+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-#include "aoview.h"
-#include <math.h>
-
-static inline double sqr(double a) { return a * a; };
-
-static void
-aoview_great_circle (double start_lat, double start_lon,
- double end_lat, double end_lon,
- double *dist, double *bearing)
-{
- const double rad = M_PI / 180;
- const double earth_radius = 6371.2 * 1000; /* in meters */
- double lat1 = rad * start_lat;
- double lon1 = rad * -start_lon;
- double lat2 = rad * end_lat;
- double lon2 = rad * -end_lon;
-
- double d_lat = lat2 - lat1;
- double d_lon = lon2 - lon1;
-
- /* From http://en.wikipedia.org/wiki/Great-circle_distance */
- double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
- sqr(cos(lat1) * sin(lat2) -
- sin(lat1) * cos(lat2) * cos(d_lon)));
- double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
- double d = atan2(vdn,vdd);
- double course;
-
- if (cos(lat1) < 1e-20) {
- if (lat1 > 0)
- course = M_PI;
- else
- course = -M_PI;
- } else {
- if (d < 1e-10)
- course = 0;
- else
- course = acos((sin(lat2)-sin(lat1)*cos(d)) /
- (sin(d)*cos(lat1)));
- if (sin(lon2-lon1) > 0)
- course = 2 * M_PI-course;
- }
- *dist = d * earth_radius;
- *bearing = course * 180/M_PI;
-}
-
-static void
-aoview_state_add_deg(int column, char *label, double deg, char pos, char neg)
-{
- double int_part;
- double min;
- char sign = pos;
-
- if (deg < 0) {
- deg = -deg;
- sign = neg;
- }
- int_part = floor (deg);
- min = (deg - int_part) * 60.0;
- aoview_table_add_row(column, label, "%d°%lf'%c",
- (int) int_part, min, sign);
-
-}
-
-static char *ascent_states[] = {
- "boost",
- "fast",
- "coast",
- 0,
-};
-
-static double
-aoview_time(void)
-{
- struct timespec now;
-
- clock_gettime(CLOCK_MONOTONIC, &now);
- return (double) now.tv_sec + (double) now.tv_nsec / 1.0e9;
-}
-
-/*
- * Fill out the derived data fields
- */
-static void
-aoview_state_derive(struct aodata *data, struct aostate *state)
-{
- int i;
- double new_height;
- double height_change;
- double time_change;
- int tick_count;
-
- state->report_time = aoview_time();
-
- state->prev_data = state->data;
- state->prev_npad = state->npad;
- state->data = *data;
- tick_count = data->tick;
- if (tick_count < state->prev_data.tick)
- tick_count += 65536;
- time_change = (tick_count - state->prev_data.tick) / 100.0;
-
- state->ground_altitude = aoview_pres_to_altitude(data->ground_pres);
- new_height = aoview_pres_to_altitude(data->flight_pres) - state->ground_altitude;
- height_change = new_height - state->height;
- state->height = new_height;
- if (time_change)
- state->baro_speed = (state->baro_speed * 3 + (height_change / time_change)) / 4.0;
- state->acceleration = (data->ground_accel - data->flight_accel) / 27.0;
- state->speed = data->flight_vel / 2700.0;
- state->temperature = ((data->temp / 32767.0 * 3.3) - 0.5) / 0.01;
- state->drogue_sense = data->drogue / 32767.0 * 15.0;
- state->main_sense = data->main / 32767.0 * 15.0;
- state->battery = data->batt / 32767.0 * 5.0;
- if (!strcmp(data->state, "pad")) {
- if (data->gps.gps_locked && data->gps.nsat >= 4) {
- state->npad++;
- state->pad_lat_total += data->gps.lat;
- state->pad_lon_total += data->gps.lon;
- state->pad_alt_total += data->gps.alt;
- if (state->npad > 1) {
- state->pad_lat = (state->pad_lat * 31 + data->gps.lat) / 32.0;
- state->pad_lon = (state->pad_lon * 31 + data->gps.lon) / 32.0;
- state->pad_alt = (state->pad_alt * 31 + data->gps.alt) / 32.0;
- } else {
- state->pad_lat = data->gps.lat;
- state->pad_lon = data->gps.lon;
- state->pad_alt = data->gps.alt;
- }
- }
- }
- state->ascent = FALSE;
- for (i = 0; ascent_states[i]; i++)
- if (!strcmp(data->state, ascent_states[i]))
- state->ascent = TRUE;
-
- /* Only look at accelerometer data on the way up */
- if (state->ascent && state->acceleration > state->max_acceleration)
- state->max_acceleration = state->acceleration;
- if (state->ascent && state->speed > state->max_speed)
- state->max_speed = state->speed;
-
- if (state->height > state->max_height)
- state->max_height = state->height;
- state->gps.gps_locked = data->gps.gps_locked;
- state->gps.gps_connected = data->gps.gps_connected;
- if (data->gps.gps_locked) {
- state->gps = data->gps;
- state->gps_valid = 1;
- if (state->npad)
- aoview_great_circle(state->pad_lat, state->pad_lon, state->gps.lat, state->gps.lon,
- &state->distance, &state->bearing);
- }
- if (state->npad) {
- state->gps_height = state->gps.alt - state->pad_alt;
- } else {
- state->gps_height = 0;
- }
-}
-
-void
-aoview_speak_state(struct aostate *state)
-{
- if (strcmp(state->data.state, state->prev_data.state)) {
- aoview_voice_speak("%s\n", state->data.state);
- if (!strcmp(state->data.state, "drogue"))
- aoview_voice_speak("apogee %d meters\n",
- (int) state->max_height);
- if (!strcmp(state->prev_data.state, "boost"))
- aoview_voice_speak("max speed %d meters per second\n",
- (int) state->max_speed);
- }
- if (state->prev_npad < MIN_PAD_SAMPLES && state->npad >= MIN_PAD_SAMPLES)
- aoview_voice_speak("g p s ready\n");
-}
-
-void
-aoview_speak_height(struct aostate *state)
-{
- aoview_voice_speak("%d meters\n", state->height);
-}
-
-struct aostate aostate;
-
-static guint aostate_timeout;
-
-#define COMPASS_LIMIT(n) ((n * 22.5) + 22.5/2)
-
-static char *compass_points[] = {
- "north",
- "north north east",
- "north east",
- "east north east",
- "east",
- "east south east",
- "south east",
- "south south east",
- "south",
- "south south west",
- "south west",
- "west south west",
- "west",
- "west north west",
- "north west",
- "north north west",
-};
-
-static char *
-aoview_compass_point(double bearing)
-{
- int i;
- while (bearing < 0)
- bearing += 360.0;
- while (bearing >= 360.0)
- bearing -= 360.0;
-
- i = floor ((bearing - 22.5/2) / 22.5 + 0.5);
- if (i < 0) i = 0;
- if (i >= sizeof (compass_points) / sizeof (compass_points[0]))
- i = 0;
- return compass_points[i];
-}
-
-static gboolean
-aoview_state_timeout(gpointer data)
-{
- double now = aoview_time();
-
- if (strlen(aostate.data.state) > 0 && strcmp(aostate.data.state, "pad") != 0)
- aoview_speak_height(&aostate);
- if (now - aostate.report_time >= 20 || !strcmp(aostate.data.state, "landed")) {
- if (!aostate.ascent) {
- if (fabs(aostate.baro_speed) < 20 && aostate.height < 100)
- aoview_voice_speak("rocket landed safely\n");
- else
- aoview_voice_speak("rocket may have crashed\n");
- if (aostate.gps_valid) {
- aoview_voice_speak("rocket reported %s of pad distance %d meters\n",
- aoview_compass_point(aostate.bearing),
- (int) aostate.distance);
- }
- }
- aostate_timeout = 0;
- return FALSE;
- }
- return TRUE;
-}
-
-void
-aoview_state_reset(void)
-{
- memset(&aostate, '\0', sizeof (aostate));
-}
-
-void
-aoview_state_notify(struct aodata *data)
-{
- struct aostate *state = &aostate;
- aoview_state_derive(data, state);
- aoview_table_start();
-
- if (state->npad >= MIN_PAD_SAMPLES)
- aoview_table_add_row(0, "Ground state", "ready");
- else
- aoview_table_add_row(0, "Ground state", "waiting for gps (%d)",
- MIN_PAD_SAMPLES - state->npad);
- aoview_table_add_row(0, "Rocket state", "%s", state->data.state);
- aoview_table_add_row(0, "Callsign", "%s", state->data.callsign);
- aoview_table_add_row(0, "Rocket serial", "%d", state->data.serial);
-
- aoview_table_add_row(0, "RSSI", "%6ddBm", state->data.rssi);
- aoview_table_add_row(0, "Height", "%6dm", state->height);
- aoview_table_add_row(0, "Max height", "%6dm", state->max_height);
- aoview_table_add_row(0, "Acceleration", "%7.1fm/s²", state->acceleration);
- aoview_table_add_row(0, "Max acceleration", "%7.1fm/s²", state->max_acceleration);
- aoview_table_add_row(0, "Speed", "%7.1fm/s", state->ascent ? state->speed : state->baro_speed);
- aoview_table_add_row(0, "Max Speed", "%7.1fm/s", state->max_speed);
- aoview_table_add_row(0, "Temperature", "%6.2f°C", state->temperature);
- aoview_table_add_row(0, "Battery", "%5.2fV", state->battery);
- aoview_table_add_row(0, "Drogue", "%5.2fV", state->drogue_sense);
- aoview_table_add_row(0, "Main", "%5.2fV", state->main_sense);
- aoview_table_add_row(0, "Pad altitude", "%dm", state->ground_altitude);
- aoview_table_add_row(1, "Satellites", "%d", state->gps.nsat);
- if (state->gps.gps_locked) {
- aoview_table_add_row(1, "GPS", "locked");
- } else if (state->gps.gps_connected) {
- aoview_table_add_row(1, "GPS", "unlocked");
- } else {
- aoview_table_add_row(1, "GPS", "not available");
- }
- if (state->gps_valid) {
- aoview_state_add_deg(1, "Latitude", state->gps.lat, 'N', 'S');
- aoview_state_add_deg(1, "Longitude", state->gps.lon, 'E', 'W');
- aoview_table_add_row(1, "GPS height", "%d", state->gps_height);
- aoview_table_add_row(1, "GPS time", "%02d:%02d:%02d",
- state->gps.gps_time.hour,
- state->gps.gps_time.minute,
- state->gps.gps_time.second);
- }
- if (state->gps.gps_extended) {
- aoview_table_add_row(1, "GPS ground speed", "%7.1fm/s %d°",
- state->gps.ground_speed,
- state->gps.course);
- aoview_table_add_row(1, "GPS climb rate", "%7.1fm/s",
- state->gps.climb_rate);
- aoview_table_add_row(1, "GPS precision", "%4.1f(hdop) %3dm(h) %3dm(v)",
- state->gps.hdop, state->gps.h_error, state->gps.v_error);
- }
- if (state->npad) {
- aoview_table_add_row(1, "Distance from pad", "%5.0fm", state->distance);
- aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
- aoview_state_add_deg(1, "Pad latitude", state->pad_lat, 'N', 'S');
- aoview_state_add_deg(1, "Pad longitude", state->pad_lon, 'E', 'W');
- aoview_table_add_row(1, "Pad GPS alt", "%gm", state->pad_alt);
- }
- aoview_table_finish();
- aoview_label_show(state);
- aoview_speak_state(state);
- if (!aostate_timeout && strcmp(state->data.state, "pad") != 0)
- aostate_timeout = g_timeout_add_seconds(10, aoview_state_timeout, NULL);
-}
-
-void
-aoview_state_new(void)
-{
-}
-
-void
-aoview_state_init(GladeXML *xml)
-{
- aoview_state_new();
-}
projects / fw / altos / blobdiff