X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Fao-postflight%2Fao-postflight.c;h=e5b556652b934be857a24f6da7d7b72999f72f1f;hp=caa7fb74e755641b3a56c06ca0329532c05a61f9;hb=f14c799ae7ff3be56c28f5694f04c03daff7708e;hpb=b84b634d9ae8ce6ab1c02833a3ed8514404e1ca3 diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c index caa7fb74..e5b55665 100644 --- a/ao-tools/ao-postflight/ao-postflight.c +++ b/ao-tools/ao-postflight/ao-postflight.c @@ -39,6 +39,19 @@ static const char *state_names[] = { "invalid" }; +static const char *kml_state_colours[] = { + "FF000000", + "FF000000", + "FF000000", + "FF0000FF", + "FF4080FF", + "FF00FFFF", + "FFFF0000", + "FF00FF00", + "FF000000", + "FFFFFFFF" +}; + static int plot_colors[3][3] = { { 0, 0x90, 0 }, /* height */ { 0xa0, 0, 0 }, /* speed */ @@ -161,30 +174,119 @@ merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split return pd; } -static const char kml_header[] = +static const char kml_header_start[] = "\n" - "\n" + "\n" + "\n" + " %s\n" + " \n"; +static const char kml_header_end[] = + " \n" + " 0\n"; + +static const char kml_style_start[] = + " \n"; + +static const char kml_placemark_start[] = " \n" - " gps\n" - " \n" - " \n" - " \n" - " 1\n" - " absolute\n" - " \n"; + " %s\n" + " #ao-flightstate-%s\n" + " \n" + " 1\n" + " absolute\n" + " \n"; + +static const char kml_coord_fmt[] = + " %12.7f, %12.7f, %12.7f \n"; + +static const char kml_placemark_end[] = + " \n" + " \n" + " \n"; static const char kml_footer[] = - "\n" + " \n" " \n" - " \n" - "\n" + " \n" + "\n" "\n"; +static unsigned +gps_daytime(struct cc_gpselt *gps) +{ + return ((gps->hour * 60 + + gps->minute) * 60 + + gps->second) * 1000; +} + +int +daytime_hour(unsigned daytime) +{ + return daytime / 1000 / 60 / 60; +} + +int +daytime_minute(unsigned daytime) +{ + return (daytime / 1000 / 60) % 60; +} + +int +daytime_second(unsigned daytime) +{ + return (daytime / 1000) % 60; +} + +int +daytime_millisecond(unsigned daytime) +{ + return daytime % 1000; +} + +static unsigned +compute_daytime_ms(double time, struct cc_gpsdata *gps) +{ + int i; + unsigned gps_start_daytime, gps_stop_daytime; + + if (time <= gps->data[0].time) { + gps_stop_daytime = gps_daytime(&gps->data[0]); + return gps_stop_daytime - (gps->data[0].time - time) * 10; + } + for (i = 0; i < gps->num - 1; i++) + if (time > gps->data[i].time) + break; + gps_start_daytime = gps_daytime(&gps->data[i]); + if (i == gps->num - 1) { + return gps_start_daytime + (time - gps->data[i].time) * 10; + } else { + unsigned gps_period_daytime; + double gps_period_time; + double time_since_start; + + gps_stop_daytime = gps_daytime(&gps->data[i + 1]); + + /* range of gps daytime values */ + gps_period_daytime = gps_stop_daytime - gps_start_daytime; + + /* range of gps time values */ + gps_period_time = gps->data[i+1].time - gps->data[i].time; + + /* sample time after first gps time */ + time_since_start = time - gps->data[i].time; + + return gps_start_daytime + + gps_period_daytime * time_since_start / gps_period_time; + } +} + 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) @@ -203,22 +305,33 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, double state_start, state_stop; struct cc_flightcooked *cooked; double apogee; + char buf[128]; + + if (kml_file) { + snprintf(buf, sizeof (buf), "AO Flight#%d S/N: %03d", f->flight, f->serial); + fprintf(kml_file, kml_header_start, buf); + } fprintf(summary_file, "Serial: %9d\n" "Flight: %9d\n", f->serial, f->flight); + if (f->year) { - fprintf(summary_file, + snprintf(buf, sizeof (buf), "Date: %04d-%02d-%02d\n", f->year, f->month, f->day); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } if (f->gps.num) { - fprintf(summary_file, + snprintf(buf, sizeof (buf), "Time: %2d:%02d:%02d\n", f->gps.data[0].hour, f->gps.data[0].minute, f->gps.data[0].second); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } boost_start = f->accel.data[0].time; boost_stop = f->accel.data[f->accel.num-1].time; @@ -240,10 +353,12 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, min_pres = f->pres.data[pres_i].value; height = cc_barometer_to_altitude(min_pres) - cc_barometer_to_altitude(f->ground_pres); - fprintf(summary_file, "Max height: %9.2fm %9.2fft %9.2fs\n", + apogee = f->pres.data[pres_i].time; + snprintf(buf, sizeof (buf), "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; + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } cooked = cc_flight_cook(f); @@ -251,9 +366,11 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, 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", + snprintf(buf, sizeof (buf), "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); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } } accel_i = cc_timedata_min(&f->accel, boost_start, boost_stop); @@ -261,11 +378,16 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, { accel = cc_accelerometer_to_acceleration(f->accel.data[accel_i].value, f->ground_accel); - fprintf(summary_file, "Max accel: %9.2fm/s² %9.2fg %9.2fs\n", + snprintf(buf, sizeof (buf), "Max accel: %9.2fm/s² %9.2fg %9.2fs\n", accel, accel / 9.80665, (f->accel.data[accel_i].time - boost_start) / 100.0); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } + if (kml_file) + fprintf(kml_file, "%s", kml_header_end); + for (i = 0; i < f->state.num; i++) { state = f->state.data[i].value; state_start = f->state.data[i].time; @@ -278,14 +400,23 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, 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); + if (kml_file) { + fprintf(kml_file, kml_style_start, state_names[state], kml_state_colours[state]); + fprintf(kml_file, "\tState: %s\n", state_names[state]); + fprintf(kml_file, "\tStart: %9.2fs\n", (state_start - boost_start) / 100.0); + fprintf(kml_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); - fprintf(summary_file, "\tMax accel: %9.2fm/s² %9.2fg %9.2fs\n", + snprintf(buf, sizeof (buf), "\tMax accel: %9.2fm/s² %9.2fg %9.2fs\n", accel, accel / 9.80665, (f->accel.data[accel_i].time - boost_start) / 100.0); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } if (cooked) { @@ -302,11 +433,16 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, } if (speed_i >= 0) { - fprintf(summary_file, "\tMax speed: %9.2fm/s %9.2fft/s %9.2fs\n", + snprintf(buf, sizeof (buf), "\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", + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); + + snprintf(buf, sizeof (buf), "\tAvg speed: %9.2fm/s %9.2fft/s\n", avg_speed, avg_speed * 100 / 2.4 / 12.0); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } } pres_i = cc_timedata_min(&f->pres, state_start, state_stop); @@ -315,46 +451,84 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, min_pres = f->pres.data[pres_i].value; height = cc_barometer_to_altitude(min_pres) - cc_barometer_to_altitude(f->ground_pres); - fprintf(summary_file, "\tMax height: %9.2fm %9.2fft %9.2fs\n", + snprintf(buf, sizeof (buf), "\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); + fprintf(summary_file, "%s", buf); + if (kml_file) fprintf(kml_file, "%s", buf); } + if (kml_file) fprintf(kml_file, "%s", kml_style_end); } if (cooked && detail_file) { double max_height = 0; int i; double *times; - fprintf(detail_file, "%9s %9s %9s %9s\n", - "time", "height", "speed", "accel"); + fprintf(detail_file, "%9s %9s %9s %9s %9s\n", + "time", "height", "speed", "accel", "daytime"); 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 clock_time = cooked->accel_accel.start + i * cooked->accel_accel.step; + double time = (clock_time - boost_start) / 100.0; double accel = cooked->accel_accel.data[i]; double pos = cooked->pres_pos.data[i]; double speed; + unsigned daytime; 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 (f->gps.num) + daytime = compute_daytime_ms(clock_time, &f->gps); + else + daytime = 0; + fprintf(detail_file, "%9.2f %9.2f %9.2f %9.2f %02d:%02d:%02d.%03d\n", + time, pos, speed, accel, + daytime_hour(daytime), + daytime_minute(daytime), + daytime_second(daytime), + daytime_millisecond(daytime)); } } if (raw_file) { - fprintf(raw_file, "%9s %9s %9s\n", - "time", "height", "accel"); + fprintf(raw_file, "%9s %9s %9s %9s\n", + "time", "height", "accel", "daytime"); 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); + unsigned daytime; + if (f->gps.num) + daytime = compute_daytime_ms(time, &f->gps); + else + daytime = 0; + fprintf(raw_file, "%9.2f %9.2f %9.2f %02d:%02d:%02d.%03d\n", + time, pres, accel, + daytime_hour(daytime), + daytime_minute(daytime), + daytime_second(daytime), + daytime_millisecond(daytime)); } } - if (gps_file) { - int j = 0; - fprintf(gps_file, "%9s %12s %12s %12s\n", - "time", "lat", "lon", "alt"); + if (gps_file || kml_file) { + int j = 0, baro_pos; + double baro_offset; + double baro = 0.0; + int state_idx = 0; + + if (gps_file) + fprintf(gps_file, "%2s %2s %2s %9s %12s %12s %9s %8s %5s\n", + "hr", "mn", "sc", + "time", "lat", "lon", "alt", "baro", "nsat"); + if (kml_file) + fprintf(kml_file, kml_placemark_start, + state_names[(int)f->state.data[state_idx].value], + state_names[(int)f->state.data[state_idx].value]); + + if (f->gps.num) + baro_offset = f->gps.data[0].alt; + else + baro_offset = 0; + baro_pos = 0; for (i = 0; i < f->gps.num; i++) { int nsat = 0; int k; @@ -364,52 +538,70 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, 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++; + if (cooked) { + while (baro_pos < cooked->pres_pos.num) { + double baro_time = cooked->accel_accel.start + baro_pos * cooked->accel_accel.step; + if (baro_time >= f->gps.data[i].time) + break; + baro_pos++; + } + if (baro_pos < cooked->pres_pos.num) + baro = cooked->pres_pos.data[baro_pos]; } - fprintf(gps_file, " %d\n", nsat); - } - } - if (kml_file) { - int j = 0; + if (gps_file) + fprintf(gps_file, "%2d %2d %2d %12.7f %12.7f %12.7f %7.1f %7.1f", + f->gps.data[i].hour, + f->gps.data[i].minute, + f->gps.data[i].second, + (f->gps.data[i].time - boost_start) / 100.0, + f->gps.data[i].lat, + f->gps.data[i].lon, + f->gps.data[i].alt, + baro + baro_offset); - 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) { + for (k = 0; k < f->gps.sats[j].nsat; k++) { if (f->gps.sats[j].sat[k].svid != 0) nsat++; + } + if (gps_file) { + fprintf(gps_file, " %4d", nsat); + for (k = 0; k < f->gps.sats[j].nsat; k++) { + if (f->gps.sats[j].sat[k].svid != 0) { + fprintf (gps_file, " %3d(%4.1f)", + f->gps.sats[j].sat[k].svid, + (double) f->gps.sats[j].sat[k].c_n); + } + } + fprintf(gps_file, "\n"); + } + } + + if (kml_file) { + snprintf(buf, sizeof (buf), kml_coord_fmt, + f->gps.data[i].lon, + f->gps.data[i].lat, + baro + baro_offset, + f->gps.data[i].alt, + (f->gps.data[i].time - boost_start) / 100.0, + nsat); + fprintf(kml_file, "%s", buf); + if (state_idx + 1 < f->state.num && f->state.data[state_idx + 1].time <= f->gps.data[i].time) { + state_idx++; + if (f->state.data[state_idx - 1].value != f->state.data[state_idx].value) { + fprintf(kml_file, "%s", kml_placemark_end); + fprintf(kml_file, kml_placemark_start, + state_names[(int)f->state.data[state_idx].value], + state_names[(int)f->state.data[state_idx].value]); + fprintf(kml_file, "%s", buf); + } + } } - 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 (kml_file) + fprintf(kml_file, "%s", kml_footer); } if (cooked && plot_name) { struct cc_perioddata *speed; @@ -596,7 +788,7 @@ main (int argc, char **argv) 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"); + kml_file = open_output(kml_name, argv[i], ".kml"); s = strstr(argv[i], "-serial-"); if (s) serial = atoi(s + 8);