altoslib: Move CSV/KML output code to altoslib

It's sharable, so share it

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

1 files changed, 334 insertions, 0 deletions

diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java
new file mode 100644
index 00000000..8176d21b
--- /dev/null
+++ b/altoslib/AltosCSV.java
@@ -0,0 +1,334 @@
+/*
+ * 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 org.altusmetrum.altoslib_3;
+
+import java.io.*;
+import java.util.*;
+
+public class AltosCSV implements AltosWriter {
+	File			name;
+	PrintStream		out;
+	boolean			header_written;
+	boolean			seen_boost;
+	int			boost_tick;
+	LinkedList<AltosState>	pad_states;
+	AltosState		state;
+
+	static final int ALTOS_CSV_VERSION = 5;
+
+	/* Version 4 format:
+	 *
+	 * General info
+	 *	version number
+	 *	serial number
+	 *	flight number
+	 *	callsign
+	 *	time (seconds since boost)
+	 *	clock (tick count / 100)
+	 *	rssi
+	 *	link quality
+	 *
+	 * Flight status
+	 *	state
+	 *	state name
+	 *
+	 * Basic sensors
+	 *	acceleration (m/s²)
+	 *	pressure (mBar)
+	 *	altitude (m)
+	 *	height (m)
+	 *	accelerometer speed (m/s)
+	 *	barometer speed (m/s)
+	 *	temp (°C)
+	 *	battery (V)
+	 *	drogue (V)
+	 *	main (V)
+	 *
+	 * Advanced sensors (if available)
+	 *	accel_x (m/s²)
+	 *	accel_y (m/s²)
+	 *	accel_z (m/s²)
+	 *	gyro_x (d/s)
+	 *	gyro_y (d/s)
+	 *	gyro_z (d/s)
+	 *	mag_x (g)
+	 *	mag_y (g)
+	 *	mag_z (g)
+	 *
+	 * GPS data (if available)
+	 *	connected (1/0)
+	 *	locked (1/0)
+	 *	nsat (used for solution)
+	 *	latitude (°)
+	 *	longitude (°)
+	 *	altitude (m)
+	 *	year (e.g. 2010)
+	 *	month (1-12)
+	 *	day (1-31)
+	 *	hour (0-23)
+	 *	minute (0-59)
+	 *	second (0-59)
+	 *	from_pad_dist (m)
+	 *	from_pad_azimuth (deg true)
+	 *	from_pad_range (m)
+	 *	from_pad_elevation (deg from horizon)
+	 *	hdop
+	 *
+	 * 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() {
+		out.printf("version,serial,flight,call,time,clock,rssi,lqi");
+	}
+
+	void write_general(AltosState state) {
+		out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
+			   ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign,
+			   (double) state.time, (double) state.tick / 100.0,
+			   state.rssi,
+			   state.status & 0x7f);
+	}
+
+	void write_flight_header() {
+		out.printf("state,state_name");
+	}
+
+	void write_flight(AltosState state) {
+		out.printf("%d,%8s", state.state, state.state_name());
+	}
+
+	void write_basic_header() {
+		out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
+	}
+
+	void write_basic(AltosState state) {
+		out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
+			   state.acceleration(),
+			   state.pressure(),
+			   state.altitude(),
+			   state.height(),
+			   state.speed(),
+			   state.speed(),
+			   state.temperature,
+			   state.battery_voltage,
+			   state.apogee_voltage,
+			   state.main_voltage);
+	}
+
+	void write_advanced_header() {
+		out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
+	}
+
+	void write_advanced(AltosState state) {
+		AltosIMU	imu = state.imu;
+		AltosMag	mag = state.mag;
+
+		if (imu == null)
+			imu = new AltosIMU();
+		if (mag == null)
+			mag = new AltosMag();
+		out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
+			   imu.accel_x, imu.accel_y, imu.accel_z,
+			   imu.gyro_x, imu.gyro_y, imu.gyro_z,
+			   mag.x, mag.y, mag.z);
+	}
+
+	void write_gps_header() {
+		out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
+	}
+
+	void write_gps(AltosState state) {
+		AltosGPS	gps = state.gps;
+		if (gps == null)
+			gps = new AltosGPS();
+
+		AltosGreatCircle from_pad = state.from_pad;
+		if (from_pad == null)
+			from_pad = new AltosGreatCircle();
+
+		out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
+			   gps.connected?1:0,
+			   gps.locked?1:0,
+			   gps.nsat,
+			   gps.lat,
+			   gps.lon,
+			   gps.alt,
+			   gps.year,
+			   gps.month,
+			   gps.day,
+			   gps.hour,
+			   gps.minute,
+			   gps.second,
+			   from_pad.distance,
+			   state.range,
+			   from_pad.bearing,
+			   state.elevation,
+			   gps.hdop);
+	}
+
+	void write_gps_sat_header() {
+		for(int i = 1; i <= 32; i++) {
+			out.printf("sat%02d", i);
+			if (i != 32)
+				out.printf(",");
+		}
+	}
+
+	void write_gps_sat(AltosState state) {
+		AltosGPS	gps = state.gps;
+		for(int i = 1; i <= 32; i++) {
+			int	c_n0 = 0;
+			if (gps != null && gps.cc_gps_sat != null) {
+				for(int j = 0; j < gps.cc_gps_sat.length; j++)
+					if (gps.cc_gps_sat[j].svid == i) {
+						c_n0 = gps.cc_gps_sat[j].c_n0;
+						break;
+					}
+			}
+			out.printf ("%3d", c_n0);
+			if (i != 32)
+				out.printf(",");
+		}
+	}
+
+	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(AltosState state) {
+		AltosCompanion companion = state.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 advanced, boolean gps, boolean companion) {
+		out.printf("#"); write_general_header();
+		out.printf(","); write_flight_header();
+		out.printf(","); write_basic_header();
+		if (advanced)
+			out.printf(","); write_advanced_header();
+		if (gps) {
+			out.printf(","); write_gps_header();
+			out.printf(","); write_gps_sat_header();
+		}
+		if (companion) {
+			out.printf(","); write_companion_header();
+		}
+		out.printf ("\n");
+	}
+
+	void write_one(AltosState state) {
+		write_general(state); out.printf(",");
+		write_flight(state); out.printf(",");
+		write_basic(state); out.printf(",");
+		if (state.imu != null || state.mag != null)
+			write_advanced(state);
+		if (state.gps != null) {
+			out.printf(",");
+			write_gps(state); out.printf(",");
+			write_gps_sat(state);
+		}
+		if (state.companion != null) {
+			out.printf(",");
+			write_companion(state);
+		}
+		out.printf ("\n");
+	}
+
+	void flush_pad() {
+		while (!pad_states.isEmpty()) {
+			write_one (pad_states.remove());
+		}
+	}
+
+	public void write(AltosState state) {
+		if (state.state == AltosLib.ao_flight_startup)
+			return;
+		if (!header_written) {
+			write_header(state.imu != null || state.mag != null,
+				     state.gps != null, state.companion != null);
+			header_written = true;
+		}
+		if (!seen_boost) {
+			if (state.state >= AltosLib.ao_flight_boost) {
+				seen_boost = true;
+				boost_tick = state.tick;
+				flush_pad();
+			}
+		}
+		if (seen_boost)
+			write_one(state);
+		else
+			pad_states.add(state);
+	}
+
+	public PrintStream out() {
+		return out;
+	}
+
+	public void close() {
+		if (!pad_states.isEmpty()) {
+			boost_tick = pad_states.element().tick;
+			flush_pad();
+		}
+		out.close();
+	}
+
+	public void write(AltosStateIterable states) {
+		states.write_comments(out());
+		for (AltosState state : states)
+			write(state);
+	}
+
+	public AltosCSV(PrintStream in_out, File in_name) {
+		name = in_name;
+		out = in_out;
+		pad_states = new LinkedList<AltosState>();
+	}
+
+	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));
+	}
+}