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-rw-r--r--ao-tools/altosui/Altos.java20
-rw-r--r--ao-tools/altosui/AltosEepromReader.java178
-rw-r--r--ao-tools/altosui/AltosEepromRecord.java56
-rw-r--r--ao-tools/altosui/AltosFlightStatusTableModel.java2
-rw-r--r--ao-tools/altosui/AltosGPS.java31
-rw-r--r--ao-tools/altosui/AltosRecord.java11
-rw-r--r--ao-tools/altosui/AltosState.java13
-rw-r--r--ao-tools/altosui/AltosTelemetry.java2
-rw-r--r--ao-tools/altosui/AltosUI.java34
9 files changed, 277 insertions, 70 deletions
diff --git a/ao-tools/altosui/Altos.java b/ao-tools/altosui/Altos.java
index 6ea7b43c..53359e23 100644
--- a/ao-tools/altosui/Altos.java
+++ b/ao-tools/altosui/Altos.java
@@ -35,8 +35,18 @@ public class Altos {
static final int AO_LOG_GPS_SAT = 'V';
static final int AO_LOG_GPS_DATE = 'Y';
- /* Added for 'serial-number' entry in eeprom files */
- static final int AO_LOG_SERIAL_NUMBER = 1000;
+ /* Added for header fields in eeprom files */
+ static final int AO_LOG_CONFIG_VERSION = 1000;
+ static final int AO_LOG_MAIN_DEPLOY = 1001;
+ static final int AO_LOG_APOGEE_DELAY = 1002;
+ static final int AO_LOG_RADIO_CHANNEL = 1003;
+ static final int AO_LOG_CALLSIGN = 1004;
+ static final int AO_LOG_ACCEL_CAL = 1005;
+ static final int AO_LOG_RADIO_CAL = 1006;
+ static final int AO_LOG_MANUFACTURER = 1007;
+ static final int AO_LOG_PRODUCT = 1008;
+ static final int AO_LOG_SERIAL_NUMBER = 1009;
+ static final int AO_LOG_SOFTWARE_VERSION = 1010;
/* Added to flag invalid records */
static final int AO_LOG_INVALID = -1;
@@ -98,4 +108,10 @@ public class Altos {
return "invalid";
return state_to_string[state];
}
+
+ static final int AO_GPS_VALID = (1 << 4);
+ static final int AO_GPS_RUNNING = (1 << 5);
+ static final int AO_GPS_DATE_VALID = (1 << 6);
+ static final int AO_GPS_NUM_SAT_SHIFT = 0;
+ static final int AO_GPS_NUM_SAT_MASK = 0xf;
}
diff --git a/ao-tools/altosui/AltosEepromReader.java b/ao-tools/altosui/AltosEepromReader.java
index 6fe9bfe4..7a8ff5b0 100644
--- a/ao-tools/altosui/AltosEepromReader.java
+++ b/ao-tools/altosui/AltosEepromReader.java
@@ -36,75 +36,181 @@ import altosui.AltosLog;
import altosui.AltosVoice;
import altosui.AltosEepromMonitor;
+class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
+
+ int index;
+
+ public AltosOrderedRecord(String line, int in_index, int prev_tick)
+ throws ParseException {
+ super(line);
+ int new_tick = tick | (prev_tick & ~0xffff);
+ if (new_tick < prev_tick) {
+ if (prev_tick - new_tick > 0x8000)
+ new_tick += 0x10000;
+ }
+ tick = new_tick;
+ index = in_index;
+ }
+
+ public int compareTo(AltosOrderedRecord o) {
+ int tick_diff = tick - o.tick;
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
+ }
+}
+
public class AltosEepromReader {
static final int seen_flight = 1;
static final int seen_sensor = 2;
static final int seen_temp_volt = 4;
static final int seen_deploy = 8;
+ 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_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy;
- static final int seen_gps_time = 16;
-
AltosRecord state;
- AltosEepromRecord record;
+ AltosOrderedRecord record;
+
+ TreeSet<AltosOrderedRecord> records;
+
+ Iterator<AltosOrderedRecord> record_iterator;
int seen;
- int tick;
+ int index;
+
+ boolean last_reported;
+
+ double ground_pres;
+ double ground_accel;
+
+ int n_pad_samples;
- boolean done;
+ int gps_tick;
FileInputStream input;
public AltosRecord read() throws IOException, ParseException {
for (;;) {
if (record == null) {
- record = new AltosEepromRecord(AltosRecord.gets(input));
- if (record == null) {
- if (done)
+ if (!record_iterator.hasNext()) {
+ if (last_reported)
return null;
+ last_reported = true;
return state;
}
+ record = record_iterator.next();
- /* eeprom only records low 16 bits of tick count */
- int tick = record.tick | (state.tick & ~0xffff);
-
- if (tick < state.tick) {
- if (state.tick - tick > 0x8000)
- tick += 0x10000;
- else
- tick = state.tick;
- }
-
- /* Accumulate data in the state record while
- * the time stamp is not increasing
- */
-
- if ((seen & seen_basic) == seen_basic && tick > state.tick)
+ if ((seen & seen_basic) == seen_basic && record.tick != state.tick)
return new AltosRecord(state);
}
- state.tick = tick;
+ state.tick = record.tick;
switch (record.cmd) {
case Altos.AO_LOG_FLIGHT:
state.ground_accel = record.a;
state.flight = record.b;
+ seen |= seen_flight;
break;
case Altos.AO_LOG_SENSOR:
state.accel = record.a;
state.pres = record.b;
+ if (state.state < Altos.ao_flight_boost) {
+ n_pad_samples++;
+ ground_pres += state.pres;
+ state.ground_pres = (int) (ground_pres / n_pad_samples);
+ state.flight_pres = state.ground_pres;
+ System.out.printf("ground pressure %d altitude %f\n",
+ record.b, state.altitude());
+ ground_accel += state.accel;
+ state.ground_accel = (int) (ground_accel / n_pad_samples);
+ state.flight_accel = state.ground_accel;
+ } else {
+ state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
+ state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
+ state.flight_vel += (state.accel_plus_g - state.accel);
+ }
+ seen |= seen_sensor;
break;
case Altos.AO_LOG_TEMP_VOLT:
state.temp = record.a;
state.batt = record.b;
+ seen |= seen_temp_volt;
break;
case Altos.AO_LOG_DEPLOY:
state.drogue = record.a;
state.main = record.b;
+ seen |= seen_deploy;
+ break;
+ case Altos.AO_LOG_STATE:
+ System.out.printf("state %d\n", record.a);
+ state.state = record.a;
break;
case Altos.AO_LOG_GPS_TIME:
+ gps_tick = state.tick;
+ state.gps = new AltosGPS();
+ state.gps.hour = (record.a & 0xff);
+ state.gps.minute = (record.a >> 8);
+ state.gps.second = (record.b & 0xff);
+ int flags = (record.b >> 8);
+ state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
+ state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
+ state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
+ state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
+ Altos.AO_GPS_NUM_SAT_SHIFT;
+ break;
+ case Altos.AO_LOG_GPS_LAT:
+ int lat32 = record.a | (record.b << 16);
+ state.gps.lat = (double) lat32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_LON:
+ int lon32 = record.a | (record.b << 16);
+ state.gps.lon = (double) lon32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_ALT:
+ state.gps.alt = record.a;
+ break;
+ case Altos.AO_LOG_GPS_SAT:
+ if (state.tick == gps_tick) {
+ int svid = record.a;
+ int c_n0 = record.b >> 8;
+ state.gps.add_sat(svid, c_n0);
+ }
+ break;
+ case Altos.AO_LOG_GPS_DATE:
+ state.gps.year = record.a & 0xff;
+ state.gps.month = record.a >> 8;
+ state.gps.day = record.b & 0xff;
+ break;
+
+ case Altos.AO_LOG_CONFIG_VERSION:
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ state.callsign = record.data;
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ state.accel_plus_g = record.a;
+ state.accel_minus_g = record.b;
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
break;
}
record = null;
@@ -113,8 +219,30 @@ public class AltosEepromReader {
public AltosEepromReader (FileInputStream in_input) {
state = new AltosRecord();
+ state.state = Altos.ao_flight_pad;
+ state.accel_plus_g = 15758;
+ state.accel_minus_g = 16294;
input = in_input;
seen = 0;
- done = false;
+ records = new TreeSet<AltosOrderedRecord>();
+
+ int index = 0;
+ int tick = 0;
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null)
+ break;
+ AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick);
+ if (record == null)
+ break;
+ tick = record.tick;
+ records.add(record);
+ }
+ } catch (IOException io) {
+ } catch (ParseException pe) {
+ }
+ record_iterator = records.iterator();
}
}
diff --git a/ao-tools/altosui/AltosEepromRecord.java b/ao-tools/altosui/AltosEepromRecord.java
index 5b359352..86ac1fd2 100644
--- a/ao-tools/altosui/AltosEepromRecord.java
+++ b/ao-tools/altosui/AltosEepromRecord.java
@@ -44,25 +44,65 @@ public class AltosEepromRecord {
public int tick;
public int a;
public int b;
+ String data;
+ public boolean tick_valid;
public AltosEepromRecord (String line) throws ParseException {
+ tick_valid = false;
+ tick = 0;
+ a = 0;
+ b = 0;
+ data = null;
if (line == null) {
cmd = Altos.AO_LOG_INVALID;
} else {
String[] tokens = line.split("\\s+");
- if (tokens[0].equals("serial-number")) {
- cmd = Altos.AO_LOG_SERIAL_NUMBER;
- tick = 0;
- a = Integer.parseInt(tokens[1]);
- b = 0;
- } else {
+ if (tokens[0].length() == 1) {
if (tokens.length != 4)
throw new ParseException(line, 0);
cmd = tokens[0].codePointAt(0);
- tick = Integer.parseInt(tokens[1]);
+ tick = Integer.parseInt(tokens[1],16);
+ tick_valid = true;
+ a = Integer.parseInt(tokens[2],16);
+ b = Integer.parseInt(tokens[3],16);
+ } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
+ cmd = Altos.AO_LOG_CONFIG_VERSION;
+ data = tokens[2];
+ } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+ cmd = Altos.AO_LOG_MAIN_DEPLOY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+ cmd = Altos.AO_LOG_APOGEE_DELAY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+ cmd = Altos.AO_LOG_RADIO_CHANNEL;
a = Integer.parseInt(tokens[2]);
- b = Integer.parseInt(tokens[3]);
+ } else if (tokens[0].equals("Callsign:")) {
+ cmd = Altos.AO_LOG_CALLSIGN;
+ data = tokens[1].replaceAll("\"","");
+ } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+ cmd = Altos.AO_LOG_ACCEL_CAL;
+ a = Integer.parseInt(tokens[3]);
+ b = Integer.parseInt(tokens[5]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+ cmd = Altos.AO_LOG_RADIO_CAL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("manufacturer")) {
+ cmd = Altos.AO_LOG_MANUFACTURER;
+ data = tokens[1];
+ } else if (tokens[0].equals("product")) {
+ cmd = Altos.AO_LOG_PRODUCT;
+ data = tokens[1];
+ } else if (tokens[0].equals("serial-number")) {
+ cmd = Altos.AO_LOG_SERIAL_NUMBER;
+ a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("software-version")) {
+ cmd = Altos.AO_LOG_SOFTWARE_VERSION;
+ data = tokens[1];
+ } else {
+ cmd = Altos.AO_LOG_INVALID;
+ data = line;
}
}
}
diff --git a/ao-tools/altosui/AltosFlightStatusTableModel.java b/ao-tools/altosui/AltosFlightStatusTableModel.java
index 174dd42c..4c24b6ac 100644
--- a/ao-tools/altosui/AltosFlightStatusTableModel.java
+++ b/ao-tools/altosui/AltosFlightStatusTableModel.java
@@ -51,7 +51,7 @@ public class AltosFlightStatusTableModel extends AbstractTableModel {
public void set(AltosState state) {
setValueAt(String.format("%1.0f", state.height), 0);
- setValueAt(state.data.state, 1);
+ setValueAt(state.data.state(), 1);
setValueAt(state.data.rssi, 2);
double speed = state.baro_speed;
if (state.ascent)
diff --git a/ao-tools/altosui/AltosGPS.java b/ao-tools/altosui/AltosGPS.java
index 6b84d7a5..b3ee67e8 100644
--- a/ao-tools/altosui/AltosGPS.java
+++ b/ao-tools/altosui/AltosGPS.java
@@ -29,8 +29,9 @@ public class AltosGPS {
}
int nsat;
- boolean gps_locked;
- boolean gps_connected;
+ boolean locked;
+ boolean connected;
+ boolean date_valid;
double lat; /* degrees (+N -S) */
double lon; /* degrees (+E -W) */
int alt; /* m */
@@ -77,19 +78,19 @@ public class AltosGPS {
nsat = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "sat");
- gps_connected = false;
- gps_locked = false;
+ connected = false;
+ locked = false;
lat = lon = 0;
alt = 0;
ClearGPSTime();
if ((words[i]).equals("unlocked")) {
- gps_connected = true;
+ connected = true;
i++;
} else if ((words[i]).equals("not-connected")) {
i++;
} else if (words.length >= 40) {
- gps_locked = true;
- gps_connected = true;
+ locked = true;
+ connected = true;
ParseGPSTime(words[i], words[i+1]); i += 2;
lat = AltosParse.parse_coord(words[i++]);
@@ -169,8 +170,8 @@ public class AltosGPS {
public AltosGPS(AltosGPS old) {
nsat = old.nsat;
- gps_locked = old.gps_locked;
- gps_connected = old.gps_connected;
+ locked = old.locked;
+ connected = old.connected;
lat = old.lat; /* degrees (+N -S) */
lon = old.lon; /* degrees (+E -W) */
alt = old.alt; /* m */
@@ -189,11 +190,13 @@ public class AltosGPS {
h_error = old.h_error; /* m */
v_error = old.v_error; /* m */
- AltosGPSSat[] cc_gps_sat; /* tracking data */
- cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
- for (int i = 0; i < old.cc_gps_sat.length; i++) {
- cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
- cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+ if (old.cc_gps_sat != null) {
+ cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+ for (int i = 0; i < old.cc_gps_sat.length; i++) {
+ cc_gps_sat[i] = new AltosGPSSat();
+ cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+ cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+ }
}
}
}
diff --git a/ao-tools/altosui/AltosRecord.java b/ao-tools/altosui/AltosRecord.java
index c3e9d211..3440d935 100644
--- a/ao-tools/altosui/AltosRecord.java
+++ b/ao-tools/altosui/AltosRecord.java
@@ -31,7 +31,7 @@ public class AltosRecord {
int flight;
int rssi;
int status;
- String state;
+ int state;
int tick;
int accel;
int pres;
@@ -72,7 +72,7 @@ public class AltosRecord {
}
public double pressure() {
- return barometer_to_pressure(pres);
+ return barometer_to_pressure(flight_pres);
}
public double ground_pressure() {
@@ -136,9 +136,8 @@ public class AltosRecord {
return speed;
}
- public int state() {
- System.out.printf("state: %s -> %d\n", state, Altos.state(state));
- return Altos.state(state);
+ public String state() {
+ return Altos.state_name(state);
}
public static String gets(FileInputStream s) throws IOException {
@@ -188,7 +187,7 @@ public class AltosRecord {
flight = 0;
rssi = 0;
status = 0;
- state = "startup";
+ state = Altos.ao_flight_startup;
tick = 0;
accel = 0;
pres = 0;
diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java
index fc06f839..deeb4c77 100644
--- a/ao-tools/altosui/AltosState.java
+++ b/ao-tools/altosui/AltosState.java
@@ -89,7 +89,7 @@ public class AltosState {
main_sense = data.main_voltage();
battery = data.battery_voltage();
tick = data.tick;
- state = data.state();
+ state = data.state;
if (prev_state != null) {
@@ -124,7 +124,12 @@ public class AltosState {
}
if (state == Altos.ao_flight_pad) {
- if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
+ if (data.gps == null)
+ System.out.printf("on pad, gps null\n");
+ else
+ System.out.printf ("on pad gps lat %f lon %f locked %d nsat %d\n",
+ data.gps.lat, data.gps.lon, data.gps.locked ? 1 : 0, data.gps.nsat);
+ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
npad++;
if (npad > 1) {
/* filter pad position */
@@ -159,9 +164,9 @@ public class AltosState {
if (height > max_height)
max_height = height;
if (data.gps != null) {
- if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+ if (gps == null || !gps.locked || data.gps.locked)
gps = data.gps;
- if (npad > 0 && gps.gps_locked)
+ if (npad > 0 && gps.locked)
from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
}
if (npad > 0) {
diff --git a/ao-tools/altosui/AltosTelemetry.java b/ao-tools/altosui/AltosTelemetry.java
index f495be1d..af29b8c0 100644
--- a/ao-tools/altosui/AltosTelemetry.java
+++ b/ao-tools/altosui/AltosTelemetry.java
@@ -76,7 +76,7 @@ public class AltosTelemetry extends AltosRecord {
status = AltosParse.parse_hex(words[i++]);
AltosParse.word(words[i++], "STATE");
- state = words[i++];
+ state = Altos.state(words[i++]);
tick = AltosParse.parse_int(words[i++]);
diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 40663882..2cb0c479 100644
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -173,7 +173,7 @@ public class AltosUI extends JFrame {
else
info_add_row(0, "Ground state", "wait (%d)",
state.gps_waiting);
- info_add_row(0, "Rocket state", "%s", state.data.state);
+ info_add_row(0, "Rocket state", "%s", state.data.state());
info_add_row(0, "Callsign", "%s", state.data.callsign);
info_add_row(0, "Rocket serial", "%6d", state.data.serial);
info_add_row(0, "Rocket flight", "%6d", state.data.flight);
@@ -193,9 +193,9 @@ public class AltosUI extends JFrame {
if (state.gps == null) {
info_add_row(1, "GPS", "not available");
} else {
- if (state.data.gps.gps_locked)
+ if (state.data.gps.locked)
info_add_row(1, "GPS", " locked");
- else if (state.data.gps.gps_connected)
+ else if (state.data.gps.connected)
info_add_row(1, "GPS", " unlocked");
else
info_add_row(1, "GPS", " missing");
@@ -321,7 +321,7 @@ public class AltosUI extends JFrame {
private void tell(AltosState state, AltosState old_state) {
if (old_state == null || old_state.state != state.state) {
- voice.speak(state.data.state);
+ voice.speak(state.data.state());
if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
state.state > Altos.ao_flight_boost) {
voice.speak("max speed: %d meters per second.",
@@ -493,7 +493,23 @@ public class AltosUI extends JFrame {
class ReplayEepromThread extends DisplayThread {
FileInputStream replay;
- AltosRecord read () {
+ AltosEepromReader reader;
+
+ ReplayEepromThread(FileInputStream in, String in_name) {
+ replay = in;
+ name = in_name;
+ reader = new AltosEepromReader (in);
+ }
+
+ AltosRecord read () throws ParseException {
+ try {
+ return reader.read();
+ } catch (IOException ee) {
+ JOptionPane.showMessageDialog(AltosUI.this,
+ name,
+ "error reading",
+ JOptionPane.ERROR_MESSAGE);
+ }
return null;
}
@@ -504,10 +520,10 @@ public class AltosUI extends JFrame {
}
report();
}
-
- ReplayEepromThread(FileInputStream in, String in_name) {
- replay = in;
- name = in_name;
+ void update(AltosState state) throws InterruptedException {
+ /* Make it run in realtime after the rocket leaves the pad */
+ if (state.state > Altos.ao_flight_pad)
+ Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-11-04 00:08:50 +0000