/* * 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.awt.*; import java.awt.event.*; import javax.swing.*; import javax.swing.filechooser.FileNameExtensionFilter; import javax.swing.table.*; import java.io.*; import java.util.*; import java.text.*; import java.util.prefs.*; import java.util.concurrent.LinkedBlockingQueue; import altosui.AltosRecord; import altosui.AltosState; import altosui.AltosDeviceDialog; import altosui.AltosPreferences; import altosui.AltosLog; import altosui.AltosVoice; import altosui.AltosEepromMonitor; /* * AltosRecords with an index field so they can be sorted by tick while preserving * the original ordering for elements with matching ticks */ class AltosOrderedRecord extends AltosEepromRecord implements Comparable { public int index; public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid) throws ParseException { super(line); if (prev_tick_valid) { tick |= (prev_tick & ~0xffff); if (tick < prev_tick) { if (prev_tick - tick > 0x8000) tick += 0x10000; } else { if (tick - prev_tick > 0x8000) tick -= 0x10000; } } index = in_index; } public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) { super(in_cmd, in_tick, in_a, in_b); index = in_index; } public int compareTo(AltosOrderedRecord o) { int tick_diff = tick - o.tick; if (tick_diff != 0) return tick_diff; return index - o.index; } } public class AltosEepromIterable extends AltosRecordIterable { static final int seen_flight = 1; static final int seen_sensor = 2; static final int seen_temp_volt = 4; static final int seen_deploy = 8; static final int seen_gps_time = 16; static final int seen_gps_lat = 32; static final int seen_gps_lon = 64; static final int seen_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy; AltosEepromRecord flight_record; AltosEepromRecord gps_date_record; TreeSet records; LinkedList list; class EepromState { int seen; int n_pad_samples; double ground_pres; int gps_tick; int boost_tick; EepromState() { seen = 0; n_pad_samples = 0; ground_pres = 0.0; gps_tick = 0; } } void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) { state.tick = record.tick; switch (record.cmd) { case Altos.AO_LOG_FLIGHT: eeprom.seen |= seen_flight; state.ground_accel = record.a; state.flight_accel = record.a; state.flight = record.b; eeprom.boost_tick = record.tick; break; case Altos.AO_LOG_SENSOR: state.accel = record.a; state.pres = record.b; if (state.state < Altos.ao_flight_boost) { eeprom.n_pad_samples++; eeprom.ground_pres += state.pres; state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples); state.flight_pres = state.ground_pres; } else { state.flight_pres = (state.flight_pres * 15 + state.pres) / 16; state.flight_accel = (state.flight_accel * 15 + state.accel) / 16; state.flight_vel += (state.accel_plus_g - state.accel); } eeprom.seen |= seen_sensor; break; case Altos.AO_LOG_TEMP_VOLT: state.temp = record.a; state.batt = record.b; eeprom.seen |= seen_temp_volt; break; case Altos.AO_LOG_DEPLOY: state.drogue = record.a; state.main = record.b; eeprom.seen |= seen_deploy; break; case Altos.AO_LOG_STATE: state.state = record.a; break; case Altos.AO_LOG_GPS_TIME: eeprom.gps_tick = state.tick; AltosGPS old = state.gps; state.gps = new AltosGPS(); /* GPS date doesn't get repeated through the file */ if (old != null) { state.gps.year = old.year; state.gps.month = old.month; state.gps.day = old.day; } state.gps.hour = (record.a & 0xff); state.gps.minute = (record.a >> 8); state.gps.second = (record.b & 0xff); int flags = (record.b >> 8); state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0; state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0; state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0; state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT; break; case Altos.AO_LOG_GPS_LAT: int lat32 = record.a | (record.b << 16); state.gps.lat = (double) lat32 / 1e7; break; case Altos.AO_LOG_GPS_LON: int lon32 = record.a | (record.b << 16); state.gps.lon = (double) lon32 / 1e7; break; case Altos.AO_LOG_GPS_ALT: state.gps.alt = record.a; break; case Altos.AO_LOG_GPS_SAT: if (state.tick == eeprom.gps_tick) { int svid = record.a; int c_n0 = record.b >> 8; state.gps.add_sat(svid, c_n0); } break; case Altos.AO_LOG_GPS_DATE: state.gps.year = (record.a & 0xff) + 2000; state.gps.month = record.a >> 8; state.gps.day = record.b & 0xff; break; case Altos.AO_LOG_CONFIG_VERSION: break; case Altos.AO_LOG_MAIN_DEPLOY: break; case Altos.AO_LOG_APOGEE_DELAY: break; case Altos.AO_LOG_RADIO_CHANNEL: break; case Altos.AO_LOG_CALLSIGN: state.callsign = record.data; break; case Altos.AO_LOG_ACCEL_CAL: state.accel_plus_g = record.a; state.accel_minus_g = record.b; break; case Altos.AO_LOG_RADIO_CAL: break; case Altos.AO_LOG_MANUFACTURER: break; case Altos.AO_LOG_PRODUCT: break; case Altos.AO_LOG_SERIAL_NUMBER: state.serial = record.a; break; case Altos.AO_LOG_SOFTWARE_VERSION: break; } } LinkedList make_list() { LinkedList list = new LinkedList(); Iterator iterator = records.iterator(); AltosOrderedRecord record = null; AltosRecord state = new AltosRecord(); boolean last_reported = false; EepromState eeprom = new EepromState(); state.state = Altos.ao_flight_pad; state.accel_plus_g = 15758; state.accel_minus_g = 16294; /* Pull in static data from the flight and gps_date records */ if (flight_record != null) update_state(state, flight_record, eeprom); if (gps_date_record != null) update_state(state, gps_date_record, eeprom); while (iterator.hasNext()) { record = iterator.next(); if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) { AltosRecord r = new AltosRecord(state); r.time = (r.tick - eeprom.boost_tick) / 100.0; list.add(r); } update_state(state, record, eeprom); } AltosRecord r = new AltosRecord(state); r.time = (r.tick - eeprom.boost_tick) / 100.0; list.add(r); return list; } public Iterator iterator() { if (list == null) list = make_list(); return list.iterator(); } public void write_comments(PrintStream out) { Iterator iterator = records.iterator(); out.printf("# Comments\n"); while (iterator.hasNext()) { AltosOrderedRecord record = iterator.next(); switch (record.cmd) { case Altos.AO_LOG_CONFIG_VERSION: out.printf("# Config version: %s\n", record.data); break; case Altos.AO_LOG_MAIN_DEPLOY: out.printf("# Main deploy: %s\n", record.a); break; case Altos.AO_LOG_APOGEE_DELAY: out.printf("# Apogee delay: %s\n", record.a); break; case Altos.AO_LOG_RADIO_CHANNEL: out.printf("# Radio channel: %s\n", record.a); break; case Altos.AO_LOG_CALLSIGN: out.printf("# Callsign: %s\n", record.data); break; case Altos.AO_LOG_ACCEL_CAL: out.printf ("# Accel cal: %d %d\n", record.a, record.b); break; case Altos.AO_LOG_RADIO_CAL: out.printf ("# Radio cal: %d\n", record.a); break; case Altos.AO_LOG_MANUFACTURER: out.printf ("# Manufacturer: %s\n", record.data); break; case Altos.AO_LOG_PRODUCT: out.printf ("# Product: %s\n", record.data); break; case Altos.AO_LOG_SERIAL_NUMBER: out.printf ("# Serial number: %d\n", record.a); break; case Altos.AO_LOG_SOFTWARE_VERSION: out.printf ("# Software version: %s\n", record.data); break; } } } /* * Given an AO_LOG_GPS_TIME record with correct time, and one * missing time, rewrite the missing time values with the good * ones, assuming that the difference between them is 'diff' seconds */ void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) { int diff = (bad.tick - good.tick + 50) / 100; int hour = (good.a & 0xff); int minute = (good.a >> 8); int second = (good.b & 0xff); int flags = (good.b >> 8); int seconds = hour * 3600 + minute * 60 + second; int new_seconds = seconds + diff; if (new_seconds < 0) new_seconds += 24 * 3600; int new_second = (new_seconds % 60); int new_minutes = (new_seconds / 60); int new_minute = (new_minutes % 60); int new_hours = (new_minutes / 60); int new_hour = (new_hours % 24); bad.a = new_hour + (new_minute << 8); bad.b = new_second + (flags << 8); } /* * Read the whole file, dumping records into a RB tree so * we can enumerate them in time order -- the eeprom data * are sometimes out of order with GPS data getting timestamps * matching the first packet out of the GPS unit but not * written until the final GPS packet has been received. */ public AltosEepromIterable (FileInputStream input) { records = new TreeSet(); AltosOrderedRecord last_gps_time = null; int index = 0; int prev_tick = 0; boolean prev_tick_valid = false; boolean missing_time = false; try { for (;;) { String line = AltosRecord.gets(input); if (line == null) break; AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid); if (record == null) break; if (record.cmd == Altos.AO_LOG_INVALID) continue; prev_tick = record.tick; if (record.cmd < Altos.AO_LOG_CONFIG_VERSION) prev_tick_valid = true; if (record.cmd == Altos.AO_LOG_FLIGHT) { flight_record = record; continue; } /* Two firmware bugs caused the loss of some GPS data. * The flight date would never be recorded, and often * the flight time would get overwritten by another * record. Detect the loss of the GPS date and fix up the * missing time records */ if (record.cmd == Altos.AO_LOG_GPS_DATE) { gps_date_record = record; continue; } /* go back and fix up any missing time values */ if (record.cmd == Altos.AO_LOG_GPS_TIME) { last_gps_time = record; if (missing_time) { Iterator iterator = records.iterator(); while (iterator.hasNext()) { AltosOrderedRecord old = iterator.next(); if (old.cmd == Altos.AO_LOG_GPS_TIME && old.a == -1 && old.b == -1) { update_time(record, old); } } missing_time = false; } } if (record.cmd == Altos.AO_LOG_GPS_LAT) { if (last_gps_time == null || last_gps_time.tick != record.tick) { AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME, record.tick, -1, -1, index-1); if (last_gps_time != null) update_time(last_gps_time, add_gps_time); else missing_time = true; records.add(add_gps_time); record.index = index++; } } records.add(record); /* Bail after reading the 'landed' record; we're all done */ if (record.cmd == Altos.AO_LOG_STATE && record.a == Altos.ao_flight_landed) break; } } catch (IOException io) { } catch (ParseException pe) { } try { input.close(); } catch (IOException ie) { } } }