X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Fao-postflight%2Fao-postflight.c;h=7cedaa5b79ecb0cd36b42e5001ebfbc06de808b4;hp=9371f35174ed2c8966ee1dff67439d421246d6a8;hb=238d03462a56dc1b7c871608cb00f961a88c1b97;hpb=35c54b3a278fa9bc2bc7f4b5ee04866697c93ba0

diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c
index 9371f351..7cedaa5b 100644
--- a/ao-tools/ao-postflight/ao-postflight.c
+++ b/ao-tools/ao-postflight/ao-postflight.c
@@ -24,18 +24,7 @@
 #include <getopt.h>
 #include "cc-usb.h"
 #include "cc.h"
-
-#define NUM_BLOCK	512
-
-static const struct option options[] = {
-	{ 0, 0, 0, 0},
-};
-
-static void usage(char *program)
-{
-	fprintf(stderr, "usage: %s {flight-log} ...\n", program);
-	exit(1);
-}
+#include <plplot/plplot.h>
 
 static const char *state_names[] = {
 	"startup",
@@ -50,22 +39,187 @@ static const char *state_names[] = {
 	"invalid"
 };
 
-void
-analyse_flight(struct cc_flightraw *f)
+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[] =
+	"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
+	"<kml xmlns=\"http://earth.google.com/kml/2.0\">\n"
+	"  <Placemark>\n"
+	"    <name>gps</name>\n"
+	"    <Style id=\"khStyle690\">\n"
+	"      <LineStyle id=\"khLineStyle694\">\n"
+	"        <color>ff00ffff</color>\n"
+	"        <width>4</width>\n"
+	"      </LineStyle>\n"
+	"      </Style>\n"
+	"    <MultiGeometry id=\"khMultiGeometry697\">\n"
+	"      <LineString id=\"khLineString698\">\n"
+	"        <tessellate>1</tessellate>\n"
+	"        <altitudeMode>absolute</altitudeMode>\n"
+	"        <coordinates>\n";
+
+static const char kml_footer[] =
+	"</coordinates>\n"
+	"    </LineString>\n"
+	"  </MultiGeometry>\n"
+	"</Placemark>\n"
+	"</kml>\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;
-	int	pres_i, accel_i;
+	int	pres_i, accel_i, speed_i;
 	int	boost_start_set = 0;
 	int	boost_stop_set = 0;
 	enum ao_flight_state	state;
 	double	state_start, state_stop;
+	struct cc_flightcooked *cooked;
+	double	apogee;
 
-	printf ("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++) {
@@ -81,25 +235,37 @@ analyse_flight(struct cc_flightraw *f)
 
 	pres_i = cc_timedata_min(&f->pres, f->pres.data[0].time,
 				 f->pres.data[f->pres.num-1].time);
-	if (pres_i)
+	if (pres_i >= 0)
 	{
 		min_pres = f->pres.data[pres_i].value;
 		height = cc_barometer_to_altitude(min_pres) -
 			cc_barometer_to_altitude(f->ground_pres);
-		printf ("Max height: %9.2fm    %9.2fft %9.2fs\n",
+		fprintf(summary_file, "Max height: %9.2fm    %9.2fft   %9.2fs\n",
 			height, height * 100 / 2.54 / 12,
 			(f->pres.data[pres_i].time - boost_start) / 100.0);
+		apogee = f->pres.data[pres_i].time;
 	}
 
+	cooked = cc_flight_cook(f);
+	if (cooked) {
+		speed_i = cc_perioddata_max(&cooked->accel_speed, boost_start, boost_stop);
+		if (speed_i >= 0) {
+			speed = cooked->accel_speed.data[speed_i];
+			fprintf(summary_file, "Max 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);
+		}
+	}
 	accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop);
-	if (accel_i)
+	if (accel_i >= 0)
 	{
 		accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 							 f->ground_accel);
-		printf ("Max accel:  %9.2fm/s² %9.2fg  %9.2fs\n",
+		fprintf(summary_file, "Max accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 			accel, accel /  9.80665,
 			(f->accel.data[accel_i].time - boost_start) / 100.0);
 	}
+
 	for (i = 0; i < f->state.num; i++) {
 		state = f->state.data[i].value;
 		state_start = f->state.data[i].time;
@@ -109,50 +275,299 @@ analyse_flight(struct cc_flightraw *f)
 			state_stop = f->state.data[i + 1].time;
 		else
 			state_stop = f->accel.data[f->accel.num-1].time;
-		printf("State: %s\n", state_names[state]);
-		printf("\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
-		printf("\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
+		fprintf(summary_file, "State: %s\n", state_names[state]);
+		fprintf(summary_file, "\tStart:      %9.2fs\n", (state_start - boost_start) / 100.0);
+		fprintf(summary_file, "\tDuration:   %9.2fs\n", (state_stop - state_start) / 100.0);
 		accel_i = cc_timedata_min(&f->accel, state_start, state_stop);
 		if (accel_i >= 0)
 		{
 			accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value,
 								 f->ground_accel);
-			printf("\tMax accel:  %9.2fm/s² %9.2fg  %9.2fs\n",
+			fprintf(summary_file, "\tMax accel:  %9.2fm/s² %9.2fg    %9.2fs\n",
 			       accel, accel / 9.80665,
 			       (f->accel.data[accel_i].time - boost_start) / 100.0);
 		}
 
+		if (cooked) {
+			if (state < ao_flight_drogue) {
+				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_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)
 		{
 			min_pres = f->pres.data[pres_i].value;
 			height = cc_barometer_to_altitude(min_pres) -
 				cc_barometer_to_altitude(f->ground_pres);
-			printf ("\tMax height: %9.2fm    %9.2fft %9.2fs\n",
+			fprintf(summary_file, "\tMax height: %9.2fm    %9.2fft   %9.2fs\n",
 				height, height * 100 / 2.54 / 12,
 				(f->pres.data[pres_i].time - boost_start) / 100.0);
 		}
 	}
+	if (cooked && detail_file) {
+		double	max_height = 0;
+		int	i;
+		double	*times;
+
+		fprintf(detail_file, "%9s %9s %9s %9s\n",
+		       "time", "height", "speed", "accel");
+		for (i = 0; i < cooked->pres_pos.num; i++) {
+			double	time = (cooked->accel_accel.start + i * cooked->accel_accel.step - boost_start) / 100.0;
+			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)
+				speed = cooked->accel_speed.data[i];
+			else
+				speed = cooked->pres_speed.data[i];
+			fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f\n",
+			       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 <!-- time %12.7f sats %d -->",
+				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 = 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\n"
+		"\t[--summary=<summary-file>] [-s <summary-file>]\n"
+		"\t[--detail=<detail-file] [-d <detail-file>]\n"
+		"\t[--raw=<raw-file> -r <raw-file]\n"
+		"\t[--plot=<plot-file> -p <plot-file>]\n"
+		"\t[--gps=<gps-file> -g <gps-file>]\n"
+		"\t[--kml=<kml-file> -k <kml-file>]\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 = 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;
+	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, "", options, NULL)) != -1) {
+	while ((c = getopt_long(argc, argv, "s:d:p:r:g:k:", options, NULL)) != -1) {
 		switch (c) {
+		case 's':
+			summary_name = optarg;
+			has_summary = 1;
+			break;
+		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;
 		}
 	}
+	if (!has_summary)
+		summary_file = stdout;
 	for (i = optind; i < argc; i++) {
 		file = fopen(argv[i], "r");
 		if (!file) {
@@ -160,6 +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);
@@ -173,8 +598,23 @@ main (int argc, char **argv)
 		}
 		if (!raw->serial)
 			raw->serial = serial;
-		analyse_flight(raw);
+		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;
 }