battery);
 191         aoview_table_add_row("Drogue", "%gV", drogue_sense);
 192         aoview_table_add_row("Main", "%gV", main_sense);
 193         aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(state->ground_pres));
 194         aoview_table_add_row("Satellites", "%d", state->nsat);
 195         if (state->locked) {
 196                 aoview_state_add_deg("Latitude", state->lat, 'N', 'S');
 197                 aoview_state_add_deg("Longitude", state->lon, 'E', 'W');
 198                 aoview_table_add_row("GPS alt", "%d", state->alt);
 199                 aoview_table_add_row("GPS time", "%02d:%02d:%02d",
 200                                      state->gps_time.hour,
 201                                      state->gps_time.minute,
 202                                      state->gps_time.second);
 203                 aoview_table_add_row("GPS ground speed", "%fm/s %d°",
 204                                      state->ground_speed,
 205                                      state->course);
 206                 aoview_table_add_row("GPS climb rate", "%fm/s",
 207                                      state->climb_rate);
 208                 aoview_table_add_row("GPS precision", "%f(hdop) %dm(h) %dm(v)\n",
 209                                      state->hdop, state->h_error, state->v_error);
 210                 aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
 211                                     &dist, &bearing);
 212                 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
 213                 aoview_table_add_row("Direction from pad", "%g°", bearing);
 214         } else {
 215                 aoview_table_add_row("GPS", "unlocked");
 216         }
 217         if (npad_gps) {
 218                 aoview_state_add_deg("Pad latitude", pad_lat, 'N', 'S');
 219                 aoview_state_add_deg("Pad longitude", pad_lon, 'E', 'W');
 220                 aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
 221         }
 222         aoview_table_finish();
 223         aoview_state_speak(state);
 224 }
 225
 226 void
 227 aoview_state_new(void)
 228 {
 229         pad_lat_total = 0;
 230         pad_lon_total = 0;
 231         pad_alt_total = 0;
 232         npad_gps = 0;
 233         prev_tick = 0;
 234         prev_accel = 0;
 235         pad_lat = 0;
 236         pad_lon = 0;
 237         pad_alt = 0;
 238         min_pres = 32767;
 239         min_accel = 32767;
 240 }
 241
 242 void
 243 aoview_state_init(GladeXML *xml)
 244 {
 245         aoview_state_new();
 246         aoview_voice_speak("initializing rocket flight monitoring system\n");
 247 }