+commit b6da90b4627dde1fe88240c38c51559d8f781dd0
+Author: Bdale Garbee <bdale@gag.com>
+Date: Wed Aug 11 17:15:39 2010 -0400
+
+ update changelogs for Debian build
+
+commit 4918f73fd0a0f3f5d52907f95a0ec385e901d447
+Author: Bdale Garbee <bdale@gag.com>
+Date: Wed Aug 11 08:50:27 2010 -0400
+
+ update changelogs for Debian build
+
+commit f63f16a70e4d0535667a6364cafcbff026ee6a8c
+Author: Bdale Garbee <bdale@gag.com>
+Date: Wed Aug 11 08:36:59 2010 -0400
+
+ update changelogs for Debian build
+
+commit a0a9b445a4d379730b67720f8d7b682d5206a582
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 15:16:48 2010 -0400
+
+ update changelogs for Debian build
+
+commit e075b8623533965b1b77b77d38c2df32f5f77fce
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 15:16:24 2010 -0400
+
+ update changelogs for Debian build
+
+commit 410de62715a0830f03b0a65d6c7730dff51e6ef4
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 15:15:04 2010 -0400
+
+ add freetts as a build dep
+
+commit 0b85160c44d934f3d1352c1c07c296d01ceffc32
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 15:02:17 2010 -0400
+
+ update changelogs for Debian build
+
+commit d091099753d9cae01c4805812425ebea19ec09cf
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 15:00:46 2010 -0400
+
+ update changelogs for Debian build
+
+commit aed55ef1ce45b0f6e6fefeebf50be97607b31d65
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 15:00:15 2010 -0400
+
+ working on java packaging details
+
+commit 02f17f2cd26189e2676a9dc0d86bd959ed0bc3f4
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Aug 5 00:54:05 2010 -0400
+
+ move to science menu
+
+commit e3a9e3815db3f290e28b40ae02aa654f515cfc37
+Author: Bdale Garbee <bdale@gag.com>
+Date: Sat Jul 31 10:55:27 2010 -0600
+
+ update changelogs for Debian build
+
+commit 8fc261c2b77bb8aab201a0649a84b5ffa236ce26
+Author: Bdale Garbee <bdale@gag.com>
+Date: Sat Jul 31 10:55:07 2010 -0600
+
+ see if my new freetts package works
+
+commit 2f114c7ff6b0deddb790d34139bb11ac37f8c0da
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Jul 29 13:30:36 2010 -0600
+
+ update changelogs for Debian build
+
+commit 7877496d47ce6d25210c0e1c6500666dbfc0876c
+Merge: c71061a 4cf39b1
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 12:07:49 2010 -0700
+
+ Merge remote branch 'origin/master'
+
+commit c71061a37d3d3be2855b61cde33d2371989d7681
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 12:06:06 2010 -0700
+
+ Make altosui test script executable
+
+commit 4cf39b13a574cb656999cf329f5b08e7f910604b
+Author: Bdale Garbee <bdale@gag.com>
+Date: Thu Jul 29 12:57:31 2010 -0600
+
+ update changelogs for Debian build
+
commit d1848193d8208388e4ccdfbed4e5663a9ba04dd3
Author: Bdale Garbee <bdale@gag.com>
Date: Thu Jul 29 12:56:59 2010 -0600
add a jdk to the build deps
+commit 9ad4984124b6c05114feac4c4ac078dc248ce16a
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 11:56:24 2010 -0700
+
+ altosui: remove option to install to alternate volume
+
commit 2e797b18f0724caf7aaf96f45997998c7416f34e
Author: Bdale Garbee <bdale@gag.com>
Date: Thu Jul 29 12:50:57 2010 -0600
ugh, fixing failure due to aborted build
+commit 6fb8546575f6d99676dbb1dce190b0b7cf24b657
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 11:45:56 2010 -0700
+
+ Moved Mac OS packaging to altosui dir
+
commit 865d5cdf8931ffc796f608e3e12d7c5a70832825
Author: Bdale Garbee <bdale@gag.com>
Date: Thu Jul 29 12:45:18 2010 -0600
add swig as a build dep
+commit 91d75fb3919f606a1956bf8c6423a8012d99a56a
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 11:45:12 2010 -0700
+
+ altosui: Switch eeprom extension back to .eeprom
+
commit 33ffd89d5a64c991d28bd7369b61e1faa18f605b
Author: Bdale Garbee <bdale@gag.com>
Date: Thu Jul 29 12:40:52 2010 -0600
update changelogs for Debian build
+commit 6f86db5e0360bef26b21336769b7635e3a11e160
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 11:24:47 2010 -0700
+
+ Add Mac OS X packaging bits
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 950f0a8c54e5835ee5d8b0aea360bd8362c21bc5
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 11:09:19 2010 -0700
+
+ altosui: construct Darwin application directory
+
+ This adds the necessary files and build steps to construct
+ AltosUI.app on a Darwin system.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 669c5f52abb972a82ed6efbee7a8c7d20afb5cd0
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 10:48:52 2010 -0700
+
+ libaltos: build with java src encoding UTF8
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit efa0e034a161f4852947cbac06537d6ba4422a0e
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 10:48:25 2010 -0700
+
+ altosui: remove debug printf
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 53c279b9e96da8b69837ae84038a78ca5707f2a5
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 10:45:02 2010 -0700
+
+ altosui: Close serial, join reader thread, free altos_file
+
+ Separating out the close and free actions ensures that the reader thread will not
+ access freed memory or dereference a null pointer while shutting down the
+ connection to the serial device. Otherwise, a race condition exists between the
+ serial close and the thread join.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit b8bc9994d8bfde6116c8a509e70ddf45fc4decce
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 10:24:59 2010 -0700
+
+ altosui: Remove unnecessary freetts .jar files
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit e33dbbba94ce42295e9fed9f4ba7e46f9eff1517
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Jul 29 10:24:09 2010 -0700
+
+ altosui: check for closed serial device before reading
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
commit 27a2d0c00acf78628428c20ab68e2bfba06340da
Author: Bdale Garbee <bdale@gag.com>
Date: Thu Jul 29 11:02:38 2010 -0600
* minute (0-59)
* second (0-59)
* from_pad_dist (m)
- * from_pad_dir (deg true)
+ * from_pad_azimuth (deg true)
+ * from_pad_range (m)
+ * from_pad_elevation (deg from horizon)
*
* GPS Sat data
* hdop
}
void write_gps_header() {
- out.printf("connected locked nsat latitude longitude altitude year month day hour minute second pad_dist pad_dir");
+ out.printf("connected locked nsat latitude longitude altitude year month day hour minute second pad_dist pad_range pad_az pad_el");
}
void write_gps(AltosRecord record) {
if (from_pad == null)
from_pad = new AltosGreatCircle();
- out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%4.0f",
+ out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f",
gps.connected?1:0,
gps.locked?1:0,
gps.nsat,
gps.minute,
gps.second,
from_pad.distance,
- from_pad.bearing);
+ state.range,
+ from_pad.bearing,
+ state.elevation);
}
void write_header() {
*/
class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
- int index;
+ public int index;
public AltosOrderedRecord(String line, int in_index, int prev_tick)
throws ParseException {
index = in_index;
}
+ public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+ super(in_cmd, in_tick, in_a, in_b);
+ index = in_index;
+ }
+
public int compareTo(AltosOrderedRecord o) {
int tick_diff = tick - o.tick;
if (tick_diff != 0)
int boost_tick;
+ boolean saw_gps_date;
+
+ boolean missing_gps_time;
+
public AltosRecord read() throws IOException, ParseException {
for (;;) {
if (record == null) {
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;
+ System.out.printf("GPS %2d:%02d:%02d%s%s%s %d\n",
+ state.gps.hour, state.gps.minute, state.gps.second,
+ state.gps.connected ? " connected" : "",
+ state.gps.locked ? " locked" : "",
+ state.gps.date_valid ? " date_valid" : "",
+ state.gps.nsat);
break;
case Altos.AO_LOG_GPS_LAT:
int lat32 = record.a | (record.b << 16);
}
}
+ /*
+ * Given an AO_LOG_GPS_TIME record with correct time, and one
+ * missing time, rewrite the missing time values with the good
+ * ones, assuming that the difference between them is 'diff' seconds
+ */
+ void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
+
+ int diff = (bad.tick - good.tick + 50) / 100;
+
+ int hour = (good.a & 0xff);
+ int minute = (good.a >> 8);
+ int second = (good.b & 0xff);
+ int flags = (good.b >> 8);
+ int seconds = hour * 3600 + minute * 60 + second;
+
+ int new_seconds = seconds + diff;
+ if (new_seconds < 0)
+ new_seconds += 24 * 3600;
+ int new_second = (new_seconds % 60);
+ int new_minutes = (new_seconds / 60);
+ int new_minute = (new_minutes % 60);
+ int new_hours = (new_minutes / 60);
+ int new_hour = (new_hours % 24);
+
+ System.out.printf("Synthesizing time good %2d:%02d:%02d bad %2d:%02d:%02d\n",
+ hour, minute, second,
+ new_hour, new_minute, new_second);
+
+ bad.a = new_hour + (new_minute << 8);
+ bad.b = new_second + (flags << 8);
+ }
+
/*
* Read the whole file, dumping records into a RB tree so
* we can enumerate them in time order -- the eeprom data
seen = 0;
records = new TreeSet<AltosOrderedRecord>();
+ AltosOrderedRecord last_gps_time = null;
+
int index = 0;
int tick = 0;
+ boolean missing_time = false;
+
try {
for (;;) {
String line = AltosRecord.gets(input);
saw_boost = true;
boost_tick = tick;
}
+
+ /* Two firmware bugs caused the loss of some GPS data.
+ * The flight date would never be recorded, and often
+ * the flight time would get overwritten by another
+ * record. Detect the loss of the GPS date and fix up the
+ * missing time records
+ */
+ if (record.cmd == Altos.AO_LOG_GPS_DATE)
+ saw_gps_date = true;
+
+ /* go back and fix up any missing time values */
+ if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+ last_gps_time = record;
+ if (missing_time) {
+ System.out.printf("Going back to clean up broken GPS time records\n");
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ while (iterator.hasNext()) {
+ AltosOrderedRecord old = iterator.next();
+ if (old.cmd == Altos.AO_LOG_GPS_TIME) {
+ System.out.printf("Old time record %d, %d\n", old.a, old.b);
+ }
+ if (old.cmd == Altos.AO_LOG_GPS_TIME &&
+ old.a == -1 && old.b == -1)
+ {
+ update_time(record, old);
+ }
+ }
+ missing_time = false;
+ }
+ }
+
+ if (record.cmd == Altos.AO_LOG_GPS_LAT) {
+ if (last_gps_time == null || last_gps_time.tick != record.tick) {
+ AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
+ record.tick,
+ -1, -1, index-1);
+ if (last_gps_time != null)
+ update_time(last_gps_time, add_gps_time);
+ else {
+ System.out.printf("early GPS missing time\n");
+ missing_time = true;
+ }
+ records.add(add_gps_time);
+ record.index = index++;
+ }
+ }
records.add(record);
}
} catch (IOException io) {
public int tick;
public int a;
public int b;
- String data;
+ public String data;
public boolean tick_valid;
public AltosEepromRecord (String line) throws ParseException {
}
}
+ public AltosEepromRecord(int in_cmd, int in_tick, int in_a, int in_b) {
+ tick_valid = true;
+ cmd = in_cmd;
+ tick = in_tick;
+ a = in_a;
+ b = in_b;
+ }
}
boolean gps_ready;
AltosGreatCircle from_pad;
+ double elevation; /* from pad */
+ double range; /* total distance */
double gps_height;
}
if (state == Altos.ao_flight_pad) {
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
+ if (data.gps != null && data.gps.locked) {
npad++;
if (npad > 1) {
/* filter pad position */
if (data.gps != null) {
if (gps == null || !gps.locked || data.gps.locked)
gps = data.gps;
- if (npad > 0 && gps.locked)
+ if (npad > 0 && gps.locked) {
from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+ }
}
+ elevation = 0;
+ range = -1;
if (npad > 0) {
gps_height = gps.alt - pad_alt;
+ if (from_pad != null) {
+ elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
+ range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+ }
} else {
gps_height = 0;
}
private AltosState state;
int reported_landing;
- public void report(boolean last) {
+ public synchronized void report(boolean last) {
if (state == null)
return;
}
/* If the rocket isn't on the pad, then report height */
- if (state.state > Altos.ao_flight_pad) {
+ if (Altos.ao_flight_drogue <= state.state &&
+ state.state < Altos.ao_flight_landed &&
+ state.range >= 0)
+ {
+ voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
+ (int) (state.height + 0.5),
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.elevation + 0.5),
+ (int) (state.range + 0.5));
+ } else if (state.state > Altos.ao_flight_pad) {
voice.speak("%d meters", (int) (state.height + 0.5));
} else {
reported_landing = 0;
* either we've got a landed report or we haven't heard from it in
* a long time
*/
- if (!state.ascent &&
+ if (state.state >= Altos.ao_flight_drogue &&
(last ||
System.currentTimeMillis() - state.report_time >= 15000 ||
state.state == Altos.ao_flight_landed))
else
voice.speak("rocket may have crashed");
if (state.from_pad != null)
- voice.speak("bearing %d degrees, range %d meters",
+ voice.speak("Bearing %d degrees, range %d meters.",
(int) (state.from_pad.bearing + 0.5),
(int) (state.from_pad.distance + 0.5));
++reported_landing;
state = null;
try {
for (;;) {
- Thread.sleep(10000);
+ Thread.sleep(20000);
report(false);
}
} catch (InterruptedException ie) {
}
public void notice(AltosState new_state) {
+ AltosState old_state = state;
state = new_state;
+ if (old_state != null && old_state.state != state.state)
+ report(false);
}
}
Main-Class: altosui.AltosUI
-Class-Path: freetts.jar
+Class-Path: /usr/share/java/freetts.jar
+altos (0.6+303+gb6da90b) unstable; urgency=low
+
+ * add freetts as a build dep
+ * move to science menu
+ * working on java packaging details
+
+ -- Bdale Garbee <bdale@gag.com> Wed, 11 Aug 2010 22:11:28 -0400
+
+altos (0.6+292+g8fc261c) unstable; urgency=low
+
+ * see if my new freetts package works
+
+ -- Bdale Garbee <bdale@gag.com> Sat, 31 Jul 2010 10:55:21 -0600
+
+altos (0.6+290+g7877496) unstable; urgency=low
+
+ [ Keith Packard ]
+ * altosui: check for closed serial device before reading
+ * altosui: Remove unnecessary freetts .jar files
+ * altosui: Close serial, join reader thread, free altos_file
+ * altosui: remove debug printf
+ * libaltos: build with java src encoding UTF8
+ * altosui: construct Darwin application directory
+ * Add Mac OS X packaging bits
+ * altosui: Switch eeprom extension back to .eeprom
+ * Moved Mac OS packaging to altosui dir
+ * altosui: remove option to install to alternate volume
+ * Make altosui test script executable
+
+ -- Bdale Garbee <bdale@gag.com> Thu, 29 Jul 2010 13:30:19 -0600
+
altos (0.6+277+gd184819) unstable; urgency=low
[ Bdale Garbee ]
projects / fw / altos / commitdiff