+/*
+ * 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 org.altusmetrum.altoslib_3;
+
+import java.io.*;
+import java.util.*;
+
+public class AltosCSV implements AltosWriter {
+ File name;
+ PrintStream out;
+ boolean header_written;
+ boolean seen_boost;
+ int boost_tick;
+ LinkedList<AltosState> pad_states;
+ AltosState state;
+
+ static final int ALTOS_CSV_VERSION = 5;
+
+ /* Version 4 format:
+ *
+ * General info
+ * version number
+ * serial number
+ * flight number
+ * callsign
+ * time (seconds since boost)
+ * clock (tick count / 100)
+ * rssi
+ * link quality
+ *
+ * Flight status
+ * state
+ * state name
+ *
+ * Basic sensors
+ * acceleration (m/s²)
+ * pressure (mBar)
+ * altitude (m)
+ * height (m)
+ * accelerometer speed (m/s)
+ * barometer speed (m/s)
+ * temp (°C)
+ * battery (V)
+ * drogue (V)
+ * main (V)
+ *
+ * Advanced sensors (if available)
+ * accel_x (m/s²)
+ * accel_y (m/s²)
+ * accel_z (m/s²)
+ * gyro_x (d/s)
+ * gyro_y (d/s)
+ * gyro_z (d/s)
+ * mag_x (g)
+ * mag_y (g)
+ * mag_z (g)
+ *
+ * GPS data (if available)
+ * connected (1/0)
+ * locked (1/0)
+ * nsat (used for solution)
+ * latitude (°)
+ * longitude (°)
+ * altitude (m)
+ * year (e.g. 2010)
+ * month (1-12)
+ * day (1-31)
+ * hour (0-23)
+ * minute (0-59)
+ * second (0-59)
+ * from_pad_dist (m)
+ * from_pad_azimuth (deg true)
+ * from_pad_range (m)
+ * from_pad_elevation (deg from horizon)
+ * hdop
+ *
+ * GPS Sat data
+ * C/N0 data for all 32 valid SDIDs
+ *
+ * Companion data
+ * companion_id (1-255. 10 is TeleScience)
+ * time of last companion data (seconds since boost)
+ * update_period (0.1-2.55 minimum telemetry interval)
+ * channels (0-12)
+ * channel data for all 12 possible channels
+ */
+
+ void write_general_header() {
+ out.printf("version,serial,flight,call,time,clock,rssi,lqi");
+ }
+
+ void write_general(AltosState state) {
+ out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
+ ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign,
+ (double) state.time, (double) state.tick / 100.0,
+ state.rssi,
+ state.status & 0x7f);
+ }
+
+ void write_flight_header() {
+ out.printf("state,state_name");
+ }
+
+ void write_flight(AltosState state) {
+ out.printf("%d,%8s", state.state, state.state_name());
+ }
+
+ void write_basic_header() {
+ out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
+ }
+
+ void write_basic(AltosState state) {
+ out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
+ state.acceleration(),
+ state.pressure(),
+ state.altitude(),
+ state.height(),
+ state.speed(),
+ state.speed(),
+ state.temperature,
+ state.battery_voltage,
+ state.apogee_voltage,
+ state.main_voltage);
+ }
+
+ void write_advanced_header() {
+ out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
+ }
+
+ void write_advanced(AltosState state) {
+ AltosIMU imu = state.imu;
+ AltosMag mag = state.mag;
+
+ if (imu == null)
+ imu = new AltosIMU();
+ if (mag == null)
+ mag = new AltosMag();
+ out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
+ imu.accel_x, imu.accel_y, imu.accel_z,
+ imu.gyro_x, imu.gyro_y, imu.gyro_z,
+ mag.x, mag.y, mag.z);
+ }
+
+ void write_gps_header() {
+ out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
+ }
+
+ void write_gps(AltosState state) {
+ AltosGPS gps = state.gps;
+ if (gps == null)
+ gps = new AltosGPS();
+
+ AltosGreatCircle from_pad = state.from_pad;
+ if (from_pad == null)
+ from_pad = new AltosGreatCircle();
+
+ out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
+ gps.connected?1:0,
+ gps.locked?1:0,
+ gps.nsat,
+ gps.lat,
+ gps.lon,
+ gps.alt,
+ gps.year,
+ gps.month,
+ gps.day,
+ gps.hour,
+ gps.minute,
+ gps.second,
+ from_pad.distance,
+ state.range,
+ from_pad.bearing,
+ state.elevation,
+ gps.hdop);
+ }
+
+ void write_gps_sat_header() {
+ for(int i = 1; i <= 32; i++) {
+ out.printf("sat%02d", i);
+ if (i != 32)
+ out.printf(",");
+ }
+ }
+
+ void write_gps_sat(AltosState state) {
+ AltosGPS gps = state.gps;
+ for(int i = 1; i <= 32; i++) {
+ int c_n0 = 0;
+ if (gps != null && gps.cc_gps_sat != null) {
+ for(int j = 0; j < gps.cc_gps_sat.length; j++)
+ if (gps.cc_gps_sat[j].svid == i) {
+ c_n0 = gps.cc_gps_sat[j].c_n0;
+ break;
+ }
+ }
+ out.printf ("%3d", c_n0);
+ if (i != 32)
+ out.printf(",");
+ }
+ }
+
+ void write_companion_header() {
+ out.printf("companion_id,companion_time,companion_update,companion_channels");
+ for (int i = 0; i < 12; i++)
+ out.printf(",companion_%02d", i);
+ }
+
+ void write_companion(AltosState state) {
+ AltosCompanion companion = state.companion;
+
+ int channels_written = 0;
+ if (companion == null) {
+ out.printf("0,0,0,0");
+ } else {
+ out.printf("%3d,%5.2f,%5.2f,%2d",
+ companion.board_id,
+ (companion.tick - boost_tick) / 100.0,
+ companion.update_period / 100.0,
+ companion.channels);
+ for (; channels_written < companion.channels; channels_written++)
+ out.printf(",%5d", companion.companion_data[channels_written]);
+ }
+ for (; channels_written < 12; channels_written++)
+ out.printf(",0");
+ }
+
+ void write_header(boolean advanced, boolean gps, boolean companion) {
+ out.printf("#"); write_general_header();
+ out.printf(","); write_flight_header();
+ out.printf(","); write_basic_header();
+ if (advanced)
+ out.printf(","); write_advanced_header();
+ if (gps) {
+ out.printf(","); write_gps_header();
+ out.printf(","); write_gps_sat_header();
+ }
+ if (companion) {
+ out.printf(","); write_companion_header();
+ }
+ out.printf ("\n");
+ }
+
+ void write_one(AltosState state) {
+ write_general(state); out.printf(",");
+ write_flight(state); out.printf(",");
+ write_basic(state); out.printf(",");
+ if (state.imu != null || state.mag != null)
+ write_advanced(state);
+ if (state.gps != null) {
+ out.printf(",");
+ write_gps(state); out.printf(",");
+ write_gps_sat(state);
+ }
+ if (state.companion != null) {
+ out.printf(",");
+ write_companion(state);
+ }
+ out.printf ("\n");
+ }
+
+ void flush_pad() {
+ while (!pad_states.isEmpty()) {
+ write_one (pad_states.remove());
+ }
+ }
+
+ public void write(AltosState state) {
+ if (state.state == AltosLib.ao_flight_startup)
+ return;
+ if (!header_written) {
+ write_header(state.imu != null || state.mag != null,
+ state.gps != null, state.companion != null);
+ header_written = true;
+ }
+ if (!seen_boost) {
+ if (state.state >= AltosLib.ao_flight_boost) {
+ seen_boost = true;
+ boost_tick = state.tick;
+ flush_pad();
+ }
+ }
+ if (seen_boost)
+ write_one(state);
+ else
+ pad_states.add(state);
+ }
+
+ public PrintStream out() {
+ return out;
+ }
+
+ public void close() {
+ if (!pad_states.isEmpty()) {
+ boost_tick = pad_states.element().tick;
+ flush_pad();
+ }
+ out.close();
+ }
+
+ public void write(AltosStateIterable states) {
+ states.write_comments(out());
+ for (AltosState state : states)
+ write(state);
+ }
+
+ public AltosCSV(PrintStream in_out, File in_name) {
+ name = in_name;
+ out = in_out;
+ pad_states = new LinkedList<AltosState>();
+ }
+
+ public AltosCSV(File in_name) throws FileNotFoundException {
+ this(new PrintStream(in_name), in_name);
+ }
+
+ public AltosCSV(String in_string) throws FileNotFoundException {
+ this(new File(in_string));
+ }
+}
projects / fw / altos / commitdiff