X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Fao-postflight%2Fao-postflight.c;h=7cedaa5b79ecb0cd36b42e5001ebfbc06de808b4;hp=0c632c343ca0e576c2c247e6405992c16b712cbc;hb=238d03462a56dc1b7c871608cb00f961a88c1b97;hpb=73f4a57239f770aff603b961169c0e2cfe2c276b diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c index 0c632c34..7cedaa5b 100644 --- a/ao-tools/ao-postflight/ao-postflight.c +++ b/ao-tools/ao-postflight/ao-postflight.c @@ -24,8 +24,7 @@ #include #include "cc-usb.h" #include "cc.h" - -#define NUM_BLOCK 512 +#include static const char *state_names[] = { "startup", @@ -40,12 +39,160 @@ static const char *state_names[] = { "invalid" }; -void -analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file) +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[] = + "\n" + "\n" + " \n" + " gps\n" + " \n" + " \n" + " \n" + " 1\n" + " absolute\n" + " \n"; + +static const char kml_footer[] = + "\n" + " \n" + " \n" + "\n" + "\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; @@ -57,8 +204,22 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file) struct cc_flightcooked *cooked; double apogee; - fprintf(summary_file, "Flight: %9d\nSerial: %9d\n", - f->flight, f->serial); + fprintf(summary_file, + "Serial: %9d\n" + "Flight: %9d\n", + f->serial, f->flight); + if (f->year) { + fprintf(summary_file, + "Date: %04d-%02d-%02d\n", + f->year, f->month, f->day); + } + if (f->gps.num) { + fprintf(summary_file, + "Time: %2d:%02d:%02d\n", + f->gps.data[0].hour, + f->gps.data[0].minute, + f->gps.data[0].second); + } 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++) { @@ -129,18 +290,24 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file) if (cooked) { if (state < ao_flight_drogue) { - speed_i = cc_perioddata_max(&cooked->accel_speed, state_start, state_stop); + 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(&cooked->pres_speed, state_start, state_stop); + 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) @@ -154,16 +321,10 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file) } } if (cooked && detail_file) { - double apogee_time; double max_height = 0; int i; + double *times; - for (i = 0; i < cooked->pres_pos.num; i++) { - if (cooked->pres_pos.data[i] > max_height) { - max_height = cooked->pres_pos.data[i]; - apogee_time = cooked->pres_pos.start + cooked->pres_pos.step * i; - } - } fprintf(detail_file, "%9s %9s %9s %9s\n", "time", "height", "speed", "accel"); for (i = 0; i < cooked->pres_pos.num; i++) { @@ -171,7 +332,7 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file) 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_time) + if (cooked->pres_pos.start + cooked->pres_pos.step * i < apogee) speed = cooked->accel_speed.data[i]; else speed = cooked->pres_speed.data[i]; @@ -179,67 +340,234 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file) 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; + if (j < f->gps.numsats) { + 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 ", + 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 = "summary", .has_arg = 2, .val = 's' }, + { .name = "detail", .has_arg = 2, .val = 'd' }, + { .name = "plot", .has_arg = 2, .val = 'p' }, + { .name = "raw", .has_arg = 2, .val = 'r' }, + { .name = "gps", .has_arg = 2, .val = 'g' }, + { .name = "kml", .has_arg = 2, .val = 'k' }, { 0, 0, 0, 0}, }; static void usage(char *program) { - fprintf(stderr, "usage: %s [--summary=] [--detail=] [-s ]\n" + "\t[--detail=]\n" + "\t[--raw= -r -p ]\n" + "\t[--gps= -g ]\n" + "\t[--kml= -k ]\n" + "\t{flight-log} ...\n", program); exit(1); } +char * +replace_extension(char *file, char *extension) +{ + char *slash; + char *dot; + char *new; + int newlen; + + slash = strrchr(file, '/'); + dot = strrchr(file, '.'); + if (!dot || (slash && dot < slash)) + dot = file + strlen(file); + newlen = (dot - file) + strlen (extension) + 1; + new = malloc (newlen); + strncpy (new, file, dot - file); + new[dot-file] = '\0'; + strcat (new, extension); + return new; +} + +FILE * +open_output(char *outname, char *inname, char *extension) +{ + char *o; + FILE *out; + + if (outname) + o = outname; + else + o = replace_extension(inname, extension); + out = fopen(o, "w"); + if (!out) { + perror (o); + exit(1); + } + if (o != outname) + free(o); + return out; +} + int main (int argc, char **argv) { FILE *file; - FILE *summary_file; - FILE *detail_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, *detail_name = NULL; + char *summary_name = NULL; + char *detail_name = NULL; + char *raw_name = NULL; + char *plot_name = NULL; + char *gps_name = NULL; + char *kml_name = NULL; + int has_summary = 0; + int has_detail = 0; + int has_plot = 0; + int has_raw = 0; + int has_gps = 0; + int has_kml = 0; - while ((c = getopt_long(argc, argv, "S:D:", options, NULL)) != -1) { + while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:", options, NULL)) != -1) { switch (c) { - case 'S': + case 's': summary_name = optarg; + has_summary = 1; break; - case 'D': + case 'd': detail_name = optarg; + has_detail = 1; + break; + case 'p': + plot_name = optarg; + has_plot = 1; + break; + case 'r': + raw_name = optarg; + has_raw = 1; + break; + case 'g': + gps_name = optarg; + has_gps = 1; + break; + case 'k': + kml_name = optarg; + has_kml = 1; break; default: usage(argv[0]); break; } } - summary_file = stdout; - detail_file = NULL; - if (summary_name) { - summary_file = fopen(summary_name, "w"); - if (!summary_file) { - perror (summary_name); - exit(1); - } - } - if (detail_name) { - if (!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 (!has_summary) + summary_file = stdout; for (i = optind; i < argc; i++) { file = fopen(argv[i], "r"); if (!file) { @@ -247,6 +575,16 @@ main (int argc, char **argv) ret++; continue; } + if (has_summary && !summary_file) + summary_file = open_output(summary_name, argv[i], ".summary"); + if (has_detail && !detail_file) + detail_file = open_output(detail_name, argv[i], ".detail"); + if (has_raw && !raw_file) + raw_file = open_output(raw_name, argv[i], ".raw"); + if (has_gps && !gps_file) + gps_file = open_output(gps_name, argv[i], ".gps"); + if (has_kml && !kml_file) + kml_file = open_output(gps_name, argv[i], ".kml"); s = strstr(argv[i], "-serial-"); if (s) serial = atoi(s + 8); @@ -260,8 +598,23 @@ main (int argc, char **argv) } if (!raw->serial) raw->serial = serial; - analyse_flight(raw, summary_file, detail_file); + analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file, kml_file); cc_flightraw_free(raw); + if (has_summary && !summary_name) { + fclose(summary_file); summary_file = NULL; + } + if (has_detail && !detail_name) { + fclose(detail_file); detail_file = NULL; + } + if (has_summary && !raw_name) { + fclose(raw_file); raw_file = NULL; + } + if (has_gps && !gps_name) { + fclose(gps_file); gps_file = NULL; + } + if (has_kml && !kml_name) { + fclose(kml_file); kml_file = NULL; + } } return ret; }