altosui: add elevation and range information

[fw/altos] / ao-tools / altosui / AltosEepromReader.java

diff --git a/ao-tools/altosui/AltosEepromReader.java b/ao-tools/altosui/AltosEepromReader.java
index 3f2d4c625671877e047b1d5d903a8c02b4415b3a..0705d44e56949c867de81dba8b5ec8d9915e18d6 100644 (file)
--- a/ao-tools/altosui/AltosEepromReader.java
+++ b/ao-tools/altosui/AltosEepromReader.java
@@ -42,7 +42,7 @@ import altosui.AltosEepromMonitor;
  */
 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
 
-       int     index;
+       public int      index;
 
        public AltosOrderedRecord(String line, int in_index, int prev_tick)
                throws ParseException {
@@ -56,6 +56,11 @@ class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOr
                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)
@@ -100,6 +105,10 @@ public class AltosEepromReader extends AltosReader {
 
        int                     boost_tick;
 
+       boolean                 saw_gps_date;
+
+       boolean                 missing_gps_time;
+
        public AltosRecord read() throws IOException, ParseException {
                for (;;) {
                        if (record == null) {
@@ -168,6 +177,12 @@ public class AltosEepromReader extends AltosReader {
                                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;
+                               System.out.printf("GPS %2d:%02d:%02d%s%s%s %d\n",
+                                                 state.gps.hour, state.gps.minute, state.gps.second,
+                                                 state.gps.connected ? " connected" : "",
+                                                 state.gps.locked ? " locked" : "",
+                                                 state.gps.date_valid ? " date_valid" : "",
+                                                 state.gps.nsat);
                                break;
                        case Altos.AO_LOG_GPS_LAT:
                                int lat32 = record.a | (record.b << 16);
@@ -267,6 +282,38 @@ public class AltosEepromReader extends AltosReader {
                }
        }
 
+       /*
+        * 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);
+
+               System.out.printf("Synthesizing time good %2d:%02d:%02d bad %2d:%02d:%02d\n",
+                                 hour, minute, second,
+                                 new_hour, new_minute, new_second);
+
+               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
@@ -282,9 +329,13 @@ public class AltosEepromReader extends AltosReader {
                seen = 0;
                records = new TreeSet<AltosOrderedRecord>();
 
+               AltosOrderedRecord last_gps_time = null;
+
                int index = 0;
                int tick = 0;
 
+               boolean missing_time = false;
+
                try {
                        for (;;) {
                                String line = AltosRecord.gets(input);
@@ -300,6 +351,52 @@ public class AltosEepromReader extends AltosReader {
                                        saw_boost = true;
                                        boost_tick = tick;
                                }
+
+                               /* 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)
+                                       saw_gps_date = true;
+
+                               /* go back and fix up any missing time values */
+                               if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+                                       last_gps_time = record;
+                                       if (missing_time) {
+                                               System.out.printf("Going back to clean up broken GPS time records\n");
+                                               Iterator<AltosOrderedRecord> iterator = records.iterator();
+                                               while (iterator.hasNext()) {
+                                                       AltosOrderedRecord old = iterator.next();
+                                                       if (old.cmd == Altos.AO_LOG_GPS_TIME) {
+                                                               System.out.printf("Old time record %d, %d\n", old.a, old.b);
+                                                       }
+                                                       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 {
+                                                       System.out.printf("early GPS missing time\n");
+                                                       missing_time = true;
+                                               }
+                                               records.add(add_gps_time);
+                                               record.index = index++;
+                                       }
+                               }
                                records.add(record);
                        }
                } catch (IOException io) {