altosui: Add companion support to the flight UI and CSV conversion

Shows the companion data in a new tab. Also put companion data into
CSV file.

Signed-off-by: Keith Packard <keithp@keithp.com>

9 files changed, 281 insertions, 8 deletions

diff --git a/altosui/AltosCSV.java b/altosui/AltosCSV.java
index 5277c160..cf649db0 100644
--- a/altosui/AltosCSV.java
+++ b/altosui/AltosCSV.java
@@ -31,9 +31,9 @@ public class AltosCSV implements AltosWriter {
 	LinkedList<AltosRecord>	pad_records;
 	AltosState		state;
 
-	static final int ALTOS_CSV_VERSION = 2;
+	static final int ALTOS_CSV_VERSION = 3;
 
-	/* Version 2 format:
+	/* Version 3 format:
 	 *
 	 * General info
 	 *	version number
@@ -81,6 +81,13 @@ public class AltosCSV implements AltosWriter {
 	 *
 	 * GPS Sat data
 	 *	C/N0 data for all 32 valid SDIDs
+	 *
+	 * Companion data
+	 *	companion_id (1-255. 10 is TeleScience)
+	 *	time of last companion data (seconds since boost)
+	 *	update_period (0.1-2.55 minimum telemetry interval)
+	 *	channels (0-12)
+	 *	channel data for all 12 possible channels
 	 */
 
 	void write_general_header() {
@@ -179,7 +186,32 @@ public class AltosCSV implements AltosWriter {
 		}
 	}
 
-	void write_header(boolean gps) {
+	void write_companion_header() {
+		out.printf("companion_id,companion_time,companion_update,companion_channels");
+		for (int i = 0; i < 12; i++)
+			out.printf(",companion_%02d", i);
+	}
+
+	void write_companion(AltosRecord record) {
+		AltosRecordCompanion companion = record.companion;
+
+		int	channels_written = 0;
+		if (companion == null) {
+			out.printf("0,0,0,0");
+		} else {
+			out.printf("%3d,%5.2f,%5.2f,%2d",
+				   companion.board_id,
+				   (companion.tick - boost_tick) / 100.0,
+				   companion.update_period / 100.0,
+				   companion.channels);
+			for (; channels_written < companion.channels; channels_written++)
+				out.printf(",%5d", companion.companion_data[channels_written]);
+		}
+		for (; channels_written < 12; channels_written++)
+			out.printf(",0");
+	}
+
+	void write_header(boolean gps, boolean companion) {
 		out.printf("#"); write_general_header();
 		out.printf(","); write_flight_header();
 		out.printf(","); write_basic_header();
@@ -187,6 +219,9 @@ public class AltosCSV implements AltosWriter {
 			out.printf(","); write_gps_header();
 			out.printf(","); write_gps_sat_header();
 		}
+		if (companion) {
+			out.printf(","); write_companion_header();
+		}
 		out.printf ("\n");
 	}
 
@@ -200,6 +235,10 @@ public class AltosCSV implements AltosWriter {
 			write_gps(record); out.printf(",");
 			write_gps_sat(record);
 		}
+		if (record.companion != null) {
+			out.printf(",");
+			write_companion(record);
+		}
 		out.printf ("\n");
 	}
 
@@ -210,8 +249,10 @@ public class AltosCSV implements AltosWriter {
 	}
 
 	public void write(AltosRecord record) {
+		if (record.state == Altos.ao_flight_startup)
+			return;
 		if (!header_written) {
-			write_header(record.gps != null);
+			write_header(record.gps != null, record.companion != null);
 			header_written = true;
 		}
 		if (!seen_boost) {
diff --git a/altosui/AltosCompanionInfo.java b/altosui/AltosCompanionInfo.java
new file mode 100644
index 00000000..f287a8ea
--- /dev/null
+++ b/altosui/AltosCompanionInfo.java
@@ -0,0 +1,111 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package 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;
+
+public class AltosCompanionInfo extends JTable {
+	private AltosFlightInfoTableModel model;
+
+	private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
+	private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
+
+	static final int info_columns = 2;
+	static final int info_rows = 17;
+
+	int desired_row_height() {
+		FontMetrics	infoValueMetrics = getFontMetrics(infoValueFont);
+		return (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 18 / 10;
+	}
+
+	public AltosCompanionInfo() {
+		super(new AltosFlightInfoTableModel(info_rows, info_columns));
+		model = (AltosFlightInfoTableModel) getModel();
+		setFont(infoValueFont);
+		setAutoResizeMode(AUTO_RESIZE_ALL_COLUMNS);
+		setShowGrid(true);
+		setRowHeight(desired_row_height());
+		doLayout();
+	}
+
+	public Dimension getPreferredScrollableViewportSize() {
+		return getPreferredSize();
+	}
+
+	void info_reset() {
+		model.reset();
+	}
+
+	void info_add_row(int col, String name, String value) {
+		model.addRow(col, name, value);
+	}
+
+	void info_add_row(int col, String name, String format, Object... parameters) {
+		info_add_row (col, name, String.format(format, parameters));
+	}
+
+	void info_finish() {
+		model.finish();
+	}
+
+	public void clear() {
+		model.clear();
+	}
+
+	AltosRecordCompanion	companion;
+
+	public String board_name() {
+		if (companion == null)
+			return "None";
+		switch (companion.board_id) {
+		case AltosRecordCompanion.board_id_telescience:
+			return "TeleScience";
+		default:
+			return String.format("%02x\n", companion.board_id);
+		}
+	}
+	
+	public void show(AltosState state, int crc_errors) {
+		if (state == null)
+			return;
+		if (state.data.companion != null)
+			companion = state.data.companion;
+		info_reset();
+		info_add_row(0, "Companion board", "%s", board_name());
+		if (companion != null) {
+			info_add_row(0, "Last Data", "%5d", companion.tick);
+			info_add_row(0, "Update period", "%5.2f s",
+				     companion.update_period / 100.0);
+			info_add_row(0, "Channels", "%3d", companion.channels);
+
+			for (int i = 0; i < companion.channels; i++)
+				info_add_row(1, String.format("Channel %2d", i),
+					     "%6d", companion.companion_data[i]);
+		}
+		info_finish();
+	}
+}
diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java
index f0626e7c..51768046 100644
--- a/altosui/AltosFlightUI.java
+++ b/altosui/AltosFlightUI.java
@@ -39,8 +39,10 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 	AltosAscent	ascent;
 	AltosDescent	descent;
 	AltosLanded	landed;
+	AltosCompanionInfo	companion;
 	AltosSiteMap    sitemap;
 	boolean		has_map;
+	boolean		has_companion;
 
 	private AltosFlightStatus flightStatus;
 	private AltosInfoTable flightInfo;
@@ -96,7 +98,20 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 		}
 		flightStatus.show(state, crc_errors);
 		flightInfo.show(state, crc_errors);
-		if (state.gps != null) {
+
+		if (state.data.companion != null) {
+			if (!has_companion) {
+				pane.add("Companion", companion);
+				has_companion= true;
+			}
+			companion.show(state, crc_errors);
+		} else {
+			if (has_companion) {
+				pane.remove(companion);
+				has_companion = false;
+			}
+		}
+		if (state.gps != null && state.gps.connected) {
 			if (!has_map) {
 				pane.add("Site Map", sitemap);
 				has_map = true;
@@ -216,6 +231,9 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 		flightInfo = new AltosInfoTable();
 		pane.add("Table", new JScrollPane(flightInfo));
 
+		companion = new AltosCompanionInfo();
+		has_companion = false;
+
 		sitemap = new AltosSiteMap();
 		has_map = false;
 
diff --git a/altosui/AltosRecord.java b/altosui/AltosRecord.java
index 144b1c3c..ce6d86ab 100644
--- a/altosui/AltosRecord.java
+++ b/altosui/AltosRecord.java
@@ -32,6 +32,7 @@ public class AltosRecord {
 	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_companion = 128;
 	int			seen;
 
 	int	version;
@@ -74,6 +75,8 @@ public class AltosRecord {
 	int	main_deploy;
 	int	flight_log_max;
 	String	firmware_version;
+
+	AltosRecordCompanion companion;
 	/*
 	 * Values for our MP3H6115A pressure sensor
 	 *
@@ -267,6 +270,7 @@ public class AltosRecord {
 		speed = old.speed;
 		height = old.height;
 		gps = new AltosGPS(old.gps);
+		companion = old.companion;
 	}
 
 	public AltosRecord() {
@@ -296,5 +300,6 @@ public class AltosRecord {
 		speed = MISSING;
 		height = MISSING;
 		gps = new AltosGPS();
+		companion = null;
 	}
 }
diff --git a/altosui/AltosRecordCompanion.java b/altosui/AltosRecordCompanion.java
new file mode 100644
index 00000000..0a8f9f4b
--- /dev/null
+++ b/altosui/AltosRecordCompanion.java
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosRecordCompanion {
+	final static int	board_id_telescience = 0x0a;
+	final static int	MAX_CHANNELS = 12;
+
+	int	tick;
+	int	board_id;
+	int	update_period;
+	int	channels;
+	int[]	companion_data;
+
+	public AltosRecordCompanion(int in_channels) {
+		channels = in_channels;
+		if (channels < 0)
+			channels = 0;
+		if (channels > MAX_CHANNELS)
+			channels = MAX_CHANNELS;
+		companion_data = new int[channels];
+	}
+}
diff --git a/altosui/AltosState.java b/altosui/AltosState.java
index 378930bf..072cb790 100644
--- a/altosui/AltosState.java
+++ b/altosui/AltosState.java
@@ -73,7 +73,6 @@ public class AltosState {
 	int	speak_tick;
 	double	speak_altitude;
 
-
 	void init (AltosRecord cur, AltosState prev_state) {
 		int		i;
 		AltosRecord prev;
diff --git a/altosui/AltosTelemetryRecordCompanion.java b/altosui/AltosTelemetryRecordCompanion.java
new file mode 100644
index 00000000..11b349e1
--- /dev/null
+++ b/altosui/AltosTelemetryRecordCompanion.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
+
+	AltosRecordCompanion	companion;
+
+	public AltosTelemetryRecordCompanion(int[] in_bytes) {
+		super(in_bytes);
+
+		int	off = 0;
+		if (uint8(6) == 0)
+			off = 1;
+		int channels = uint8(7+off);
+
+		if (off != 0 && channels >= 12)
+			channels = 11;
+
+		companion = new AltosRecordCompanion(channels);
+		companion.tick		= tick;
+		companion.board_id      = uint8(5);
+		companion.update_period = uint8(6+off);
+		for (int i = 0; i < channels; i++)
+			companion.companion_data[i] = uint16(8 + off + i * 2);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.companion = companion;
+		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+		companion.tick = tick;
+		return next;
+	}
+}
diff --git a/altosui/AltosTelemetryRecordRaw.java b/altosui/AltosTelemetryRecordRaw.java
index 4b34f017..39b2ba07 100644
--- a/altosui/AltosTelemetryRecordRaw.java
+++ b/altosui/AltosTelemetryRecordRaw.java
@@ -33,6 +33,7 @@ public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
 	final static int packet_type_configuration = 0x04;
 	final static int packet_type_location = 0x05;
 	final static int packet_type_satellite = 0x06;
+	final static int packet_type_companion = 0x07;
 	
 	final static int PKT_APPEND_STATUS_1_CRC_OK		= (1 << 7);
 	final static int PKT_APPEND_STATUS_1_LQI_MASK		= (0x7f);
@@ -89,6 +90,9 @@ public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
 			case packet_type_satellite:
 				r = new AltosTelemetryRecordSatellite(bytes);
 				break;
+			case packet_type_companion:
+				r = new AltosTelemetryRecordCompanion(bytes);
+				break;
 			default:
 				r = new AltosTelemetryRecordRaw(bytes);
 				break;
@@ -139,9 +143,11 @@ public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
 
 	public AltosRecord update_state(AltosRecord previous) {
 		AltosRecord	next;
-		if (previous != null)
+		if (previous != null) {
 			next = new AltosRecord(previous);
-		else
+			while (tick < previous.tick)
+				tick += 65536;
+		} else
 			next = new AltosRecord();
 		next.serial = serial;
 		next.tick = tick;
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index bab8f816..83510352 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -20,6 +20,7 @@ altosui_JAVA = \
 	GrabNDrag.java \
 	AltosAscent.java \
 	AltosChannelMenu.java \
+	AltosCompanionInfo.java \
 	AltosConfig.java \
 	AltosConfigData.java \
 	AltosConfigFreqUI.java \
@@ -77,6 +78,7 @@ altosui_JAVA = \
 	AltosPreferences.java \
 	AltosReader.java \
 	AltosRecord.java \
+	AltosRecordCompanion.java \
 	AltosRecordIterable.java \
 	AltosTelemetryReader.java \
 	AltosTelemetryRecord.java \
@@ -86,6 +88,7 @@ altosui_JAVA = \
 	AltosTelemetryRecordConfiguration.java \
 	AltosTelemetryRecordLocation.java \
 	AltosTelemetryRecordSatellite.java \
+	AltosTelemetryRecordCompanion.java \
 	AltosTelemetryRecordLegacy.java \
 	AltosTelemetryMap.java \
 	AltosReplayReader.java \