/* * Copyright © 2010 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; version 2 of the License. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ package altosui; import java.io.*; import java.util.*; import org.altusmetrum.altoslib_2.*; public class AltosCSV implements AltosWriter { File name; PrintStream out; boolean header_written; boolean seen_boost; int boost_tick; LinkedList pad_states; AltosState state; static final int ALTOS_CSV_VERSION = 5; /* Version 4 format: * * General info * version number * serial number * flight number * callsign * time (seconds since boost) * clock (tick count / 100) * rssi * link quality * * Flight status * state * state name * * Basic sensors * acceleration (m/s²) * pressure (mBar) * altitude (m) * height (m) * accelerometer speed (m/s) * barometer speed (m/s) * temp (°C) * battery (V) * drogue (V) * main (V) * * Advanced sensors (if available) * accel_x (m/s²) * accel_y (m/s²) * accel_z (m/s²) * gyro_x (d/s) * gyro_y (d/s) * gyro_z (d/s) * mag_x (g) * mag_y (g) * mag_z (g) * * GPS data (if available) * connected (1/0) * locked (1/0) * nsat (used for solution) * latitude (°) * longitude (°) * altitude (m) * year (e.g. 2010) * month (1-12) * day (1-31) * hour (0-23) * minute (0-59) * second (0-59) * from_pad_dist (m) * from_pad_azimuth (deg true) * from_pad_range (m) * from_pad_elevation (deg from horizon) * hdop * * GPS Sat data * C/N0 data for all 32 valid SDIDs * * Companion data * companion_id (1-255. 10 is TeleScience) * time of last companion data (seconds since boost) * update_period (0.1-2.55 minimum telemetry interval) * channels (0-12) * channel data for all 12 possible channels */ void write_general_header() { out.printf("version,serial,flight,call,time,clock,rssi,lqi"); } void write_general(AltosState state) { out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d", ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign, (double) state.time, (double) state.tick / 100.0, state.rssi, state.status & 0x7f); } void write_flight_header() { out.printf("state,state_name"); } void write_flight(AltosState state) { out.printf("%d,%8s", state.state, state.state_name()); } void write_basic_header() { out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage"); } void write_basic(AltosState state) { out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f", state.acceleration(), state.pressure(), state.altitude(), state.height(), state.speed(), state.speed(), state.temperature, state.battery_voltage, state.apogee_voltage, state.main_voltage); } void write_advanced_header() { out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z"); } void write_advanced(AltosState state) { AltosIMU imu = state.imu; AltosMag mag = state.mag; if (imu == null) imu = new AltosIMU(); if (mag == null) mag = new AltosMag(); out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d", imu.accel_x, imu.accel_y, imu.accel_z, imu.gyro_x, imu.gyro_y, imu.gyro_z, mag.x, mag.y, mag.z); } void write_gps_header() { out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop"); } void write_gps(AltosState state) { AltosGPS gps = state.gps; if (gps == null) gps = new AltosGPS(); AltosGreatCircle from_pad = state.from_pad; if (from_pad == null) from_pad = new AltosGreatCircle(); out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f", gps.connected?1:0, gps.locked?1:0, gps.nsat, gps.lat, gps.lon, gps.alt, gps.year, gps.month, gps.day, gps.hour, gps.minute, gps.second, from_pad.distance, state.range, from_pad.bearing, state.elevation, gps.hdop); } void write_gps_sat_header() { for(int i = 1; i <= 32; i++) { out.printf("sat%02d", i); if (i != 32) out.printf(","); } } void write_gps_sat(AltosState state) { AltosGPS gps = state.gps; for(int i = 1; i <= 32; i++) { int c_n0 = 0; if (gps != null && gps.cc_gps_sat != null) { for(int j = 0; j < gps.cc_gps_sat.length; j++) if (gps.cc_gps_sat[j].svid == i) { c_n0 = gps.cc_gps_sat[j].c_n0; break; } } out.printf ("%3d", c_n0); if (i != 32) out.printf(","); } } void write_companion_header() { out.printf("companion_id,companion_time,companion_update,companion_channels"); for (int i = 0; i < 12; i++) out.printf(",companion_%02d", i); } void write_companion(AltosState state) { AltosCompanion companion = state.companion; int channels_written = 0; if (companion == null) { out.printf("0,0,0,0"); } else { out.printf("%3d,%5.2f,%5.2f,%2d", companion.board_id, (companion.tick - boost_tick) / 100.0, companion.update_period / 100.0, companion.channels); for (; channels_written < companion.channels; channels_written++) out.printf(",%5d", companion.companion_data[channels_written]); } for (; channels_written < 12; channels_written++) out.printf(",0"); } void write_header(boolean advanced, boolean gps, boolean companion) { out.printf("#"); write_general_header(); out.printf(","); write_flight_header(); out.printf(","); write_basic_header(); if (advanced) out.printf(","); write_advanced_header(); if (gps) { out.printf(","); write_gps_header(); out.printf(","); write_gps_sat_header(); } if (companion) { out.printf(","); write_companion_header(); } out.printf ("\n"); } void write_one(AltosState state) { write_general(state); out.printf(","); write_flight(state); out.printf(","); write_basic(state); out.printf(","); if (state.imu != null || state.mag != null) write_advanced(state); if (state.gps != null) { out.printf(","); write_gps(state); out.printf(","); write_gps_sat(state); } if (state.companion != null) { out.printf(","); write_companion(state); } out.printf ("\n"); } void flush_pad() { while (!pad_states.isEmpty()) { write_one (pad_states.remove()); } } public void write(AltosState state) { if (state.state == Altos.ao_flight_startup) return; if (!header_written) { write_header(state.imu != null || state.mag != null, state.gps != null, state.companion != null); header_written = true; } if (!seen_boost) { if (state.state >= Altos.ao_flight_boost) { seen_boost = true; boost_tick = state.tick; flush_pad(); } } if (seen_boost) write_one(state); else pad_states.add(state); } public PrintStream out() { return out; } public void close() { if (!pad_states.isEmpty()) { boost_tick = pad_states.element().tick; flush_pad(); } out.close(); } public void write(AltosStateIterable states) { states.write_comments(out()); for (AltosState state : states) write(state); } public AltosCSV(PrintStream in_out, File in_name) { name = in_name; out = in_out; pad_states = new LinkedList(); } public AltosCSV(File in_name) throws FileNotFoundException { this(new PrintStream(in_name), in_name); } public AltosCSV(String in_string) throws FileNotFoundException { this(new File(in_string)); } }