X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Faltosui%2FAltosEepromReader.java;h=86bbaee0cde2a9640b768aca0f17a428032cc941;hp=6fe9bfe44c69ce2887fb1204dcb351ecd76ae0d0;hb=6c653a4cba5fef8d49261cf1c024f3e86e9058c6;hpb=d8bf05f7ad55964c9bce0551e58f4ef6c9f721ad diff --git a/ao-tools/altosui/AltosEepromReader.java b/ao-tools/altosui/AltosEepromReader.java index 6fe9bfe4..86bbaee0 100644 --- a/ao-tools/altosui/AltosEepromReader.java +++ b/ao-tools/altosui/AltosEepromReader.java @@ -36,85 +36,374 @@ import altosui.AltosLog; import altosui.AltosVoice; import altosui.AltosEepromMonitor; -public class AltosEepromReader { +/* + * 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) + throws ParseException { + super(line); + int new_tick = tick | (prev_tick & ~0xffff); + if (new_tick < prev_tick) { + if (prev_tick - new_tick > 0x8000) + new_tick += 0x10000; + } + tick = new_tick; + 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 AltosEepromReader extends AltosReader { 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; - static final int seen_gps_time = 16; - AltosRecord state; - AltosEepromRecord record; + AltosOrderedRecord record; + + TreeSet records; + + Iterator record_iterator; int seen; - int tick; + int index; + + boolean last_reported; + + double ground_pres; + double ground_accel; + + int n_pad_samples; + + int gps_tick; + + boolean saw_boost; + + int boost_tick; - boolean done; + boolean saw_gps_date; - FileInputStream input; + boolean missing_gps_time; public AltosRecord read() throws IOException, ParseException { for (;;) { if (record == null) { - record = new AltosEepromRecord(AltosRecord.gets(input)); - if (record == null) { - if (done) + if (!record_iterator.hasNext()) { + if (last_reported) return null; - return state; + last_reported = true; + return new AltosRecord(state); } + record = record_iterator.next(); - /* eeprom only records low 16 bits of tick count */ - int tick = record.tick | (state.tick & ~0xffff); - - if (tick < state.tick) { - if (state.tick - tick > 0x8000) - tick += 0x10000; - else - tick = state.tick; + if ((seen & seen_basic) == seen_basic && record.tick != state.tick) { + AltosRecord r = new AltosRecord(state); + r.time = (r.tick - boost_tick) / 100.0; + return r; } - - /* Accumulate data in the state record while - * the time stamp is not increasing - */ - - if ((seen & seen_basic) == seen_basic && tick > state.tick) - return new AltosRecord(state); } - state.tick = tick; + state.tick = record.tick; switch (record.cmd) { case Altos.AO_LOG_FLIGHT: - state.ground_accel = record.a; - state.flight = record.b; + /* recorded when first read from the file */ break; case Altos.AO_LOG_SENSOR: state.accel = record.a; state.pres = record.b; + if (state.state < Altos.ao_flight_boost) { + n_pad_samples++; + ground_pres += state.pres; + state.ground_pres = (int) (ground_pres / n_pad_samples); + state.flight_pres = state.ground_pres; + ground_accel += state.accel; + state.ground_accel = (int) (ground_accel / n_pad_samples); + state.flight_accel = state.ground_accel; + } 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); + } + seen |= seen_sensor; break; case Altos.AO_LOG_TEMP_VOLT: state.temp = record.a; state.batt = record.b; + seen |= seen_temp_volt; break; case Altos.AO_LOG_DEPLOY: state.drogue = record.a; state.main = record.b; + seen |= seen_deploy; + break; + case Altos.AO_LOG_STATE: + state.state = record.a; break; case Altos.AO_LOG_GPS_TIME: + 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 == 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; } record = null; } } - public AltosEepromReader (FileInputStream in_input) { + 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; + + 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 AltosEepromReader (FileInputStream input) { state = new AltosRecord(); - input = in_input; + state.state = Altos.ao_flight_pad; + state.accel_plus_g = 15758; + state.accel_minus_g = 16294; seen = 0; - done = false; + records = new TreeSet(); + + AltosOrderedRecord last_gps_time = null; + + int index = 0; + int tick = 0; + + boolean missing_time = false; + + try { + for (;;) { + String line = AltosRecord.gets(input); + if (line == null) + break; + AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick); + if (record == null) + break; + if (record.cmd == Altos.AO_LOG_INVALID) + continue; + tick = record.tick; + if (!saw_boost && record.cmd == Altos.AO_LOG_STATE && + record.a >= Altos.ao_flight_boost) + { + saw_boost = true; + boost_tick = tick; + } + if (record.cmd == Altos.AO_LOG_FLIGHT) { + state.ground_accel = record.a; + state.flight = record.b; + seen |= seen_flight; + } + + /* 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) { + 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); + } + } catch (IOException io) { + } catch (ParseException pe) { + } + record_iterator = records.iterator(); + try { + input.close(); + } catch (IOException ie) { + } } }