From: Keith Packard Date: Tue, 30 Jun 2009 18:58:30 +0000 (-0700) Subject: Add telem replay and larger labels X-Git-Tag: 0.5~42 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=2e06772c8b6fd74f86e640ed97f0d5bc8c095c2f;hp=566dde161385263700eaae51095eecfa9b5972ee Add telem replay and larger labels Replays telemetry files in real time Shows height/state/rssi in big values at the top. Signed-off-by: Keith Packard --- diff --git a/aoview/Makefile.am b/aoview/Makefile.am index 86811bfe..28c3d646 100644 --- a/aoview/Makefile.am +++ b/aoview/Makefile.am @@ -5,7 +5,7 @@ if USE_FLITE FLITE_PROG=aoview_flite endif -bin_PROGRAMS=aoview $(FLITE_PROG) +bin_PROGRAMS=aoview $(FLITE_PROG) aoview_slowtelem aoview_LDADD=$(GNOME_LIBS) @@ -23,11 +23,16 @@ aoview_SOURCES = \ aoview_file.c \ aoview_eeprom.c \ aoview_voice.c \ + aoview_replay.c \ + aoview_label.c \ aoview.h aoview_flite_SOURCES = \ aoview_flite.c +aoview_slowtelem_SOURCES = \ + aoview_slowtelem.c + aoview_flite_LDADD=@FLITE_LIBS@ BUILT_SOURCES = aoview_glade.h diff --git a/aoview/aoview.glade b/aoview/aoview.glade index 153db1e3..a43cddea 100644 --- a/aoview/aoview.glade +++ b/aoview/aoview.glade @@ -176,6 +176,22 @@ + + + _Replay + True + True + False + + + + + True + gtk-media-play + + + + @@ -268,6 +284,86 @@ 0 + + + True + 2 + 3 + 3 + True + + + True + Height + center + + + + + True + State + + + 1 + 2 + + + + + True + RSSI + + + 2 + 3 + + + + + True + 2 + 0m + True + + + 1 + 2 + + + + + True + 2 + pad + True + + + 1 + 2 + 1 + 2 + + + + + True + 2 + -50dBm + True + + + 2 + 3 + 1 + 2 + + + + + False + 1 + + True @@ -277,7 +373,7 @@ both - 1 + 2 @@ -539,4 +635,59 @@ You should have received a copy of the GNU General Public License along with AoV + + 5 + True + dialog + True + aoview + False + + + True + vertical + 2 + + + True + end + + + gtk-cancel + True + True + True + True + + + + False + False + 0 + + + + + gtk-ok + True + True + True + True + + + False + False + 1 + + + + + False + end + 0 + + + + + diff --git a/aoview/aoview.h b/aoview/aoview.h index 1ad9e160..d49bd6f4 100644 --- a/aoview/aoview.h +++ b/aoview/aoview.h @@ -83,14 +83,48 @@ struct aostate { double hdop; /* unitless? */ int h_error; /* m */ int v_error; /* m */ + + /* derived data */ + + gboolean ascent; /* going up? */ + + int ground_altitude; + int height; + double speed; + double acceleration; + double battery; + double temperature; + double main_sense; + double drogue_sense; + + int max_height; + double max_acceleration; + double max_speed; + + double pad_lat; + double pad_lon; + double pad_alt; + double pad_lat_total; + double pad_lon_total; + double pad_alt_total; + int npad; + + double distance; + double bearing; }; +/* GPS is 'stable' when we've seen at least this many samples */ +#define MIN_PAD_SAMPLES 10 + void aoview_monitor_disconnect(void); gboolean aoview_monitor_connect(char *tty); +gboolean +aoview_monitor_parse(char *line); + struct aoview_serial * aoview_serial_open(const char *tty); @@ -182,6 +216,8 @@ aoview_table_clear(void); struct aoview_file; +extern char *aoview_file_dir; + void aoview_file_finish(struct aoview_file *file); @@ -227,4 +263,11 @@ void aoview_voice_close(void); void aoview_voice_speak(char *format, ...); +/* aoview_label.c */ + +void aoview_label_init(GladeXML *xml); + +void +aoview_label_show(struct aostate *state); + #endif /* _AOVIEW_H_ */ diff --git a/aoview/aoview_file.c b/aoview/aoview_file.c index 4a8841d6..5288c2f7 100644 --- a/aoview/aoview_file.c +++ b/aoview/aoview_file.c @@ -17,7 +17,7 @@ #include "aoview.h" -static char *aoview_file_dir; +char *aoview_file_dir; #define ALTOS_DIR_PATH "/apps/aoview/log_dir" #define DEFAULT_DIR "AltOS" diff --git a/aoview/aoview_label.c b/aoview/aoview_label.c new file mode 100644 index 00000000..88b747ab --- /dev/null +++ b/aoview/aoview_label.c @@ -0,0 +1,65 @@ +/* + * Copyright © 2009 Keith Packard + * + * 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. + */ + +#include "aoview.h" + +static struct { + char *name; + char *initial_value; + GtkLabel *widget; +} label_widgets[] = { + { "height_label", "Height", NULL }, + { "state_label", "State", NULL }, + { "rssi_label", "RSSI", NULL }, + { "height_value", "0m", NULL }, + { "state_value", "pad", NULL }, + { "rssi_value", "-50dBm", NULL }, +}; + +static void +aoview_label_assign(GtkLabel *widget, char *value) +{ + char *markup; + + markup = g_markup_printf_escaped("%s", value); + gtk_label_set_markup(widget, markup); + g_free(markup); +} + +void +aoview_label_show(struct aostate *state) +{ + char line[1024]; + sprintf(line, "%dm", state->height); + aoview_label_assign(label_widgets[3].widget, line); + + aoview_label_assign(label_widgets[4].widget, state->state); + + sprintf(line, "%ddBm", state->rssi); + aoview_label_assign(label_widgets[5].widget, line); +} + +void +aoview_label_init(GladeXML *xml) +{ + int i; + for (i = 0; i < sizeof(label_widgets)/sizeof(label_widgets[0]); i++) { + label_widgets[i].widget = GTK_LABEL(glade_xml_get_widget(xml, label_widgets[i].name)); + aoview_label_assign(label_widgets[i].widget, label_widgets[i].initial_value); + assert(label_widgets[i].widget); + } +} diff --git a/aoview/aoview_main.c b/aoview/aoview_main.c index 6833a84a..99de1473 100644 --- a/aoview/aoview_main.c +++ b/aoview/aoview_main.c @@ -91,6 +91,10 @@ int main(int argc, char **argv) aoview_eeprom_init(xml); + aoview_replay_init(xml); + + aoview_label_init(xml); + gtk_main(); return 0; diff --git a/aoview/aoview_monitor.c b/aoview/aoview_monitor.c index d01ca771..faa24474 100644 --- a/aoview/aoview_monitor.c +++ b/aoview/aoview_monitor.c @@ -66,16 +66,15 @@ aoview_parse_pos(double *target, char *source) *target = r; } -static void +static struct aostate state; + +gboolean aoview_monitor_parse(char *line) { char *saveptr; char *words[64]; int nword; - struct aostate state; - if (aoview_log_get_serial()) - aoview_log_printf ("%s\n", line); for (nword = 0; nword < 64; nword++) { words[nword] = strtok_r(line, " \t\n", &saveptr); line = NULL; @@ -83,12 +82,11 @@ aoview_monitor_parse(char *line) break; } if (nword < 36) - return; + return FALSE; if (strcmp(words[0], "CALL") != 0) - return; + return FALSE; aoview_parse_string(state.callsign, sizeof (state.callsign), words[1]); aoview_parse_int(&state.serial, words[3]); - aoview_log_set_serial(state.serial); aoview_parse_int(&state.rssi, words[5]); aoview_parse_string(state.state, sizeof (state.state), words[9]); @@ -133,6 +131,7 @@ aoview_monitor_parse(char *line) state.v_error = 0; } aoview_state_notify(&state); + return TRUE; } static void @@ -155,8 +154,13 @@ aoview_monitor_callback(gpointer user_data, continue; if (c == '\n') { monitor_line[monitor_pos] = '\0'; - if (monitor_pos) - aoview_monitor_parse(monitor_line); + if (monitor_pos) { + if (aoview_monitor_parse(monitor_line)) { + aoview_log_set_serial(state.serial); + if (aoview_log_get_serial()) + aoview_log_printf ("%s\n", monitor_line); + } + } monitor_pos = 0; } else if (monitor_pos < MONITOR_LEN) monitor_line[monitor_pos++] = c; diff --git a/aoview/aoview_replay.c b/aoview/aoview_replay.c new file mode 100644 index 00000000..42728961 --- /dev/null +++ b/aoview/aoview_replay.c @@ -0,0 +1,127 @@ +/* + * Copyright © 2009 Keith Packard + * + * 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. + */ + +#include "aoview.h" + +static GtkFileChooser *replay_dialog; +static GtkWidget *replay_ok; +static FILE *replay_file; +static int replay_tick; + +static int +find_tick(char *line, gboolean *is_pad) +{ + char *state = strstr(line, "STATE"); + if (!state) + return -1; + state = strchr(state, ' '); + if (!state) + return -1; + while (*state == ' ') + state++; + *is_pad = strncmp(state, "pad", 3) == 0; + while (*state && !isdigit(*state)) + state++; + return atoi(state); +} + +static void +aoview_replay_close(void) +{ + if (replay_file) { + fclose(replay_file); + replay_file = NULL; + } +} + +static char replay_line[1024]; + +static gboolean +aoview_replay_read(gpointer data); + +static gboolean +aoview_replay_execute(gpointer data) +{ + aoview_monitor_parse(replay_line); + g_idle_add(aoview_replay_read, NULL); + return FALSE; +} + +static gboolean +aoview_replay_read(gpointer data) +{ + int tick; + gboolean is_pad; + + if (!replay_file) + return FALSE; + if (fgets(replay_line, sizeof (replay_line), replay_file)) { + tick = find_tick(replay_line, &is_pad); + if (tick >= 0 && replay_tick >= 0 && !is_pad) { + while (tick < replay_tick) + tick += 65536; + g_timeout_add((tick - replay_tick) * 10, + aoview_replay_execute, + NULL); + } else { + aoview_replay_execute(NULL); + } + replay_tick = tick; + } else { + aoview_replay_close(); + } + return FALSE; +} + +static void +aoview_replay_open(GtkWidget *widget, gpointer data) +{ + char *replay_file_name; + GtkWidget *dialog; + + aoview_replay_close(); + replay_file_name = gtk_file_chooser_get_filename(replay_dialog); + replay_file = fopen(replay_file_name, "r"); + if (!replay_file) { + dialog = gtk_message_dialog_new(GTK_WINDOW(replay_dialog), + GTK_DIALOG_DESTROY_WITH_PARENT, + GTK_MESSAGE_ERROR, + GTK_BUTTONS_CLOSE, + "Error loading file '%s': %s", + replay_file_name, g_strerror(errno)); + gtk_dialog_run(GTK_DIALOG(dialog)); + gtk_widget_destroy(dialog); + } else { + replay_tick = -1; + aoview_replay_read(NULL); + } + gtk_widget_hide(GTK_WIDGET(replay_dialog)); +} + +void +aoview_replay_init(GladeXML *xml) +{ + replay_dialog = GTK_FILE_CHOOSER(glade_xml_get_widget(xml, "ao_replay_dialog")); + assert(replay_dialog); + gtk_file_chooser_set_current_folder(replay_dialog, aoview_file_dir); + + replay_ok = glade_xml_get_widget(xml, "ao_replay_ok"); + assert(replay_ok); + g_signal_connect(G_OBJECT(replay_ok), "clicked", + G_CALLBACK(aoview_replay_open), + replay_dialog); +} diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c index 13b0f73b..4ba1854e 100644 --- a/aoview/aoview_state.c +++ b/aoview/aoview_state.c @@ -18,41 +18,47 @@ #include "aoview.h" #include -static double pad_lat_total; -static double pad_lon_total; -static int pad_alt_total; -static int npad_gps; -static int prev_tick; -static double prev_accel; -static double pad_lat; -static double pad_lon; -static double pad_alt; -static double min_pres; -static double min_accel; - -#define NUM_PAD_SAMPLES 10 +static inline double sqr(a) { return a * a; }; static void aoview_great_circle (double start_lat, double start_lon, double end_lat, double end_lon, double *dist, double *bearing) { - double rad = M_PI / 180; - double earth_radius = 6371.2; + const double rad = M_PI / 180; + const double earth_radius = 6371.2 * 1000; /* in meters */ double lat1 = rad * start_lat; - double lon1 = -rad * start_lon; + double lon1 = rad * -start_lon; double lat2 = rad * end_lat; - double lon2 = -rad * end_lon; - - double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2)); - double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)); - double crs; - if (sin(lon2-lon1) < 0) - crs = acos(argacos); - else - crs = 2 * M_PI - acos(argacos); + double lon2 = rad * -end_lon; + + double d_lat = lat2 - lat1; + double d_lon = lon2 - lon1; + + /* From http://en.wikipedia.org/wiki/Great-circle_distance */ + double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) + + sqr(cos(lat1) * sin(lat2) - + sin(lat1) * cos(lat2) * cos(d_lon))); + double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon); + double d = atan2(vdn,vdd); + double course; + + if (cos(lat1) < 1e-20) { + if (lat1 > 0) + course = M_PI; + else + course = -M_PI; + } else { + if (d < 1e-10) + course = 0; + else + course = acos((sin(lat2)-sin(lat1)*cos(d)) / + (sin(d)*cos(lat1))); + if (sin(lon2-lon1) > 0) + course = 2 * M_PI-course; + } *dist = d * earth_radius; - *bearing = crs * 180/M_PI; + *bearing = course * 180/M_PI; } static void @@ -80,117 +86,119 @@ static char *ascent_states[] = { 0, }; +/* + * Fill out the derived data fields + */ +static void +aoview_state_derive(struct aostate *state) +{ + int i; + + state->ground_altitude = aoview_pres_to_altitude(state->ground_pres); + state->height = aoview_pres_to_altitude(state->flight_pres) - state->ground_altitude; + state->acceleration = (state->ground_accel - state->flight_accel) / 27.0; + state->speed = state->flight_vel / 2700.0; + state->temperature = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01; + state->drogue_sense = state->drogue / 32767.0 * 15.0; + state->main_sense = state->main / 32767.0 * 15.0; + state->battery = state->batt / 32767.0 * 5.0; + if (!strcmp(state->state, "pad")) { + if (state->locked) { + state->npad++; + state->pad_lat_total += state->lat; + state->pad_lon_total += state->lon; + state->pad_alt_total += state->alt; + state->pad_lat = state->pad_lat_total / state->npad; + state->pad_lon = state->pad_lon_total / state->npad; + state->pad_alt = state->pad_alt_total / state->npad; + } + } + state->ascent = FALSE; + for (i = 0; ascent_states[i]; i++) + if (!strcmp(state->state, ascent_states[i])) + state->ascent = TRUE; + + /* Only look at accelerometer data on the way up */ + if (state->ascent && state->acceleration > state->max_acceleration) + state->max_acceleration = state->acceleration; + if (state->ascent && state->speed > state->max_speed) + state->max_speed = state->speed; + + if (state->height > state->max_height) + state->max_height = state->height; + aoview_great_circle(state->pad_lat, state->pad_lon, state->lat, state->lon, + &state->distance, &state->bearing); +} + void aoview_state_speak(struct aostate *state) { static char last_state[32]; int i; gboolean report = FALSE; - static time_t last_time; - time_t this_time; + int this_tick; + static int last_tick; static int last_altitude; int this_altitude; if (strcmp(state->state, last_state)) { - aoview_voice_speak("rocket state now %s\n", state->state); + aoview_voice_speak("%s\n", state->state); if (!strcmp(state->state, "drogue")) - aoview_voice_speak("maximum altitude %d meters\n", - aoview_pres_to_altitude(min_pres) - - aoview_pres_to_altitude(state->ground_pres)); + aoview_voice_speak("apogee %d meters\n", + (int) state->max_height); report = TRUE; strcpy(last_state, state->state); } - this_time = time(NULL); this_altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres); - if (this_time - last_time >= 10) - report = TRUE; - if (this_altitude / 1000 != last_altitude / 1000) - report = TRUE; - + this_tick = state->tick; + while (this_tick < last_tick) + this_tick += 65536; + if (strcmp(state->state, "pad") != 0) { + if (this_altitude / 1000 != last_altitude / 1000) + report = TRUE; + if (this_tick - last_tick >= 10 * 100) + report = TRUE; + } if (report) { - aoview_voice_speak("altitude %d meters\n", + aoview_voice_speak("%d meters\n", this_altitude); - for (i = 0; ascent_states[i]; i++) - if (!strcmp(ascent_states[i], state->state)) { - aoview_voice_speak("speed %d meters per second\n", - state->flight_vel / 2700); - break; - } + if (state->ascent) + aoview_voice_speak("%d meters per second\n", + state->flight_vel / 2700); + last_tick = state->tick; + last_altitude = this_altitude; + printf ("report at tick %d height %d\n", + state->tick, this_altitude); } - - last_time = this_time; - last_altitude = this_altitude; } void aoview_state_notify(struct aostate *state) { - int altitude; - double accel; - int ticks; - double dist; - double bearing; - double temp; - double velocity; - double battery; - double drogue_sense, main_sense; - double max_accel; - - if (!strcmp(state->state, "pad")) { - if (state->locked && npad_gps < NUM_PAD_SAMPLES) { - pad_lat_total += state->lat; - pad_lon_total += state->lon; - pad_alt_total += state->alt; - npad_gps++; - } - if (state->locked && npad_gps <= NUM_PAD_SAMPLES) { - pad_lat = pad_lat_total / npad_gps; - pad_lon = pad_lon_total / npad_gps; - pad_alt = pad_alt_total / npad_gps; - } - min_pres = state->ground_pres; - min_accel = state->ground_accel; - } - if (state->flight_pres < min_pres) - min_pres = state->flight_pres; - if (state->flight_accel < min_accel) - min_accel = state->flight_accel; - altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres); - accel = (state->ground_accel - state->flight_accel) / 27.0; - velocity = state->flight_vel / 2700.0; - max_accel = (state->ground_accel - min_accel) / 27.0; - ticks = state->tick - prev_tick; - temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01; - battery = (state->batt / 32767.0 * 5.0); - drogue_sense = (state->drogue / 32767.0 * 15.0); - main_sense = (state->main / 32767.0 * 15.0); - - prev_accel = accel; - prev_tick = state->tick; + aoview_state_derive(state); aoview_table_start(); - if (npad_gps >= NUM_PAD_SAMPLES) + if (state->npad >= MIN_PAD_SAMPLES) aoview_table_add_row("Ground state", "ready"); else aoview_table_add_row("Ground state", "waiting for gps (%d)", - NUM_PAD_SAMPLES - npad_gps); + MIN_PAD_SAMPLES - state->npad); aoview_table_add_row("Rocket state", "%s", state->state); aoview_table_add_row("Callsign", "%s", state->callsign); aoview_table_add_row("Rocket serial", "%d", state->serial); aoview_table_add_row("RSSI", "%ddBm", state->rssi); - aoview_table_add_row("Height", "%dm", altitude); - aoview_table_add_row("Max height", "%dm", - aoview_pres_to_altitude(min_pres) - - aoview_pres_to_altitude(state->ground_pres)); - aoview_table_add_row("Acceleration", "%gm/s²", accel); - aoview_table_add_row("Max acceleration", "%gm/s²", max_accel); - aoview_table_add_row("Velocity", "%gm/s", velocity); - aoview_table_add_row("Temperature", "%g°C", temp); - aoview_table_add_row("Battery", "%gV", battery); - aoview_table_add_row("Drogue", "%gV", drogue_sense); - aoview_table_add_row("Main", "%gV", main_sense); - aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(state->ground_pres)); + aoview_table_add_row("Height", "%dm", state->height); + aoview_table_add_row("Max height", "%dm", state->max_height); + aoview_table_add_row("Acceleration", "%gm/s²", state->acceleration); + aoview_table_add_row("Max acceleration", "%gm/s²", state->max_acceleration); + aoview_table_add_row("Speed", "%gm/s", state->speed); + aoview_table_add_row("Max Speed", "%gm/s", state->max_speed); + aoview_table_add_row("Temperature", "%g°C", state->temperature); + aoview_table_add_row("Battery", "%gV", state->battery); + aoview_table_add_row("Drogue", "%gV", state->drogue_sense); + aoview_table_add_row("Main", "%gV", state->main_sense); + aoview_table_add_row("Pad altitude", "%dm", state->ground_altitude); aoview_table_add_row("Satellites", "%d", state->nsat); if (state->locked) { aoview_state_add_deg("Latitude", state->lat, 'N', 'S'); @@ -207,36 +215,24 @@ aoview_state_notify(struct aostate *state) state->climb_rate); aoview_table_add_row("GPS precision", "%f(hdop) %dm(h) %dm(v)\n", state->hdop, state->h_error, state->v_error); - aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon, - &dist, &bearing); - aoview_table_add_row("Distance from pad", "%gm", dist * 1000); - aoview_table_add_row("Direction from pad", "%g°", bearing); + aoview_table_add_row("Distance from pad", "%gm", state->distance); + aoview_table_add_row("Direction from pad", "%g°", state->bearing); } else { aoview_table_add_row("GPS", "unlocked"); } - if (npad_gps) { - aoview_state_add_deg("Pad latitude", pad_lat, 'N', 'S'); - aoview_state_add_deg("Pad longitude", pad_lon, 'E', 'W'); - aoview_table_add_row("Pad GPS alt", "%gm", pad_alt); + if (state->npad) { + aoview_state_add_deg("Pad latitude", state->pad_lat, 'N', 'S'); + aoview_state_add_deg("Pad longitude", state->pad_lon, 'E', 'W'); + aoview_table_add_row("Pad GPS alt", "%gm", state->pad_alt); } aoview_table_finish(); + aoview_label_show(state); aoview_state_speak(state); } void aoview_state_new(void) { - pad_lat_total = 0; - pad_lon_total = 0; - pad_alt_total = 0; - npad_gps = 0; - prev_tick = 0; - prev_accel = 0; - pad_lat = 0; - pad_lon = 0; - pad_alt = 0; - min_pres = 32767; - min_accel = 32767; } void