#include <getopt.h>
#include "cc-usb.h"
#include "cc.h"
-
-#define NUM_BLOCK 512
-
-static const struct option options[] = {
- { 0, 0, 0, 0},
-};
-
-static void usage(char *program)
-{
- fprintf(stderr, "usage: %s {flight-log} ...\n", program);
- exit(1);
-}
+#include <plplot/plplot.h>
static const char *state_names[] = {
"startup",
"invalid"
};
-void
-analyse_flight(struct cc_flightraw *f)
+static int plot_colors[3][3] = {
+ { 0, 0x90, 0 }, /* height */
+ { 0xa0, 0, 0 }, /* speed */
+ { 0, 0, 0xc0 }, /* accel */
+};
+
+#define PLOT_HEIGHT 0
+#define PLOT_SPEED 1
+#define PLOT_ACCEL 2
+
+static void
+plot_perioddata(struct cc_perioddata *d, char *axis_label, char *plot_label,
+ double min_time, double max_time, int plot_type)
+{
+ double *times;
+ double ymin, ymax;
+ int ymin_i, ymax_i;
+ int i;
+ int start, stop;
+
+ if (!cc_perioddata_limits(d, min_time, max_time, &start, &stop))
+ return;
+
+ times = calloc(stop - start + 1, sizeof (double));
+ for (i = start; i <= stop; i++)
+ times[i-start] = i * d->step / 100.0;
+
+ ymin_i = cc_perioddata_min(d, min_time, max_time);
+ ymax_i = cc_perioddata_max(d, min_time, max_time);
+ ymin = d->data[ymin_i];
+ ymax = d->data[ymax_i];
+ plscol0(1, 0, 0, 0);
+ plscol0(2, plot_colors[plot_type][0], plot_colors[plot_type][1], plot_colors[plot_type][2]);
+ plcol0(1);
+ plenv(times[0], times[stop-start],
+ ymin, ymax, 0, 2);
+ pllab("Time", axis_label, plot_label);
+ plcol0(2);
+ plline(stop - start + 1, times, d->data + start);
+ free(times);
+}
+
+static void
+plot_timedata(struct cc_timedata *d, char *axis_label, char *plot_label,
+ double min_time, double max_time, int plot_type)
+{
+ double *times;
+ double *values;
+ double ymin, ymax;
+ int ymin_i, ymax_i;
+ int i;
+ int start = -1, stop = -1;
+ double start_time = 0, stop_time = 0;
+ int num;
+
+ for (i = 0; i < d->num; i++) {
+ if (start < 0 && d->data[i].time >= min_time) {
+ start_time = d->data[i].time;
+ start = i;
+ }
+ if (d->data[i].time <= max_time) {
+ stop_time = d->data[i].time;
+ stop = i;
+ }
+ }
+
+ times = calloc(stop - start + 1, sizeof (double));
+ values = calloc(stop - start + 1, sizeof (double));
+
+ ymin_i = cc_timedata_min(d, min_time, max_time);
+ ymax_i = cc_timedata_max(d, min_time, max_time);
+ ymin = d->data[ymin_i].value;
+ ymax = d->data[ymax_i].value;
+ for (i = start; i <= stop; i++) {
+ times[i-start] = (d->data[i].time - start_time)/100.0;
+ values[i-start] = d->data[i].value;
+ }
+ plscol0(1, 0, 0, 0);
+ plscol0(2, plot_colors[plot_type][0], plot_colors[plot_type][1], plot_colors[plot_type][2]);
+ plcol0(1);
+ plenv(times[0], times[stop-start], ymin, ymax, 0, 2);
+ pllab("Time", axis_label, plot_label);
+ plcol0(2);
+ plline(stop - start + 1, times, values);
+ free(times);
+ free(values);
+}
+
+static struct cc_perioddata *
+merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split_time)
+{
+ int i;
+ struct cc_perioddata *pd;
+ int num;
+ double start_time, stop_time;
+ double t;
+
+ pd = calloc(1, sizeof (struct cc_perioddata));
+ start_time = first->start;
+ stop_time = last->start + last->step * last->num;
+ num = (stop_time - start_time) / first->step;
+ pd->num = num;
+ pd->data = calloc(num, sizeof (double));
+ pd->start = first->start;
+ pd->step = first->step;
+ for (i = 0; i < num; i++) {
+ t = pd->start + i * pd->step;
+ if (t <= split_time) {
+ pd->data[i] = first->data[i];
+ } else {
+ int j;
+
+ j = (t - last->start) / last->step;
+ if (j < 0 || j >= last->num)
+ pd->data[i] = 0;
+ else
+ pd->data[i] = last->data[j];
+ }
+ }
+ return pd;
+}
+
+static const char kml_header[] =
+ "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
+ "<kml xmlns=\"http://earth.google.com/kml/2.0\">\n"
+ " <Placemark>\n"
+ " <name>gps</name>\n"
+ " <Style id=\"khStyle690\">\n"
+ " <LineStyle id=\"khLineStyle694\">\n"
+ " <color>ff00ffff</color>\n"
+ " <width>4</width>\n"
+ " </LineStyle>\n"
+ " </Style>\n"
+ " <MultiGeometry id=\"khMultiGeometry697\">\n"
+ " <LineString id=\"khLineString698\">\n"
+ " <tessellate>1</tessellate>\n"
+ " <altitudeMode>absolute</altitudeMode>\n"
+ " <coordinates>\n";
+
+static const char kml_footer[] =
+ "</coordinates>\n"
+ " </LineString>\n"
+ " </MultiGeometry>\n"
+ "</Placemark>\n"
+ "</kml>\n";
+
+static void
+analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file,
+ FILE *raw_file, char *plot_name, FILE *gps_file, FILE *kml_file)
{
double height;
double accel;
+ double speed;
+ double avg_speed;
double boost_start, boost_stop;
double min_pres;
int i;
- int pres_i, accel_i;
+ int pres_i, accel_i, speed_i;
int boost_start_set = 0;
int boost_stop_set = 0;
enum ao_flight_state state;
double state_start, state_stop;
+ struct cc_flightcooked *cooked;
+ double apogee;
- printf ("Flight: %9d\nSerial: %9d\n",
- f->flight, f->serial);
+ fprintf(summary_file,
+ "Serial: %9d\n"
+ "Flight: %9d\n",
+ f->serial, f->flight);
boost_start = f->accel.data[0].time;
boost_stop = f->accel.data[f->accel.num-1].time;
for (i = 0; i < f->state.num; i++) {
pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
f->pres.data[f->pres.num-1].time);
- if (pres_i)
+ if (pres_i >= 0)
{
min_pres = f->pres.data[pres_i].value;
height = cc_barometer_to_altitude(min_pres) -
cc_barometer_to_altitude(f->ground_pres);
- printf ("Max height: %9.2fm %9.2fft %9.2fs\n",
+ fprintf(summary_file, "Max height: %9.2fm %9.2fft %9.2fs\n",
height, height * 100 / 2.54 / 12,
(f->pres.data[pres_i].time - boost_start) / 100.0);
+ apogee = f->pres.data[pres_i].time;
}
+ cooked = cc_flight_cook(f);
+ if (cooked) {
+ speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
+ if (speed_i >= 0) {
+ speed = cooked->accel_speed.data[speed_i];
+ fprintf(summary_file, "Max speed: %9.2fm/s %9.2fft/s %9.2fs\n",
+ speed, speed * 100 / 2.4 / 12.0,
+ (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
+ }
+ }
accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
- if (accel_i)
+ if (accel_i >= 0)
{
accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
f->ground_accel);
- printf ("Max accel: %9.2fm/s² %9.2fg %9.2fs\n",
+ fprintf(summary_file, "Max accel: %9.2fm/s² %9.2fg %9.2fs\n",
accel, accel / 9.80665,
(f->accel.data[accel_i].time - boost_start) / 100.0);
}
+
for (i = 0; i < f->state.num; i++) {
state = f->state.data[i].value;
state_start = f->state.data[i].time;
state_stop = f->state.data[i + 1].time;
else
state_stop = f->accel.data[f->accel.num-1].time;
- printf("State: %s\n", state_names[state]);
- printf("\tStart: %9.2fs\n", (state_start - boost_start) / 100.0);
- printf("\tDuration: %9.2fs\n", (state_stop - state_start) / 100.0);
+ fprintf(summary_file, "State: %s\n", state_names[state]);
+ fprintf(summary_file, "\tStart: %9.2fs\n", (state_start - boost_start) / 100.0);
+ fprintf(summary_file, "\tDuration: %9.2fs\n", (state_stop - state_start) / 100.0);
accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
if (accel_i >= 0)
{
accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
f->ground_accel);
- printf("\tMax accel: %9.2fm/s² %9.2fg %9.2fs\n",
+ fprintf(summary_file, "\tMax accel: %9.2fm/s² %9.2fg %9.2fs\n",
accel, accel / 9.80665,
(f->accel.data[accel_i].time - boost_start) / 100.0);
}
+ if (cooked) {
+ if (state < ao_flight_drogue) {
+ speed_i = cc_perioddata_max_mag(&cooked->accel_speed, state_start, state_stop);
+ if (speed_i >= 0)
+ speed = cooked->accel_speed.data[speed_i];
+ avg_speed = cc_perioddata_average(&cooked->accel_speed, state_start, state_stop);
+ } else {
+ speed_i = cc_perioddata_max_mag(&cooked->pres_speed, state_start, state_stop);
+ if (speed_i >= 0)
+ speed = cooked->pres_speed.data[speed_i];
+ avg_speed = cc_perioddata_average(&cooked->pres_speed, state_start, state_stop);
+ }
+ if (speed_i >= 0)
+ {
+ fprintf(summary_file, "\tMax speed: %9.2fm/s %9.2fft/s %9.2fs\n",
+ speed, speed * 100 / 2.4 / 12.0,
+ (cooked->accel_speed.start + speed_i * cooked->accel_speed.step - boost_start) / 100.0);
+ fprintf(summary_file, "\tAvg speed: %9.2fm/s %9.2fft/s\n",
+ avg_speed, avg_speed * 100 / 2.4 / 12.0);
+ }
+ }
pres_i = cc_timedata_min(&f->pres, state_start, state_stop);
if (pres_i >= 0)
{
min_pres = f->pres.data[pres_i].value;
height = cc_barometer_to_altitude(min_pres) -
cc_barometer_to_altitude(f->ground_pres);
- printf ("\tMax height: %9.2fm %9.2fft %9.2fs\n",
+ fprintf(summary_file, "\tMax height: %9.2fm %9.2fft %9.2fs\n",
height, height * 100 / 2.54 / 12,
(f->pres.data[pres_i].time - boost_start) / 100.0);
}
}
+ if (cooked && detail_file) {
+ double max_height = 0;
+ int i;
+ double *times;
+
+ fprintf(detail_file, "%9s %9s %9s %9s\n",
+ "time", "height", "speed", "accel");
+ for (i = 0; i < cooked->pres_pos.num; i++) {
+ double time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
+ double accel = cooked->accel_accel.data[i];
+ double pos = cooked->pres_pos.data[i];
+ double speed;
+ if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee)
+ speed = cooked->accel_speed.data[i];
+ else
+ speed = cooked->pres_speed.data[i];
+ fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
+ time, pos, speed, accel);
+ }
+ }
+ if (raw_file) {
+ fprintf(raw_file, "%9s %9s %9s\n",
+ "time", "height", "accel");
+ for (i = 0; i < cooked->pres.num; i++) {
+ double time = cooked->pres.data[i].time;
+ double pres = cooked->pres.data[i].value;
+ double accel = cooked->accel.data[i].value;
+ fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
+ time, pres, accel);
+ }
+ }
+ if (gps_file) {
+ int j = 0;
+ fprintf(gps_file, "%9s %12s %12s %12s\n",
+ "time", "lat", "lon", "alt");
+ for (i = 0; i < f->gps.num; i++) {
+ int nsat = 0;
+ int k;
+ while (j < f->gps.numsats - 1) {
+ if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
+ f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
+ break;
+ j++;
+ }
+ fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f",
+ (f->gps.data[i].time - boost_start) / 100.0,
+ f->gps.data[i].lat,
+ f->gps.data[i].lon,
+ f->gps.data[i].alt);
+ nsat = 0;
+ for (k = 0; k < f->gps.sats[j].nsat; k++) {
+ fprintf (gps_file, " %12.7f", (double) f->gps.sats[j].sat[k].c_n);
+ if (f->gps.sats[j].sat[k].svid != 0)
+ nsat++;
+ }
+ fprintf(gps_file, " %d\n", nsat);
+ }
+ }
+ if (kml_file) {
+ int j = 0;
+
+ fprintf(kml_file, "%s", kml_header);
+ for (i = 0; i < f->gps.num; i++) {
+ int nsat = 0;
+ int k;
+ while (j < f->gps.numsats - 1) {
+ if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
+ f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
+ break;
+ j++;
+ }
+ nsat = 0;
+ for (k = 0; k < f->gps.sats[j].nsat; k++)
+ if (f->gps.sats[j].sat[k].svid != 0)
+ nsat++;
+
+ fprintf(kml_file, "%12.7f, %12.7f, %12.7f <!-- time %12.7f sats %d -->",
+ f->gps.data[i].lon,
+ f->gps.data[i].lat,
+ f->gps.data[i].alt,
+ (f->gps.data[i].time - boost_start) / 100.0,
+ nsat);
+ if (i < f->gps.num - 1)
+ fprintf(kml_file, ",\n");
+ else
+ fprintf(kml_file, "\n");
+ }
+ fprintf(kml_file, "%s", kml_footer);
+ }
+ if (cooked && plot_name) {
+ struct cc_perioddata *speed;
+ plsdev("svgcairo");
+ plsfnam(plot_name);
+#define PLOT_DPI 96
+ plspage(PLOT_DPI, PLOT_DPI, 8 * PLOT_DPI, 8 * PLOT_DPI, 0, 0);
+ plscolbg(0xff, 0xff, 0xff);
+ plscol0(1,0,0,0);
+ plstar(2, 3);
+ speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
+
+ plot_perioddata(&cooked->pres_pos, "meters", "Height",
+ -1e10, 1e10, PLOT_HEIGHT);
+ plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
+ boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
+ plot_perioddata(speed, "meters/second", "Speed",
+ -1e10, 1e10, PLOT_SPEED);
+ plot_perioddata(speed, "meters/second", "Speed to Apogee",
+ boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
+ plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
+ -1e10, 1e10, PLOT_ACCEL);
+/* plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
+ boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
+ plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
+ boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
+ free(speed->data);
+ free(speed);
+ plend();
+ }
+ if (cooked)
+ cc_flightcooked_free(cooked);
+}
+
+static const struct option options[] = {
+ { .name = "summary", .has_arg = 1, .val = 's' },
+ { .name = "detail", .has_arg = 1, .val = 'd' },
+ { .name = "plot", .has_arg = 1, .val = 'p' },
+ { .name = "raw", .has_arg = 1, .val = 'r' },
+ { .name = "gps", .has_arg = 1, .val = 'g' },
+ { .name = "kml", .has_arg = 1, .val = 'k' },
+ { 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+ fprintf(stderr, "usage: %s\n"
+ "\t[--summary=<summary-file>] [-s <summary-file>]\n"
+ "\t[--detail=<detail-file] [-d <detail-file>]\n"
+ "\t[--raw=<raw-file> -r <raw-file]\n"
+ "\t[--plot=<plot-file> -p <plot-file>]\n"
+ "\t[--gps=<gps-file> -g <gps-file>]\n"
+ "\t[--kml=<kml-file> -k <kml-file>]\n"
+ "\t{flight-log} ...\n", program);
+ exit(1);
}
int
main (int argc, char **argv)
{
FILE *file;
+ FILE *summary_file = NULL;
+ FILE *detail_file = NULL;
+ FILE *raw_file = NULL;
+ FILE *gps_file = NULL;
+ FILE *kml_file = NULL;
int i;
int ret = 0;
struct cc_flightraw *raw;
int c;
int serial;
char *s;
+ char *summary_name = NULL;
+ char *detail_name = NULL;
+ char *raw_name = NULL;
+ char *plot_name = NULL;
+ char *gps_name = NULL;
+ char *kml_name = NULL;
- while ((c = getopt_long(argc, argv, "", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:", options, NULL)) != -1) {
switch (c) {
+ case 's':
+ summary_name = optarg;
+ break;
+ case 'd':
+ detail_name = optarg;
+ break;
+ case 'p':
+ plot_name = optarg;
+ break;
+ case 'r':
+ raw_name = optarg;
+ break;
+ case 'g':
+ gps_name = optarg;
+ break;
+ case 'k':
+ kml_name = optarg;
+ break;
default:
usage(argv[0]);
break;
}
}
+ summary_file = stdout;
+ if (summary_name) {
+ summary_file = fopen(summary_name, "w");
+ if (!summary_file) {
+ perror (summary_name);
+ exit(1);
+ }
+ }
+ if (detail_name) {
+ if (summary_name && !strcmp (summary_name, detail_name))
+ detail_file = summary_file;
+ else {
+ detail_file = fopen(detail_name, "w");
+ if (!detail_file) {
+ perror(detail_name);
+ exit(1);
+ }
+ }
+ }
+ if (raw_name) {
+ raw_file = fopen (raw_name, "w");
+ if (!raw_file) {
+ perror(raw_name);
+ exit(1);
+ }
+ }
+ if (gps_name) {
+ gps_file = fopen(gps_name, "w");
+ if (!gps_file) {
+ perror(gps_name);
+ exit(1);
+ }
+ }
+ if (kml_name) {
+ kml_file = fopen(kml_name, "w");
+ if (!kml_file) {
+ perror(kml_name);
+ exit(1);
+ }
+ }
for (i = optind; i < argc; i++) {
file = fopen(argv[i], "r");
if (!file) {
}
if (!raw->serial)
raw->serial = serial;
- analyse_flight(raw);
+ analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file, kml_file);
cc_flightraw_free(raw);
}
return ret;
projects / fw / altos / blobdiff