altoslib: Ensure CSV output is consistent

Scan entire flight to figure out which columns to include before
outputing header or data. Limit data output to values which are valid.

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

1 files changed, 108 insertions, 31 deletions

diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java
index 7e3d6d07..4a9278d9 100644
--- a/altoslib/AltosCSV.java
+++ b/altoslib/AltosCSV.java
@@ -29,6 +29,14 @@ public class AltosCSV implements AltosWriter {
 	LinkedList<AltosState>	pad_states;
 	AltosState		state;
 
+	static boolean		has_basic;
+	static boolean		has_battery;
+	static boolean		has_flight_state;
+	static boolean		has_advanced;
+	static boolean		has_gps;
+	static boolean		has_gps_sat;
+	static boolean		has_companion;
+
 	static final int ALTOS_CSV_VERSION = 5;
 
 	/* Version 4 format:
@@ -55,10 +63,12 @@ public class AltosCSV implements AltosWriter {
 	 *	accelerometer speed (m/s)
 	 *	barometer speed (m/s)
 	 *	temp (°C)
-	 *	battery (V)
 	 *	drogue (V)
 	 *	main (V)
 	 *
+	 * Battery
+	 *	battery (V)
+	 *
 	 * Advanced sensors (if available)
 	 *	accel_x (m/s²)
 	 *	accel_y (m/s²)
@@ -87,7 +97,9 @@ public class AltosCSV implements AltosWriter {
 	 *	from_pad_azimuth (deg true)
 	 *	from_pad_range (m)
 	 *	from_pad_elevation (deg from horizon)
+	 *	pdop
 	 *	hdop
+	 *	vdop
 	 *
 	 * GPS Sat data
 	 *	C/N0 data for all 32 valid SDIDs
@@ -107,7 +119,7 @@ public class AltosCSV implements AltosWriter {
 	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,
+			   (double) state.time_since_boost(), (double) state.tick / 100.0,
 			   state.rssi,
 			   state.status & 0x7f);
 	}
@@ -121,11 +133,11 @@ public class AltosCSV implements AltosWriter {
 	}
 
 	void write_basic_header() {
-		out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
+		out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,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",
+		out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f",
 			   state.acceleration(),
 			   state.pressure(),
 			   state.altitude(),
@@ -133,11 +145,18 @@ public class AltosCSV implements AltosWriter {
 			   state.speed(),
 			   state.speed(),
 			   state.temperature,
-			   state.battery_voltage,
 			   state.apogee_voltage,
 			   state.main_voltage);
 	}
 
+	void write_battery_header() {
+		out.printf("battery_voltage");
+	}
+
+	void write_battery(AltosState state) {
+		out.printf("%5.2f", state.battery_voltage);
+	}
+
 	void write_advanced_header() {
 		out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
 	}
@@ -150,14 +169,14 @@ public class AltosCSV implements AltosWriter {
 			imu = new AltosIMU();
 		if (mag == null)
 			mag = new AltosMag();
-		out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
+		out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
 			   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");
+		out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop");
 	}
 
 	void write_gps(AltosState state) {
@@ -169,7 +188,7 @@ public class AltosCSV implements AltosWriter {
 		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",
+		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,%6.1f,%6.1f",
 			   gps.connected?1:0,
 			   gps.locked?1:0,
 			   gps.nsat,
@@ -186,7 +205,9 @@ public class AltosCSV implements AltosWriter {
 			   state.range,
 			   from_pad.bearing,
 			   state.elevation,
-			   gps.hdop);
+			   gps.pdop,
+			   gps.hdop,
+			   gps.vdop);
 	}
 
 	void write_gps_sat_header() {
@@ -239,52 +260,83 @@ public class AltosCSV implements AltosWriter {
 			out.printf(",0");
 	}
 
-	void write_header(boolean advanced, boolean gps, boolean companion) {
+	void write_header() {
 		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 (has_flight_state) {
+			out.printf(",");
+			write_flight_header();
 		}
-		if (companion) {
-			out.printf(","); write_companion_header();
+		if (has_basic) {
+			out.printf(",");
+			write_basic_header();
+		}
+		if (has_battery) {
+			out.printf(",");
+			write_battery_header();
+		}
+		if (has_advanced) {
+			out.printf(",");
+			write_advanced_header();
+		}
+		if (has_gps) {
+			out.printf(",");
+			write_gps_header();
+		}
+		if (has_gps_sat) {
+			out.printf(",");
+			write_gps_sat_header();
+		}
+		if (has_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_general(state);
+		if (has_flight_state) {
+			out.printf(",");
+			write_flight(state);
+		}
+		if (has_basic) {
+			out.printf(",");
+			write_basic(state);
+		}
+		if (has_battery) {
+			out.printf(",");
+			write_battery(state);
+		}
+		if (has_advanced) {
+			out.printf(",");
 			write_advanced(state);
-		if (state.gps != null) {
+		}
+		if (has_gps) {
+			out.printf(",");
+			write_gps(state);
+		}
+		if (has_gps_sat) {
 			out.printf(",");
-			write_gps(state); out.printf(",");
 			write_gps_sat(state);
 		}
-		if (state.companion != null) {
+		if (has_companion) {
 			out.printf(",");
 			write_companion(state);
 		}
 		out.printf ("\n");
 	}
 
-	void flush_pad() {
+	private void flush_pad() {
 		while (!pad_states.isEmpty()) {
 			write_one (pad_states.remove());
 		}
 	}
 
-	public void write(AltosState state) {
+	private 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);
+			write_header();
 			header_written = true;
 		}
 		if (!seen_boost) {
@@ -300,7 +352,7 @@ public class AltosCSV implements AltosWriter {
 			pad_states.add(state);
 	}
 
-	public PrintStream out() {
+	private PrintStream out() {
 		return out;
 	}
 
@@ -314,6 +366,31 @@ public class AltosCSV implements AltosWriter {
 
 	public void write(AltosStateIterable states) {
 		states.write_comments(out());
+
+		has_flight_state = false;
+		has_basic = false;
+		has_battery = false;
+		has_advanced = false;
+		has_gps = false;
+		has_gps_sat = false;
+		has_companion = false;
+		for (AltosState state : states) {
+			if (state.state != AltosLib.ao_flight_stateless && state.state != AltosLib.ao_flight_invalid && state.state != AltosLib.ao_flight_startup)
+				has_flight_state = true;
+			if (state.acceleration() != AltosLib.MISSING || state.pressure() != AltosLib.MISSING)
+				has_basic = true;
+			if (state.battery_voltage != AltosLib.MISSING)
+				has_battery = true;
+			if (state.imu != null || state.mag != null)
+				has_advanced = true;
+			if (state.gps != null) {
+				has_gps = true;
+				if (state.gps.cc_gps_sat != null)
+					has_gps_sat = true;
+			}
+			if (state.companion != null)
+				has_companion = true;
+		}
 		for (AltosState state : states)
 			write(state);
 	}