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-rw-r--r--altoslib/AltosEepromOldIterable.java435
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diff --git a/altoslib/AltosEepromOldIterable.java b/altoslib/AltosEepromOldIterable.java
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--- a/altoslib/AltosEepromOldIterable.java
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-/*
- * 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_2;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-public class AltosEepromOldIterable extends AltosRecordIterable {
-
- static final int seen_basic = AltosRecord.seen_flight|AltosRecord.seen_sensor;
-
- boolean has_accel;
- boolean has_gps;
- boolean has_ignite;
-
- AltosEepromRecord flight_record;
- AltosEepromRecord gps_date_record;
-
- TreeSet<AltosOrderedRecord> records;
-
- LinkedList<AltosRecord> list;
-
- class EepromState {
- int seen;
- int n_pad_samples;
- double ground_pres;
- int gps_tick;
- int boost_tick;
- int sensor_tick;
-
- EepromState() {
- seen = 0;
- n_pad_samples = 0;
- ground_pres = 0.0;
- gps_tick = 0;
- }
- }
-
- void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) {
- state.tick = record.tick;
- switch (record.cmd) {
- case AltosLib.AO_LOG_FLIGHT:
- eeprom.seen |= AltosRecord.seen_flight;
- state.ground_accel = record.a;
- state.flight_accel = record.a;
- state.flight = record.b;
- eeprom.boost_tick = record.tick;
- break;
- case AltosLib.AO_LOG_SENSOR:
- state.accel = record.a;
- state.pres = record.b;
- if (state.state < AltosLib.ao_flight_boost) {
- eeprom.n_pad_samples++;
- eeprom.ground_pres += state.pres;
- state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
- state.flight_pres = state.ground_pres;
- } else {
- state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
- }
- state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
- if ((eeprom.seen & AltosRecord.seen_sensor) == 0)
- eeprom.sensor_tick = record.tick - 1;
- state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
- eeprom.seen |= AltosRecord.seen_sensor;
- eeprom.sensor_tick = record.tick;
- has_accel = true;
- break;
- case AltosLib.AO_LOG_PRESSURE:
- state.pres = record.b;
- state.flight_pres = state.pres;
- if (eeprom.n_pad_samples == 0) {
- eeprom.n_pad_samples++;
- state.ground_pres = state.pres;
- }
- eeprom.seen |= AltosRecord.seen_sensor;
- break;
- case AltosLib.AO_LOG_TEMP_VOLT:
- state.temp = record.a;
- state.batt = record.b;
- eeprom.seen |= AltosRecord.seen_temp_volt;
- break;
- case AltosLib.AO_LOG_DEPLOY:
- state.drogue = record.a;
- state.main = record.b;
- eeprom.seen |= AltosRecord.seen_deploy;
- has_ignite = true;
- break;
- case AltosLib.AO_LOG_STATE:
- state.state = record.a;
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- eeprom.gps_tick = state.tick;
- eeprom.seen |= AltosRecord.seen_gps_time;
- AltosGPS old = state.gps;
- state.gps = new AltosGPS();
-
- /* GPS date doesn't get repeated through the file */
- if (old != null) {
- state.gps.year = old.year;
- state.gps.month = old.month;
- state.gps.day = old.day;
- }
- 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 & AltosLib.AO_GPS_RUNNING) != 0;
- state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
- state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
- AltosLib.AO_GPS_NUM_SAT_SHIFT;
- state.gps_sequence++;
- has_gps = true;
- break;
- case AltosLib.AO_LOG_GPS_LAT:
- eeprom.seen |= AltosRecord.seen_gps_lat;
- int lat32 = record.a | (record.b << 16);
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.lat = (double) lat32 / 1e7;
- break;
- case AltosLib.AO_LOG_GPS_LON:
- eeprom.seen |= AltosRecord.seen_gps_lon;
- int lon32 = record.a | (record.b << 16);
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.lon = (double) lon32 / 1e7;
- break;
- case AltosLib.AO_LOG_GPS_ALT:
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.alt = record.a;
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- if (state.tick == eeprom.gps_tick) {
- int svid = record.a;
- int c_n0 = record.b >> 8;
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.add_sat(svid, c_n0);
- }
- break;
- case AltosLib.AO_LOG_GPS_DATE:
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.year = (record.a & 0xff) + 2000;
- state.gps.month = record.a >> 8;
- state.gps.day = record.b & 0xff;
- break;
-
- case AltosLib.AO_LOG_CONFIG_VERSION:
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- state.callsign = record.data;
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = record.a;
- state.accel_minus_g = record.b;
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- break;
- case AltosLib.AO_LOG_PRODUCT:
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = record.a;
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- break;
- }
- state.seen |= eeprom.seen;
- }
-
- LinkedList<AltosRecord> make_list() {
- LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- AltosOrderedRecord record = null;
- AltosRecordTM state = new AltosRecordTM();
- //boolean last_reported = false;
- EepromState eeprom = new EepromState();
-
- state.state = AltosLib.ao_flight_pad;
- state.accel_plus_g = 15758;
- state.accel_minus_g = 16294;
- state.flight_vel = 0;
-
- /* Pull in static data from the flight and gps_date records */
- if (flight_record != null)
- update_state(state, flight_record, eeprom);
- if (gps_date_record != null)
- update_state(state, gps_date_record, eeprom);
-
- while (iterator.hasNext()) {
- record = iterator.next();
- if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
- AltosRecordTM r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- }
- update_state(state, record, eeprom);
- }
- AltosRecordTM r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- return list;
- }
-
- public Iterator<AltosRecord> iterator() {
- if (list == null)
- list = make_list();
- return list.iterator();
- }
-
- public boolean has_gps() { return has_gps; }
- public boolean has_accel() { return has_accel; }
- public boolean has_ignite() { return has_ignite; }
-
- public void write_comments(PrintStream out) {
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- out.printf("# Comments\n");
- while (iterator.hasNext()) {
- AltosOrderedRecord record = iterator.next();
- switch (record.cmd) {
- case AltosLib.AO_LOG_CONFIG_VERSION:
- out.printf("# Config version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- out.printf("# Main deploy: %s\n", record.a);
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- out.printf("# Apogee delay: %s\n", record.a);
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- out.printf("# Radio channel: %s\n", record.a);
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- out.printf("# Callsign: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- out.printf ("# Accel cal: %d %d\n", record.a, record.b);
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- out.printf ("# Radio cal: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
- out.printf ("# Max flight log: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- out.printf ("# Manufacturer: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_PRODUCT:
- out.printf ("# Product: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- out.printf ("# Serial number: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- out.printf ("# Software version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- out.printf ("# Baro reserved: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- out.printf ("# Baro sens: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- out.printf ("# Baro off: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- out.printf ("# Baro tcs: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- out.printf ("# Baro tco: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- out.printf ("# Baro tref: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- out.printf ("# Baro tempsens: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- out.printf ("# Baro crc: %d\n", record.a);
- break;
- }
- }
- }
-
- /*
- * Given an AO_LOG_GPS_TIME record with correct time, and one
- * missing time, rewrite the missing time values with the good
- * ones, assuming that the difference between them is 'diff' seconds
- */
- void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
-
- int diff = (bad.tick - good.tick + 50) / 100;
-
- int hour = (good.a & 0xff);
- int minute = (good.a >> 8);
- int second = (good.b & 0xff);
- int flags = (good.b >> 8);
- int seconds = hour * 3600 + minute * 60 + second;
-
- /* Make sure this looks like a good GPS value */
- if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
- flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
- flags |= AltosLib.AO_GPS_RUNNING;
- flags |= AltosLib.AO_GPS_VALID;
-
- int new_seconds = seconds + diff;
- if (new_seconds < 0)
- new_seconds += 24 * 3600;
- int new_second = (new_seconds % 60);
- int new_minutes = (new_seconds / 60);
- int new_minute = (new_minutes % 60);
- int new_hours = (new_minutes / 60);
- int new_hour = (new_hours % 24);
-
- bad.a = new_hour + (new_minute << 8);
- bad.b = new_second + (flags << 8);
- }
-
- /*
- * Read the whole file, dumping records into a RB tree so
- * we can enumerate them in time order -- the eeprom data
- * are sometimes out of order with GPS data getting timestamps
- * matching the first packet out of the GPS unit but not
- * written until the final GPS packet has been received.
- */
- public AltosEepromOldIterable (FileInputStream input) {
- records = new TreeSet<AltosOrderedRecord>();
-
- AltosOrderedRecord last_gps_time = null;
-
- int index = 0;
- int prev_tick = 0;
- boolean prev_tick_valid = false;
- boolean missing_time = false;
-
- try {
- for (;;) {
- String line = AltosLib.gets(input);
- if (line == null)
- break;
- AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
- if (record.cmd == AltosLib.AO_LOG_INVALID)
- continue;
- prev_tick = record.tick;
- if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
- prev_tick_valid = true;
- if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
- flight_record = record;
- continue;
- }
-
- /* Two firmware bugs caused the loss of some GPS data.
- * The flight date would never be recorded, and often
- * the flight time would get overwritten by another
- * record. Detect the loss of the GPS date and fix up the
- * missing time records
- */
- if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
- gps_date_record = record;
- continue;
- }
-
- /* go back and fix up any missing time values */
- if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
- last_gps_time = record;
- if (missing_time) {
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- while (iterator.hasNext()) {
- AltosOrderedRecord old = iterator.next();
- if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
- old.a == -1 && old.b == -1)
- {
- update_time(record, old);
- }
- }
- missing_time = false;
- }
- }
-
- if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
- if (last_gps_time == null || last_gps_time.tick != record.tick) {
- AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
- record.tick,
- -1, -1, index-1);
- if (last_gps_time != null)
- update_time(last_gps_time, add_gps_time);
- else
- missing_time = true;
-
- records.add(add_gps_time);
- record.index = index++;
- }
- }
- records.add(record);
-
- /* Bail after reading the 'landed' record; we're all done */
- if (record.cmd == AltosLib.AO_LOG_STATE &&
- record.a == AltosLib.ao_flight_landed)
- break;
- }
- } catch (IOException io) {
- } catch (ParseException pe) {
- }
- try {
- input.close();
- } catch (IOException ie) {
- }
- }
-}
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