--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Sensor data conversion functions
+ */
+package altosui;
+
+public class AltosConvert {
+ /*
+ * Pressure Sensor Model, version 1.1
+ *
+ * written by Holly Grimes
+ *
+ * Uses the International Standard Atmosphere as described in
+ * "A Quick Derivation relating altitude to air pressure" (version 1.03)
+ * from the Portland State Aerospace Society, except that the atmosphere
+ * is divided into layers with each layer having a different lapse rate.
+ *
+ * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+ * at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+ *
+ * Height measurements use the local tangent plane. The postive z-direction is up.
+ *
+ * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+ * The lapse rate is given in Kelvin/meter, the gas constant for air is given
+ * in Joules/(kilogram-Kelvin).
+ */
+
+ static final double GRAVITATIONAL_ACCELERATION = -9.80665;
+ static final double AIR_GAS_CONSTANT = 287.053;
+ static final double NUMBER_OF_LAYERS = 7;
+ static final double MAXIMUM_ALTITUDE = 84852.0;
+ static final double MINIMUM_PRESSURE = 0.3734;
+ static final double LAYER0_BASE_TEMPERATURE = 288.15;
+ static final double LAYER0_BASE_PRESSURE = 101325;
+
+ /* lapse rate and base altitude for each layer in the atmosphere */
+ static final double[] lapse_rate = {
+ -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+ };
+
+ static final int[] base_altitude = {
+ 0, 11000, 20000, 32000, 47000, 51000, 71000
+ };
+
+ /* outputs atmospheric pressure associated with the given altitude.
+ * altitudes are measured with respect to the mean sea level
+ */
+ static double
+ cc_altitude_to_pressure(double altitude)
+ {
+ double base_temperature = LAYER0_BASE_TEMPERATURE;
+ double base_pressure = LAYER0_BASE_PRESSURE;
+
+ double pressure;
+ double base; /* base for function to determine pressure */
+ double exponent; /* exponent for function to determine pressure */
+ int layer_number; /* identifies layer in the atmosphere */
+ double delta_z; /* difference between two altitudes */
+
+ if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+ return 0;
+
+ /* calculate the base temperature and pressure for the atmospheric layer
+ associated with the inputted altitude */
+ for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+ delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+ if (lapse_rate[layer_number] == 0.0) {
+ exponent = GRAVITATIONAL_ACCELERATION * delta_z
+ / AIR_GAS_CONSTANT / base_temperature;
+ base_pressure *= Math.exp(exponent);
+ }
+ else {
+ base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+ exponent = GRAVITATIONAL_ACCELERATION /
+ (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+ base_pressure *= Math.pow(base, exponent);
+ }
+ base_temperature += delta_z * lapse_rate[layer_number];
+ }
+
+ /* calculate the pressure at the inputted altitude */
+ delta_z = altitude - base_altitude[layer_number];
+ if (lapse_rate[layer_number] == 0.0) {
+ exponent = GRAVITATIONAL_ACCELERATION * delta_z
+ / AIR_GAS_CONSTANT / base_temperature;
+ pressure = base_pressure * Math.exp(exponent);
+ }
+ else {
+ base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+ exponent = GRAVITATIONAL_ACCELERATION /
+ (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+ pressure = base_pressure * Math.pow(base, exponent);
+ }
+
+ return pressure;
+ }
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+ returned is measured with respect to the mean sea level */
+ static double
+ cc_pressure_to_altitude(double pressure)
+ {
+
+ double next_base_temperature = LAYER0_BASE_TEMPERATURE;
+ double next_base_pressure = LAYER0_BASE_PRESSURE;
+
+ double altitude;
+ double base_pressure;
+ double base_temperature;
+ double base; /* base for function to determine base pressure of next layer */
+ double exponent; /* exponent for function to determine base pressure
+ of next layer */
+ double coefficient;
+ int layer_number; /* identifies layer in the atmosphere */
+ int delta_z; /* difference between two altitudes */
+
+ if (pressure < 0) /* illegal pressure */
+ return -1;
+ if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+ return MAXIMUM_ALTITUDE;
+
+ /* calculate the base temperature and pressure for the atmospheric layer
+ associated with the inputted pressure. */
+ layer_number = -1;
+ do {
+ layer_number++;
+ base_pressure = next_base_pressure;
+ base_temperature = next_base_temperature;
+ delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+ if (lapse_rate[layer_number] == 0.0) {
+ exponent = GRAVITATIONAL_ACCELERATION * delta_z
+ / AIR_GAS_CONSTANT / base_temperature;
+ next_base_pressure *= Math.exp(exponent);
+ }
+ else {
+ base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+ exponent = GRAVITATIONAL_ACCELERATION /
+ (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+ next_base_pressure *= Math.pow(base, exponent);
+ }
+ next_base_temperature += delta_z * lapse_rate[layer_number];
+ }
+ while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+ /* calculate the altitude associated with the inputted pressure */
+ if (lapse_rate[layer_number] == 0.0) {
+ coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+ * base_temperature;
+ altitude = base_altitude[layer_number]
+ + coefficient * Math.log(pressure / base_pressure);
+ }
+ else {
+ base = pressure / base_pressure;
+ exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+ / GRAVITATIONAL_ACCELERATION;
+ coefficient = base_temperature / lapse_rate[layer_number];
+ altitude = base_altitude[layer_number]
+ + coefficient * (Math.pow(base, exponent) - 1);
+ }
+
+ return altitude;
+ }
+
+ /*
+ * Values for our MP3H6115A pressure sensor
+ *
+ * From the data sheet:
+ *
+ * Pressure range: 15-115 kPa
+ * Voltage at 115kPa: 2.82
+ * Output scale: 27mV/kPa
+ *
+ *
+ * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
+ * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
+ */
+
+ static final double counts_per_kPa = 27 * 2047 / 3300;
+ static final double counts_at_101_3kPa = 1674.0;
+
+ static double
+ cc_barometer_to_pressure(double count)
+ {
+ return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
+ }
+
+ static double
+ cc_barometer_to_altitude(double baro)
+ {
+ double Pa = cc_barometer_to_pressure(baro);
+ return cc_pressure_to_altitude(Pa);
+ }
+
+ static final double count_per_mss = 27.0;
+
+ static double
+ cc_accelerometer_to_acceleration(double accel, double ground_accel)
+ {
+ return (ground_accel - accel) / count_per_mss;
+ }
+
+ /* Value for the CC1111 built-in temperature sensor
+ * Output voltage at 0°C = 0.755V
+ * Coefficient = 0.00247V/°C
+ * Reference voltage = 1.25V
+ *
+ * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
+ * = (value - 19791.268) / 32768 * 1.25 / 0.00247
+ */
+
+ static double
+ cc_thermometer_to_temperature(double thermo)
+ {
+ return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
+ }
+
+ static double
+ cc_battery_to_voltage(double battery)
+ {
+ return battery / 32767.0 * 5.0;
+ }
+
+ static double
+ cc_ignitor_to_voltage(double ignite)
+ {
+ return ignite / 32767 * 15.0;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import altosui.AltosParse;
+
+
+public class AltosGPS {
+ public class AltosGPSTime {
+ int year;
+ int month;
+ int day;
+ int hour;
+ int minute;
+ int second;
+
+ public AltosGPSTime(String date, String time) throws ParseException {
+ String[] ymd = date.split("-");
+ if (ymd.length != 3)
+ throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
+ year = AltosParse.parse_int(ymd[0]);
+ month = AltosParse.parse_int(ymd[1]);
+ day = AltosParse.parse_int(ymd[2]);
+
+ String[] hms = time.split(":");
+ if (hms.length != 3)
+ throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
+ hour = AltosParse.parse_int(hms[0]);
+ minute = AltosParse.parse_int(hms[1]);
+ second = AltosParse.parse_int(hms[2]);
+ }
+
+ public AltosGPSTime() {
+ year = month = day = 0;
+ hour = minute = second = 0;
+ }
+
+ }
+
+ public class AltosGPSSat {
+ int svid;
+ int c_n0;
+ }
+
+ int nsat;
+ boolean gps_locked;
+ boolean gps_connected;
+ AltosGPSTime gps_time;
+ double lat; /* degrees (+N -S) */
+ double lon; /* degrees (+E -W) */
+ int alt; /* m */
+
+ int gps_extended; /* has extra data */
+ double ground_speed; /* m/s */
+ int course; /* degrees */
+ double climb_rate; /* m/s */
+ double hdop; /* unitless? */
+ int h_error; /* m */
+ int v_error; /* m */
+
+ AltosGPSSat[] cc_gps_sat; /* tracking data */
+
+ public AltosGPS(String[] words, int i) throws ParseException {
+ AltosParse.word(words[i++], "GPS");
+ nsat = AltosParse.parse_int(words[i++]);
+ AltosParse.word(words[i++], "sat");
+
+ gps_connected = false;
+ gps_locked = false;
+ lat = lon = 0;
+ alt = 0;
+ if ((words[i]).equals("unlocked")) {
+ gps_connected = true;
+ gps_time = new AltosGPSTime();
+ i++;
+ } else if (words.length >= 40) {
+ gps_locked = true;
+ gps_connected = true;
+
+ gps_time = new AltosGPSTime(words[i], words[i+1]); i += 2;
+ lat = AltosParse.parse_coord(words[i++]);
+ lon = AltosParse.parse_coord(words[i++]);
+ alt = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "m"));
+ ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+ course = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "°"));
+ climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+ hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+ h_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(herr)"));
+ v_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(verr)"));
+ } else {
+ gps_time = new AltosGPSTime();
+ }
+ AltosParse.word(words[i++], "SAT");
+ int tracking_channels = AltosParse.parse_int(words[i++]);
+ cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
+ for (int chan = 0; chan < tracking_channels; chan++) {
+ cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+ cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.Math;
+
+public class AltosGreatCircle {
+ double distance;
+ double bearing;
+
+ double sqr(double a) { return a * a; }
+
+ static final double rad = Math.PI / 180;
+ static final double earth_radius = 6371.2 * 1000; /* in meters */
+
+ AltosGreatCircle (double start_lat, double start_lon,
+ double end_lat, double end_lon)
+ {
+ double lat1 = rad * start_lat;
+ double lon1 = rad * -start_lon;
+ double lat2 = rad * end_lat;
+ double lon2 = rad * -end_lon;
+
+ double d_lon = lon2 - lon1;
+
+ /* From http://en.wikipedia.org/wiki/Great-circle_distance */
+ double vdn = Math.sqrt(sqr(Math.cos(lat2) * Math.sin(d_lon)) +
+ sqr(Math.cos(lat1) * Math.sin(lat2) -
+ Math.sin(lat1) * Math.cos(lat2) * Math.cos(d_lon)));
+ double vdd = Math.sin(lat1) * Math.sin(lat2) + Math.cos(lat1) * Math.cos(lat2) * Math.cos(d_lon);
+ double d = Math.atan2(vdn,vdd);
+ double course;
+
+ if (Math.cos(lat1) < 1e-20) {
+ if (lat1 > 0)
+ course = Math.PI;
+ else
+ course = -Math.PI;
+ } else {
+ if (d < 1e-10)
+ course = 0;
+ else
+ course = Math.acos((Math.sin(lat2)-Math.sin(lat1)*Math.cos(d)) /
+ (Math.sin(d)*Math.cos(lat1)));
+ if (Math.sin(lon2-lon1) > 0)
+ course = 2 * Math.PI-course;
+ }
+ distance = d * earth_radius;
+ bearing = course * 180/Math.PI;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.text.*;
+import java.lang.*;
+
+public class AltosParse {
+ static int parse_int(String v) throws ParseException {
+ try {
+ return Integer.parseInt(v);
+ } catch (NumberFormatException e) {
+ throw new ParseException("error parsing int " + v, 0);
+ }
+ }
+
+ static int parse_hex(String v) throws ParseException {
+ try {
+ return Integer.parseInt(v, 16);
+ } catch (NumberFormatException e) {
+ throw new ParseException("error parsing hex " + v, 0);
+ }
+ }
+
+ static double parse_double(String v) throws ParseException {
+ try {
+ return Double.parseDouble(v);
+ } catch (NumberFormatException e) {
+ throw new ParseException("error parsing double " + v, 0);
+ }
+ }
+
+ static double parse_coord(String coord) throws ParseException {
+ String[] dsf = coord.split("\\D+");
+
+ if (dsf.length != 3) {
+ throw new ParseException("error parsing coord " + coord, 0);
+ }
+ int deg = parse_int(dsf[0]);
+ int min = parse_int(dsf[1]);
+ int frac = parse_int(dsf[2]);
+
+ double r = deg + (min + frac / 10000.0) / 60.0;
+ if (coord.endsWith("S") || coord.endsWith("W"))
+ r = -r;
+ return r;
+ }
+
+ static String strip_suffix(String v, String suffix) {
+ if (v.endsWith(suffix))
+ return v.substring(0, v.length() - suffix.length());
+ return v;
+ }
+
+ static void word(String v, String m) throws ParseException {
+ if (!v.equals(m)) {
+ throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Track flight state from telemetry data stream
+ */
+
+package altosui;
+
+import altosui.AltosTelemetry;
+import altosui.AltosGPS;
+
+public class AltosState {
+ AltosTelemetry data;
+ AltosTelemetry prev_data;
+
+ /* derived data */
+
+ double report_time;
+
+ int state;
+ boolean ascent; /* going up? */
+
+ double ground_altitude;
+ double height;
+ double speed;
+ double acceleration;
+ double battery;
+ double temperature;
+ double main_sense;
+ double drogue_sense;
+ double baro_speed;
+
+ double max_height;
+ double max_acceleration;
+ double max_speed;
+
+ AltosGPS gps;
+ AltosGPSTracking gps_tracking;
+
+ boolean gps_valid;
+ double pad_lat;
+ double pad_lon;
+ double pad_alt;
+ double pad_lat_total;
+ double pad_lon_total;
+ double pad_alt_total;
+ int npad;
+ int prev_npad;
+
+ AltosGreatCircle from_pad;
+
+ double gps_height;
+
+ int speak_tick;
+ double speak_altitude;
+
+ static double
+ aoview_time()
+ {
+ return System.currentTimeMillis() / 1000.0;
+ }
+
+ public AltosState (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
+ int i;
+ double new_height;
+ double height_change;
+ double time_change;
+ double accel_counts_per_mss;
+ int tick_count;
+
+ data = cur;
+ prev_data = prev;
+ npad = prev_npad;
+ tick_count = data.tick;
+ if (tick_count < prev_data.tick)
+ tick_count += 65536;
+ time_change = (tick_count - prev_data.tick) / 100.0;
+
+ report_time = aoview_time();
+
+ ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres);
+ new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude;
+ height_change = new_height - height;
+ height = new_height;
+ if (time_change > 0)
+ baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0;
+ accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
+ acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
+ speed = data.flight_vel / (accel_counts_per_mss * 100.0);
+ temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
+ drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
+ main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
+ battery = AltosConvert.cc_battery_to_voltage(data.batt);
+ state = data.state();
+ if (state == AltosTelemetry.ao_flight_pad) {
+ if (data.gps.gps_locked && data.gps.nsat >= 4) {
+ npad++;
+ pad_lat_total += data.gps.lat;
+ pad_lon_total += data.gps.lon;
+ pad_alt_total += data.gps.alt;
+ if (npad > 1) {
+ pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0;
+ pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0;
+ pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0;
+ } else {
+ pad_lat = data.gps.lat;
+ pad_lon = data.gps.lon;
+ pad_alt = data.gps.alt;
+ }
+ }
+ }
+ ascent = (AltosTelemetry.ao_flight_boost <= state &&
+ state <= AltosTelemetry.ao_flight_coast);
+
+ /* Only look at accelerometer data on the way up */
+ if (ascent && acceleration > max_acceleration)
+ max_acceleration = acceleration;
+ if (ascent && speed > max_speed)
+ max_speed = speed;
+
+ if (height > max_height)
+ max_height = height;
+ gps.gps_locked = data.gps.gps_locked;
+ gps.gps_connected = data.gps.gps_connected;
+ if (data.gps.gps_locked) {
+ gps = data.gps;
+ gps_valid = true;
+ if (npad > 0)
+ from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+ }
+ if (npad > 0) {
+ gps_height = gps.alt - pad_alt;
+ } else {
+ gps_height = 0;
+ }
+ }
+
+ public AltosState(AltosTelemetry cur) {
+ this(cur, cur, 0);
+ }
+
+ public AltosState (AltosTelemetry cur, AltosState prev) {
+ this(cur, prev.data, prev.npad);
+ if (gps == null) {
+ gps = prev.gps;
+ gps_valid = prev.gps_valid;
+ }
+ if (gps_tracking == null)
+ gps_tracking = prev.gps_tracking;
+ }
+}
import java.lang.*;
import java.text.*;
+import java.util.HashMap;
+import altosui.AltosConvert;
+import altosui.AltosGPS;
/*
* Telemetry data contents
*/
-class AltosGPSTime {
- int year;
- int month;
- int day;
- int hour;
- int minute;
- int second;
-
- int parse_int(String v) throws ParseException {
- try {
- return Integer.parseInt(v);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing GPS value " + v, 0);
- }
- }
-
- public AltosGPSTime(String date, String time) throws ParseException {
- String[] ymd = date.split("-");
- if (ymd.length != 3)
- throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
- year = parse_int(ymd[0]);
- month = parse_int(ymd[1]);
- day = parse_int(ymd[2]);
-
- String[] hms = time.split(":");
- if (hms.length != 3)
- throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
- hour = parse_int(hms[0]);
- minute = parse_int(hms[1]);
- second = parse_int(hms[2]);
- }
-
- public AltosGPSTime() {
- year = month = day = 0;
- hour = minute = second = 0;
- }
-};
-
-class AltosGPS {
- int nsat;
- int gps_locked;
- int gps_connected;
- AltosGPSTime gps_time;
- double lat; /* degrees (+N -S) */
- double lon; /* degrees (+E -W) */
- int alt; /* m */
-
- int gps_extended; /* has extra data */
- double ground_speed; /* m/s */
- int course; /* degrees */
- double climb_rate; /* m/s */
- double hdop; /* unitless? */
- int h_error; /* m */
- int v_error; /* m */
-
-}
-
-class AltosGPSSat {
- int svid;
- int c_n0;
-}
-
-class AltosGPSTracking {
- int channels;
- AltosGPSSat[] cc_gps_sat;
-}
/*
* The telemetry data stream is a bit of a mess at present, with no consistent
int accel_plus_g;
int accel_minus_g;
AltosGPS gps;
- AltosGPSTracking gps_tracking;
-
- int parse_int(String v) throws ParseException {
- try {
- return Integer.parseInt(v);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing int " + v, 0);
- }
- }
- int parse_hex(String v) throws ParseException {
- try {
- return Integer.parseInt(v, 16);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing hex " + v, 0);
- }
+ public static final int ao_flight_startup = 0;
+ public static final int ao_flight_idle = 1;
+ public static final int ao_flight_pad = 2;
+ public static final int ao_flight_boost = 3;
+ public static final int ao_flight_fast = 4;
+ public static final int ao_flight_coast = 5;
+ public static final int ao_flight_drogue = 6;
+ public static final int ao_flight_main = 7;
+ public static final int ao_flight_landed = 8;
+ public static final int ao_flight_invalid = 9;
+
+ static HashMap<String,Integer> states = new HashMap<String,Integer>();
+ {
+ states.put("startup", ao_flight_startup);
+ states.put("idle", ao_flight_idle);
+ states.put("pad", ao_flight_pad);
+ states.put("boost", ao_flight_boost);
+ states.put("fast", ao_flight_fast);
+ states.put("coast", ao_flight_coast);
+ states.put("drogue", ao_flight_drogue);
+ states.put("main", ao_flight_main);
+ states.put("landed", ao_flight_landed);
+ states.put("invalid", ao_flight_invalid);
}
- double parse_double(String v) throws ParseException {
- try {
- return Double.parseDouble(v);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing double " + v, 0);
- }
- }
-
- double parse_coord(String coord) throws ParseException {
- String[] dsf = coord.split("\\D+");
-
- if (dsf.length != 3) {
- throw new ParseException("error parsing coord " + coord, 0);
- }
- int deg = parse_int(dsf[0]);
- int min = parse_int(dsf[1]);
- int frac = parse_int(dsf[2]);
-
- double r = deg + (min + frac / 10000.0) / 60.0;
- if (coord.endsWith("S") || coord.endsWith("W"))
- r = -r;
- return r;
+ public int state() {
+ if (states.containsKey(state))
+ return states.get(state);
+ return ao_flight_invalid;
}
- String strip_suffix(String v, String suffix) {
- if (v.endsWith(suffix))
- return v.substring(0, v.length() - suffix.length());
- return v;
+ public double altitude() {
+ return AltosConvert.cc_pressure_to_altitude(AltosConvert.cc_barometer_to_pressure(pres));
}
- void word(String v, String m) throws ParseException {
- if (!v.equals(m)) {
- throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
- }
+ public double pad_altitude() {
+ return AltosConvert.cc_pressure_to_altitude(AltosConvert.cc_barometer_to_pressure(ground_pres));
}
public AltosTelemetry(String line) throws ParseException {
int i = 0;
- word (words[i++], "VERSION");
- version = parse_int(words[i++]);
+ AltosParse.word (words[i++], "VERSION");
+ version = AltosParse.parse_int(words[i++]);
- word (words[i++], "CALL");
+ AltosParse.word (words[i++], "CALL");
callsign = words[i++];
- word (words[i++], "SERIAL");
- serial = parse_int(words[i++]);
+ AltosParse.word (words[i++], "SERIAL");
+ serial = AltosParse.parse_int(words[i++]);
- word (words[i++], "FLIGHT");
- flight = parse_int(words[i++]);
+ AltosParse.word (words[i++], "FLIGHT");
+ flight = AltosParse.parse_int(words[i++]);
- word(words[i++], "RSSI");
- rssi = parse_int(words[i++]);
+ AltosParse.word(words[i++], "RSSI");
+ rssi = AltosParse.parse_int(words[i++]);
- word(words[i++], "STATUS");
- status = parse_hex(words[i++]);
+ AltosParse.word(words[i++], "STATUS");
+ status = AltosParse.parse_hex(words[i++]);
- word(words[i++], "STATE");
+ AltosParse.word(words[i++], "STATE");
state = words[i++];
- tick = parse_int(words[i++]);
-
- word(words[i++], "a:");
- accel = parse_int(words[i++]);
-
- word(words[i++], "p:");
- pres = parse_int(words[i++]);
-
- word(words[i++], "t:");
- temp = parse_int(words[i++]);
-
- word(words[i++], "v:");
- batt = parse_int(words[i++]);
-
- word(words[i++], "d:");
- drogue = parse_int(words[i++]);
-
- word(words[i++], "m:");
- main = parse_int(words[i++]);
-
- word(words[i++], "fa:");
- flight_accel = parse_int(words[i++]);
-
- word(words[i++], "ga:");
- ground_accel = parse_int(words[i++]);
-
- word(words[i++], "fv:");
- flight_vel = parse_int(words[i++]);
-
- word(words[i++], "fp:");
- flight_pres = parse_int(words[i++]);
-
- word(words[i++], "gp:");
- ground_pres = parse_int(words[i++]);
-
- word(words[i++], "a+:");
- accel_plus_g = parse_int(words[i++]);
-
- word(words[i++], "a-:");
- accel_minus_g = parse_int(words[i++]);
-
- word(words[i++], "GPS");
- gps = new AltosGPS();
- gps.nsat = parse_int(words[i++]);
- word(words[i++], "sat");
-
- gps.gps_connected = 0;
- gps.gps_locked = 0;
- gps.lat = gps.lon = 0;
- gps.alt = 0;
- if ((words[i]).equals("unlocked")) {
- gps.gps_connected = 1;
- gps.gps_time = new AltosGPSTime();
- i++;
- } else if (words.length >= 40) {
- gps.gps_locked = 1;
- gps.gps_connected = 1;
-
- gps.gps_time = new AltosGPSTime(words[i], words[i+1]); i += 2;
- gps.lat = parse_coord(words[i++]);
- gps.lon = parse_coord(words[i++]);
- gps.alt = parse_int(strip_suffix(words[i++], "m"));
- gps.ground_speed = parse_double(strip_suffix(words[i++], "m/s(H)"));
- gps.course = parse_int(strip_suffix(words[i++], "°"));
- gps.climb_rate = parse_double(strip_suffix(words[i++], "m/s(V)"));
- gps.hdop = parse_double(strip_suffix(words[i++], "(hdop)"));
- gps.h_error = parse_int(strip_suffix(words[i++], "(herr)"));
- gps.v_error = parse_int(strip_suffix(words[i++], "(verr)"));
- } else {
- gps.gps_time = new AltosGPSTime();
- }
- word(words[i++], "SAT");
- gps_tracking = new AltosGPSTracking();
- gps_tracking.channels = parse_int(words[i++]);
- gps_tracking.cc_gps_sat = new AltosGPSSat[gps_tracking.channels];
- for (int chan = 0; chan < gps_tracking.channels; chan++) {
- gps_tracking.cc_gps_sat[chan] = new AltosGPSSat();
- gps_tracking.cc_gps_sat[chan].svid = parse_int(words[i++]);
- gps_tracking.cc_gps_sat[chan].c_n0 = parse_int(words[i++]);
- }
+ tick = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a:");
+ accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "p:");
+ pres = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "t:");
+ temp = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "v:");
+ batt = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "d:");
+ drogue = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "m:");
+ main = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fa:");
+ flight_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "ga:");
+ ground_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fv:");
+ flight_vel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fp:");
+ flight_pres = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "gp:");
+ ground_pres = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a+:");
+ accel_plus_g = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a-:");
+ accel_minus_g = AltosParse.parse_int(words[i++]);
+
}
}
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.AbstractTableModel;
import java.io.*;
import java.util.*;
import java.text.*;
import altosui.AltosSerial;
import altosui.AltosSerialMonitor;
+import altosui.AltosTelemetry;
+import altosui.AltosState;
class AltosUIMonitor implements AltosSerialMonitor {
public void data(String data) {
}
}
+class AltosFlightStatusTableModel extends AbstractTableModel {
+ private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
+ private Object[] data = { 0, "idle", 0, 0 };
+
+ public int getColumnCount() { return columnNames.length; }
+ public int getRowCount() { return 1; }
+ public String getColumnName(int col) { return columnNames[col]; }
+ public Object getValueAt(int row, int col) { return data[col]; }
+
+ public void setValueAt(Object value, int col) {
+ data[col] = value;
+ fireTableCellUpdated(0, col);
+ }
+
+ public void setValueAt(Object value, int row, int col) {
+ setValueAt(value, col);
+ }
+
+ public void set(AltosState state) {
+ setValueAt(state.height, 0);
+ setValueAt(state.data.state, 1);
+ setValueAt(state.data.rssi, 2);
+ setValueAt(state.speed, 3);
+ }
+}
+
public class AltosUI extends JFrame {
private int channel = -1;
}
final JFileChooser deviceChooser = new JFileChooser();
+ final JFileChooser logdirChooser = new JFileChooser();
+ final String logdirName = "TeleMetrum";
+ File logdir = null;
+
+ private void setLogdir() {
+ if (logdir == null)
+ logdir = new File(logdirChooser.getCurrentDirectory(), logdirName);
+ logdirChooser.setCurrentDirectory(logdir);
+ }
+
+ private void makeLogdir() {
+ setLogdir();
+ if (!logdir.exists()) {
+ if (!logdir.mkdirs())
+ JOptionPane.showMessageDialog(AltosUI.this,
+ logdir.getName(),
+ "Cannot create directory",
+ JOptionPane.ERROR_MESSAGE);
+ } else if (!logdir.isDirectory()) {
+ JOptionPane.showMessageDialog(AltosUI.this,
+ logdir.getName(),
+ "Is not a directory",
+ JOptionPane.ERROR_MESSAGE);
+ }
+ }
private void PickSerialDevice() {
java.util.Enumeration<CommPortIdentifier> port_list = CommPortIdentifier.getPortIdentifiers();
return null;
}
+ /*
+ * Open an existing telemetry file and replay it in realtime
+ */
+
private void Replay() {
-// int returnVal = deviceChooser.showOpenDialog(AltosUI.this);
+ setLogdir();
+ logdirChooser.setDialogTitle("Select Telemetry File");
+ logdirChooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
+ int returnVal = logdirChooser.showOpenDialog(AltosUI.this);
- /* if (returnVal == JFileChooser.APPROVE_OPTION) */ {
-// File file = deviceChooser.getSelectedFile();
-// String filename = file.getName();
- String filename = "/home/keithp/src/cc1111/flights/2010-02-13-serial-051-flight-002.telem";
+ if (returnVal == JFileChooser.APPROVE_OPTION) {
+ File file = logdirChooser.getSelectedFile();
+ if (file == null)
+ System.out.println("No file selected?");
+ String filename = file.getName();
try {
-// FileInputStream replay = new FileInputStream(file);
- FileInputStream replay = new FileInputStream(filename);
+ FileInputStream replay = new FileInputStream(file);
String line;
try {
.SUFFIXES: .java .class
CLASSPATH=..:/usr/share/java/*
-CLASSFILES=AltosSerialMonitor.class AltosSerial.class AltosTelemetry.class AltosUI.class
+CLASSFILES=\
+ AltosConvert.class \
+ AltosGPS.class \
+ AltosGreatCircle.class \
+ AltosParse.class \
+ AltosSerialMonitor.class \
+ AltosSerial.class \
+ AltosState.class \
+ AltosTelemetry.class \
+ AltosUI.class
+
JAVAFLAGS=-Xlint:unchecked
all: $(CLASSFILES) altosui
projects / fw / altos / commitdiff