* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_14;
import java.io.*;
import java.util.*;
boolean seen_boost;
int boost_tick;
+ boolean has_call;
boolean has_basic;
+ boolean has_accel;
+ boolean has_baro;
+ boolean has_pyro;
+ boolean has_radio;
boolean has_battery;
boolean has_flight_state;
- boolean has_advanced;
+ boolean has_3d_accel;
+ boolean has_imu;
+ boolean has_igniter;
boolean has_gps;
boolean has_gps_sat;
boolean has_companion;
+ boolean has_motor_pressure;
AltosFlightSeries series;
int[] indices;
- static final int ALTOS_CSV_VERSION = 5;
+ static final int ALTOS_CSV_VERSION = 6;
/* Version 4 format:
*
* flight number
* callsign
* time (seconds since boost)
- * clock (tick count / 100)
+ *
+ * Radio info (if available)
* rssi
* link quality
*
* mag_x (g)
* mag_y (g)
* mag_z (g)
+ * tilt (d)
+ *
+ * Extra igniter voltages (if available)
+ * pyro (V)
+ * igniter_a (V)
+ * igniter_b (V)
+ * igniter_c (V)
+ * igniter_d (V)
*
* GPS data (if available)
* connected (1/0)
*/
void write_general_header() {
- out.printf("version,serial,flight,call,time,clock,rssi,lqi");
+ out.printf(Locale.ROOT,"version,serial,flight");
+ if (series.cal_data().callsign != null)
+ out.printf(Locale.ROOT,",call");
+ out.printf(Locale.ROOT,",time");
}
double time() {
return series.time(indices);
}
+ void write_general() {
+ out.printf(Locale.ROOT,"%s, %d, %d",
+ ALTOS_CSV_VERSION,
+ series.cal_data().serial,
+ series.cal_data().flight);
+ if (series.cal_data().callsign != null)
+ out.printf(Locale.ROOT,",%s", series.cal_data().callsign);
+ out.printf(Locale.ROOT,", %8.2f", time());
+ }
+
+ void write_radio_header() {
+ out.printf(Locale.ROOT,"rssi,lqi");
+ }
+
int rssi() {
return (int) series.value(AltosFlightSeries.rssi_name, indices);
}
return (int) series.value(AltosFlightSeries.status_name, indices);
}
- void write_general() {
- double time = time();
- out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
- ALTOS_CSV_VERSION, series.cal_data.serial,
- series.cal_data.flight, series.cal_data.callsign,
- time, time,
+ void write_radio() {
+ out.printf(Locale.ROOT,"%4d, %3d",
rssi(), status() & 0x7f);
}
void write_flight_header() {
- out.printf("state,state_name");
+ out.printf(Locale.ROOT,"state,state_name");
}
int state() {
void write_flight() {
int state = state();
- out.printf("%d,%8s", state, AltosLib.state_name(state));
+ out.printf(Locale.ROOT,"%2d,%8s", state, AltosLib.state_name(state));
}
void write_basic_header() {
- out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage");
+ if (has_accel)
+ out.printf(Locale.ROOT,"acceleration,");
+ if (has_baro)
+ out.printf(Locale.ROOT,"pressure,altitude,");
+ out.printf(Locale.ROOT,"height,speed");
+ if (has_baro)
+ out.printf(Locale.ROOT,",temperature");
+ if (has_pyro)
+ out.printf(Locale.ROOT,",drogue_voltage,main_voltage");
}
double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); }
double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); }
void write_basic() {
- out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f",
- acceleration(),
- pressure(),
- altitude(),
- height(),
- speed(),
- speed(),
- temperature(),
- apogee_voltage(),
- main_voltage());
+ if (has_accel)
+ out.printf(Locale.ROOT,"%8.2f,", acceleration());
+ if (has_baro)
+ out.printf(Locale.ROOT,"%10.2f,%8.2f,",
+ pressure(), altitude());
+ out.printf(Locale.ROOT,"%8.2f,%8.2f",
+ height(), speed());
+ if (has_baro)
+ out.printf(Locale.ROOT,",%5.1f", temperature());
+ if (has_pyro)
+ out.printf(Locale.ROOT,",%5.2f,%5.2f",
+ apogee_voltage(),
+ main_voltage());
}
void write_battery_header() {
- out.printf("battery_voltage");
+ out.printf(Locale.ROOT,"battery_voltage");
}
double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
void write_battery() {
- out.printf("%5.2f", battery_voltage());
+ out.printf(Locale.ROOT,"%5.2f", battery_voltage());
}
- void write_advanced_header() {
- out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z");
+ void write_motor_pressure_header() {
+ out.printf(Locale.ROOT,"motor_pressure");
}
- void write_advanced() {
-/*
- out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
- state.accel_along(), state.accel_across(), state.accel_through(),
- state.gyro_roll(), state.gyro_pitch(), state.gyro_yaw(),
- state.mag_along(), state.mag_across(), state.mag_through());
-*/
+ double motor_pressure() { return series.value(AltosFlightSeries.motor_pressure_name, indices); }
+
+ void write_motor_pressure() {
+ out.printf(Locale.ROOT,"%10.1f", motor_pressure());
+ }
+
+ void write_3d_accel_header() {
+ out.printf(Locale.ROOT,"accel_x,accel_y,accel_z");
+ }
+
+ double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
+ double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
+ double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
+
+ void write_3d_accel() {
+ out.printf(Locale.ROOT,"%7.2f,%7.2f,%7.2f",
+ accel_along(), accel_across(), accel_through());
+ }
+
+ void write_imu_header() {
+ out.printf(Locale.ROOT,"gyro_roll,gyro_pitch,gyro_yaw,mag_x,mag_y,mag_z,tilt");
+ }
+
+ double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
+ double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
+ double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
+
+ double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
+ double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
+ double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
+
+ double tilt() { return series.value(AltosFlightSeries.orient_name, indices); }
+
+ void write_imu() {
+ out.printf(Locale.ROOT,"%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
+ gyro_roll(), gyro_pitch(), gyro_yaw(),
+ mag_along(), mag_across(), mag_through(),
+ tilt());
+ }
+
+ void write_igniter_header() {
+ out.printf(Locale.ROOT,"pyro");
+ for (int i = 0; i < series.igniter_voltage.length; i++)
+ out.printf(Locale.ROOT,",%s", AltosLib.igniter_short_name(i));
+ }
+
+ double pyro() { return series.value(AltosFlightSeries.pyro_voltage_name, indices); }
+
+ double igniter_value(int channel) { return series.value(series.igniter_voltage_name(channel), indices); }
+
+ void write_igniter() {
+ out.printf(Locale.ROOT,"%5.2f", pyro());
+ for (int i = 0; i < series.igniter_voltage.length; i++)
+ out.printf(Locale.ROOT,",%5.2f", igniter_value(i));
}
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,pdop,hdop,vdop");
-*/
+ out.printf(Locale.ROOT,"connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop");
}
void write_gps() {
-/*
- AltosGPS gps = state.gps;
- if (gps == null)
- gps = new AltosGPS();
+ AltosGPS gps = series.gps_before(series.time(indices));
- AltosGreatCircle from_pad = state.from_pad;
- if (from_pad == null)
+ AltosGreatCircle from_pad;
+
+ if (series.cal_data().gps_pad != null && gps != null)
+ from_pad = new AltosGreatCircle(series.cal_data().gps_pad, gps);
+ else
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,%6.1f,%6.1f",
+ if (gps == null)
+ gps = new AltosGPS();
+
+ out.printf(Locale.ROOT,"%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,%6.1f,%6.1f",
gps.connected?1:0,
gps.locked?1:0,
gps.nsat,
gps.minute,
gps.second,
from_pad.distance,
- state.range,
+ from_pad.range,
from_pad.bearing,
- state.elevation,
+ from_pad.elevation,
gps.pdop,
gps.hdop,
gps.vdop);
-*/
}
void write_gps_sat_header() {
for(int i = 1; i <= 32; i++) {
- out.printf("sat%02d", i);
+ out.printf(Locale.ROOT,"sat%02d", i);
if (i != 32)
- out.printf(",");
+ out.printf(Locale.ROOT,",");
}
}
void write_gps_sat() {
-/*
- AltosGPS gps = state.gps;
+ AltosGPS gps = series.gps_before(series.time(indices));
for(int i = 1; i <= 32; i++) {
int c_n0 = 0;
if (gps != null && gps.cc_gps_sat != null) {
}
out.printf ("%3d", c_n0);
if (i != 32)
- out.printf(",");
+ out.printf(Locale.ROOT,",");
}
-*/
}
void write_companion_header() {
- out.printf("companion_id,companion_time,companion_update,companion_channels");
+/*
+ out.printf(Locale.ROOT,"companion_id,companion_time,companion_update,companion_channels");
for (int i = 0; i < 12; i++)
- out.printf(",companion_%02d", i);
+ out.printf(Locale.ROOT,",companion_%02d", i);
+*/
}
void write_companion() {
int channels_written = 0;
if (companion == null) {
- out.printf("0,0,0,0");
+ out.printf(Locale.ROOT,"0,0,0,0");
} else {
- out.printf("%3d,%5.2f,%5.2f,%2d",
+ out.printf(Locale.ROOT,"%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]);
+ out.printf(Locale.ROOT,",%5d", companion.companion_data[channels_written]);
}
for (; channels_written < 12; channels_written++)
- out.printf(",0");
+ out.printf(Locale.ROOT,",0");
*/
}
void write_header() {
- out.printf("#"); write_general_header();
+ out.printf(Locale.ROOT,"#"); write_general_header();
+ if (has_radio) {
+ out.printf(Locale.ROOT,",");
+ write_radio_header();
+ }
if (has_flight_state) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_flight_header();
}
if (has_basic) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_basic_header();
}
if (has_battery) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_battery_header();
}
- if (has_advanced) {
- out.printf(",");
- write_advanced_header();
+ if (has_motor_pressure) {
+ out.printf(Locale.ROOT,",");
+ write_motor_pressure_header();
+ }
+ if (has_3d_accel) {
+ out.printf(Locale.ROOT,",");
+ write_3d_accel_header();
+ }
+ if (has_imu) {
+ out.printf(Locale.ROOT,",");
+ write_imu_header();
+ }
+ if (has_igniter) {
+ out.printf(Locale.ROOT,",");
+ write_igniter_header();
}
if (has_gps) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_gps_header();
}
if (has_gps_sat) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_gps_sat_header();
}
if (has_companion) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_companion_header();
}
out.printf ("\n");
void write_one() {
write_general();
+ if (has_radio) {
+ out.printf(Locale.ROOT,",");
+ write_radio();
+ }
if (has_flight_state) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_flight();
}
if (has_basic) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_basic();
}
if (has_battery) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_battery();
}
- if (has_advanced) {
- out.printf(",");
- write_advanced();
+ if (has_motor_pressure) {
+ out.printf(Locale.ROOT,",");
+ write_motor_pressure();
+ }
+ if (has_3d_accel) {
+ out.printf(Locale.ROOT,",");
+ write_3d_accel();
+ }
+ if (has_imu) {
+ out.printf(Locale.ROOT,",");
+ write_imu();
+ }
+ if (has_igniter) {
+ out.printf(Locale.ROOT,",");
+ write_igniter();
}
if (has_gps) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_gps();
}
if (has_gps_sat) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_gps_sat();
}
if (has_companion) {
- out.printf(",");
+ out.printf(Locale.ROOT,",");
write_companion();
}
out.printf ("\n");
this.series = series;
- series.fill_in();
+ series.finish();
+ has_radio = false;
has_flight_state = false;
has_basic = false;
+ has_accel = false;
+ has_baro = false;
+ has_pyro = false;
has_battery = false;
- has_advanced = false;
+ has_motor_pressure = false;
+ has_3d_accel = false;
+ has_imu = false;
+ has_igniter = false;
has_gps = false;
has_gps_sat = false;
has_companion = false;
+ if (series.has_series(AltosFlightSeries.rssi_name))
+ has_radio = true;
if (series.has_series(AltosFlightSeries.state_name))
has_flight_state = true;
- if (series.has_series(AltosFlightSeries.accel_name) || series.has_series(AltosFlightSeries.pressure_name))
+ if (series.has_series(AltosFlightSeries.accel_name)) {
+ has_basic = true;
+ has_accel = true;
+ }
+ if (series.has_series(AltosFlightSeries.pressure_name)) {
has_basic = true;
+ has_baro = true;
+ }
+ if (series.has_series(AltosFlightSeries.apogee_voltage_name))
+ has_pyro = true;
if (series.has_series(AltosFlightSeries.battery_voltage_name))
has_battery = true;
+ if (series.has_series(AltosFlightSeries.motor_pressure_name))
+ has_motor_pressure = true;
if (series.has_series(AltosFlightSeries.accel_across_name))
- has_advanced = true;
-/*
- if (state.gps != null) {
- has_gps = true;
- if (state.gps.cc_gps_sat != null)
- has_gps_sat = true;
- }
- if (state.companion != null)
- has_companion = true;
- }
-*/
+ has_3d_accel = true;
+ if (series.has_series(AltosFlightSeries.gyro_roll_name))
+ has_imu = true;
+ if (series.has_series(AltosFlightSeries.pyro_voltage_name))
+ has_igniter = true;
+
+ if (series.gps_series != null)
+ has_gps = true;
+ if (series.sats_in_view != null)
+ has_gps_sat = true;
+ /*
+ if (state.companion != null)
+ has_companion = true;
+ */
+
indices = series.indices();
for (;;) {
projects / fw / altos / blobdiff