From f3e68341f6f5daaf26dd162e4f9a06c29988986a Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 24 Mar 2011 05:27:57 +0900 Subject: [PATCH 1/1] altosui: Add support for telemetry version 4 New telemetry format needed to support TeleNano and TeleMini Signed-off-by: Keith Packard --- altosui/AltosAscent.java | 21 ++- altosui/AltosCSV.java | 29 +-- altosui/AltosDataPointReader.java | 2 + altosui/AltosDescent.java | 57 +++++- altosui/AltosFlightUI.java | 23 ++- altosui/AltosGPS.java | 47 ++++- altosui/AltosLanded.java | 31 +++- altosui/AltosPad.java | 41 ++++- altosui/AltosRecord.java | 83 +++++++-- altosui/AltosSiteMap.java | 2 - altosui/AltosState.java | 15 +- altosui/AltosTelemetry.java | 267 ++++++++++++++++++++++++++-- altosui/AltosTelemetryIterable.java | 1 - altosui/AltosUI.java | 2 +- altosui/Makefile.am | 1 + src/ao_telem.h | 8 +- 16 files changed, 550 insertions(+), 80 deletions(-) diff --git a/altosui/AltosAscent.java b/altosui/AltosAscent.java index 64bdcf30..0fbc5de2 100644 --- a/altosui/AltosAscent.java +++ b/altosui/AltosAscent.java @@ -87,6 +87,16 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { void reset() { value.setText(""); } + + void show() { + label.show(); + value.show(); + } + + void hide() { + label.hide(); + value.hide(); + } public AscentValue (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -247,6 +257,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Lat extends AscentValue { void show (AltosState state, int crc_errors) { + show(); if (state.gps != null) value.setText(pos(state.gps.lat,"N", "S")); else @@ -261,6 +272,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Lon extends AscentValue { void show (AltosState state, int crc_errors) { + show(); if (state.gps != null) value.setText(pos(state.gps.lon,"E", "W")); else @@ -284,8 +296,13 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { } public void show(AltosState state, int crc_errors) { - lat.show(state, crc_errors); - lon.show(state, crc_errors); + if (state.gps != null) { + lat.show(state, crc_errors); + lon.show(state, crc_errors); + } else { + lat.hide(); + lon.hide(); + } height.show(state, crc_errors); main.show(state, crc_errors); apogee.show(state, crc_errors); diff --git a/altosui/AltosCSV.java b/altosui/AltosCSV.java index df98b2b4..5277c160 100644 --- a/altosui/AltosCSV.java +++ b/altosui/AltosCSV.java @@ -60,7 +60,7 @@ public class AltosCSV implements AltosWriter { * drogue (V) * main (V) * - * GPS data + * GPS data (if available) * connected (1/0) * locked (1/0) * nsat (used for solution) @@ -179,12 +179,14 @@ public class AltosCSV implements AltosWriter { } } - void write_header() { + void write_header(boolean gps) { out.printf("#"); write_general_header(); out.printf(","); write_flight_header(); out.printf(","); write_basic_header(); - out.printf(","); write_gps_header(); - out.printf(","); write_gps_sat_header(); + if (gps) { + out.printf(","); write_gps_header(); + out.printf(","); write_gps_sat_header(); + } out.printf ("\n"); } @@ -192,9 +194,12 @@ public class AltosCSV implements AltosWriter { state = new AltosState(record, state); write_general(record); out.printf(","); write_flight(record); out.printf(","); - write_basic(record); out.printf(","); - write_gps(record); out.printf(","); - write_gps_sat(record); + write_basic(record); + if (record.gps != null) { + out.printf(","); + write_gps(record); out.printf(","); + write_gps_sat(record); + } out.printf ("\n"); } @@ -206,7 +211,7 @@ public class AltosCSV implements AltosWriter { public void write(AltosRecord record) { if (!header_written) { - write_header(); + write_header(record.gps != null); header_written = true; } if (!seen_boost) { @@ -240,12 +245,16 @@ public class AltosCSV implements AltosWriter { write(r); } - public AltosCSV(File in_name) throws FileNotFoundException { + public AltosCSV(PrintStream in_out, File in_name) { name = in_name; - out = new PrintStream(name); + out = in_out; pad_records = new LinkedList(); } + 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)); } diff --git a/altosui/AltosDataPointReader.java b/altosui/AltosDataPointReader.java index 7704310b..ee57d2ce 100644 --- a/altosui/AltosDataPointReader.java +++ b/altosui/AltosDataPointReader.java @@ -15,6 +15,8 @@ class AltosDataPointReader implements Iterable { AltosState state; AltosRecord record; + final static int MISSING = AltosRecord.MISSING; + public AltosDataPointReader(Iterable reader) { this.iter = reader.iterator(); this.state = null; diff --git a/altosui/AltosDescent.java b/altosui/AltosDescent.java index 16ccd458..594a7a09 100644 --- a/altosui/AltosDescent.java +++ b/altosui/AltosDescent.java @@ -37,6 +37,19 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { AltosLights lights; abstract void show(AltosState state, int crc_errors); + + void show() { + label.show(); + value.show(); + lights.show(); + } + + void hide() { + label.hide(); + value.hide(); + lights.hide(); + } + void reset() { value.setText(""); lights.set(false); @@ -90,6 +103,16 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { abstract void show(AltosState state, int crc_errors); + void show() { + label.show(); + value.show(); + } + + void hide() { + label.hide(); + value.hide(); + } + void show(String format, double v) { value.setText(String.format(format, v)); } @@ -134,12 +157,27 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { value2.setText(""); } + void show() { + label.show(); + value1.show(); + value2.show(); + } + + void hide() { + label.hide(); + value1.hide(); + value2.hide(); + } + abstract void show(AltosState state, int crc_errors); + void show(String v1, String v2) { + show(); value1.setText(v1); value2.setText(v2); } void show(String f1, double v1, String f2, double v2) { + show(); value1.setText(String.format(f1, v1)); value2.setText(String.format(f2, v2)); } @@ -260,6 +298,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Main extends DescentStatus { void show (AltosState state, int crc_errors) { + show(); value.setText(String.format("%4.2f V", state.main_sense)); lights.set(state.main_sense > 3.2); } @@ -324,11 +363,19 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { public void show(AltosState state, int crc_errors) { height.show(state, crc_errors); speed.show(state, crc_errors); - bearing.show(state, crc_errors); - range.show(state, crc_errors); - elevation.show(state, crc_errors); - lat.show(state, crc_errors); - lon.show(state, crc_errors); + if (state.gps != null) { + bearing.show(state, crc_errors); + range.show(state, crc_errors); + elevation.show(state, crc_errors); + lat.show(state, crc_errors); + lon.show(state, crc_errors); + } else { + bearing.hide(); + range.hide(); + elevation.hide(); + lat.hide(); + lon.hide(); + } main.show(state, crc_errors); apogee.show(state, crc_errors); } diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java index 7fcfb8be..68e0ef87 100644 --- a/altosui/AltosFlightUI.java +++ b/altosui/AltosFlightUI.java @@ -29,9 +29,6 @@ import java.util.prefs.*; import java.util.concurrent.LinkedBlockingQueue; public class AltosFlightUI extends JFrame implements AltosFlightDisplay { - String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" }; - Object[][] statusData = { { "0", "pad", "-50", "0" } }; - AltosVoice voice; AltosFlightReader reader; AltosDisplayThread thread; @@ -43,6 +40,7 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay { AltosDescent descent; AltosLanded landed; AltosSiteMap sitemap; + boolean has_map; private AltosFlightStatus flightStatus; private AltosInfoTable flightInfo; @@ -85,6 +83,7 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay { public void show(AltosState state, int crc_errors) { JComponent tab = which_tab(state); + try { pad.show(state, crc_errors); ascent.show(state, crc_errors); descent.show(state, crc_errors); @@ -97,7 +96,21 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay { } flightStatus.show(state, crc_errors); flightInfo.show(state, crc_errors); - sitemap.show(state, crc_errors); + if (state.gps != null) { + if (!has_map) { + pane.add("Site Map", sitemap); + has_map = true; + } + sitemap.show(state, crc_errors); + } else { + if (has_map) { + pane.remove(sitemap); + has_map = false; + } + } + } catch (Exception e) { + System.out.print("Show exception" + e); + } } public void set_exit_on_close() { @@ -169,7 +182,7 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay { pane.add("Table", new JScrollPane(flightInfo)); sitemap = new AltosSiteMap(); - pane.add("Site Map", sitemap); + has_map = false; /* Make the tabbed pane use the rest of the window space */ c.gridx = 0; diff --git a/altosui/AltosGPS.java b/altosui/AltosGPS.java index 83821842..0dbc8364 100644 --- a/altosui/AltosGPS.java +++ b/altosui/AltosGPS.java @@ -26,10 +26,11 @@ public class AltosGPS { int c_n0; } + final static int MISSING = AltosRecord.MISSING; + int nsat; boolean locked; boolean connected; - boolean date_valid; double lat; /* degrees (+N -S) */ double lon; /* degrees (+E -W) */ int alt; /* m */ @@ -40,11 +41,11 @@ public class AltosGPS { int minute; int second; - int gps_extended; /* has extra data */ double ground_speed; /* m/s */ int course; /* degrees */ double climb_rate; /* m/s */ - double hdop; /* unitless? */ + double hdop; /* unitless */ + double vdop; /* unitless */ int h_error; /* m */ int v_error; /* m */ @@ -73,6 +74,44 @@ public class AltosGPS { hour = minute = second = 0; } + public AltosGPS(AltosTelemetryMap map) throws ParseException { + String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE, + AltosTelemetry.AO_TELEM_GPS_STATE_ERROR); + + nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0); + if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) { + connected = true; + locked = true; + lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7); + lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7); + alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING); + year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING); + if (year != MISSING) + year += 2000; + month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING); + day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING); + + hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0); + minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0); + second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0); + + ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED, + AltosRecord.MISSING, 1/100.0); + course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE, + AltosRecord.MISSING); + hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0); + vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0); + h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING); + v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING); + } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) { + connected = true; + locked = false; + } else { + connected = false; + locked = false; + } + } + public AltosGPS(String[] words, int i, int version) throws ParseException { AltosParse.word(words[i++], "GPS"); nsat = AltosParse.parse_int(words[i++]); @@ -184,7 +223,6 @@ public class AltosGPS { nsat = old.nsat; locked = old.locked; connected = old.connected; - date_valid = old.date_valid; lat = old.lat; /* degrees (+N -S) */ lon = old.lon; /* degrees (+E -W) */ alt = old.alt; /* m */ @@ -195,7 +233,6 @@ public class AltosGPS { minute = old.minute; second = old.second; - gps_extended = old.gps_extended; /* has extra data */ ground_speed = old.ground_speed; /* m/s */ course = old.course; /* degrees */ climb_rate = old.climb_rate; /* m/s */ diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java index d34efe6d..0717ffe2 100644 --- a/altosui/AltosLanded.java +++ b/altosui/AltosLanded.java @@ -42,10 +42,22 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay { value.setText(""); } + void show() { + label.show(); + value.show(); + } + + void hide() { + label.hide(); + value.hide(); + } + void show(String format, double v) { + show(); value.setText(String.format(format, v)); } + public LandedValue (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -86,6 +98,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay { class Lat extends LandedValue { void show (AltosState state, int crc_errors) { + show(); if (state.gps != null) value.setText(pos(state.gps.lat,"N", "S")); else @@ -100,6 +113,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay { class Lon extends LandedValue { void show (AltosState state, int crc_errors) { + show(); if (state.gps != null) value.setText(pos(state.gps.lon,"E", "W")); else @@ -114,6 +128,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay { class Bearing extends LandedValue { void show (AltosState state, int crc_errors) { + show(); if (state.from_pad != null) show("%3.0f°", state.from_pad.bearing); else @@ -128,6 +143,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay { class Distance extends LandedValue { void show (AltosState state, int crc_errors) { + show(); if (state.from_pad != null) show("%6.0f m", state.from_pad.distance); else @@ -184,10 +200,17 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay { } public void show(AltosState state, int crc_errors) { - bearing.show(state, crc_errors); - distance.show(state, crc_errors); - lat.show(state, crc_errors); - lon.show(state, crc_errors); + if (state.gps != null) { + bearing.show(state, crc_errors); + distance.show(state, crc_errors); + lat.show(state, crc_errors); + lon.show(state, crc_errors); + } else { + bearing.hide(); + distance.hide(); + lat.hide(); + lon.hide(); + } height.show(state, crc_errors); speed.show(state, crc_errors); accel.show(state, crc_errors); diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java index e345e5da..2f59e879 100644 --- a/altosui/AltosPad.java +++ b/altosui/AltosPad.java @@ -42,6 +42,18 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { lights.set(false); } + public void show() { + label.show(); + value.show(); + lights.show(); + } + + public void hide() { + label.hide(); + value.hide(); + lights.hide(); + } + public LaunchStatus (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -83,6 +95,16 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { JTextField value; void show(AltosState state, int crc_errors) {} + void show() { + label.show(); + value.show(); + } + + void hide() { + label.hide(); + value.hide(); + } + void reset() { value.setText(""); } @@ -151,6 +173,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class GPSLocked extends LaunchStatus { void show (AltosState state, int crc_errors) { + show(); value.setText(String.format("%4d sats", state.gps.nsat)); lights.set(state.gps.locked && state.gps.nsat >= 4); } @@ -163,6 +186,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class GPSReady extends LaunchStatus { void show (AltosState state, int crc_errors) { + show(); if (state.gps_ready) value.setText("Ready"); else @@ -189,6 +213,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class PadLat extends LaunchValue { void show (AltosState state, int crc_errors) { + show(); value.setText(pos(state.pad_lat,"N", "S")); } public PadLat (GridBagLayout layout, int y) { @@ -200,6 +225,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class PadLon extends LaunchValue { void show (AltosState state, int crc_errors) { + show(); value.setText(pos(state.pad_lon,"E", "W")); } public PadLon (GridBagLayout layout, int y) { @@ -235,11 +261,18 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { battery.show(state, crc_errors); apogee.show(state, crc_errors); main.show(state, crc_errors); - gps_locked.show(state, crc_errors); - gps_ready.show(state, crc_errors); - pad_lat.show(state, crc_errors); - pad_lon.show(state, crc_errors); pad_alt.show(state, crc_errors); + if (state.gps != null) { + gps_locked.show(state, crc_errors); + gps_ready.show(state, crc_errors); + pad_lat.show(state, crc_errors); + pad_lon.show(state, crc_errors); + } else { + gps_locked.hide(); + gps_ready.hide(); + pad_lat.hide(); + pad_lon.hide(); + } } public AltosPad() { diff --git a/altosui/AltosRecord.java b/altosui/AltosRecord.java index 1160a273..46e96b95 100644 --- a/altosui/AltosRecord.java +++ b/altosui/AltosRecord.java @@ -23,6 +23,8 @@ import java.util.HashMap; import java.io.*; public class AltosRecord { + final static int MISSING = 0x7fffffff; + int version; String callsign; int serial; @@ -31,19 +33,27 @@ public class AltosRecord { int status; int state; int tick; + int accel; int pres; int temp; int batt; int drogue; int main; - int flight_accel; + int ground_accel; - int flight_vel; - int flight_pres; int ground_pres; int accel_plus_g; int accel_minus_g; + + double acceleration; + double speed; + double height; + + int flight_accel; + int flight_vel; + int flight_pres; + AltosGPS gps; double time; /* seconds since boost */ @@ -72,46 +82,82 @@ public class AltosRecord { } public double raw_pressure() { + if (pres == MISSING) + return MISSING; return barometer_to_pressure(pres); } public double filtered_pressure() { + if (flight_pres == MISSING) + return MISSING; return barometer_to_pressure(flight_pres); } public double ground_pressure() { + if (ground_pres == MISSING) + return MISSING; return barometer_to_pressure(ground_pres); } - public double filtered_altitude() { - return AltosConvert.pressure_to_altitude(filtered_pressure()); - } - public double raw_altitude() { - return AltosConvert.pressure_to_altitude(raw_pressure()); + double p = raw_pressure(); + if (p == MISSING) + return MISSING; + return AltosConvert.pressure_to_altitude(p); } public double ground_altitude() { - return AltosConvert.pressure_to_altitude(ground_pressure()); + double p = ground_pressure(); + if (p == MISSING) + return MISSING; + return AltosConvert.pressure_to_altitude(p); + } + + public double filtered_altitude() { + if (height != MISSING && ground_pres != MISSING) + return height + ground_altitude(); + + double p = filtered_pressure(); + if (p == MISSING) + return MISSING; + return AltosConvert.pressure_to_altitude(p); } public double filtered_height() { - return filtered_altitude() - ground_altitude(); + if (height != MISSING) + return height; + + double f = filtered_altitude(); + double g = ground_altitude(); + if (f == MISSING || g == MISSING) + return MISSING; + return f - g; } public double raw_height() { - return raw_altitude() - ground_altitude(); + double r = raw_altitude(); + double g = ground_altitude(); + + if (r == MISSING || g == MISSING) + return MISSING; + return r - g; } public double battery_voltage() { + if (batt == MISSING) + return MISSING; return AltosConvert.cc_battery_to_voltage(batt); } public double main_voltage() { + if (main == MISSING) + return MISSING; return AltosConvert.cc_ignitor_to_voltage(main); } public double drogue_voltage() { + if (drogue == MISSING) + return MISSING; return AltosConvert.cc_ignitor_to_voltage(drogue); } @@ -131,6 +177,8 @@ public class AltosRecord { } public double temperature() { + if (temp == MISSING) + return MISSING; return thermometer_to_temperature(temp); } @@ -139,13 +187,22 @@ public class AltosRecord { return counts_per_g / 9.80665; } + public double acceleration() { + if (acceleration != MISSING) + return acceleration; + + if (ground_accel == MISSING || accel == MISSING) + return MISSING; return (ground_accel - accel) / accel_counts_per_mss(); } public double accel_speed() { - double speed = flight_vel / (accel_counts_per_mss() * 100.0); - return speed; + if (speed != MISSING) + return speed; + if (flight_vel == MISSING) + return MISSING; + return flight_vel / (accel_counts_per_mss() * 100.0); } public String state() { diff --git a/altosui/AltosSiteMap.java b/altosui/AltosSiteMap.java index d6bd6d1f..f4b6b7e0 100644 --- a/altosui/AltosSiteMap.java +++ b/altosui/AltosSiteMap.java @@ -228,8 +228,6 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { int last_state = -1; public void show(final AltosState state, final int crc_errors) { // if insufficient gps data, nothing to update - if (state.gps == null) - return; if (!state.gps.locked && state.gps.nsat < 4) return; diff --git a/altosui/AltosState.java b/altosui/AltosState.java index ec499d5a..4e165f80 100644 --- a/altosui/AltosState.java +++ b/altosui/AltosState.java @@ -79,7 +79,8 @@ public class AltosState { data = cur; ground_altitude = data.ground_altitude(); - height = data.filtered_altitude() - ground_altitude; + height = data.filtered_height(); + System.out.printf("height %g\n", height); report_time = System.currentTimeMillis(); @@ -114,10 +115,14 @@ public class AltosState { /* compute barometric speed */ double height_change = height - prev_state.height; - if (time_change > 0) - baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0; - else - baro_speed = prev_state.baro_speed; + if (data.speed != AltosRecord.MISSING) + baro_speed = data.speed; + else { + if (time_change > 0) + baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0; + else + baro_speed = prev_state.baro_speed; + } } else { npad = 0; ngps = 0; diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java index bdb6466a..3eb0efa8 100644 --- a/altosui/AltosTelemetry.java +++ b/altosui/AltosTelemetry.java @@ -27,10 +27,40 @@ import java.util.HashMap; /* - * The telemetry data stream is a bit of a mess at present, with no consistent - * formatting. In particular, the GPS data is formatted for viewing instead of parsing. - * However, the key feature is that every telemetry line contains all of the information - * necessary to describe the current rocket state, including the calibration values + * Version 4 is a replacement with consistent syntax. Each telemetry line + * contains a sequence of space-separated names and values, the values are + * either integers or strings. The names are all unique. All values are + * optional + * + * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944 + * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764 + * a_s 0 a_b 26439 g_s u g_n 0 s_n 0 + * + * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788 + * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0 + * + * General header fields + * + * Name Value + * + * VERSION Telemetry version number (4 or more). Must be first. + * c Callsign (string, no spaces allowed) + * n Flight unit serial number (integer) + * f Flight number (integer) + * r Packet RSSI value (integer) + * s Flight computer state (string, no spaces allowed) + * t Flight computer clock (integer in centiseconds) + * + * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports + * in 1/2dB increments while this protocol provides only integers. So, + * the syntax didn't change just the interpretation of the RSSI + * values. + * + * Version 2 of the telemetry data stream is a bit of a mess, with no + * consistent formatting. In particular, the GPS data is formatted for + * viewing instead of parsing. However, the key feature is that every + * telemetry line contains all of the information necessary to + * describe the current rocket state, including the calibration values * for accelerometer and barometer. * * GPS unlocked: @@ -47,25 +77,201 @@ import java.util.HashMap; * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26 + * */ public class AltosTelemetry extends AltosRecord { - public AltosTelemetry(String line) throws ParseException, AltosCRCException { - String[] words = line.split("\\s+"); - int i = 0; + /* + * General header fields + * + * Name Value + * + * VERSION Telemetry version number (4 or more). Must be first. + * c Callsign (string, no spaces allowed) + * n Flight unit serial number (integer) + * f Flight number (integer) + * r Packet RSSI value (integer) + * s Flight computer state (string, no spaces allowed) + * t Flight computer clock (integer in centiseconds) + */ - if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { - i += 2; - AltosParse.word(words[i++], "RSSI"); - rssi = AltosParse.parse_int(words[i++]); - throw new AltosCRCException(rssi); - } - if (words[i].equals("CALL")) { - version = 0; - } else { - AltosParse.word (words[i++], "VERSION"); - version = AltosParse.parse_int(words[i++]); - } + final static String AO_TELEM_VERSION = "VERSION"; + final static String AO_TELEM_CALL = "c"; + final static String AO_TELEM_SERIAL = "n"; + final static String AO_TELEM_FLIGHT = "f"; + final static String AO_TELEM_RSSI = "r"; + final static String AO_TELEM_STATE = "s"; + final static String AO_TELEM_TICK = "t"; + + /* + * Raw sensor values + * + * Name Value + * r_a Accelerometer reading (integer) + * r_b Barometer reading (integer) + * r_t Thermometer reading (integer) + * r_v Battery reading (integer) + * r_d Drogue continuity (integer) + * r_m Main continuity (integer) + */ + + final static String AO_TELEM_RAW_ACCEL = "r_a"; + final static String AO_TELEM_RAW_BARO = "r_b"; + final static String AO_TELEM_RAW_THERMO = "r_t"; + final static String AO_TELEM_RAW_BATT = "r_v"; + final static String AO_TELEM_RAW_DROGUE = "r_d"; + final static String AO_TELEM_RAW_MAIN = "r_m"; + + /* + * Sensor calibration values + * + * Name Value + * c_a Ground accelerometer reading (integer) + * c_b Ground barometer reading (integer) + * c_p Accelerometer reading for +1g + * c_m Accelerometer reading for -1g + */ + + final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a"; + final static String AO_TELEM_CAL_BARO_GROUND = "c_b"; + final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p"; + final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m"; + + /* + * Kalman state values + * + * Name Value + * k_h Height above pad (integer, meters) + * k_s Vertical speeed (integer, m/s * 16) + * k_a Vertical acceleration (integer, m/s² * 16) + */ + + final static String AO_TELEM_KALMAN_HEIGHT = "k_h"; + final static String AO_TELEM_KALMAN_SPEED = "k_s"; + final static String AO_TELEM_KALMAN_ACCEL = "k_a"; + + /* + * Ad-hoc flight values + * + * Name Value + * a_a Acceleration (integer, sensor units) + * a_s Speed (integer, integrated acceleration value) + * a_b Barometer reading (integer, sensor units) + */ + + final static String AO_TELEM_ADHOC_ACCEL = "a_a"; + final static String AO_TELEM_ADHOC_SPEED = "a_s"; + final static String AO_TELEM_ADHOC_BARO = "a_b"; + + /* + * GPS values + * + * Name Value + * g_s GPS state (string): + * l locked + * u unlocked + * e error (missing or broken) + * g_n Number of sats used in solution + * g_ns Latitude (degrees * 10e7) + * g_ew Longitude (degrees * 10e7) + * g_a Altitude (integer meters) + * g_Y GPS year (integer) + * g_M GPS month (integer - 1-12) + * g_D GPS day (integer - 1-31) + * g_h GPS hour (integer - 0-23) + * g_m GPS minute (integer - 0-59) + * g_s GPS second (integer - 0-59) + * g_v GPS vertical speed (integer, cm/sec) + * g_s GPS horizontal speed (integer, cm/sec) + * g_c GPS course (integer, 0-359) + * g_hd GPS hdop (integer * 10) + * g_vd GPS vdop (integer * 10) + * g_he GPS h error (integer) + * g_ve GPS v error (integer) + */ + + final static String AO_TELEM_GPS_STATE = "g"; + final static String AO_TELEM_GPS_STATE_LOCKED = "l"; + final static String AO_TELEM_GPS_STATE_UNLOCKED = "u"; + final static String AO_TELEM_GPS_STATE_ERROR = "e"; + final static String AO_TELEM_GPS_NUM_SAT = "g_n"; + final static String AO_TELEM_GPS_LATITUDE = "g_ns"; + final static String AO_TELEM_GPS_LONGITUDE = "g_ew"; + final static String AO_TELEM_GPS_ALTITUDE = "g_a"; + final static String AO_TELEM_GPS_YEAR = "g_Y"; + final static String AO_TELEM_GPS_MONTH = "g_M"; + final static String AO_TELEM_GPS_DAY = "g_D"; + final static String AO_TELEM_GPS_HOUR = "g_h"; + final static String AO_TELEM_GPS_MINUTE = "g_m"; + final static String AO_TELEM_GPS_SECOND = "g_s"; + final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v"; + final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g"; + final static String AO_TELEM_GPS_COURSE = "g_c"; + final static String AO_TELEM_GPS_HDOP = "g_hd"; + final static String AO_TELEM_GPS_VDOP = "g_vd"; + final static String AO_TELEM_GPS_HERROR = "g_he"; + final static String AO_TELEM_GPS_VERROR = "g_ve"; + + /* + * GPS satellite values + * + * Name Value + * s_n Number of satellites reported (integer) + * s_v0 Space vehicle ID (integer) for report 0 + * s_c0 C/N0 number (integer) for report 0 + * s_v1 Space vehicle ID (integer) for report 1 + * s_c1 C/N0 number (integer) for report 1 + * ... + */ + + final static String AO_TELEM_SAT_NUM = "s_n"; + final static String AO_TELEM_SAT_SVID = "s_v"; + final static String AO_TELEM_SAT_C_N_0 = "s_c"; + + private void parse_v4(String[] words, int i) throws ParseException { + AltosTelemetryMap map = new AltosTelemetryMap(words, i); + + callsign = map.get_string(AO_TELEM_CALL, "N0CALL"); + serial = map.get_int(AO_TELEM_SERIAL, MISSING); + flight = map.get_int(AO_TELEM_FLIGHT, MISSING); + rssi = map.get_int(AO_TELEM_RSSI, MISSING); + state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid")); + tick = map.get_int(AO_TELEM_TICK, 0); + + /* raw sensor values */ + accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING); + pres = map.get_int(AO_TELEM_RAW_BARO, MISSING); + temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING); + batt = map.get_int(AO_TELEM_RAW_BATT, MISSING); + drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING); + main = map.get_int(AO_TELEM_RAW_MAIN, MISSING); + + /* sensor calibration information */ + ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING); + ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING); + accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING); + accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING); + + /* flight computer values */ + acceleration = map.get_int(AO_TELEM_KALMAN_ACCEL, MISSING); + if (acceleration != MISSING) + acceleration /= 16.0; + speed = map.get_int(AO_TELEM_KALMAN_SPEED, MISSING); + if (speed != MISSING) + speed /= 16.0; + height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING); + + flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING); + flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING); + flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING); + + if (map.has(AO_TELEM_GPS_STATE)) + gps = new AltosGPS(map); + else + gps = null; + } + + private void parse_legacy(String[] words, int i) throws ParseException { AltosParse.word (words[i++], "CALL"); callsign = words[i++]; @@ -140,4 +346,27 @@ public class AltosTelemetry extends AltosRecord { gps = new AltosGPS(words, i, version); } + + public AltosTelemetry(String line) throws ParseException, AltosCRCException { + String[] words = line.split("\\s+"); + int i = 0; + + if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { + i += 2; + AltosParse.word(words[i++], "RSSI"); + rssi = AltosParse.parse_int(words[i++]); + throw new AltosCRCException(rssi); + } + if (words[i].equals("CALL")) { + version = 0; + } else { + AltosParse.word (words[i++], "VERSION"); + version = AltosParse.parse_int(words[i++]); + } + + if (version < 4) + parse_legacy(words, i); + else + parse_v4(words, i); + } } diff --git a/altosui/AltosTelemetryIterable.java b/altosui/AltosTelemetryIterable.java index a71ab872..14b5f27f 100644 --- a/altosui/AltosTelemetryIterable.java +++ b/altosui/AltosTelemetryIterable.java @@ -63,7 +63,6 @@ public class AltosTelemetryIterable extends AltosRecordIterable { } catch (ParseException pe) { System.out.printf("parse exception %s\n", pe.getMessage()); } catch (AltosCRCException ce) { - System.out.printf("crc error\n"); } } } catch (IOException io) { diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java index 90e3d7f0..4d17b0d2 100644 --- a/altosui/AltosUI.java +++ b/altosui/AltosUI.java @@ -328,7 +328,7 @@ public class AltosUI extends JFrame { if (input.equals(output)) { System.out.printf("Not processing '%s'\n", input); } else { - AltosWriter writer = open_csv(output); + AltosWriter writer = open_csv("/dev/stdout"); if (writer != null) { writer.write(iterable); writer.close(); diff --git a/altosui/Makefile.am b/altosui/Makefile.am index 288fca0e..49f34ce3 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -65,6 +65,7 @@ altosui_JAVA = \ AltosRecord.java \ AltosRecordIterable.java \ AltosTelemetryReader.java \ + AltosTelemetryMap.java \ AltosReplayReader.java \ AltosRomconfig.java \ AltosRomconfigUI.java \ diff --git a/src/ao_telem.h b/src/ao_telem.h index b1624fe0..1a8da291 100644 --- a/src/ao_telem.h +++ b/src/ao_telem.h @@ -108,7 +108,7 @@ * GPS values * * Name Value - * g_s GPS state (string): + * g GPS state (string): * l locked * u unlocked * e error (missing or broken) @@ -123,7 +123,7 @@ * g_m GPS minute (integer - 0-59) * g_s GPS second (integer - 0-59) * g_v GPS vertical speed (integer, cm/sec) - * g_s GPS horizontal speed (integer, cm/sec) + * g_g GPS horizontal speed (integer, cm/sec) * g_c GPS course (integer, 0-359) * g_hd GPS hdop (integer * 10) * g_vd GPS vdop (integer * 10) @@ -131,7 +131,7 @@ * g_ve GPS v error (integer) */ -#define AO_TELEM_GPS_STATE "g_s" +#define AO_TELEM_GPS_STATE "g" #define AO_TELEM_GPS_STATE_LOCKED 'l' #define AO_TELEM_GPS_STATE_UNLOCKED 'u' #define AO_TELEM_GPS_STATE_ERROR 'e' @@ -146,7 +146,7 @@ #define AO_TELEM_GPS_MINUTE "g_m" #define AO_TELEM_GPS_SECOND "g_s" #define AO_TELEM_GPS_VERTICAL_SPEED "g_v" -#define AO_TELEM_GPS_HORIZONTAL_SPEED "g_s" +#define AO_TELEM_GPS_HORIZONTAL_SPEED "g_g" #define AO_TELEM_GPS_COURSE "g_c" #define AO_TELEM_GPS_HDOP "g_hd" #define AO_TELEM_GPS_VDOP "g_vd" -- 2.30.2