X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosui%2FAltosCSV.java;h=c96c815e129c38edf4a0bf03bbc18f6e168158f5;hp=df98b2b45f8f381bf22bf55e932dbf51c52dfafa;hb=017ed54ff69ef2f7740ea2578e22bf72e88deafb;hpb=3fbefb3eea981d34a09496cf8abf0119de2e35bf

diff --git a/altosui/AltosCSV.java b/altosui/AltosCSV.java
index df98b2b4..c96c815e 100644
--- a/altosui/AltosCSV.java
+++ b/altosui/AltosCSV.java
@@ -17,10 +17,9 @@
 
 package altosui;
 
-import java.lang.*;
 import java.io.*;
-import java.text.*;
 import java.util.*;
+import org.altusmetrum.altoslib_1.*;
 
 public class AltosCSV implements AltosWriter {
 	File			name;
@@ -28,12 +27,12 @@ public class AltosCSV implements AltosWriter {
 	boolean			header_written;
 	boolean			seen_boost;
 	int			boost_tick;
-	LinkedList<AltosRecord>	pad_records;
+	LinkedList<AltosState>	pad_states;
 	AltosState		state;
 
-	static final int ALTOS_CSV_VERSION = 2;
+	static final int ALTOS_CSV_VERSION = 5;
 
-	/* Version 2 format:
+	/* Version 4 format:
 	 *
 	 * General info
 	 *	version number
@@ -41,6 +40,7 @@ public class AltosCSV implements AltosWriter {
 	 *	flight number
 	 *	callsign
 	 *	time (seconds since boost)
+	 *	clock (tick count / 100)
 	 *	rssi
 	 *	link quality
 	 *
@@ -60,7 +60,18 @@ public class AltosCSV implements AltosWriter {
 	 *	drogue (V)
 	 *	main (V)
 	 *
-	 * GPS data
+	 * Advanced sensors (if available)
+	 *	accel_x (m/s²)
+	 *	accel_y (m/s²)
+	 *	accel_z (m/s²)
+	 *	gyro_x (d/s)
+	 *	gyro_y (d/s)
+	 *	gyro_z (d/s)
+	 *	mag_x (g)
+	 *	mag_y (g)
+	 *	mag_z (g)
+	 *
+	 * GPS data (if available)
 	 *	connected (1/0)
 	 *	locked (1/0)
 	 *	nsat (used for solution)
@@ -81,52 +92,77 @@ public class AltosCSV implements AltosWriter {
 	 *
 	 * GPS Sat data
 	 *	C/N0 data for all 32 valid SDIDs
+	 *
+	 * Companion data
+	 *	companion_id (1-255. 10 is TeleScience)
+	 *	time of last companion data (seconds since boost)
+	 *	update_period (0.1-2.55 minimum telemetry interval)
+	 *	channels (0-12)
+	 *	channel data for all 12 possible channels
 	 */
 
 	void write_general_header() {
-		out.printf("version,serial,flight,call,time,rssi,lqi");
+		out.printf("version,serial,flight,call,time,clock,rssi,lqi");
 	}
 
-	void write_general(AltosRecord record) {
-		out.printf("%s, %d, %d, %s, %8.2f, %4d, %3d",
-			   ALTOS_CSV_VERSION, record.serial, record.flight, record.callsign,
-			   (double) record.time,
-			   record.rssi,
-			   record.status & 0x7f);
+	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, (double) state.tick / 100.0,
+			   state.rssi,
+			   state.status & 0x7f);
 	}
 
 	void write_flight_header() {
 		out.printf("state,state_name");
 	}
 
-	void write_flight(AltosRecord record) {
-		out.printf("%d,%8s", record.state, record.state());
+	void write_flight(AltosState state) {
+		out.printf("%d,%8s", state.state, state.state_name());
 	}
 
 	void write_basic_header() {
 		out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
 	}
 
-	void write_basic(AltosRecord record) {
+	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,%5.2f",
-			   record.acceleration(),
-			   record.raw_pressure(),
-			   record.raw_altitude(),
-			   record.raw_height(),
-			   record.accel_speed(),
-			   state.baro_speed,
-			   record.temperature(),
-			   record.battery_voltage(),
-			   record.drogue_voltage(),
-			   record.main_voltage());
+			   state.acceleration,
+			   state.pressure,
+			   state.altitude,
+			   state.height,
+			   state.speed,
+			   state.speed,
+			   state.temperature,
+			   state.battery_voltage,
+			   state.apogee_voltage,
+			   state.main_voltage);
+	}
+
+	void write_advanced_header() {
+		out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
+	}
+
+	void write_advanced(AltosState state) {
+		AltosIMU	imu = state.imu;
+		AltosMag	mag = state.mag;
+
+		if (imu == null)
+			imu = new AltosIMU();
+		if (mag == null)
+			mag = new AltosMag();
+		out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
+			   imu.accel_x, imu.accel_y, imu.accel_z,
+			   imu.gyro_x, imu.gyro_y, imu.gyro_z,
+			   mag.x, mag.y, mag.z);
 	}
 
 	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,hdop");
 	}
 
-	void write_gps(AltosRecord record) {
-		AltosGPS	gps = record.gps;
+	void write_gps(AltosState state) {
+		AltosGPS	gps = state.gps;
 		if (gps == null)
 			gps = new AltosGPS();
 
@@ -134,7 +170,7 @@ public class AltosCSV implements AltosWriter {
 		if (from_pad == null)
 			from_pad = new AltosGreatCircle();
 
-		out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
+		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",
 			   gps.connected?1:0,
 			   gps.locked?1:0,
 			   gps.nsat,
@@ -162,8 +198,8 @@ public class AltosCSV implements AltosWriter {
 		}
 	}
 
-	void write_gps_sat(AltosRecord record) {
-		AltosGPS	gps = record.gps;
+	void write_gps_sat(AltosState state) {
+		AltosGPS	gps = state.gps;
 		for(int i = 1; i <= 32; i++) {
 			int	c_n0 = 0;
 			if (gps != null && gps.cc_gps_sat != null) {
@@ -179,47 +215,90 @@ public class AltosCSV implements AltosWriter {
 		}
 	}
 
-	void write_header() {
+	void write_companion_header() {
+		out.printf("companion_id,companion_time,companion_update,companion_channels");
+		for (int i = 0; i < 12; i++)
+			out.printf(",companion_%02d", i);
+	}
+
+	void write_companion(AltosState state) {
+		AltosRecordCompanion companion = state.companion;
+
+		int	channels_written = 0;
+		if (companion == null) {
+			out.printf("0,0,0,0");
+		} else {
+			out.printf("%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]);
+		}
+		for (; channels_written < 12; channels_written++)
+			out.printf(",0");
+	}
+
+	void write_header(boolean advanced, boolean gps, boolean companion) {
 		out.printf("#"); write_general_header();
 		out.printf(","); write_flight_header();
 		out.printf(","); write_basic_header();
-		out.printf(","); write_gps_header();
-		out.printf(","); write_gps_sat_header();
+		if (advanced)
+			out.printf(","); write_advanced_header();
+		if (gps) {
+			out.printf(","); write_gps_header();
+			out.printf(","); write_gps_sat_header();
+		}
+		if (companion) {
+			out.printf(","); write_companion_header();
+		}
 		out.printf ("\n");
 	}
 
-	void write_one(AltosRecord record) {
-		state = new AltosState(record, state);
-		write_general(record); out.printf(",");
-		write_flight(record); out.printf(",");
-		write_basic(record); out.printf(",");
-		write_gps(record); out.printf(",");
-		write_gps_sat(record);
+	void write_one(AltosState state) {
+		write_general(state); out.printf(",");
+		write_flight(state); out.printf(",");
+		write_basic(state); out.printf(",");
+		if (state.imu != null || state.mag != null)
+			write_advanced(state);
+		if (state.gps != null) {
+			out.printf(",");
+			write_gps(state); out.printf(",");
+			write_gps_sat(state);
+		}
+		if (state.companion != null) {
+			out.printf(",");
+			write_companion(state);
+		}
 		out.printf ("\n");
 	}
 
 	void flush_pad() {
-		while (!pad_records.isEmpty()) {
-			write_one (pad_records.remove());
+		while (!pad_states.isEmpty()) {
+			write_one (pad_states.remove());
 		}
 	}
 
-	public void write(AltosRecord record) {
+	public void write(AltosState state) {
+		if (state.state == Altos.ao_flight_startup)
+			return;
 		if (!header_written) {
-			write_header();
+			write_header(state.imu != null || state.mag != null,
+				     state.gps != null, state.companion != null);
 			header_written = true;
 		}
 		if (!seen_boost) {
-			if (record.state >= Altos.ao_flight_boost) {
+			if (state.state >= Altos.ao_flight_boost) {
 				seen_boost = true;
-				boost_tick = record.tick;
+				boost_tick = state.tick;
 				flush_pad();
 			}
 		}
 		if (seen_boost)
-			write_one(record);
+			write_one(state);
 		else
-			pad_records.add(record);
+			pad_states.add(state);
 	}
 
 	public PrintStream out() {
@@ -227,23 +306,27 @@ public class AltosCSV implements AltosWriter {
 	}
 
 	public void close() {
-		if (!pad_records.isEmpty()) {
-			boost_tick = pad_records.element().tick;
+		if (!pad_states.isEmpty()) {
+			boost_tick = pad_states.element().tick;
 			flush_pad();
 		}
 		out.close();
 	}
 
-	public void write(AltosRecordIterable iterable) {
-		iterable.write_comments(out());
-		for (AltosRecord r : iterable)
-			write(r);
+	public void write(AltosStateIterable states) {
+		states.write_comments(out());
+		for (AltosState state : states)
+			write(state);
 	}
 
-	public AltosCSV(File in_name) throws FileNotFoundException {
+	public AltosCSV(PrintStream in_out, File in_name) {
 		name = in_name;
-		out = new PrintStream(name);
-		pad_records = new LinkedList<AltosRecord>();
+		out = in_out;
+		pad_states = new LinkedList<AltosState>();
+	}
+
+	public AltosCSV(File in_name) throws FileNotFoundException {
+		this(new PrintStream(in_name), in_name);
 	}
 
 	public AltosCSV(String in_string) throws FileNotFoundException {