From: Keith Packard Date: Tue, 3 Jan 2012 04:57:57 +0000 (-0800) Subject: altosui: Move eeprom managment code to library X-Git-Tag: 1.0.9.6~116 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=a4ccdd253a9873c16f194a63a79f0c26feaafa29 altosui: Move eeprom managment code to library Signed-off-by: Keith Packard --- diff --git a/altosui/AltosEepromIterable.java b/altosui/AltosEepromIterable.java deleted file mode 100644 index 11cb97e4..00000000 --- a/altosui/AltosEepromIterable.java +++ /dev/null @@ -1,481 +0,0 @@ -/* - * Copyright © 2010 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. - */ - -package altosui; - -import java.awt.*; -import java.awt.event.*; -import javax.swing.*; -import javax.swing.filechooser.FileNameExtensionFilter; -import javax.swing.table.*; -import java.io.*; -import java.util.*; -import java.text.*; -import java.util.prefs.*; -import java.util.concurrent.LinkedBlockingQueue; -import org.altusmetrum.AltosLib.*; - -/* - * AltosRecords with an index field so they can be sorted by tick while preserving - * the original ordering for elements with matching ticks - */ -class AltosOrderedRecord extends AltosEepromRecord implements Comparable { - - public int index; - - public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid) - throws ParseException { - super(line); - if (prev_tick_valid) { - tick |= (prev_tick & ~0xffff); - if (tick < prev_tick) { - if (prev_tick - tick > 0x8000) - tick += 0x10000; - } else { - if (tick - prev_tick > 0x8000) - tick -= 0x10000; - } - } - 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 String toString() { - return String.format("%d.%d %04x %04x %04x", - cmd, index, tick, a, b); - } - - public int compareTo(AltosOrderedRecord o) { - int tick_diff = tick - o.tick; - if (tick_diff != 0) - return tick_diff; - return index - o.index; - } -} - -public class AltosEepromIterable extends AltosRecordIterable { - - 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; - - boolean has_accel; - boolean has_gps; - boolean has_ignite; - - AltosEepromRecord flight_record; - AltosEepromRecord gps_date_record; - - TreeSet records; - - LinkedList list; - - class EepromState { - int seen; - int n_pad_samples; - double ground_pres; - int gps_tick; - int boost_tick; - int sensor_tick; - - EepromState() { - seen = 0; - n_pad_samples = 0; - ground_pres = 0.0; - gps_tick = 0; - } - } - - void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) { - state.tick = record.tick; - switch (record.cmd) { - case Altos.AO_LOG_FLIGHT: - eeprom.seen |= seen_flight; - state.ground_accel = record.a; - state.flight_accel = record.a; - state.flight = record.b; - eeprom.boost_tick = record.tick; - break; - case Altos.AO_LOG_SENSOR: - state.accel = record.a; - state.pres = record.b; - if (state.state < Altos.ao_flight_boost) { - eeprom.n_pad_samples++; - eeprom.ground_pres += state.pres; - state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples); - state.flight_pres = state.ground_pres; - } else { - state.flight_pres = (state.flight_pres * 15 + state.pres) / 16; - } - state.flight_accel = (state.flight_accel * 15 + state.accel) / 16; - if ((eeprom.seen & seen_sensor) == 0) - eeprom.sensor_tick = record.tick - 1; - state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick); - eeprom.seen |= seen_sensor; - eeprom.sensor_tick = record.tick; - has_accel = true; - break; - case Altos.AO_LOG_PRESSURE: - state.pres = record.b; - state.flight_pres = state.pres; - if (eeprom.n_pad_samples == 0) { - eeprom.n_pad_samples++; - state.ground_pres = state.pres; - } - eeprom.seen |= seen_sensor; - break; - case Altos.AO_LOG_TEMP_VOLT: - state.temp = record.a; - state.batt = record.b; - eeprom.seen |= seen_temp_volt; - break; - case Altos.AO_LOG_DEPLOY: - state.drogue = record.a; - state.main = record.b; - eeprom.seen |= seen_deploy; - has_ignite = true; - break; - case Altos.AO_LOG_STATE: - state.state = record.a; - break; - case Altos.AO_LOG_GPS_TIME: - eeprom.gps_tick = state.tick; - AltosGPS old = state.gps; - state.gps = new AltosGPS(); - - /* GPS date doesn't get repeated through the file */ - if (old != null) { - state.gps.year = old.year; - state.gps.month = old.month; - state.gps.day = old.day; - } - 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.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >> - Altos.AO_GPS_NUM_SAT_SHIFT; - state.new_gps = true; - has_gps = true; - 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 == eeprom.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) + 2000; - 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: - state.serial = record.a; - break; - case Altos.AO_LOG_SOFTWARE_VERSION: - break; - } - state.seen |= eeprom.seen; - } - - LinkedList make_list() { - LinkedList list = new LinkedList(); - Iterator iterator = records.iterator(); - AltosOrderedRecord record = null; - AltosRecord state = new AltosRecord(); - boolean last_reported = false; - EepromState eeprom = new EepromState(); - - state.state = Altos.ao_flight_pad; - state.accel_plus_g = 15758; - state.accel_minus_g = 16294; - - /* Pull in static data from the flight and gps_date records */ - if (flight_record != null) - update_state(state, flight_record, eeprom); - if (gps_date_record != null) - update_state(state, gps_date_record, eeprom); - - while (iterator.hasNext()) { - record = iterator.next(); - if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) { - AltosRecord r = new AltosRecord(state); - r.time = (r.tick - eeprom.boost_tick) / 100.0; - list.add(r); - } - update_state(state, record, eeprom); - } - AltosRecord r = new AltosRecord(state); - r.time = (r.tick - eeprom.boost_tick) / 100.0; - list.add(r); - return list; - } - - public Iterator iterator() { - if (list == null) - list = make_list(); - return list.iterator(); - } - - public boolean has_gps() { return has_gps; } - public boolean has_accel() { return has_accel; } - public boolean has_ignite() { return has_ignite; } - - public void write_comments(PrintStream out) { - Iterator iterator = records.iterator(); - out.printf("# Comments\n"); - while (iterator.hasNext()) { - AltosOrderedRecord record = iterator.next(); - switch (record.cmd) { - case Altos.AO_LOG_CONFIG_VERSION: - out.printf("# Config version: %s\n", record.data); - break; - case Altos.AO_LOG_MAIN_DEPLOY: - out.printf("# Main deploy: %s\n", record.a); - break; - case Altos.AO_LOG_APOGEE_DELAY: - out.printf("# Apogee delay: %s\n", record.a); - break; - case Altos.AO_LOG_RADIO_CHANNEL: - out.printf("# Radio channel: %s\n", record.a); - break; - case Altos.AO_LOG_CALLSIGN: - out.printf("# Callsign: %s\n", record.data); - break; - case Altos.AO_LOG_ACCEL_CAL: - out.printf ("# Accel cal: %d %d\n", record.a, record.b); - break; - case Altos.AO_LOG_RADIO_CAL: - out.printf ("# Radio cal: %d\n", record.a); - break; - case Altos.AO_LOG_MAX_FLIGHT_LOG: - out.printf ("# Max flight log: %d\n", record.a); - break; - case Altos.AO_LOG_MANUFACTURER: - out.printf ("# Manufacturer: %s\n", record.data); - break; - case Altos.AO_LOG_PRODUCT: - out.printf ("# Product: %s\n", record.data); - break; - case Altos.AO_LOG_SERIAL_NUMBER: - out.printf ("# Serial number: %d\n", record.a); - break; - case Altos.AO_LOG_SOFTWARE_VERSION: - out.printf ("# Software version: %s\n", record.data); - break; - case Altos.AO_LOG_BARO_RESERVED: - out.printf ("# Baro reserved: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_SENS: - out.printf ("# Baro sens: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_OFF: - out.printf ("# Baro off: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_TCS: - out.printf ("# Baro tcs: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_TCO: - out.printf ("# Baro tco: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_TREF: - out.printf ("# Baro tref: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_TEMPSENS: - out.printf ("# Baro tempsens: %d\n", record.a); - break; - case Altos.AO_LOG_BARO_CRC: - out.printf ("# Baro crc: %d\n", record.a); - break; - } - } - } - - /* - * 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; - - /* Make sure this looks like a good GPS value */ - if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4) - flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT); - flags |= Altos.AO_GPS_RUNNING; - flags |= Altos.AO_GPS_VALID; - - 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); - - 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 - * are sometimes out of order with GPS data getting timestamps - * matching the first packet out of the GPS unit but not - * written until the final GPS packet has been received. - */ - public AltosEepromIterable (FileInputStream input) { - records = new TreeSet(); - - AltosOrderedRecord last_gps_time = null; - - int index = 0; - int prev_tick = 0; - boolean prev_tick_valid = false; - boolean missing_time = false; - - try { - for (;;) { - String line = AltosRecord.gets(input); - if (line == null) - break; - AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid); - if (record == null) - break; - if (record.cmd == Altos.AO_LOG_INVALID) - continue; - prev_tick = record.tick; - if (record.cmd < Altos.AO_LOG_CONFIG_VERSION) - prev_tick_valid = true; - if (record.cmd == Altos.AO_LOG_FLIGHT) { - flight_record = record; - continue; - } - - /* 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) { - gps_date_record = record; - continue; - } - - /* go back and fix up any missing time values */ - if (record.cmd == Altos.AO_LOG_GPS_TIME) { - last_gps_time = record; - if (missing_time) { - Iterator iterator = records.iterator(); - while (iterator.hasNext()) { - AltosOrderedRecord old = iterator.next(); - 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 - missing_time = true; - - records.add(add_gps_time); - record.index = index++; - } - } - records.add(record); - - /* Bail after reading the 'landed' record; we're all done */ - if (record.cmd == Altos.AO_LOG_STATE && - record.a == Altos.ao_flight_landed) - break; - } - } catch (IOException io) { - } catch (ParseException pe) { - } - try { - input.close(); - } catch (IOException ie) { - } - } -} diff --git a/altosui/AltosEepromRecord.java b/altosui/AltosEepromRecord.java deleted file mode 100644 index ea003a1e..00000000 --- a/altosui/AltosEepromRecord.java +++ /dev/null @@ -1,147 +0,0 @@ -/* - * Copyright © 2010 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. - */ - -package altosui; - -import java.awt.*; -import java.awt.event.*; -import javax.swing.*; -import javax.swing.filechooser.FileNameExtensionFilter; -import javax.swing.table.*; -import java.io.*; -import java.util.*; -import java.text.*; -import java.util.prefs.*; -import java.util.concurrent.*; -import org.altusmetrum.AltosLib.*; - -import libaltosJNI.*; - -public class AltosEepromRecord { - public int cmd; - public int tick; - public int a; - public int b; - public String data; - public boolean tick_valid; - - static final int record_length = 8; - - public AltosEepromRecord (AltosEepromChunk chunk, int start) throws ParseException { - - cmd = chunk.data(start); - tick_valid = true; - - tick_valid = !chunk.erased(start, record_length); - if (tick_valid) { - if (AltosConvert.checksum(chunk.data, start, record_length) != 0) - throw new ParseException(String.format("invalid checksum at 0x%x", - chunk.address + start), 0); - } else { - cmd = Altos.AO_LOG_INVALID; - } - - tick = chunk.data16(start + 2); - a = chunk.data16(start + 4); - b = chunk.data16(start + 6); - - data = null; - } - - public AltosEepromRecord (String line) { - tick_valid = false; - tick = 0; - a = 0; - b = 0; - data = null; - if (line == null) { - cmd = Altos.AO_LOG_INVALID; - data = ""; - } else { - try { - String[] tokens = line.split("\\s+"); - - if (tokens[0].length() == 1) { - if (tokens.length != 4) { - cmd = Altos.AO_LOG_INVALID; - data = line; - } else { - cmd = tokens[0].codePointAt(0); - 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]); - } 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("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) { - cmd = Altos.AO_LOG_MAX_FLIGHT_LOG; - a = Integer.parseInt(tokens[3]); - } 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("log-format")) { - cmd = Altos.AO_LOG_LOG_FORMAT; - 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; - } - } catch (NumberFormatException ne) { - cmd = Altos.AO_LOG_INVALID; - data = line; - } - } - } - - 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; - } -} diff --git a/altosui/Makefile.am b/altosui/Makefile.am index 01732749..a168b6fc 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -43,8 +43,6 @@ altosui_JAVA = \ AltosEepromLog.java \ AltosEepromManage.java \ AltosEepromMonitor.java \ - AltosEepromIterable.java \ - AltosEepromRecord.java \ AltosEepromTeleScience.java \ AltosEepromMega.java \ AltosEepromMegaIterable.java \ diff --git a/altosui/altoslib/Makefile.am b/altosui/altoslib/Makefile.am index cce9b4c4..ad4d2d98 100644 --- a/altosui/altoslib/Makefile.am +++ b/altosui/altoslib/Makefile.am @@ -15,6 +15,8 @@ AltosLib_JAVA = \ $(SRC)/AltosConvert.java \ $(SRC)/AltosCRCException.java \ $(SRC)/AltosEepromChunk.java \ + $(SRC)/AltosEepromIterable.java \ + $(SRC)/AltosEepromRecord.java \ $(SRC)/AltosFrequency.java \ $(SRC)/AltosGPS.java \ $(SRC)/AltosGPSSat.java \ diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosEepromIterable.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosEepromIterable.java new file mode 100644 index 00000000..f1397c7b --- /dev/null +++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosEepromIterable.java @@ -0,0 +1,475 @@ +/* + * Copyright © 2010 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. + */ + +package org.altusmetrum.AltosLib; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.prefs.*; +import java.util.concurrent.LinkedBlockingQueue; + +/* + * AltosRecords with an index field so they can be sorted by tick while preserving + * the original ordering for elements with matching ticks + */ +class AltosOrderedRecord extends AltosEepromRecord implements Comparable { + + public int index; + + public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid) + throws ParseException { + super(line); + if (prev_tick_valid) { + tick |= (prev_tick & ~0xffff); + if (tick < prev_tick) { + if (prev_tick - tick > 0x8000) + tick += 0x10000; + } else { + if (tick - prev_tick > 0x8000) + tick -= 0x10000; + } + } + 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 String toString() { + return String.format("%d.%d %04x %04x %04x", + cmd, index, tick, a, b); + } + + public int compareTo(AltosOrderedRecord o) { + int tick_diff = tick - o.tick; + if (tick_diff != 0) + return tick_diff; + return index - o.index; + } +} + +public class AltosEepromIterable extends AltosRecordIterable { + + 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; + + boolean has_accel; + boolean has_gps; + boolean has_ignite; + + AltosEepromRecord flight_record; + AltosEepromRecord gps_date_record; + + TreeSet records; + + LinkedList list; + + class EepromState { + int seen; + int n_pad_samples; + double ground_pres; + int gps_tick; + int boost_tick; + int sensor_tick; + + EepromState() { + seen = 0; + n_pad_samples = 0; + ground_pres = 0.0; + gps_tick = 0; + } + } + + void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) { + state.tick = record.tick; + switch (record.cmd) { + case AltosLib.AO_LOG_FLIGHT: + eeprom.seen |= seen_flight; + state.ground_accel = record.a; + state.flight_accel = record.a; + state.flight = record.b; + eeprom.boost_tick = record.tick; + break; + case AltosLib.AO_LOG_SENSOR: + state.accel = record.a; + state.pres = record.b; + if (state.state < AltosLib.ao_flight_boost) { + eeprom.n_pad_samples++; + eeprom.ground_pres += state.pres; + state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples); + state.flight_pres = state.ground_pres; + } else { + state.flight_pres = (state.flight_pres * 15 + state.pres) / 16; + } + state.flight_accel = (state.flight_accel * 15 + state.accel) / 16; + if ((eeprom.seen & seen_sensor) == 0) + eeprom.sensor_tick = record.tick - 1; + state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick); + eeprom.seen |= seen_sensor; + eeprom.sensor_tick = record.tick; + has_accel = true; + break; + case AltosLib.AO_LOG_PRESSURE: + state.pres = record.b; + state.flight_pres = state.pres; + if (eeprom.n_pad_samples == 0) { + eeprom.n_pad_samples++; + state.ground_pres = state.pres; + } + eeprom.seen |= seen_sensor; + break; + case AltosLib.AO_LOG_TEMP_VOLT: + state.temp = record.a; + state.batt = record.b; + eeprom.seen |= seen_temp_volt; + break; + case AltosLib.AO_LOG_DEPLOY: + state.drogue = record.a; + state.main = record.b; + eeprom.seen |= seen_deploy; + has_ignite = true; + break; + case AltosLib.AO_LOG_STATE: + state.state = record.a; + break; + case AltosLib.AO_LOG_GPS_TIME: + eeprom.gps_tick = state.tick; + AltosGPS old = state.gps; + state.gps = new AltosGPS(); + + /* GPS date doesn't get repeated through the file */ + if (old != null) { + state.gps.year = old.year; + state.gps.month = old.month; + state.gps.day = old.day; + } + 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 & AltosLib.AO_GPS_RUNNING) != 0; + state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; + state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> + AltosLib.AO_GPS_NUM_SAT_SHIFT; + state.new_gps = true; + has_gps = true; + break; + case AltosLib.AO_LOG_GPS_LAT: + int lat32 = record.a | (record.b << 16); + state.gps.lat = (double) lat32 / 1e7; + break; + case AltosLib.AO_LOG_GPS_LON: + int lon32 = record.a | (record.b << 16); + state.gps.lon = (double) lon32 / 1e7; + break; + case AltosLib.AO_LOG_GPS_ALT: + state.gps.alt = record.a; + break; + case AltosLib.AO_LOG_GPS_SAT: + if (state.tick == eeprom.gps_tick) { + int svid = record.a; + int c_n0 = record.b >> 8; + state.gps.add_sat(svid, c_n0); + } + break; + case AltosLib.AO_LOG_GPS_DATE: + state.gps.year = (record.a & 0xff) + 2000; + state.gps.month = record.a >> 8; + state.gps.day = record.b & 0xff; + break; + + case AltosLib.AO_LOG_CONFIG_VERSION: + break; + case AltosLib.AO_LOG_MAIN_DEPLOY: + break; + case AltosLib.AO_LOG_APOGEE_DELAY: + break; + case AltosLib.AO_LOG_RADIO_CHANNEL: + break; + case AltosLib.AO_LOG_CALLSIGN: + state.callsign = record.data; + break; + case AltosLib.AO_LOG_ACCEL_CAL: + state.accel_plus_g = record.a; + state.accel_minus_g = record.b; + break; + case AltosLib.AO_LOG_RADIO_CAL: + break; + case AltosLib.AO_LOG_MANUFACTURER: + break; + case AltosLib.AO_LOG_PRODUCT: + break; + case AltosLib.AO_LOG_SERIAL_NUMBER: + state.serial = record.a; + break; + case AltosLib.AO_LOG_SOFTWARE_VERSION: + break; + } + state.seen |= eeprom.seen; + } + + LinkedList make_list() { + LinkedList list = new LinkedList(); + Iterator iterator = records.iterator(); + AltosOrderedRecord record = null; + AltosRecord state = new AltosRecord(); + boolean last_reported = false; + EepromState eeprom = new EepromState(); + + state.state = AltosLib.ao_flight_pad; + state.accel_plus_g = 15758; + state.accel_minus_g = 16294; + + /* Pull in static data from the flight and gps_date records */ + if (flight_record != null) + update_state(state, flight_record, eeprom); + if (gps_date_record != null) + update_state(state, gps_date_record, eeprom); + + while (iterator.hasNext()) { + record = iterator.next(); + if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) { + AltosRecord r = new AltosRecord(state); + r.time = (r.tick - eeprom.boost_tick) / 100.0; + list.add(r); + } + update_state(state, record, eeprom); + } + AltosRecord r = new AltosRecord(state); + r.time = (r.tick - eeprom.boost_tick) / 100.0; + list.add(r); + return list; + } + + public Iterator iterator() { + if (list == null) + list = make_list(); + return list.iterator(); + } + + public boolean has_gps() { return has_gps; } + public boolean has_accel() { return has_accel; } + public boolean has_ignite() { return has_ignite; } + + public void write_comments(PrintStream out) { + Iterator iterator = records.iterator(); + out.printf("# Comments\n"); + while (iterator.hasNext()) { + AltosOrderedRecord record = iterator.next(); + switch (record.cmd) { + case AltosLib.AO_LOG_CONFIG_VERSION: + out.printf("# Config version: %s\n", record.data); + break; + case AltosLib.AO_LOG_MAIN_DEPLOY: + out.printf("# Main deploy: %s\n", record.a); + break; + case AltosLib.AO_LOG_APOGEE_DELAY: + out.printf("# Apogee delay: %s\n", record.a); + break; + case AltosLib.AO_LOG_RADIO_CHANNEL: + out.printf("# Radio channel: %s\n", record.a); + break; + case AltosLib.AO_LOG_CALLSIGN: + out.printf("# Callsign: %s\n", record.data); + break; + case AltosLib.AO_LOG_ACCEL_CAL: + out.printf ("# Accel cal: %d %d\n", record.a, record.b); + break; + case AltosLib.AO_LOG_RADIO_CAL: + out.printf ("# Radio cal: %d\n", record.a); + break; + case AltosLib.AO_LOG_MAX_FLIGHT_LOG: + out.printf ("# Max flight log: %d\n", record.a); + break; + case AltosLib.AO_LOG_MANUFACTURER: + out.printf ("# Manufacturer: %s\n", record.data); + break; + case AltosLib.AO_LOG_PRODUCT: + out.printf ("# Product: %s\n", record.data); + break; + case AltosLib.AO_LOG_SERIAL_NUMBER: + out.printf ("# Serial number: %d\n", record.a); + break; + case AltosLib.AO_LOG_SOFTWARE_VERSION: + out.printf ("# Software version: %s\n", record.data); + break; + case Altos.AO_LOG_BARO_RESERVED: + out.printf ("# Baro reserved: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_SENS: + out.printf ("# Baro sens: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_OFF: + out.printf ("# Baro off: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_TCS: + out.printf ("# Baro tcs: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_TCO: + out.printf ("# Baro tco: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_TREF: + out.printf ("# Baro tref: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_TEMPSENS: + out.printf ("# Baro tempsens: %d\n", record.a); + break; + case Altos.AO_LOG_BARO_CRC: + out.printf ("# Baro crc: %d\n", record.a); + break; + } + } + } + + /* + * 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; + + /* Make sure this looks like a good GPS value */ + if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4) + flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT); + flags |= AltosLib.AO_GPS_RUNNING; + flags |= AltosLib.AO_GPS_VALID; + + 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); + + 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 + * are sometimes out of order with GPS data getting timestamps + * matching the first packet out of the GPS unit but not + * written until the final GPS packet has been received. + */ + public AltosEepromIterable (FileInputStream input) { + records = new TreeSet(); + + AltosOrderedRecord last_gps_time = null; + + int index = 0; + int prev_tick = 0; + boolean prev_tick_valid = false; + boolean missing_time = false; + + try { + for (;;) { + String line = AltosRecord.gets(input); + if (line == null) + break; + AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid); + if (record == null) + break; + if (record.cmd == AltosLib.AO_LOG_INVALID) + continue; + prev_tick = record.tick; + if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION) + prev_tick_valid = true; + if (record.cmd == AltosLib.AO_LOG_FLIGHT) { + flight_record = record; + continue; + } + + /* 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 == AltosLib.AO_LOG_GPS_DATE) { + gps_date_record = record; + continue; + } + + /* go back and fix up any missing time values */ + if (record.cmd == AltosLib.AO_LOG_GPS_TIME) { + last_gps_time = record; + if (missing_time) { + Iterator iterator = records.iterator(); + while (iterator.hasNext()) { + AltosOrderedRecord old = iterator.next(); + if (old.cmd == AltosLib.AO_LOG_GPS_TIME && + old.a == -1 && old.b == -1) + { + update_time(record, old); + } + } + missing_time = false; + } + } + + if (record.cmd == AltosLib.AO_LOG_GPS_LAT) { + if (last_gps_time == null || last_gps_time.tick != record.tick) { + AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME, + record.tick, + -1, -1, index-1); + if (last_gps_time != null) + update_time(last_gps_time, add_gps_time); + else + missing_time = true; + + records.add(add_gps_time); + record.index = index++; + } + } + records.add(record); + + /* Bail after reading the 'landed' record; we're all done */ + if (record.cmd == AltosLib.AO_LOG_STATE && + record.a == AltosLib.ao_flight_landed) + break; + } + } catch (IOException io) { + } catch (ParseException pe) { + } + try { + input.close(); + } catch (IOException ie) { + } + } +} diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosEepromRecord.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosEepromRecord.java new file mode 100644 index 00000000..b2f23c52 --- /dev/null +++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosEepromRecord.java @@ -0,0 +1,139 @@ +/* + * Copyright © 2010 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. + */ + +package org.altusmetrum.AltosLib; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.prefs.*; +import java.util.concurrent.*; + +public class AltosEepromRecord { + public int cmd; + public int tick; + public int a; + public int b; + public String data; + public boolean tick_valid; + + static final int record_length = 8; + + public AltosEepromRecord (AltosEepromChunk chunk, int start) throws ParseException { + + cmd = chunk.data(start); + tick_valid = true; + + tick_valid = !chunk.erased(start, record_length); + if (tick_valid) { + if (AltosConvert.checksum(chunk.data, start, record_length) != 0) + throw new ParseException(String.format("invalid checksum at 0x%x", + chunk.address + start), 0); + } else { + cmd = AltosLib.AO_LOG_INVALID; + } + + tick = chunk.data16(start + 2); + a = chunk.data16(start + 4); + b = chunk.data16(start + 6); + + data = null; + } + + public AltosEepromRecord (String line) { + tick_valid = false; + tick = 0; + a = 0; + b = 0; + data = null; + if (line == null) { + cmd = AltosLib.AO_LOG_INVALID; + data = ""; + } else { + try { + String[] tokens = line.split("\\s+"); + + if (tokens[0].length() == 1) { + if (tokens.length != 4) { + cmd = AltosLib.AO_LOG_INVALID; + data = line; + } else { + cmd = tokens[0].codePointAt(0); + 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 = AltosLib.AO_LOG_CONFIG_VERSION; + data = tokens[2]; + } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) { + cmd = AltosLib.AO_LOG_MAIN_DEPLOY; + a = Integer.parseInt(tokens[2]); + } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) { + cmd = AltosLib.AO_LOG_APOGEE_DELAY; + a = Integer.parseInt(tokens[2]); + } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) { + cmd = AltosLib.AO_LOG_RADIO_CHANNEL; + a = Integer.parseInt(tokens[2]); + } else if (tokens[0].equals("Callsign:")) { + cmd = AltosLib.AO_LOG_CALLSIGN; + data = tokens[1].replaceAll("\"",""); + } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) { + cmd = AltosLib.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 = AltosLib.AO_LOG_RADIO_CAL; + a = Integer.parseInt(tokens[2]); + } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) { + cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG; + a = Integer.parseInt(tokens[3]); + } else if (tokens[0].equals("manufacturer")) { + cmd = AltosLib.AO_LOG_MANUFACTURER; + data = tokens[1]; + } else if (tokens[0].equals("product")) { + cmd = AltosLib.AO_LOG_PRODUCT; + data = tokens[1]; + } else if (tokens[0].equals("serial-number")) { + cmd = AltosLib.AO_LOG_SERIAL_NUMBER; + a = Integer.parseInt(tokens[1]); + } else if (tokens[0].equals("log-format")) { + cmd = AltosLib.AO_LOG_LOG_FORMAT; + a = Integer.parseInt(tokens[1]); + } else if (tokens[0].equals("software-version")) { + cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; + data = tokens[1]; + } else { + cmd = AltosLib.AO_LOG_INVALID; + data = line; + } + } catch (NumberFormatException ne) { + cmd = AltosLib.AO_LOG_INVALID; + data = line; + } + } + } + + 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; + } +}