altosui: Compute flight state from eeprom data

This lets eeprom files be used to replay flights.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/ao-tools/altosui/Altos.java b/ao-tools/altosui/Altos.java
index 6ea7b43ceffaf6ba23e362cfaf3b550a9f8fd45c..53359e23715dd0c0e584cac77ccd1b16bdbe4a45 100644 (file)
--- a/ao-tools/altosui/Altos.java
+++ b/ao-tools/altosui/Altos.java
@@ -35,8 +35,18 @@ public class Altos {
        static final int AO_LOG_GPS_SAT = 'V';
        static final int AO_LOG_GPS_DATE = 'Y';
 
        static final int AO_LOG_GPS_SAT = 'V';
        static final int AO_LOG_GPS_DATE = 'Y';
 

-       /* Added for 'serial-number' entry in eeprom files */
-       static final int AO_LOG_SERIAL_NUMBER = 1000;
+       /* Added for header fields in eeprom files */
+       static final int AO_LOG_CONFIG_VERSION = 1000;
+       static final int AO_LOG_MAIN_DEPLOY = 1001;
+       static final int AO_LOG_APOGEE_DELAY = 1002;
+       static final int AO_LOG_RADIO_CHANNEL = 1003;
+       static final int AO_LOG_CALLSIGN = 1004;
+       static final int AO_LOG_ACCEL_CAL = 1005;
+       static final int AO_LOG_RADIO_CAL = 1006;
+       static final int AO_LOG_MANUFACTURER = 1007;
+       static final int AO_LOG_PRODUCT = 1008;
+       static final int AO_LOG_SERIAL_NUMBER = 1009;
+       static final int AO_LOG_SOFTWARE_VERSION = 1010;

 
        /* Added to flag invalid records */
        static final int AO_LOG_INVALID = -1;
 
        /* Added to flag invalid records */
        static final int AO_LOG_INVALID = -1;


@@ -98,4 +108,10 @@ public class Altos {
                        return "invalid";
                return state_to_string[state];
        }
                        return "invalid";
                return state_to_string[state];
        }

+
+       static final int AO_GPS_VALID = (1 << 4);
+       static final int AO_GPS_RUNNING = (1 << 5);
+       static final int AO_GPS_DATE_VALID = (1 << 6);
+       static final int AO_GPS_NUM_SAT_SHIFT = 0;
+       static final int AO_GPS_NUM_SAT_MASK = 0xf;

 }
 }

diff --git a/ao-tools/altosui/AltosEepromReader.java b/ao-tools/altosui/AltosEepromReader.java
index 6fe9bfe44c69ce2887fb1204dcb351ecd76ae0d0..7a8ff5b036a2f3dc4811bcf607fa2adb81739794 100644 (file)
--- a/ao-tools/altosui/AltosEepromReader.java
+++ b/ao-tools/altosui/AltosEepromReader.java
@@ -36,75 +36,181 @@ import altosui.AltosLog;
 import altosui.AltosVoice;
 import altosui.AltosEepromMonitor;
 
 import altosui.AltosVoice;
 import altosui.AltosEepromMonitor;
 

+class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
+
+       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 int compareTo(AltosOrderedRecord o) {
+               int     tick_diff = tick - o.tick;
+               if (tick_diff != 0)
+                       return tick_diff;
+               return index - o.index;
+       }
+}
+

 public class AltosEepromReader {
 
        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;
 public class AltosEepromReader {
 
        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_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy;
 

-       static final int        seen_gps_time = 16;
-

        AltosRecord             state;
        AltosRecord             state;

-       AltosEepromRecord       record;
+       AltosOrderedRecord      record;
+
+       TreeSet<AltosOrderedRecord>     records;
+
+       Iterator<AltosOrderedRecord>                    record_iterator;

 
        int                     seen;
 
 
        int                     seen;
 

-       int                     tick;
+       int                     index;
+
+       boolean                 last_reported;
+
+       double                  ground_pres;
+       double                  ground_accel;
+
+       int                     n_pad_samples;

 
 

-       boolean                 done;
+       int                     gps_tick;

 
        FileInputStream input;
 
        public AltosRecord read() throws IOException, ParseException {
                for (;;) {
                        if (record == null) {
 
        FileInputStream input;
 
        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 null;

+                                       last_reported = true;

                                        return state;
                                }
                                        return 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;
-                               }
-
-                               /* Accumulate data in the state record while
-                                * the time stamp is not increasing
-                                */
-
-                               if ((seen & seen_basic) == seen_basic && tick > state.tick)
+                               if ((seen & seen_basic) == seen_basic && record.tick != state.tick)

                                        return new AltosRecord(state);
                        }
 
                                        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;
                        switch (record.cmd) {
                        case Altos.AO_LOG_FLIGHT:
                                state.ground_accel = record.a;
                                state.flight = record.b;

+                               seen |= seen_flight;

                                break;
                        case Altos.AO_LOG_SENSOR:
                                state.accel = record.a;
                                state.pres = record.b;
                                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;
+                                       System.out.printf("ground pressure %d altitude %f\n",
+                                                         record.b, state.altitude());
+                                       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;
                                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;
                                break;
                        case Altos.AO_LOG_DEPLOY:
                                state.drogue = record.a;
                                state.main = record.b;

+                               seen |= seen_deploy;
+                               break;
+                       case Altos.AO_LOG_STATE:
+                               System.out.printf("state %d\n", record.a);
+                               state.state = record.a;

                                break;
                        case Altos.AO_LOG_GPS_TIME:
                                break;
                        case Altos.AO_LOG_GPS_TIME:

+                               gps_tick = state.tick;
+                               state.gps = new AltosGPS();
+                               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;
+                               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:
+                               break;
+                       case Altos.AO_LOG_SOFTWARE_VERSION:

                                break;
                        }
                        record = null;
                                break;
                        }
                        record = null;


@@ -113,8 +219,30 @@ public class AltosEepromReader {
 
        public AltosEepromReader (FileInputStream in_input) {
                state = new AltosRecord();
 
        public AltosEepromReader (FileInputStream in_input) {
                state = new AltosRecord();

+               state.state = Altos.ao_flight_pad;
+               state.accel_plus_g = 15758;
+               state.accel_minus_g = 16294;

                input = in_input;
                seen = 0;
                input = in_input;
                seen = 0;

-               done = false;
+               records = new TreeSet<AltosOrderedRecord>();
+
+               int index = 0;
+               int tick = 0;
+
+               try {
+                       for (;;) {
+                               String line = AltosRecord.gets(input);
+                               if (line == null)
+                                       break;
+                               AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick);
+                               if (record == null)
+                                       break;
+                               tick = record.tick;
+                               records.add(record);
+                       }
+               } catch (IOException io) {
+               } catch (ParseException pe) {
+               }
+               record_iterator = records.iterator();

        }
 }
        }
 }

diff --git a/ao-tools/altosui/AltosEepromRecord.java b/ao-tools/altosui/AltosEepromRecord.java
index 5b35935266f4c839edf38cb1823ddc08d2a1cec2..86ac1fd26df67aadbeff272de8fa321debdc277e 100644 (file)
--- a/ao-tools/altosui/AltosEepromRecord.java
+++ b/ao-tools/altosui/AltosEepromRecord.java
@@ -44,25 +44,65 @@ public class AltosEepromRecord {
        public int      tick;
        public int      a;
        public int      b;
        public int      tick;
        public int      a;
        public int      b;

+       String          data;
+       public boolean  tick_valid;

 
        public AltosEepromRecord (String line) throws ParseException {
 
        public AltosEepromRecord (String line) throws ParseException {

+               tick_valid = false;
+               tick = 0;
+               a = 0;
+               b = 0;
+               data = null;

                if (line == null) {
                        cmd = Altos.AO_LOG_INVALID;
                } else {
                        String[] tokens = line.split("\\s+");
 
                if (line == null) {
                        cmd = Altos.AO_LOG_INVALID;
                } else {
                        String[] tokens = line.split("\\s+");
 

-                       if (tokens[0].equals("serial-number")) {
-                               cmd = Altos.AO_LOG_SERIAL_NUMBER;
-                               tick = 0;
-                               a = Integer.parseInt(tokens[1]);
-                               b = 0;
-                       } else {
+                       if (tokens[0].length() == 1) {

                                if (tokens.length != 4)
                                        throw new ParseException(line, 0);
                                cmd = tokens[0].codePointAt(0);
                                if (tokens.length != 4)
                                        throw new ParseException(line, 0);
                                cmd = tokens[0].codePointAt(0);

-                               tick = Integer.parseInt(tokens[1]);
+                               tick = Integer.parseInt(tokens[1],16);
+                               tick_valid = true;
+                               a = Integer.parseInt(tokens[2],16);
+                               b = Integer.parseInt(tokens[3],16);
+                       } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
+                               cmd = Altos.AO_LOG_CONFIG_VERSION;
+                               data = tokens[2];
+                       } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+                               cmd = Altos.AO_LOG_MAIN_DEPLOY;
+                               a = Integer.parseInt(tokens[2]);
+                       } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+                               cmd = Altos.AO_LOG_APOGEE_DELAY;
+                               a = Integer.parseInt(tokens[2]);
+                       } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+                               cmd = Altos.AO_LOG_RADIO_CHANNEL;

                                a = Integer.parseInt(tokens[2]);
                                a = Integer.parseInt(tokens[2]);

-                               b = Integer.parseInt(tokens[3]);
+                       } else if (tokens[0].equals("Callsign:")) {
+                               cmd = Altos.AO_LOG_CALLSIGN;
+                               data = tokens[1].replaceAll("\"","");
+                       } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+                               cmd = Altos.AO_LOG_ACCEL_CAL;
+                               a = Integer.parseInt(tokens[3]);
+                               b = Integer.parseInt(tokens[5]);
+                       } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+                               cmd = Altos.AO_LOG_RADIO_CAL;
+                               a = Integer.parseInt(tokens[2]);
+                       } else if (tokens[0].equals("manufacturer")) {
+                               cmd = Altos.AO_LOG_MANUFACTURER;
+                               data = tokens[1];
+                       } else if (tokens[0].equals("product")) {
+                               cmd = Altos.AO_LOG_PRODUCT;
+                               data = tokens[1];
+                       } else if (tokens[0].equals("serial-number")) {
+                               cmd = Altos.AO_LOG_SERIAL_NUMBER;
+                               a = Integer.parseInt(tokens[1]);
+                       } else if (tokens[0].equals("software-version")) {
+                               cmd = Altos.AO_LOG_SOFTWARE_VERSION;
+                               data = tokens[1];
+                       } else {
+                               cmd = Altos.AO_LOG_INVALID;
+                               data = line;

                        }
                }
        }
                        }
                }
        }

diff --git a/ao-tools/altosui/AltosFlightStatusTableModel.java b/ao-tools/altosui/AltosFlightStatusTableModel.java
index 174dd42ca67b29d42062d20ce4dbbbc7bd90f6f9..4c24b6ace99a794b5ce487cdd4201b048042124c 100644 (file)
--- a/ao-tools/altosui/AltosFlightStatusTableModel.java
+++ b/ao-tools/altosui/AltosFlightStatusTableModel.java
@@ -51,7 +51,7 @@ public class AltosFlightStatusTableModel extends AbstractTableModel {
 
        public void set(AltosState state) {
                setValueAt(String.format("%1.0f", state.height), 0);
 
        public void set(AltosState state) {
                setValueAt(String.format("%1.0f", state.height), 0);

-               setValueAt(state.data.state, 1);
+               setValueAt(state.data.state(), 1);

                setValueAt(state.data.rssi, 2);
                double speed = state.baro_speed;
                if (state.ascent)
                setValueAt(state.data.rssi, 2);
                double speed = state.baro_speed;
                if (state.ascent)

diff --git a/ao-tools/altosui/AltosGPS.java b/ao-tools/altosui/AltosGPS.java
index 6b84d7a57ec29eb145ce603270546d93cb1f1d97..b3ee67e8369186dabbf392efc6a33ae06fa9ec75 100644 (file)
--- a/ao-tools/altosui/AltosGPS.java
+++ b/ao-tools/altosui/AltosGPS.java
@@ -29,8 +29,9 @@ public class AltosGPS {
        }
 
        int     nsat;
        }
 
        int     nsat;

-       boolean gps_locked;
-       boolean gps_connected;
+       boolean locked;
+       boolean connected;
+       boolean date_valid;

        double  lat;            /* degrees (+N -S) */
        double  lon;            /* degrees (+E -W) */
        int     alt;            /* m */
        double  lat;            /* degrees (+N -S) */
        double  lon;            /* degrees (+E -W) */
        int     alt;            /* m */


@@ -77,19 +78,19 @@ public class AltosGPS {
                nsat = AltosParse.parse_int(words[i++]);
                AltosParse.word(words[i++], "sat");
 
                nsat = AltosParse.parse_int(words[i++]);
                AltosParse.word(words[i++], "sat");
 

-               gps_connected = false;
-               gps_locked = false;
+               connected = false;
+               locked = false;

                lat = lon = 0;
                alt = 0;
                ClearGPSTime();
                if ((words[i]).equals("unlocked")) {
                lat = lon = 0;
                alt = 0;
                ClearGPSTime();
                if ((words[i]).equals("unlocked")) {

-                       gps_connected = true;
+                       connected = true;

                        i++;
                } else if ((words[i]).equals("not-connected")) {
                        i++;
                } else if (words.length >= 40) {
                        i++;
                } else if ((words[i]).equals("not-connected")) {
                        i++;
                } else if (words.length >= 40) {

-                       gps_locked = true;
-                       gps_connected = true;
+                       locked = true;
+                       connected = true;

 
                        ParseGPSTime(words[i], words[i+1]); i += 2;
                        lat = AltosParse.parse_coord(words[i++]);
 
                        ParseGPSTime(words[i], words[i+1]); i += 2;
                        lat = AltosParse.parse_coord(words[i++]);


@@ -169,8 +170,8 @@ public class AltosGPS {
 
        public AltosGPS(AltosGPS old) {
                nsat = old.nsat;
 
        public AltosGPS(AltosGPS old) {
                nsat = old.nsat;

-               gps_locked = old.gps_locked;
-               gps_connected = old.gps_connected;
+               locked = old.locked;
+               connected = old.connected;

                lat = old.lat;          /* degrees (+N -S) */
                lon = old.lon;          /* degrees (+E -W) */
                alt = old.alt;          /* m */
                lat = old.lat;          /* degrees (+N -S) */
                lon = old.lon;          /* degrees (+E -W) */
                alt = old.alt;          /* m */


@@ -189,11 +190,13 @@ public class AltosGPS {
                h_error = old.h_error;  /* m */
                v_error = old.v_error;  /* m */
 
                h_error = old.h_error;  /* m */
                v_error = old.v_error;  /* m */
 

-               AltosGPSSat[] cc_gps_sat;       /* tracking data */
-               cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
-               for (int i = 0; i < old.cc_gps_sat.length; i++) {
-                       cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
-                       cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+               if (old.cc_gps_sat != null) {
+                       cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+                       for (int i = 0; i < old.cc_gps_sat.length; i++) {
+                               cc_gps_sat[i] = new AltosGPSSat();
+                               cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+                               cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+                       }

                }
        }
 }
                }
        }
 }

diff --git a/ao-tools/altosui/AltosRecord.java b/ao-tools/altosui/AltosRecord.java
index c3e9d2110d52c9f013a8da6d342acce47878ae8f..3440d935348f074efec3a5d9b53de8557e4b0319 100644 (file)
--- a/ao-tools/altosui/AltosRecord.java
+++ b/ao-tools/altosui/AltosRecord.java
@@ -31,7 +31,7 @@ public class AltosRecord {
        int     flight;
        int     rssi;
        int     status;
        int     flight;
        int     rssi;
        int     status;

-       String  state;
+       int     state;

        int     tick;
        int     accel;
        int     pres;
        int     tick;
        int     accel;
        int     pres;


@@ -72,7 +72,7 @@ public class AltosRecord {
        }
 
        public double pressure() {
        }
 
        public double pressure() {

-               return barometer_to_pressure(pres);
+               return barometer_to_pressure(flight_pres);

        }
 
        public double ground_pressure() {
        }
 
        public double ground_pressure() {


@@ -136,9 +136,8 @@ public class AltosRecord {
                return speed;
        }
 
                return speed;
        }
 

-       public int state() {
-               System.out.printf("state: %s -> %d\n", state, Altos.state(state));
-               return Altos.state(state);
+       public String state() {
+               return Altos.state_name(state);

        }
 
        public static String gets(FileInputStream s) throws IOException {
        }
 
        public static String gets(FileInputStream s) throws IOException {


@@ -188,7 +187,7 @@ public class AltosRecord {
                flight = 0;
                rssi = 0;
                status = 0;
                flight = 0;
                rssi = 0;
                status = 0;

-               state = "startup";
+               state = Altos.ao_flight_startup;

                tick = 0;
                accel = 0;
                pres = 0;
                tick = 0;
                accel = 0;
                pres = 0;

diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java
index fc06f839c5f0b22ed946f5e529a9c2ca198217eb..deeb4c771dcec9fb825d918bea922f75c3ff4024 100644 (file)
--- a/ao-tools/altosui/AltosState.java
+++ b/ao-tools/altosui/AltosState.java
@@ -89,7 +89,7 @@ public class AltosState {
                main_sense = data.main_voltage();
                battery = data.battery_voltage();
                tick = data.tick;
                main_sense = data.main_voltage();
                battery = data.battery_voltage();
                tick = data.tick;

-               state = data.state();
+               state = data.state;

 
                if (prev_state != null) {
 
 
                if (prev_state != null) {
 


@@ -124,7 +124,12 @@ public class AltosState {
                }
 
                if (state == Altos.ao_flight_pad) {
                }
 
                if (state == Altos.ao_flight_pad) {

-                       if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
+                       if (data.gps == null)
+                               System.out.printf("on pad, gps null\n");
+                       else
+                               System.out.printf ("on pad gps lat %f lon %f locked %d nsat %d\n",
+                                                  data.gps.lat, data.gps.lon, data.gps.locked ? 1 : 0, data.gps.nsat);
+                       if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {

                                npad++;
                                if (npad > 1) {
                                        /* filter pad position */
                                npad++;
                                if (npad > 1) {
                                        /* filter pad position */


@@ -159,9 +164,9 @@ public class AltosState {
                if (height > max_height)
                        max_height = height;
                if (data.gps != null) {
                if (height > max_height)
                        max_height = height;
                if (data.gps != null) {

-                       if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+                       if (gps == null || !gps.locked || data.gps.locked)

                                gps = data.gps;
                                gps = data.gps;

-                       if (npad > 0 && gps.gps_locked)
+                       if (npad > 0 && gps.locked)

                                from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
                }
                if (npad > 0) {
                                from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
                }
                if (npad > 0) {

diff --git a/ao-tools/altosui/AltosTelemetry.java b/ao-tools/altosui/AltosTelemetry.java
index f495be1de65b8405f47d78cc97f6675acbfb8d1e..af29b8c04ef5e940e25dd1ca3e796e9dc895fbeb 100644 (file)
--- a/ao-tools/altosui/AltosTelemetry.java
+++ b/ao-tools/altosui/AltosTelemetry.java
@@ -76,7 +76,7 @@ public class AltosTelemetry extends AltosRecord {
                status = AltosParse.parse_hex(words[i++]);
 
                AltosParse.word(words[i++], "STATE");
                status = AltosParse.parse_hex(words[i++]);
 
                AltosParse.word(words[i++], "STATE");

-               state = words[i++];
+               state = Altos.state(words[i++]);

 
                tick = AltosParse.parse_int(words[i++]);
 
 
                tick = AltosParse.parse_int(words[i++]);
 

diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 40663882f3114bd25026bcdcec729f4e61e59cad..2cb0c47935d10ca6c77b70035b56f842c62b6d4d 100644 (file)
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -173,7 +173,7 @@ public class AltosUI extends JFrame {
                else
                        info_add_row(0, "Ground state", "wait (%d)",
                                     state.gps_waiting);
                else
                        info_add_row(0, "Ground state", "wait (%d)",
                                     state.gps_waiting);

-               info_add_row(0, "Rocket state", "%s", state.data.state);
+               info_add_row(0, "Rocket state", "%s", state.data.state());

                info_add_row(0, "Callsign", "%s", state.data.callsign);
                info_add_row(0, "Rocket serial", "%6d", state.data.serial);
                info_add_row(0, "Rocket flight", "%6d", state.data.flight);
                info_add_row(0, "Callsign", "%s", state.data.callsign);
                info_add_row(0, "Rocket serial", "%6d", state.data.serial);
                info_add_row(0, "Rocket flight", "%6d", state.data.flight);


@@ -193,9 +193,9 @@ public class AltosUI extends JFrame {
                if (state.gps == null) {
                        info_add_row(1, "GPS", "not available");
                } else {
                if (state.gps == null) {
                        info_add_row(1, "GPS", "not available");
                } else {

-                       if (state.data.gps.gps_locked)
+                       if (state.data.gps.locked)

                                info_add_row(1, "GPS", "   locked");
                                info_add_row(1, "GPS", "   locked");

-                       else if (state.data.gps.gps_connected)
+                       else if (state.data.gps.connected)

                                info_add_row(1, "GPS", " unlocked");
                        else
                                info_add_row(1, "GPS", "  missing");
                                info_add_row(1, "GPS", " unlocked");
                        else
                                info_add_row(1, "GPS", "  missing");


@@ -321,7 +321,7 @@ public class AltosUI extends JFrame {
 
        private void tell(AltosState state, AltosState old_state) {
                if (old_state == null || old_state.state != state.state) {
 
        private void tell(AltosState state, AltosState old_state) {
                if (old_state == null || old_state.state != state.state) {

-                       voice.speak(state.data.state);
+                       voice.speak(state.data.state());

                        if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
                            state.state > Altos.ao_flight_boost) {
                                voice.speak("max speed: %d meters per second.",
                        if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
                            state.state > Altos.ao_flight_boost) {
                                voice.speak("max speed: %d meters per second.",


@@ -493,7 +493,23 @@ public class AltosUI extends JFrame {
        class ReplayEepromThread extends DisplayThread {
                FileInputStream replay;
 
        class ReplayEepromThread extends DisplayThread {
                FileInputStream replay;
 

-               AltosRecord read () {
+               AltosEepromReader       reader;
+
+               ReplayEepromThread(FileInputStream in, String in_name) {
+                       replay = in;
+                       name = in_name;
+                       reader = new AltosEepromReader (in);
+               }
+
+               AltosRecord read () throws ParseException {
+                       try {
+                               return reader.read();
+                       } catch (IOException ee) {
+                               JOptionPane.showMessageDialog(AltosUI.this,
+                                                             name,
+                                                             "error reading",
+                                                             JOptionPane.ERROR_MESSAGE);
+                       }

                        return null;
                }
 
                        return null;
                }
 


@@ -504,10 +520,10 @@ public class AltosUI extends JFrame {
                        }
                        report();
                }
                        }
                        report();
                }

-
-               ReplayEepromThread(FileInputStream in, String in_name) {
-                       replay = in;
-                       name = in_name;
+               void update(AltosState state) throws InterruptedException {
+                       /* Make it run in realtime after the rocket leaves the pad */
+                       if (state.state > Altos.ao_flight_pad)
+                               Thread.sleep((int) (Math.min(state.time_change,10) * 1000));

                }
        }
 
                }
        }