*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_8;
+package org.altusmetrum.altoslib_14;
import java.io.*;
import java.util.*;
boolean header_written;
boolean seen_boost;
int boost_tick;
- LinkedList<AltosState> pad_states;
- AltosState state;
- static boolean has_basic;
- static boolean has_battery;
- static boolean has_flight_state;
- static boolean has_advanced;
- static boolean has_gps;
- static boolean has_gps_sat;
- static boolean has_companion;
-
- static final int ALTOS_CSV_VERSION = 5;
+ 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_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 = 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");
}
- 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_since_boost(), (double) state.tick / 100.0,
- state.rssi,
- state.status & 0x7f);
+ int rssi() {
+ return (int) series.value(AltosFlightSeries.rssi_name, indices);
+ }
+
+ int status() {
+ return (int) series.value(AltosFlightSeries.status_name, indices);
+ }
+
+ 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");
}
- void write_flight(AltosState state) {
- out.printf("%d,%8s", state.state, state.state_name());
+ int state() {
+ return (int) series.value(AltosFlightSeries.state_name, indices);
+ }
+
+ void write_flight() {
+ int state = 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");
}
- 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",
- state.acceleration(),
- state.pressure(),
- state.altitude(),
- state.height(),
- state.speed(),
- state.speed(),
- state.temperature,
- state.apogee_voltage,
- state.main_voltage);
+ double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); }
+ double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); }
+ double altitude() { return series.value(AltosFlightSeries.altitude_name, indices); }
+ double height() { return series.value(AltosFlightSeries.height_name, indices); }
+ double speed() { return series.value(AltosFlightSeries.speed_name, indices); }
+ double temperature() { return series.value(AltosFlightSeries.temperature_name, indices); }
+ double apogee_voltage() { return series.value(AltosFlightSeries.apogee_voltage_name, indices); }
+ double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); }
+
+ void write_basic() {
+ 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");
}
- void write_battery(AltosState state) {
- out.printf("%5.2f", state.battery_voltage);
+ double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
+
+ void write_battery() {
+ 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(AltosState state) {
- 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(AltosState state) {
- AltosGPS gps = state.gps;
- if (gps == null)
- gps = new AltosGPS();
+ void write_gps() {
+ 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(AltosState state) {
- AltosGPS gps = state.gps;
+ void write_gps_sat() {
+ 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(AltosState state) {
+ void write_companion() {
+/*
AltosCompanion companion = state.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(AltosState state) {
- write_general(state);
+ void write_one() {
+ write_general();
+ if (has_radio) {
+ out.printf(Locale.ROOT,",");
+ write_radio();
+ }
if (has_flight_state) {
- out.printf(",");
- write_flight(state);
+ out.printf(Locale.ROOT,",");
+ write_flight();
}
if (has_basic) {
- out.printf(",");
- write_basic(state);
+ out.printf(Locale.ROOT,",");
+ write_basic();
}
if (has_battery) {
- out.printf(",");
- write_battery(state);
+ out.printf(Locale.ROOT,",");
+ write_battery();
}
- if (has_advanced) {
- out.printf(",");
- write_advanced(state);
+ 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(",");
- write_gps(state);
+ out.printf(Locale.ROOT,",");
+ write_gps();
}
if (has_gps_sat) {
- out.printf(",");
- write_gps_sat(state);
+ out.printf(Locale.ROOT,",");
+ write_gps_sat();
}
if (has_companion) {
- out.printf(",");
- write_companion(state);
+ out.printf(Locale.ROOT,",");
+ write_companion();
}
out.printf ("\n");
}
- private void flush_pad() {
- while (!pad_states.isEmpty()) {
- write_one (pad_states.remove());
- }
- }
-
- private void write(AltosState state) {
- if (state.state == AltosLib.ao_flight_startup)
+ private void write() {
+ if (state() == AltosLib.ao_flight_startup)
return;
if (!header_written) {
write_header();
header_written = true;
}
- if (!seen_boost) {
- if (state.state >= AltosLib.ao_flight_boost) {
- seen_boost = true;
- boost_tick = state.tick;
- flush_pad();
- }
- }
- if (seen_boost)
- write_one(state);
- else
- pad_states.add(state);
+ write_one();
}
private PrintStream 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());
+ public void write(AltosFlightSeries series) {
+// series.write_comments(out());
+
+ this.series = series;
+
+ 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;
- for (AltosState state : states) {
- if (state.state != AltosLib.ao_flight_stateless && state.state != AltosLib.ao_flight_invalid && state.state != AltosLib.ao_flight_startup)
- has_flight_state = true;
- if (state.acceleration() != AltosLib.MISSING || state.pressure() != AltosLib.MISSING)
- has_basic = true;
- if (state.battery_voltage != AltosLib.MISSING)
- has_battery = true;
- if (state.accel_across() != AltosLib.MISSING)
- 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;
+
+ 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)) {
+ 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_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 (;;) {
+ write();
+ if (!series.step_indices(indices))
+ break;
}
- for (AltosState state : states)
- write(state);
}
public AltosCSV(PrintStream in_out, File in_name) {
name = in_name;
out = in_out;
- pad_states = new LinkedList<AltosState>();
}
public AltosCSV(File in_name) throws FileNotFoundException {
projects / fw / altos / blobdiff