X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosui%2FAltosEepromIterable.java;fp=altosui%2FAltosEepromIterable.java;h=f8e6d7e5a2e16126755d4d7568be479d42445074;hp=0000000000000000000000000000000000000000;hb=3fbefb3eea981d34a09496cf8abf0119de2e35bf;hpb=7a50837ea0d92db3f469f197ec8210aee22aa143 diff --git a/altosui/AltosEepromIterable.java b/altosui/AltosEepromIterable.java new file mode 100644 index 00000000..f8e6d7e5 --- /dev/null +++ b/altosui/AltosEepromIterable.java @@ -0,0 +1,423 @@ +/* + * Copyright © 2010 Keith Packard + * + * 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. + */ + +package altosui; + +import java.awt.*; +import java.awt.event.*; +import javax.swing.*; +import javax.swing.filechooser.FileNameExtensionFilter; +import javax.swing.table.*; +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.prefs.*; +import java.util.concurrent.LinkedBlockingQueue; + +/* + * AltosRecords with an index field so they can be sorted by tick while preserving + * the original ordering for elements with matching ticks + */ +class AltosOrderedRecord extends AltosEepromRecord implements Comparable { + + public int index; + + public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid) + throws ParseException { + super(line); + if (prev_tick_valid) { + tick |= (prev_tick & ~0xffff); + if (tick < prev_tick) { + if (prev_tick - tick > 0x8000) + tick += 0x10000; + } else { + if (tick - prev_tick > 0x8000) + tick -= 0x10000; + } + } + 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) + return tick_diff; + return index - o.index; + } +} + +public class AltosEepromIterable extends AltosRecordIterable { + + static final int seen_flight = 1; + static final int seen_sensor = 2; + static final int seen_temp_volt = 4; + static final int seen_deploy = 8; + static final int seen_gps_time = 16; + static final int seen_gps_lat = 32; + static final int seen_gps_lon = 64; + + static final int seen_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy; + + AltosEepromRecord flight_record; + AltosEepromRecord gps_date_record; + + TreeSet records; + + LinkedList list; + + class EepromState { + int seen; + int n_pad_samples; + double ground_pres; + int gps_tick; + int boost_tick; + + EepromState() { + seen = 0; + n_pad_samples = 0; + ground_pres = 0.0; + gps_tick = 0; + } + } + + void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) { + state.tick = record.tick; + switch (record.cmd) { + case Altos.AO_LOG_FLIGHT: + eeprom.seen |= seen_flight; + state.ground_accel = record.a; + state.flight_accel = record.a; + state.flight = record.b; + eeprom.boost_tick = record.tick; + break; + case Altos.AO_LOG_SENSOR: + state.accel = record.a; + state.pres = record.b; + if (state.state < Altos.ao_flight_boost) { + eeprom.n_pad_samples++; + eeprom.ground_pres += state.pres; + state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples); + state.flight_pres = state.ground_pres; + } else { + state.flight_pres = (state.flight_pres * 15 + state.pres) / 16; + state.flight_accel = (state.flight_accel * 15 + state.accel) / 16; + state.flight_vel += (state.accel_plus_g - state.accel); + } + eeprom.seen |= seen_sensor; + break; + case Altos.AO_LOG_TEMP_VOLT: + state.temp = record.a; + state.batt = record.b; + eeprom.seen |= seen_temp_volt; + break; + case Altos.AO_LOG_DEPLOY: + state.drogue = record.a; + state.main = record.b; + eeprom.seen |= seen_deploy; + break; + case Altos.AO_LOG_STATE: + state.state = record.a; + break; + case Altos.AO_LOG_GPS_TIME: + eeprom.gps_tick = state.tick; + AltosGPS old = state.gps; + state.gps = new AltosGPS(); + + /* GPS date doesn't get repeated through the file */ + if (old != null) { + state.gps.year = old.year; + state.gps.month = old.month; + state.gps.day = old.day; + } + state.gps.hour = (record.a & 0xff); + state.gps.minute = (record.a >> 8); + state.gps.second = (record.b & 0xff); + + int flags = (record.b >> 8); + state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0; + state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0; + 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; + break; + case Altos.AO_LOG_GPS_LAT: + int lat32 = record.a | (record.b << 16); + state.gps.lat = (double) lat32 / 1e7; + break; + case Altos.AO_LOG_GPS_LON: + int lon32 = record.a | (record.b << 16); + state.gps.lon = (double) lon32 / 1e7; + break; + case Altos.AO_LOG_GPS_ALT: + state.gps.alt = record.a; + break; + case Altos.AO_LOG_GPS_SAT: + if (state.tick == eeprom.gps_tick) { + int svid = record.a; + int c_n0 = record.b >> 8; + state.gps.add_sat(svid, c_n0); + } + break; + case Altos.AO_LOG_GPS_DATE: + state.gps.year = (record.a & 0xff) + 2000; + state.gps.month = record.a >> 8; + state.gps.day = record.b & 0xff; + break; + + case Altos.AO_LOG_CONFIG_VERSION: + break; + case Altos.AO_LOG_MAIN_DEPLOY: + break; + case Altos.AO_LOG_APOGEE_DELAY: + break; + case Altos.AO_LOG_RADIO_CHANNEL: + break; + case Altos.AO_LOG_CALLSIGN: + state.callsign = record.data; + break; + case Altos.AO_LOG_ACCEL_CAL: + state.accel_plus_g = record.a; + state.accel_minus_g = record.b; + break; + case Altos.AO_LOG_RADIO_CAL: + break; + case Altos.AO_LOG_MANUFACTURER: + break; + case Altos.AO_LOG_PRODUCT: + break; + case Altos.AO_LOG_SERIAL_NUMBER: + state.serial = record.a; + break; + case Altos.AO_LOG_SOFTWARE_VERSION: + break; + } + } + + LinkedList make_list() { + LinkedList list = new LinkedList(); + Iterator iterator = records.iterator(); + AltosOrderedRecord record = null; + AltosRecord state = new AltosRecord(); + boolean last_reported = false; + EepromState eeprom = new EepromState(); + + state.state = Altos.ao_flight_pad; + state.accel_plus_g = 15758; + state.accel_minus_g = 16294; + + /* Pull in static data from the flight and gps_date records */ + if (flight_record != null) + update_state(state, flight_record, eeprom); + if (gps_date_record != null) + update_state(state, gps_date_record, eeprom); + + while (iterator.hasNext()) { + record = iterator.next(); + if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) { + AltosRecord r = new AltosRecord(state); + r.time = (r.tick - eeprom.boost_tick) / 100.0; + list.add(r); + } + update_state(state, record, eeprom); + } + AltosRecord r = new AltosRecord(state); + r.time = (r.tick - eeprom.boost_tick) / 100.0; + list.add(r); + return list; + } + + public Iterator iterator() { + if (list == null) + list = make_list(); + return list.iterator(); + } + + public void write_comments(PrintStream out) { + Iterator iterator = records.iterator(); + out.printf("# Comments\n"); + while (iterator.hasNext()) { + AltosOrderedRecord record = iterator.next(); + switch (record.cmd) { + case Altos.AO_LOG_CONFIG_VERSION: + out.printf("# Config version: %s\n", record.data); + break; + case Altos.AO_LOG_MAIN_DEPLOY: + out.printf("# Main deploy: %s\n", record.a); + break; + case Altos.AO_LOG_APOGEE_DELAY: + out.printf("# Apogee delay: %s\n", record.a); + break; + case Altos.AO_LOG_RADIO_CHANNEL: + out.printf("# Radio channel: %s\n", record.a); + break; + case Altos.AO_LOG_CALLSIGN: + out.printf("# Callsign: %s\n", record.data); + break; + case Altos.AO_LOG_ACCEL_CAL: + out.printf ("# Accel cal: %d %d\n", record.a, record.b); + break; + case Altos.AO_LOG_RADIO_CAL: + out.printf ("# Radio cal: %d\n", record.a); + break; + case Altos.AO_LOG_MANUFACTURER: + out.printf ("# Manufacturer: %s\n", record.data); + break; + case Altos.AO_LOG_PRODUCT: + out.printf ("# Product: %s\n", record.data); + break; + case Altos.AO_LOG_SERIAL_NUMBER: + out.printf ("# Serial number: %d\n", record.a); + break; + case Altos.AO_LOG_SOFTWARE_VERSION: + out.printf ("# Software version: %s\n", record.data); + break; + } + } + } + + /* + * 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; + + /* Make sure this looks like a good GPS value */ + if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4) + flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT); + flags |= Altos.AO_GPS_RUNNING; + flags |= Altos.AO_GPS_VALID; + + 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); + + 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 + * are sometimes out of order with GPS data getting timestamps + * matching the first packet out of the GPS unit but not + * written until the final GPS packet has been received. + */ + public AltosEepromIterable (FileInputStream input) { + records = new TreeSet(); + + AltosOrderedRecord last_gps_time = null; + + int index = 0; + int prev_tick = 0; + boolean prev_tick_valid = false; + boolean missing_time = false; + + try { + for (;;) { + String line = AltosRecord.gets(input); + if (line == null) + break; + AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid); + if (record == null) + break; + if (record.cmd == Altos.AO_LOG_INVALID) + continue; + prev_tick = record.tick; + if (record.cmd < Altos.AO_LOG_CONFIG_VERSION) + prev_tick_valid = true; + if (record.cmd == Altos.AO_LOG_FLIGHT) { + flight_record = record; + continue; + } + + /* 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) { + gps_date_record = record; + continue; + } + + /* go back and fix up any missing time values */ + if (record.cmd == Altos.AO_LOG_GPS_TIME) { + last_gps_time = record; + if (missing_time) { + Iterator iterator = records.iterator(); + while (iterator.hasNext()) { + AltosOrderedRecord old = iterator.next(); + 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 + missing_time = true; + + records.add(add_gps_time); + record.index = index++; + } + } + records.add(record); + + /* Bail after reading the 'landed' record; we're all done */ + if (record.cmd == Altos.AO_LOG_STATE && + record.a == Altos.ao_flight_landed) + break; + } + } catch (IOException io) { + } catch (ParseException pe) { + } + try { + input.close(); + } catch (IOException ie) { + } + } +}