altoslib,altosuilib,altosui: Get stats and replay working again.

Stats are really easy with all of the data in memory.
Replay takes a special thread to run the data and dump it into a
single state.

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

10 files changed, 218 insertions, 118 deletions

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index d4a5a0b2..cd6916b4 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -143,7 +143,6 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 					       ground_yaw() / 512.0);
 			break;
 		case AltosLib.AO_LOG_STATE:
-			System.out.printf("log state %s\n", AltosLib.state_name(state()));
 			listener.set_state(state());
 			break;
 		case AltosLib.AO_LOG_SENSOR:
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index 250e2236..790710e0 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -45,8 +45,6 @@ public abstract class AltosFlightReader {
 
 	public void save_telemetry_rate() { }
 
-	public void update(AltosState state) throws InterruptedException { }
-
 	public boolean supports_telemetry(int telemetry) { return false; }
 
 	public boolean supports_telemetry_rate(int telemetry_rate) { return false; }
diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index 0eea34b7..7bedf389 100644
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -136,7 +136,6 @@ public class AltosFlightSeries extends AltosDataListener {
 			state_series = add_series(state_name, AltosConvert.state_name);
 		else if (this.state == state)
 			return;
-		System.out.printf("state %s\n", AltosLib.state_name(state));
 		this.state = state;
 		state_series.add(time(), state);
 	}
@@ -147,7 +146,6 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public void set_acceleration(double acceleration) {
 		if (accel_series == null) {
-			System.out.printf("set acceleration %g\n", acceleration);
 			accel_series = add_series(accel_name, AltosConvert.accel);
 		}
 		accel_series.add(time(), acceleration);
@@ -221,10 +219,8 @@ public class AltosFlightSeries extends AltosDataListener {
 	public static final String speed_name = "Speed";
 
 	private void compute_speed() {
-		if (speed_series != null) {
-			System.out.printf("speed series already made\n");
+		if (speed_series != null)
 			return;
-		}
 
 		AltosTimeSeries	alt_speed_series = null;
 		AltosTimeSeries accel_speed_series = null;
@@ -235,8 +231,6 @@ public class AltosFlightSeries extends AltosDataListener {
 
 			alt_speed_series = make_series(speed_name, AltosConvert.speed);
 			temp_series.filter(alt_speed_series, 10.0);
-		} else {
-			System.out.printf("no altitude series\n");
 		}
 		if (accel_series != null) {
 			AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
@@ -244,8 +238,6 @@ public class AltosFlightSeries extends AltosDataListener {
 
 			accel_speed_series = make_series(speed_name, AltosConvert.speed);
 			temp_series.filter(accel_speed_series, 0.1);
-		} else {
-			System.out.printf("no accel series\n");
 		}
 
 		if (alt_speed_series != null && accel_speed_series != null) {
@@ -277,11 +269,8 @@ public class AltosFlightSeries extends AltosDataListener {
 		} else if (accel_speed_series != null) {
 			speed_series = accel_speed_series;
 		}
-		if (speed_series != null) {
+		if (speed_series != null)
 			add_series(speed_series);
-			System.out.printf("speed series for %s set to %s\n", this.toString(), speed_series.toString());
-		} else
-			System.out.printf("didn't manage to make speed series\n");
 	}
 
 	AltosTimeSeries	kalman_height_series, kalman_speed_series, kalman_accel_series;
@@ -575,7 +564,6 @@ public class AltosFlightSeries extends AltosDataListener {
 	}
 
 	public void fill_in() {
-		System.out.printf("fill in %s\n", this.toString());
 		compute_speed();
 		compute_accel();
 		if (cal_data.ground_altitude != AltosLib.MISSING)
@@ -594,7 +582,6 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public AltosFlightSeries(AltosCalData cal_data) {
 		super(cal_data);
-		System.out.printf("new flight series %s\n", this.toString());
 		init();
 	}
 }
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 54d0dd63..2948ad38 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -115,8 +115,6 @@ public class AltosFlightStats {
 		double		end_time = 0;
 		double		landed_time = landed_time(series);
 
-		System.out.printf("flight stats %s\n", series.toString());
-
 		year = month = day = AltosLib.MISSING;
 		hour = minute = second = AltosLib.MISSING;
 		serial = flight = AltosLib.MISSING;
@@ -133,8 +131,21 @@ public class AltosFlightStats {
 
 		for (int s = AltosLib.ao_flight_startup; s <= AltosLib.ao_flight_landed; s++) {
 			state_count[s] = 0;
-			state_speed[s] = 0.0;
-			state_accel[s] = 0.0;
+
+			if (s == AltosLib.ao_flight_boost)
+				state_start[s] = boost_time;
+			else
+				state_start[s] = series.state_series.time_of(s);
+			if (s == AltosLib.ao_flight_landed)
+				state_end[s] = landed_time;
+			else
+				state_end[s] = series.state_series.time_of(s+1);
+
+			if (series.speed_series != null)
+				state_speed[s] = series.speed_series.average(state_start[s], state_end[s]);
+
+			if (series.accel_series != null)
+				state_accel[s] = series.accel_series.average(state_start[s], state_end[s]);
 		}
 
 		serial = cal_data.serial;
@@ -145,92 +156,46 @@ public class AltosFlightStats {
 		has_rssi = series.rssi_series != null;
 		has_flight_data = series.pressure_series != null;
 
-		if (series.gps_series != null) {
-			AltosGPS gps = series.gps_series.get(0).gps;
+		AltosGPS gps = series.cal_data.gps_pad;
 
+		if (gps != null) {
 			year = gps.year;
 			month = gps.month;
 			day = gps.day;
 			hour = gps.hour;
 			minute = gps.minute;
 			second = gps.second;
+			has_gps = true;
+			lat = pad_lat = gps.lat;
+			lon = pad_lon = gps.lon;
+			for (AltosGPSTimeValue gtv : series.gps_series) {
+				gps = gtv.gps;
+				if (gps.locked && gps.nsat >= 4) {
+					lat = gps.lat;
+					lon = gps.lon;
+				}
+			}
+
 		}
 
 		max_height = AltosLib.MISSING;
 		if (series.height_series != null)
 			max_height = series.height_series.max();
 		max_speed = AltosLib.MISSING;
-		if (series.speed_series != null)
-			max_speed = series.speed_series.max();
-		else
-			System.out.printf("missing speed series\n");
+		if (series.speed_series != null) {
+			max_speed = series.speed_series.max(state_start[AltosLib.ao_flight_boost], state_start[AltosLib.ao_flight_drogue]);
+			if (max_speed == AltosLib.MISSING)
+				max_speed = series.speed_series.max();
+		}
 		max_acceleration = AltosLib.MISSING;
-		if (series.accel_series != null)
-			max_acceleration = series.accel_series.max();
+		if (series.accel_series != null) {
+			max_acceleration = series.accel_series.max(state_start[AltosLib.ao_flight_boost], state_start[AltosLib.ao_flight_drogue]);
+			if (max_acceleration == AltosLib.MISSING)
+				max_acceleration = series.accel_series.max();
+		}
 		max_gps_height = AltosLib.MISSING;
 		if (series.gps_height != null)
 			max_gps_height = series.gps_height.max();
 
-/*
-		for (AltosState state : states) {
-			end_time = state.time;
-
-			int state_id = state.state();
-			if (boost_time != AltosLib.MISSING && state.time >= boost_time && state_id < AltosLib.ao_flight_boost) {
-				state_id = AltosLib.ao_flight_boost;
-			}
-			if (landed_time != AltosLib.MISSING && state.time >= landed_time && state_id < AltosLib.ao_flight_landed) {
-				state_id = AltosLib.ao_flight_landed;
-			}
-
-			if (0 <= state_id && state_id < AltosLib.ao_flight_invalid) {
-				double acceleration = state.acceleration();
-				double speed = state.speed();
-				if (acceleration != AltosLib.MISSING && speed != AltosLib.MISSING) {
-					state_accel[state_id] += acceleration;
-					state_speed[state_id] += speed;
-					state_count[state_id]++;
-				}
-				if (state_start[state_id] == 0.0)
-					state_start[state_id] = state.time;
-				if (state_end[state_id] < state.time)
-					state_end[state_id] = state.time;
-			}
-			if (state.pad_lat != AltosLib.MISSING) {
-				pad_lat = state.pad_lat;
-				pad_lon = state.pad_lon;
-			}
-			if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) {
-				lat = state.gps.lat;
-				lon = state.gps.lon;
-				has_gps = true;
-				if (state.gps.cc_gps_sat != null)
-					has_gps_sats = true;
-				if (state.gps.course != AltosLib.MISSING)
-					has_gps_detail = true;
-			}
-			if (state.imu != null)
-				has_imu = true;
-			if (state.mag != null)
-				has_mag = true;
-			if (state.orient() != AltosLib.MISSING)
-				has_orient = true;
-			if (state.igniter_voltage != null && state.igniter_voltage.length > num_igniter)
-				num_igniter = state.igniter_voltage.length;
-		}
-*/
-		for (int s = AltosLib.ao_flight_startup; s <= AltosLib.ao_flight_landed; s++) {
-			if (state_count[s] > 0) {
-				state_speed[s] /= state_count[s];
-				state_accel[s] /= state_count[s];
-			} else {
-				state_speed[s] = AltosLib.MISSING;
-				state_accel[s] = AltosLib.MISSING;
-			}
-			if (state_start[s] == 0)
-				state_start[s] = end_time;
-			if (state_end[s] == 0)
-				state_end[s] = end_time;
-		}
 	}
 }
diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java
index 59ade871..fb8432e7 100644
--- a/altoslib/AltosReplayReader.java
+++ b/altoslib/AltosReplayReader.java
@@ -20,36 +20,131 @@ package org.altusmetrum.altoslib_11;
 
 import java.io.*;
 import java.util.*;
+import java.util.concurrent.*;
 
 /*
  * Open an existing telemetry file and replay it in realtime
  */
 
+class AltosReplay extends AltosDataListener implements Runnable {
+
+	AltosState	state;
+	AltosRecordSet	record_set;
+	double		last_time = AltosLib.MISSING;
+	Semaphore	semaphore = new Semaphore(1);;
+	boolean		done = false;
+
+	public void set_time(double time) {
+		if (last_time != AltosLib.MISSING) {
+			semaphore.release();
+			double	delay = Math.min(time - last_time,10);
+			if (delay > 0) {
+				try {
+					Thread.sleep((int) (delay * 1000));
+				} catch (InterruptedException ie) {
+				}
+			}
+		}
+		last_time = time;
+		super.set_time(time);
+		state.set_time(time);
+	}
+
+	public void set_state(int state) {
+		super.set_state(state);
+		this.state.set_state(state);
+	}
+
+	public void set_rssi(int rssi, int status) { state.set_rssi(rssi, status); }
+	public void set_received_time(long received_time) { }
+
+	public void set_acceleration(double accel) { state.set_acceleration(accel); }
+	public void set_pressure(double pa) { state.set_pressure(pa); }
+	public void set_thrust(double N) { state.set_thrust(N); }
+
+	public void set_kalman(double height, double speed, double accel) { state.set_kalman(height, speed, accel); }
+
+	public void set_temperature(double deg_c) { state.set_temperature(deg_c); }
+	public void set_battery_voltage(double volts) { state.set_battery_voltage(volts); }
+
+	public void set_apogee_voltage(double volts) { state.set_apogee_voltage(volts); }
+	public void set_main_voltage(double volts) { state.set_main_voltage(volts); }
+
+	public void set_gps(AltosGPS gps) { state.set_gps(gps); }
+
+	public void set_orient(double orient) { state.set_orient(orient); }
+	public void set_gyro(double roll, double pitch, double yaw) { state.set_gyro(roll, pitch, yaw); }
+	public void set_accel_ground(double along, double across, double through) { state.set_accel_ground(along, across, through); }
+	public void set_accel(double along, double across, double through) { state.set_accel(along, across, through); }
+	public void set_mag(double along, double across, double through) { state.set_mag(along, across, through); }
+	public void set_pyro_voltage(double volts) { state.set_pyro_voltage(volts); }
+	public void set_igniter_voltage(double[] voltage) { state.set_igniter_voltage(voltage); }
+	public void set_pyro_fired(int pyro_mask) { state.set_pyro_fired(pyro_mask); }
+	public void set_companion(AltosCompanion companion) { state.set_companion(companion); }
+
+	public void run () {
+		System.out.printf("ReplayReader running\n");
+		state = new AltosState(record_set.cal_data());
+
+		/* Tell the display that we're in pad mode */
+		state.set_state(AltosLib.ao_flight_pad);
+		semaphore.release();
+		try {
+			Thread.sleep(100);
+		} catch (InterruptedException ie) {
+		}
+
+		/* Run the flight */
+		record_set.capture_series(this);
+
+		/* All done, signal that it's over */
+		done = true;
+		semaphore.release();
+	}
+
+	public AltosReplay(AltosRecordSet record_set) {
+		super(record_set.cal_data());
+		try {
+			semaphore.acquire();
+		} catch (InterruptedException ie) { }
+		this.record_set = record_set;
+		Thread t = new Thread(this);
+		t.start();
+	}
+}
+
 public class AltosReplayReader extends AltosFlightReader {
-	Iterator<AltosState>	iterator;
-	File	file;
+	File		file;
+	AltosReplay	replay;
 
 	public AltosState read() {
-		if (iterator.hasNext())
-			return iterator.next();
-		return null;
+
+		/* When done, let the display know */
+		if (replay.done)
+			return null;
+
+		/* Wait for something to change */
+		try {
+			replay.semaphore.acquire();
+		} catch (InterruptedException ie) {
+		}
+
+		/* Fake out the received time */
+		replay.state.set_received_time(System.currentTimeMillis());
+		return replay.state;
 	}
 
 	public void close (boolean interrupted) {
 	}
 
 	public void update(AltosState state) throws InterruptedException {
-		/* Make it run in realtime after the rocket leaves the pad */
-		if (state.state() > AltosLib.ao_flight_pad && state.time_change > 0)
-			Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
-		state.set_received_time(System.currentTimeMillis());
 	}
 
 	public File backing_file() { return file; }
 
-	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
-		iterator = in_iterator;
+	public AltosReplayReader(AltosRecordSet record_set, File in_file) {
 		file = in_file;
 		name = file.getName();
+		replay = new AltosReplay(record_set);
 	}
 }
diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java
index c6462872..8adf7e69 100644
--- a/altoslib/AltosTelemetryFile.java
+++ b/altoslib/AltosTelemetryFile.java
@@ -111,7 +111,6 @@ public class AltosTelemetryFile implements AltosRecordSet {
 				if (l.cal_data_complete())
 					break;
 			}
-			System.out.printf("Telemetry boost tick %d\n", cal_data.boost_tick);
 		}
 		return cal_data;
 	}
diff --git a/altoslib/AltosTimeSeries.java b/altoslib/AltosTimeSeries.java
index 30b24d82..142c30ef 100644
--- a/altoslib/AltosTimeSeries.java
+++ b/altoslib/AltosTimeSeries.java
@@ -85,6 +85,16 @@ public class AltosTimeSeries implements Iterable<AltosTimeValue> {
 		return values.get(after).value;
 	}
 
+	public double time_of(double value) {
+		double	last = AltosLib.MISSING;
+		for (AltosTimeValue v : values) {
+			if (v.value >= value)
+				return v.time;
+			last = v.time;
+		}
+		return last;
+	}
+
 	public int size() {
 		return values.size();
 	}
@@ -102,6 +112,16 @@ public class AltosTimeSeries implements Iterable<AltosTimeValue> {
 		return max;
 	}
 
+	public double max(double start_time, double end_time) {
+		double max = AltosLib.MISSING;
+		for (AltosTimeValue tv : values) {
+			if (start_time <= tv.time && tv.time <= end_time)
+				if (max == AltosLib.MISSING || tv.value > max)
+					max = tv.value;
+		}
+		return max;
+	}
+
 	public double min() {
 		double min = AltosLib.MISSING;
 		for (AltosTimeValue tv : values) {
@@ -111,6 +131,42 @@ public class AltosTimeSeries implements Iterable<AltosTimeValue> {
 		return min;
 	}
 
+	public double min(double start_time, double end_time) {
+		double min = AltosLib.MISSING;
+		for (AltosTimeValue tv : values) {
+			if (start_time <= tv.time && tv.time <= end_time)
+				if (min == AltosLib.MISSING || tv.value < min)
+					min = tv.value;
+		}
+		return min;
+	}
+
+	public double average() {
+		double total = 0;
+		int count = 0;
+		for (AltosTimeValue tv : values) {
+			total += tv.value;
+			count++;
+		}
+		if (count == 0)
+			return AltosLib.MISSING;
+		return total / count;
+	}
+
+	public double average(double start_time, double end_time) {
+		double total = 0;
+		int count = 0;
+		for (AltosTimeValue tv : values) {
+			if (start_time <= tv.time && tv.time <= end_time) {
+				total += tv.value;
+				count++;
+			}
+		}
+		if (count == 0)
+			return AltosLib.MISSING;
+		return total / count;
+	}
+
 	public AltosTimeSeries integrate(AltosTimeSeries integral) {
 		double	value = 0.0;
 		double	pvalue = 0.0;
diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java
index eaf19256..23a62e95 100644
--- a/altosui/AltosFlightUI.java
+++ b/altosui/AltosFlightUI.java
@@ -115,7 +115,9 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay {
 
 		JComponent tab = which_tab(state);
 		if (tab != cur_tab) {
+			System.out.printf("checking tab for state %s\n", AltosLib.state_name(state.state()));
 			if (cur_tab == pane.getSelectedComponent()) {
+				System.out.printf("switch tabs\n");
 				pane.setSelectedComponent(tab);
 			}
 			cur_tab = tab;
diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index b0cff381..a6b967f8 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -481,8 +481,7 @@ public class AltosUI extends AltosUIFrame {
 		AltosRecordSet set = record_set(file);
 		if (set == null)
 			return null;
-//		return new AltosReplayReader(states.iterator(), file);
-		return null;
+		return new AltosReplayReader(set, file);
 	}
 
 	static boolean process_replay(File file) {
diff --git a/altosuilib/AltosDisplayThread.java b/altosuilib/AltosDisplayThread.java
index 52414c62..1edac8a9 100644
--- a/altosuilib/AltosDisplayThread.java
+++ b/altosuilib/AltosDisplayThread.java
@@ -30,7 +30,9 @@ public class AltosDisplayThread extends Thread {
 	IdleThread		idle_thread;
 	AltosVoice		voice;
 	AltosFlightReader	reader;
-	AltosState		old_state, state;
+	AltosState		state;
+	int			old_state = AltosLib.ao_flight_invalid;
+	boolean			old_gps_ready = false;
 	AltosListenerState	listener_state;
 	AltosFlightDisplay	display;
 
@@ -164,7 +166,7 @@ public class AltosDisplayThread extends Thread {
 		}
 
 		public synchronized void notice(boolean spoken) {
-			if (old_state != null && old_state.state() != state.state()) {
+			if (old_state != state.state()) {
 				report_time = now();
 				this.notify();
 			} else if (spoken)
@@ -179,16 +181,16 @@ public class AltosDisplayThread extends Thread {
 
 	synchronized boolean tell() {
 		boolean	ret = false;
-		if (old_state == null || old_state.state() != state.state()) {
+		if (old_state != state.state()) {
 			if (state.state() != AltosLib.ao_flight_stateless)
 				voice.speak(state.state_name());
-			if ((old_state == null || old_state.state() <= AltosLib.ao_flight_boost) &&
+			if ((old_state == AltosLib.ao_flight_invalid || old_state <= AltosLib.ao_flight_boost) &&
 			    state.state() > AltosLib.ao_flight_boost) {
 				if (state.max_speed() != AltosLib.MISSING)
 					voice.speak("max speed: %s.",
 						    AltosConvert.speed.say_units(state.max_speed() + 0.5));
 				ret = true;
-			} else if ((old_state == null || old_state.state() < AltosLib.ao_flight_drogue) &&
+			} else if ((old_state == AltosLib.ao_flight_invalid || old_state < AltosLib.ao_flight_drogue) &&
 				   state.state() >= AltosLib.ao_flight_drogue) {
 				if (state.max_height() != AltosLib.MISSING)
 					voice.speak("max height: %s.",
@@ -196,17 +198,18 @@ public class AltosDisplayThread extends Thread {
 				ret = true;
 			}
 		}
-		if (old_state == null || old_state.gps_ready != state.gps_ready) {
+		if (old_gps_ready != state.gps_ready) {
 			if (state.gps_ready) {
 				voice.speak("GPS ready");
 				ret = true;
 			}
-			else if (old_state != null) {
+			else if (old_gps_ready) {
 				voice.speak("GPS lost");
 				ret = true;
 			}
 		}
-		old_state = state;
+		old_state = state.state();
+		old_gps_ready = state.gps_ready;
 		return ret;
 	}
 
@@ -220,14 +223,11 @@ public class AltosDisplayThread extends Thread {
 		try {
 			for (;;) {
 				try {
-					AltosState new_state = reader.read();
-					if (new_state == null) {
-						state = null;
+					state = reader.read();
+					if (state == null) {
 						listener_state.running = false;
 						break;
 					}
-					reader.update(new_state);
-					state = new_state;
 					show_safely();
 					told = tell();
 					idle_thread.notice(told);