diff options
Diffstat (limited to 'altoslib')
160 files changed, 5255 insertions, 3846 deletions
diff --git a/altoslib/AltosAccel.java b/altoslib/AltosAccel.java index 31aa7c1b..8fefefc5 100644 --- a/altoslib/AltosAccel.java +++ b/altoslib/AltosAccel.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosCRCException.java b/altoslib/AltosCRCException.java index 80dca140..5c398d3c 100644 --- a/altoslib/AltosCRCException.java +++ b/altoslib/AltosCRCException.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosCRCException extends Exception { public int rssi; diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java index b5199456..f55b4785 100644 --- a/altoslib/AltosCSV.java +++ b/altoslib/AltosCSV.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; @@ -27,16 +27,17 @@ public class AltosCSV implements AltosWriter { boolean header_written; boolean seen_boost; int boost_tick; - 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; + boolean has_basic; + boolean has_battery; + boolean has_flight_state; + boolean has_advanced; + boolean has_gps; + boolean has_gps_sat; + boolean has_companion; + + AltosFlightSeries series; + int[] indices; static final int ALTOS_CSV_VERSION = 5; @@ -117,71 +118,116 @@ public class AltosCSV implements AltosWriter { out.printf("version,serial,flight,call,time,clock,rssi,lqi"); } - void write_general(AltosState state) { + double time() { + return series.time(indices); + } + + int rssi() { + return (int) series.value(AltosFlightSeries.rssi_name, indices); + } + + int status() { + return (int) series.value(AltosFlightSeries.status_name, indices); + } + + void write_general() { + double time = time(); out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d", - ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign, - (double) state.time_since_boost(), (double) state.tick / 100.0, - state.rssi, - state.status & 0x7f); + ALTOS_CSV_VERSION, series.cal_data().serial, + series.cal_data().flight, series.cal_data().callsign, + time, time, + rssi(), 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()); + int state() { + return (int) series.value(AltosFlightSeries.state_name, indices); + } + + void write_flight() { + int state = state(); + out.printf("%d,%8s", state, AltosLib.state_name(state)); } void write_basic_header() { out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage"); } - void write_basic(AltosState state) { + double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); } + double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); } + double altitude() { return series.value(AltosFlightSeries.altitude_name, indices); } + double height() { return series.value(AltosFlightSeries.height_name, indices); } + double speed() { return series.value(AltosFlightSeries.speed_name, indices); } + double temperature() { return series.value(AltosFlightSeries.temperature_name, indices); } + double apogee_voltage() { return series.value(AltosFlightSeries.apogee_voltage_name, indices); } + double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); } + + void write_basic() { 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(), - state.height(), - state.speed(), - state.speed(), - state.temperature, - state.apogee_voltage, - state.main_voltage); + acceleration(), + pressure(), + altitude(), + height(), + speed(), + speed(), + temperature(), + apogee_voltage(), + main_voltage()); } void write_battery_header() { out.printf("battery_voltage"); } - void write_battery(AltosState state) { - out.printf("%5.2f", state.battery_voltage); + double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); } + + void write_battery() { + out.printf("%5.2f", battery_voltage()); } void write_advanced_header() { out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z"); } - void write_advanced(AltosState state) { + double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); } + double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); } + double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); } + + double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); } + double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); } + double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); } + + double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); } + double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); } + double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); } + + void write_advanced() { out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f", - state.accel_along(), state.accel_across(), state.accel_through(), - state.gyro_roll(), state.gyro_pitch(), state.gyro_yaw(), - state.mag_along(), state.mag_across(), state.mag_through()); + accel_along(), accel_across(), accel_through(), + gyro_roll(), gyro_pitch(), gyro_yaw(), + mag_along(), mag_across(), mag_through()); } 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,pdop,hdop,vdop"); } - void write_gps(AltosState state) { - AltosGPS gps = state.gps; - if (gps == null) - gps = new AltosGPS(); + void write_gps() { + AltosGPS gps = series.gps_before(series.time(indices)); + + AltosGreatCircle from_pad; - AltosGreatCircle from_pad = state.from_pad; - if (from_pad == null) + if (series.cal_data().gps_pad != null && gps != null) + from_pad = new AltosGreatCircle(series.cal_data().gps_pad, gps); + else from_pad = new AltosGreatCircle(); + if (gps == null) + gps = new AltosGPS(); + 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, @@ -196,9 +242,9 @@ public class AltosCSV implements AltosWriter { gps.minute, gps.second, from_pad.distance, - state.range, + from_pad.range, from_pad.bearing, - state.elevation, + from_pad.elevation, gps.pdop, gps.hdop, gps.vdop); @@ -212,8 +258,8 @@ public class AltosCSV implements AltosWriter { } } - void write_gps_sat(AltosState state) { - AltosGPS gps = state.gps; + void write_gps_sat() { + AltosGPS gps = series.gps_before(series.time(indices)); for(int i = 1; i <= 32; i++) { int c_n0 = 0; if (gps != null && gps.cc_gps_sat != null) { @@ -230,12 +276,15 @@ public class AltosCSV implements AltosWriter { } 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) { + void write_companion() { +/* AltosCompanion companion = state.companion; int channels_written = 0; @@ -252,6 +301,7 @@ public class AltosCSV implements AltosWriter { } for (; channels_written < 12; channels_written++) out.printf(",0"); +*/ } void write_header() { @@ -287,63 +337,47 @@ public class AltosCSV implements AltosWriter { out.printf ("\n"); } - void write_one(AltosState state) { - write_general(state); + void write_one() { + write_general(); if (has_flight_state) { out.printf(","); - write_flight(state); + write_flight(); } if (has_basic) { out.printf(","); - write_basic(state); + write_basic(); } if (has_battery) { out.printf(","); - write_battery(state); + write_battery(); } if (has_advanced) { out.printf(","); - write_advanced(state); + write_advanced(); } if (has_gps) { out.printf(","); - write_gps(state); + write_gps(); } if (has_gps_sat) { out.printf(","); - write_gps_sat(state); + write_gps_sat(); } if (has_companion) { out.printf(","); - write_companion(state); + write_companion(); } out.printf ("\n"); } - private void flush_pad() { - while (!pad_states.isEmpty()) { - write_one (pad_states.remove()); - } - } - - private void write(AltosState state) { - if (state.state() == AltosLib.ao_flight_startup) + private void write() { + if (state() == AltosLib.ao_flight_startup) return; if (!header_written) { write_header(); 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); + write_one(); } private PrintStream out() { @@ -351,15 +385,15 @@ public class AltosCSV implements AltosWriter { } 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()); + public void write(AltosFlightSeries series) { +// series.write_comments(out()); + + this.series = series; + + series.finish(); has_flight_state = false; has_basic = false; @@ -368,31 +402,37 @@ public class AltosCSV implements AltosWriter { 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.accel_across() != AltosLib.MISSING) - 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; + + if (series.has_series(AltosFlightSeries.state_name)) + has_flight_state = true; + if (series.has_series(AltosFlightSeries.accel_name) || series.has_series(AltosFlightSeries.pressure_name)) + has_basic = true; + if (series.has_series(AltosFlightSeries.battery_voltage_name)) + has_battery = true; + if (series.has_series(AltosFlightSeries.accel_across_name)) + has_advanced = true; + + if (series.gps_series != null) + has_gps = true; + if (series.sats_in_view != null) + has_gps_sat = true; + /* + if (state.companion != null) + has_companion = true; + */ + + indices = series.indices(); + + for (;;) { + write(); + if (!series.step_indices(indices)) + break; } - 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 { diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java new file mode 100644 index 00000000..b49e3792 --- /dev/null +++ b/altoslib/AltosCalData.java @@ -0,0 +1,406 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +/* + * Calibration and other data needed to construct 'real' values from various data + * sources. + */ + +public class AltosCalData { + public int flight = AltosLib.MISSING; + + public void set_flight(int flight) { + if (flight != AltosLib.MISSING) + this.flight = flight; + } + + public String callsign = null; + + public void set_callsign(String callsign) { + if (callsign != null) + this.callsign = callsign; + } + + public String firmware_version = null; + + public void set_firmware_version(String firmware_version) { + if (firmware_version != null) + this.firmware_version = firmware_version; + } + + public String product = null; + + public void set_product(String product) { + if (product != null) + this.product = product; + } + + public int serial = AltosLib.MISSING; + + public void set_serial(int serial) { + if (serial != AltosLib.MISSING) + this.serial = serial; + } + + public int receiver_serial = AltosLib.MISSING; + + public void set_receiver_serial(int receiver_serial) { + if (receiver_serial != AltosLib.MISSING) + this.receiver_serial = receiver_serial; + } + + public int device_type = AltosLib.MISSING; + + public void set_device_type(int device_type) { + if (device_type != AltosLib.MISSING) { + this.device_type = device_type; + if (product == null) + set_product(AltosLib.product_name(device_type)); + } + } + + public int config_major = AltosLib.MISSING; + public int config_minor = AltosLib.MISSING; + public int flight_log_max = AltosLib.MISSING; + + public void set_config(int major, int minor, int log_max) { + if (major != AltosLib.MISSING) + config_major = major; + if (minor != AltosLib.MISSING) + config_minor = minor; + if (log_max != AltosLib.MISSING) + flight_log_max = log_max; + } + + public double apogee_delay = AltosLib.MISSING; + public double main_deploy = AltosLib.MISSING; + + public void set_flight_params(double apogee_delay, double main_deploy) { + if (apogee_delay != AltosLib.MISSING) + this.apogee_delay = apogee_delay; + if (main_deploy != AltosLib.MISSING) + this.main_deploy = main_deploy; + } + + public double accel_plus_g = AltosLib.MISSING; + public double accel_minus_g = AltosLib.MISSING; + public double ground_accel = AltosLib.MISSING; + + public void set_accel_plus_minus(double plus, double minus) { + if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) { + if (plus == minus) + return; + accel_plus_g = plus; + accel_minus_g = minus; + } + } + + public void set_ground_accel(double ground_accel) { + if (ground_accel != AltosLib.MISSING) + this.ground_accel = ground_accel; + } + + /* Raw acceleration value */ + public double accel = AltosLib.MISSING; + + public void set_accel(double accel) { + this.accel = accel; + } + + public boolean mma655x_inverted = false; + + public void set_mma655x_inverted(boolean inverted) { + mma655x_inverted = inverted; + } + + public int pad_orientation = AltosLib.MISSING; + + public void set_pad_orientation(int orientation) { + if (orientation != AltosLib.MISSING) + pad_orientation = orientation; + } + + /* Compute acceleration */ + public double acceleration(double sensor) { + return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel); + } + + public AltosMs5607 ms5607 = null; + + public void set_ms5607(AltosMs5607 ms5607) { + this.ms5607 = ms5607; + } + + public double ground_pressure = AltosLib.MISSING; + public double ground_altitude = AltosLib.MISSING; + + public void set_ground_pressure(double ground_pressure) { + if (ground_pressure != AltosLib.MISSING) { + this.ground_pressure = ground_pressure; + this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure); + } + } + + public void set_ground_altitude(double ground_altitude) { + if (ground_altitude != AltosLib.MISSING) + this.ground_altitude = ground_altitude; + } + + /* Compute pressure */ + + public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) { + if (ms5607 == null) + return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING); + return ms5607.pres_temp(raw_pres, raw_temp); + } + + public int tick = AltosLib.MISSING; + private int first_tick = AltosLib.MISSING; + private int prev_tick = AltosLib.MISSING; + + public void set_tick(int tick) { + if (tick != AltosLib.MISSING) { + if (prev_tick != AltosLib.MISSING) { + while (tick < prev_tick - 1000) { + tick += 65536; + } + } + if (first_tick == AltosLib.MISSING) + first_tick = tick; + prev_tick = tick; + this.tick = tick; + } + } + + /* Reset all values which change during flight + */ + public void reset() { + state = AltosLib.MISSING; + tick = AltosLib.MISSING; + prev_tick = AltosLib.MISSING; + temp_gps = null; + prev_gps = null; + temp_gps_sat_tick = AltosLib.MISSING; + accel = AltosLib.MISSING; + } + + public int boost_tick = AltosLib.MISSING; + + public void set_boost_tick() { + boost_tick = tick; + } + + public double ticks_per_sec = 100.0; + + public void set_ticks_per_sec(double ticks_per_sec) { + this.ticks_per_sec = ticks_per_sec; + } + + public double time() { + if (tick == AltosLib.MISSING) + return AltosLib.MISSING; + if (boost_tick != AltosLib.MISSING) + return (tick - boost_tick) / ticks_per_sec; + if (first_tick != AltosLib.MISSING) + return (tick - first_tick) / ticks_per_sec; + return tick / ticks_per_sec; + } + + public double boost_time() { + if (boost_tick == AltosLib.MISSING) + return AltosLib.MISSING; + return boost_tick / ticks_per_sec; + } + + public int state = AltosLib.MISSING; + + public void set_state(int state) { + if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING) + set_boost_tick(); + this.state = state; + } + + public AltosGPS gps_pad = null; + + public double gps_pad_altitude = AltosLib.MISSING; + + public void set_gps(AltosGPS gps) { + if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null) + gps_pad = gps; + if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING) + gps_pad_altitude = gps.alt; + } + + /* + * While receiving GPS data, we construct a temporary GPS state + * object and then deliver the result atomically to the listener + */ + AltosGPS temp_gps = null; + AltosGPS prev_gps = null; + int temp_gps_sat_tick = AltosLib.MISSING; + + public AltosGPS temp_gps() { + return temp_gps; + } + + public void reset_temp_gps() { + if (temp_gps != null) { + if (temp_gps.locked && temp_gps.nsat >= 4) + set_gps(temp_gps); + prev_gps = temp_gps; + temp_gps = null; + } + } + + public boolean gps_pending() { + return temp_gps != null; + } + + public AltosGPS make_temp_gps(int tick, boolean sats) { + if (temp_gps == null) { + if (prev_gps != null) + temp_gps = prev_gps.clone(); + else + temp_gps = new AltosGPS(); + } + if (sats) { + if (tick != temp_gps_sat_tick) + temp_gps.cc_gps_sat = null; + temp_gps_sat_tick = tick; + } + return temp_gps; + } + + public double accel_zero_along, accel_zero_across, accel_zero_through; + + public void set_accel_zero(double zero_along, double zero_across, double zero_through) { + if (zero_along != AltosLib.MISSING) { + accel_zero_along = zero_along; + accel_zero_across = zero_across; + accel_zero_through = zero_through; + } + } + + public double accel_along(double counts) { + return AltosIMU.convert_accel(counts - accel_zero_along); + } + + public double accel_across(double counts) { + return AltosIMU.convert_accel(counts - accel_zero_across); + } + + public double accel_through(double counts) { + return AltosIMU.convert_accel(counts - accel_zero_through); + } + + public double gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw; + + public void set_gyro_zero(double roll, double pitch, double yaw) { + if (roll != AltosLib.MISSING) { + gyro_zero_roll = roll; + gyro_zero_pitch = pitch; + gyro_zero_yaw = yaw; + imu_wrap_checked = false; + } + } + + public double gyro_roll(double counts) { + if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING) + return AltosLib.MISSING; + + return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll); + } + + public double gyro_pitch(double counts) { + if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch); + } + + public double gyro_yaw(double counts) { + if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw); + } + + private double gyro_zero_overflow(double first) { + double v = first / 128.0; + if (v < 0) + v = Math.ceil(v); + else + v = Math.floor(v); + if (v != 0) + System.out.printf("Adjusting gyro axis by %g steps\n", v); + return v * 128.0; + } + + /* Initial TeleMega log format had only 16 bits for gyro cal, so the top 9 bits got lost as the + * cal data are scaled by 512. Use the first sample to adjust the cal value, assuming that it is + * from a time of fairly low rotation speed. Fixed in later TeleMega firmware by storing 32 bits + * of cal values. + */ + private boolean imu_wrap_checked = false; + + public void check_imu_wrap(double roll, double pitch, double yaw) { + if (!imu_wrap_checked) { + gyro_zero_roll += gyro_zero_overflow(roll); + gyro_zero_pitch += gyro_zero_overflow(pitch); + gyro_zero_yaw += gyro_zero_overflow(yaw); + imu_wrap_checked = true; + } + } + + public double mag_along(double along) { + if (along == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosMag.convert_gauss(along); + } + + public double mag_across(double across) { + if (across == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosMag.convert_gauss(across); + } + + public double mag_through(double through) { + if (through == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosMag.convert_gauss(through); + } + + public AltosCalData() { + } + + public AltosCalData(AltosConfigData config_data) { + set_serial(config_data.serial); + set_ticks_per_sec(100.0); + set_flight(config_data.flight); + set_callsign(config_data.callsign); + set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max); + set_firmware_version(config_data.version); + set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec); + set_pad_orientation(config_data.pad_orientation); + set_product(config_data.product); + set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus); + set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through); + set_ms5607(config_data.ms5607); + try { + set_mma655x_inverted(config_data.mma655x_inverted()); + } catch (AltosUnknownProduct up) { + } + set_pad_orientation(config_data.pad_orientation); + } +} diff --git a/altoslib/AltosCompanion.java b/altoslib/AltosCompanion.java index 2c03c922..5ce333f8 100644 --- a/altoslib/AltosCompanion.java +++ b/altoslib/AltosCompanion.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index 6b55cc6f..97a80bcb 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -16,13 +16,13 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.*; import java.text.*; import java.util.concurrent.*; -public class AltosConfigData implements Iterable<String> { +public class AltosConfigData { /* Version information */ public String manufacturer; @@ -33,9 +33,7 @@ public class AltosConfigData implements Iterable<String> { public int log_space; public String version; public int altitude_32; - - /* Strings returned */ - public LinkedList<String> lines; + public int config_major, config_minor; /* Config information */ /* HAS_FLIGHT*/ @@ -96,14 +94,13 @@ public class AltosConfigData implements Iterable<String> { public int accel_zero_along, accel_zero_across, accel_zero_through; /* ms5607 data */ - public int ms5607_reserved; - public int ms5607_sens; - public int ms5607_off; - public int ms5607_tcs; - public int ms5607_tco; - public int ms5607_tref; - public int ms5607_tempsens; - public int ms5607_crc; + AltosMs5607 ms5607; + + public AltosMs5607 ms5607() { + if (ms5607 == null) + ms5607 = new AltosMs5607(); + return ms5607; + } public static String get_string(String line, String label) throws ParseException { if (line.startsWith(label)) { @@ -142,21 +139,17 @@ public class AltosConfigData implements Iterable<String> { throw new ParseException("mismatch", 0); } - public Iterator<String> iterator() { - return lines.iterator(); - } - public int log_space() { - if (log_space > 0) + if (log_space != AltosLib.MISSING) return log_space; - if (storage_size > 0) { + if (storage_size != AltosLib.MISSING) { int space = storage_size; - if (storage_erase_unit > 0 && use_flash_for_config()) + if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config()) space -= storage_erase_unit; - if (space > 0) + if (space != AltosLib.MISSING) return space; } return 0; @@ -214,6 +207,10 @@ public class AltosConfigData implements Iterable<String> { return r; } + public boolean altitude_32() { + return altitude_32 == 1; + } + public int compare_version(String other) { int[] me = parse_version(version); int[] them = parse_version(other); @@ -233,63 +230,63 @@ public class AltosConfigData implements Iterable<String> { } public void reset() { - lines = new LinkedList<String>(); - - manufacturer = "unknown"; - product = "unknown"; - serial = 0; - flight = 0; + manufacturer = null; + product = null; + serial = AltosLib.MISSING; + flight = AltosLib.MISSING; log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN; - log_space = -1; + log_space = AltosLib.MISSING; version = "unknown"; + config_major = AltosLib.MISSING; + config_minor = AltosLib.MISSING; - main_deploy = -1; - apogee_delay = -1; - apogee_lockout = -1; + main_deploy = AltosLib.MISSING; + apogee_delay = AltosLib.MISSING; + apogee_lockout = AltosLib.MISSING; - radio_frequency = -1; + radio_frequency = AltosLib.MISSING; callsign = null; - radio_enable = -1; - radio_calibration = -1; - radio_channel = -1; - radio_setting = -1; - telemetry_rate = -1; + radio_enable = AltosLib.MISSING; + radio_calibration = AltosLib.MISSING; + radio_channel = AltosLib.MISSING; + radio_setting = AltosLib.MISSING; + telemetry_rate = AltosLib.MISSING; - accel_cal_plus = -1; - accel_cal_minus = -1; - pad_orientation = -1; + accel_cal_plus = AltosLib.MISSING; + accel_cal_minus = AltosLib.MISSING; + pad_orientation = AltosLib.MISSING; - flight_log_max = -1; - log_fixed = -1; - ignite_mode = -1; + flight_log_max = AltosLib.MISSING; + log_fixed = AltosLib.MISSING; + ignite_mode = AltosLib.MISSING; - aes_key = ""; + aes_key = null; - pyro = 0; - npyro = 0; + pyro = AltosLib.MISSING; + npyro = AltosLib.MISSING; pyros = null; - pyro_firing_time = -1; + pyro_firing_time = AltosLib.MISSING; - aprs_interval = -1; - aprs_ssid = -1; - aprs_format = -1; + aprs_interval = AltosLib.MISSING; + aprs_ssid = AltosLib.MISSING; + aprs_format = AltosLib.MISSING; - beep = -1; + beep = AltosLib.MISSING; - tracker_motion = -1; - tracker_interval = -1; + tracker_motion = AltosLib.MISSING; + tracker_interval = AltosLib.MISSING; - storage_size = -1; - storage_erase_unit = -1; - stored_flight = 0; + storage_size = AltosLib.MISSING; + storage_erase_unit = AltosLib.MISSING; + stored_flight = AltosLib.MISSING; - accel_zero_along = -1; - accel_zero_across = -1; - accel_zero_through = -1; + accel_zero_along = AltosLib.MISSING; + accel_zero_across = AltosLib.MISSING; + accel_zero_through = AltosLib.MISSING; } public void parse_line(String line) { - lines.add(line); + /* Version replies */ try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {} try { product = get_string(line, "product"); } catch (Exception e) {} @@ -302,17 +299,31 @@ public class AltosConfigData implements Iterable<String> { /* Version also contains MS5607 info, which we ignore here */ - try { ms5607_reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {} - try { ms5607_sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {} - try { ms5607_off = get_int(line, "ms5607 off:"); } catch (Exception e) {} - try { ms5607_tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {} - try { ms5607_tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {} - try { ms5607_tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {} - try { ms5607_tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {} - try { ms5607_crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {} + try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {} + try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {} + try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {} + try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {} + try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {} + try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {} + try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {} + try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {} /* Config show replies */ + try { + if (line.startsWith("Config version")) { + String[] bits = line.split("\\s+"); + if (bits.length >= 3) { + String[] cfg = bits[2].split("\\."); + + if (cfg.length >= 2) { + config_major = Integer.parseInt(cfg[0]); + config_minor = Integer.parseInt(cfg[1]); + } + } + } + } catch (Exception e) {} + /* HAS_FLIGHT */ try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {} try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {} @@ -361,7 +372,7 @@ public class AltosConfigData implements Iterable<String> { pyros = new AltosPyro[npyro]; pyro = 0; } catch (Exception e) {} - if (npyro > 0) { + if (npyro != AltosLib.MISSING) { try { AltosPyro p = new AltosPyro(pyro, line); if (pyro < npyro) @@ -425,24 +436,23 @@ public class AltosConfigData implements Iterable<String> { } public boolean has_frequency() { - return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0; + return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING; } public boolean has_telemetry_rate() { - return telemetry_rate >= 0; + return telemetry_rate != AltosLib.MISSING; } public void set_frequency(double freq) { int frequency = radio_frequency; int setting = radio_setting; - if (frequency > 0) { + if (frequency != AltosLib.MISSING) { radio_frequency = (int) Math.floor (freq * 1000 + 0.5); - radio_channel = -1; - } else if (setting > 0) { - radio_setting =AltosConvert.radio_frequency_to_setting(freq, - radio_calibration); - radio_channel = -1; + radio_channel = AltosLib.MISSING; + } else if (setting != AltosLib.MISSING) { + radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration); + radio_channel = AltosLib.MISSING; } else { radio_channel = AltosConvert.radio_frequency_to_channel(freq); } @@ -452,12 +462,12 @@ public class AltosConfigData implements Iterable<String> { int channel = radio_channel; int setting = radio_setting; - if (radio_frequency < 0 && channel < 0 && setting < 0) - return -1; + if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING) + return AltosLib.MISSING; - if (channel < 0) + if (channel == AltosLib.MISSING) channel = 0; - if (setting < 0) + if (setting == AltosLib.MISSING) setting = 0; return AltosConvert.radio_to_frequency(radio_frequency, @@ -492,56 +502,56 @@ public class AltosConfigData implements Iterable<String> { public void get_values(AltosConfigValues source) throws AltosConfigDataException { /* HAS_FLIGHT */ - if (main_deploy >= 0) + if (main_deploy != AltosLib.MISSING) main_deploy = source.main_deploy(); - if (apogee_delay >= 0) + if (apogee_delay != AltosLib.MISSING) apogee_delay = source.apogee_delay(); - if (apogee_lockout >= 0) + if (apogee_lockout != AltosLib.MISSING) apogee_lockout = source.apogee_lockout(); /* HAS_RADIO */ if (has_frequency()) set_frequency(source.radio_frequency()); - if (radio_enable >= 0) + if (radio_enable != AltosLib.MISSING) radio_enable = source.radio_enable(); if (callsign != null) callsign = source.callsign(); - if (telemetry_rate >= 0) + if (telemetry_rate != AltosLib.MISSING) telemetry_rate = source.telemetry_rate(); /* HAS_ACCEL */ - if (pad_orientation >= 0) + if (pad_orientation != AltosLib.MISSING) pad_orientation = source.pad_orientation(); /* HAS_LOG */ - if (flight_log_max >= 0) + if (flight_log_max != AltosLib.MISSING) flight_log_max = source.flight_log_max(); /* HAS_IGNITE */ - if (ignite_mode >= 0) + if (ignite_mode != AltosLib.MISSING) ignite_mode = source.ignite_mode(); /* AO_PYRO_NUM */ - if (npyro > 0) + if (npyro != AltosLib.MISSING) pyros = source.pyros(); - if (pyro_firing_time >= 0) + if (pyro_firing_time != AltosLib.MISSING) pyro_firing_time = source.pyro_firing_time(); /* HAS_APRS */ - if (aprs_interval >= 0) + if (aprs_interval != AltosLib.MISSING) aprs_interval = source.aprs_interval(); - if (aprs_ssid >= 0) + if (aprs_ssid != AltosLib.MISSING) aprs_ssid = source.aprs_ssid(); - if (aprs_format >= 0) + if (aprs_format != AltosLib.MISSING) aprs_format = source.aprs_format(); /* HAS_BEEP */ - if (beep >= 0) + if (beep != AltosLib.MISSING) beep = source.beep(); /* HAS_TRACKER */ - if (tracker_motion >= 0) + if (tracker_motion != AltosLib.MISSING) tracker_motion = source.tracker_motion(); - if (tracker_interval >= 0) + if (tracker_interval != AltosLib.MISSING) tracker_interval = source.tracker_interval(); } @@ -561,7 +571,7 @@ public class AltosConfigData implements Iterable<String> { if (log_space() == 0) max_enabled = false; - if (log_fixed > 0) + if (log_fixed != AltosLib.MISSING) max_enabled = false; switch (log_format) { @@ -569,7 +579,7 @@ public class AltosConfigData implements Iterable<String> { max_enabled = false; break; default: - if (stored_flight > 0) + if (stored_flight != AltosLib.MISSING) max_enabled = false; break; } @@ -581,7 +591,7 @@ public class AltosConfigData implements Iterable<String> { dest.set_ignite_mode(ignite_mode); dest.set_pad_orientation(pad_orientation); dest.set_callsign(callsign); - if (npyro > 0) + if (npyro != AltosLib.MISSING) dest.set_pyros(pyros); else dest.set_pyros(null); @@ -605,17 +615,17 @@ public class AltosConfigData implements Iterable<String> { public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException { /* HAS_FLIGHT */ - if (main_deploy >= 0) + if (main_deploy != AltosLib.MISSING) link.printf("c m %d\n", main_deploy); - if (apogee_delay >= 0) + if (apogee_delay != AltosLib.MISSING) link.printf("c d %d\n", apogee_delay); - if (apogee_lockout >= 0) + if (apogee_lockout != AltosLib.MISSING) link.printf("c L %d\n", apogee_lockout); /* HAS_RADIO */ if (has_frequency()) { - boolean has_frequency = radio_frequency >= 0; - boolean has_setting = radio_setting > 0; + boolean has_frequency = radio_frequency != AltosLib.MISSING; + boolean has_setting = radio_setting != AltosLib.MISSING; double frequency = frequency(); link.set_radio_frequency(frequency, has_frequency, @@ -631,7 +641,7 @@ public class AltosConfigData implements Iterable<String> { } } - if (telemetry_rate >= 0) { + if (telemetry_rate != AltosLib.MISSING) { link.printf("c T %d\n", telemetry_rate); if (remote) { link.flush_output(); @@ -653,12 +663,12 @@ public class AltosConfigData implements Iterable<String> { } } - if (radio_enable >= 0) + if (radio_enable != AltosLib.MISSING) link.printf("c e %d\n", radio_enable); /* HAS_ACCEL */ /* UI doesn't support accel cal */ - if (pad_orientation >= 0) + if (pad_orientation != AltosLib.MISSING) link.printf("c o %d\n", pad_orientation); /* HAS_LOG */ @@ -666,36 +676,36 @@ public class AltosConfigData implements Iterable<String> { link.printf("c l %d\n", flight_log_max); /* HAS_IGNITE */ - if (ignite_mode >= 0) + if (ignite_mode != AltosLib.MISSING) link.printf("c i %d\n", ignite_mode); /* HAS_AES */ /* UI doesn't support AES key config */ /* AO_PYRO_NUM */ - if (npyro > 0) { + if (npyro != AltosLib.MISSING) { for (int p = 0; p < pyros.length; p++) { link.printf("c P %s\n", pyros[p].toString()); } } - if (pyro_firing_time >= 0) + if (pyro_firing_time != AltosLib.MISSING) link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5)); /* HAS_APRS */ - if (aprs_interval >= 0) + if (aprs_interval != AltosLib.MISSING) link.printf("c A %d\n", aprs_interval); - if (aprs_ssid >= 0) + if (aprs_ssid != AltosLib.MISSING) link.printf("c S %d\n", aprs_ssid); - if (aprs_format >= 0) + if (aprs_format != AltosLib.MISSING) link.printf("c C %d\n", aprs_format); /* HAS_BEEP */ - if (beep >= 0) + if (beep != AltosLib.MISSING) link.printf("c b %d\n", beep); /* HAS_TRACKER */ - if (tracker_motion >= 0 && tracker_interval >= 0) + if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING) link.printf("c t %d %d\n", tracker_motion, tracker_interval); /* HAS_GYRO */ @@ -719,5 +729,4 @@ public class AltosConfigData implements Iterable<String> { break; } } - } diff --git a/altoslib/AltosConfigDataException.java b/altoslib/AltosConfigDataException.java index 59a8e9c1..fe6336b6 100644 --- a/altoslib/AltosConfigDataException.java +++ b/altoslib/AltosConfigDataException.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosConfigDataException extends Exception { diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java index bc20d21d..170b1112 100644 --- a/altoslib/AltosConfigValues.java +++ b/altoslib/AltosConfigValues.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosConfigValues { /* set and get all of the dialog values */ diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java index 8617a12c..ed16541a 100644 --- a/altoslib/AltosConvert.java +++ b/altoslib/AltosConvert.java @@ -19,9 +19,14 @@ /* * Sensor data conversion functions */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; + +import java.util.*; public class AltosConvert { + + public static final double gravity = 9.80665; + /* * Pressure Sensor Model, version 1.1 * @@ -42,20 +47,20 @@ public class AltosConvert { * in Joules/(kilogram-Kelvin). */ - public static final double GRAVITATIONAL_ACCELERATION = -9.80665; - public static final double AIR_GAS_CONSTANT = 287.053; - public static final double NUMBER_OF_LAYERS = 7; - public static final double MAXIMUM_ALTITUDE = 84852.0; - public static final double MINIMUM_PRESSURE = 0.3734; - public static final double LAYER0_BASE_TEMPERATURE = 288.15; - public static final double LAYER0_BASE_PRESSURE = 101325; + private static final double GRAVITATIONAL_ACCELERATION = -gravity; + private static final double AIR_GAS_CONSTANT = 287.053; + private static final double NUMBER_OF_LAYERS = 7; + private static final double MAXIMUM_ALTITUDE = 84852.0; + private static final double MINIMUM_PRESSURE = 0.3734; + private static final double LAYER0_BASE_TEMPERATURE = 288.15; + private static final double LAYER0_BASE_PRESSURE = 101325; /* lapse rate and base altitude for each layer in the atmosphere */ - public static final double[] lapse_rate = { + private static final double[] lapse_rate = { -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002 }; - public static final int[] base_altitude = { + private static final int[] base_altitude = { 0, 11000, 20000, 32000, 47000, 51000, 71000 }; @@ -179,6 +184,18 @@ public class AltosConvert { return altitude; } + public static double degrees_to_radians(double degrees) { + if (degrees == AltosLib.MISSING) + return AltosLib.MISSING; + return degrees * (Math.PI / 180.0); + } + + public static double radians_to_degrees(double radians) { + if (radians == AltosLib.MISSING) + return AltosLib.MISSING; + return radians * (180.0 / Math.PI); + } + public static double cc_battery_to_voltage(double battery) { @@ -186,7 +203,7 @@ public class AltosConvert { } public static double - cc_ignitor_to_voltage(double ignite) + cc_igniter_to_voltage(double ignite) { return ignite / 32767 * 15.0; } @@ -253,7 +270,15 @@ public class AltosConvert { return 3.3 * mega_adc(raw) * (5.1 + 10.0) / 10.0; } - static double easy_mini_voltage(int sensor, int serial) { + static double easy_mini_2_adc(int raw) { + return raw / 4095.0; + } + + static double easy_mini_1_adc(int raw) { + return raw / 32767.0; + } + + static double easy_mini_1_voltage(int sensor, int serial) { double supply = 3.3; double diode_offset = 0.0; @@ -267,7 +292,13 @@ public class AltosConvert { if (serial < 1665) diode_offset = 0.150; - return sensor / 32767.0 * supply * 127/27 + diode_offset; + return easy_mini_1_adc(sensor) * supply * 127/27 + diode_offset; + } + + static double easy_mini_2_voltage(int sensor) { + double supply = 3.3; + + return easy_mini_2_adc(sensor) * supply * 127/27; } public static double radio_to_frequency(int freq, int setting, int cal, int channel) { @@ -305,6 +336,10 @@ public class AltosConvert { return 434.550 + channel * 0.100; } + public static int telem_to_rssi(int telem) { + return telem / 2 - 74; + } + public static int[] ParseHex(String line) { String[] tokens = line.split("\\s+"); int[] array = new int[tokens.length]; @@ -370,12 +405,48 @@ public class AltosConvert { return psi * 6894.76; } + public static double pa_to_psi(double pa) { + return pa / 6894.76; + } + + public static double n_to_lb(double n) { + return n * 0.22480894; + } + + public static double lb_to_n(double lb) { + return lb / 0.22480894; + } + + public static double acceleration_from_sensor(double sensor, double plus_g, double minus_g, double ground) { + + if (sensor == AltosLib.MISSING) + return AltosLib.MISSING; + + if (plus_g == AltosLib.MISSING || minus_g == AltosLib.MISSING) + return AltosLib.MISSING; + + if (ground == AltosLib.MISSING) + ground = plus_g; + + double counts_per_g = (plus_g - minus_g) / 2.0; + double counts_per_mss = counts_per_g / gravity; + + if (counts_per_mss == 0) + return AltosLib.MISSING; + + return (sensor - ground) / counts_per_mss; + } + public static boolean imperial_units = false; public static AltosDistance distance = new AltosDistance(); public static AltosHeight height = new AltosHeight(); + public static AltosPressure pressure = new AltosPressure(); + + public static AltosForce force = new AltosForce(); + public static AltosSpeed speed = new AltosSpeed(); public static AltosAccel accel = new AltosAccel(); @@ -390,6 +461,14 @@ public class AltosConvert { public static AltosLongitude longitude = new AltosLongitude(); + public static AltosRotationRate rotation_rate = new AltosRotationRate(); + + public static AltosStateName state_name = new AltosStateName(); + + public static AltosPyroName pyro_name = new AltosPyroName(); + + public static AltosUnits magnetic_field = null; + public static String show_gs(String format, double a) { a = meters_to_g(a); format = format.concat(" g"); @@ -407,6 +486,13 @@ public class AltosConvert { return csum & 0xff; } + public static int checksum(List<Byte> data, int start, int length) { + int csum = 0x5a; + for (int i = 0; i < length; i++) + csum += data.get(i+start); + return csum & 0xff; + } + public static double beep_value_to_freq(int value) { if (value == 0) return 4000; diff --git a/altoslib/AltosDataListener.java b/altoslib/AltosDataListener.java new file mode 100644 index 00000000..5f89b3e4 --- /dev/null +++ b/altoslib/AltosDataListener.java @@ -0,0 +1,95 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public abstract class AltosDataListener { + + private AltosCalData cal_data = null; + + public double time = AltosLib.MISSING; + public int state = AltosLib.MISSING; + + public void set_tick(int tick) { + cal_data.set_tick(tick); + set_time(cal_data.time()); + } + + public AltosCalData cal_data() { + if (cal_data == null) + cal_data = new AltosCalData(); + return cal_data; + } + + public void set_time(double time) { + if (time != AltosLib.MISSING) + this.time = time; + } + + public void set_serial(int serial) { + cal_data().set_serial(serial); + } + + public double time() { + return time; + } + + public void set_state(int state) { + cal_data().set_state(state); + if (state != AltosLib.MISSING) + this.state = state; + } + + public void set_flight(int flight) { + cal_data().set_flight(flight); + } + + /* Called after all records are captured */ + public void finish() { + } + + public abstract void set_rssi(int rssi, int status); + public abstract void set_received_time(long received_time); + + public abstract void set_acceleration(double accel); + public abstract void set_pressure(double pa); + public abstract void set_thrust(double N); + + public abstract void set_kalman(double height, double speed, double accel); + + public abstract void set_temperature(double deg_c); + public abstract void set_battery_voltage(double volts); + + public abstract void set_apogee_voltage(double volts); + public abstract void set_main_voltage(double volts); + + public abstract void set_gps(AltosGPS gps); + + public abstract void set_orient(double orient); + public abstract void set_gyro(double roll, double pitch, double yaw); + public abstract void set_accel_ground(double along, double across, double through); + public abstract void set_accel(double along, double across, double through); + public abstract void set_mag(double along, double across, double through); + public abstract void set_pyro_voltage(double volts); + public abstract void set_igniter_voltage(double[] voltage); + public abstract void set_pyro_fired(int pyro_mask); + public abstract void set_companion(AltosCompanion companion); + + public AltosDataListener() { + } + + public AltosDataListener(AltosCalData cal_data) { + this.cal_data = cal_data; + } +} diff --git a/altoslib/AltosStateUpdate.java b/altoslib/AltosDataProvider.java index e9698cba..9589a8e6 100644 --- a/altoslib/AltosStateUpdate.java +++ b/altoslib/AltosDataProvider.java @@ -16,8 +16,8 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; -public interface AltosStateUpdate { - public void update_state(AltosState state) throws InterruptedException, AltosUnknownProduct; +public interface AltosDataProvider { + public void provide_data(AltosDataListener listener) throws InterruptedException, AltosUnknownProduct; } diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java index aa1b298f..24a25933 100644 --- a/altoslib/AltosDebug.java +++ b/altoslib/AltosDebug.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosDistance.java b/altoslib/AltosDistance.java index 0239c5ce..38efbf1a 100644 --- a/altoslib/AltosDistance.java +++ b/altoslib/AltosDistance.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosDistance extends AltosUnits { @@ -96,7 +96,7 @@ public class AltosDistance extends AltosUnits { } }; - range_imperial[1] = new AltosUnitsRange(AltosConvert.feet_to_meters(1000), + range_imperial[1] = new AltosUnitsRange(AltosConvert.feet_to_meters(5280), "mi", "miles") { double value(double v) { return AltosConvert.meters_to_miles(v); diff --git a/altoslib/AltosEeprom.java b/altoslib/AltosEeprom.java index 6ed14d3a..ad7bf881 100644 --- a/altoslib/AltosEeprom.java +++ b/altoslib/AltosEeprom.java @@ -1,132 +1,291 @@ /* - * Copyright © 2013 Keith Packard <keithp@keithp.com> + * Copyright © 2017 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; either version 2 of the License, or + * the Free Software Foundation, either version 2 of the License, or * (at your option) any later version. * * 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_11; +package org.altusmetrum.altoslib_12; -import java.io.*; import java.util.*; -import java.text.*; +import java.io.*; + +public class AltosEeprom { -public abstract class AltosEeprom implements AltosStateUpdate { - public int cmd; - public int tick; - public int data8[]; - public boolean valid; + private AltosJson config; + ArrayList<Byte> data; + private AltosConfigData config_data; - public int data8(int i) { - return data8[i]; + /* + * Public accessor APIs + */ + public int data8(int offset) { + return ((int) data.get(offset)) & 0xff; } - public int data16(int i) { - return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16; + public int data16(int offset) { + return data8(offset) | (data8(offset+1) << 8); } - public int data24(int i) { - return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16); + public int data24(int offset) { + return (data8(offset) | + (data8(offset+1) << 8) | + (data8(offset+2) << 16)); } - public int data32(int i) { - return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24); + public int data32(int offset) { + return (data8(offset) | + (data8(offset+1) << 8) | + (data8(offset+2) << 16) | + (data8(offset+3) << 24)); } - public boolean has_seconds() { return false; } + public int size() { + return data.size(); + } - public int seconds() { return 0; } + public AltosConfigData config_data() { + if (config_data == null) { + config_data = (AltosConfigData) config.make(AltosConfigData.class); + if (config_data == null) + config_data = new AltosConfigData(); - public final static int header_length = 4; + if (config_data.log_format == AltosLib.AO_LOG_FORMAT_UNKNOWN) { + config_data.log_format = AltosLib.AO_LOG_FORMAT_FULL; + if (config_data.product != null) { + if (config_data.product.startsWith("TeleMetrum")) + config_data.log_format = AltosLib.AO_LOG_FORMAT_FULL; + else if (config_data.product.startsWith("TeleMini")) + config_data.log_format = AltosLib.AO_LOG_FORMAT_TINY; + } + } + } + return config_data; + } + + private void write_config(Writer w) throws IOException { + config.write(w, 0, true); + w.append('\n'); + } + + /* + * Private I/O APIs + */ + private void write_data(Writer w) throws IOException { + PrintWriter pw = new PrintWriter(w); - public abstract int record_length(); + for (int i = 0; i < data.size(); i++) { + if (i > 0) { + if ((i & 0x1f) == 0) + pw.printf("\n"); + else + pw.printf(" "); + } + pw.printf("%02x", data.get(i)); + } + w.append('\n'); + } - public void update_state(AltosState state) { - if (cmd == AltosLib.AO_LOG_FLIGHT) - state.set_boost_tick(tick); - else - state.set_tick(tick); + private boolean read_config(InputStream stream) throws IOException { + config = AltosJson.fromInputStream(stream); + if (config == null) + return false; + return true; } - public void write(PrintStream out) { - out.printf("%c %04x", cmd, tick); - if (data8 != null) { - for (int i = 0; i < data8.length; i++) - out.printf (" %02x", data8[i]); + private String read_line(InputStream stream) throws IOException { + StringBuffer buffer = null; + int c; + + for (;;) { + c = stream.read(); + if (c == -1 && buffer == null) + return null; + if (buffer == null) + buffer = new StringBuffer(); + if (c == -1 || c == '\n') + return buffer.toString(); + buffer.append((char) c); } - out.printf ("\n"); } - public String string() { - String s; + private boolean read_data(InputStream stream) throws IOException { + String s; + + data = new ArrayList<Byte>(); + while ((s = read_line(stream)) != null) { - s = String.format("%c %04x", cmd, tick); - if (data8 != null) { - for (int i = 0; i < data8.length; i++) { - String d = String.format(" %02x", data8[i]); - s = s.concat(d); + String[] tokens = s.split("\\s+"); + + for (int i = 0; i < tokens.length; i++) { + if (tokens[i].length() > 0) { + try { + data.add((byte) AltosLib.fromhex(tokens[i])); + } catch (NumberFormatException e) { + throw new IOException(e.toString()); + } + } } } - s = s.concat("\n"); - return s; + return true; } - void parse_chunk(AltosEepromChunk chunk, int start) throws ParseException { - cmd = chunk.data(start); + private boolean read_old_config(InputStream stream) throws IOException { + AltosConfigData cfg = new AltosConfigData(); + for (;;) { + boolean done = false; - int data_length = record_length() - header_length; + /* The data starts with an upper case F character followed by a space */ + stream.mark(2); + int first = stream.read(); + if (first == 'F') { + int second = stream.read(); + if (second == ' ') + done = true; + } + stream.reset(); + if (done) + break; - valid = !chunk.erased(start, record_length()); - if (valid) { - if (AltosConvert.checksum(chunk.data, start, record_length()) != 0) - throw new ParseException(String.format("invalid checksum at 0x%x", - chunk.address + start), 0); - } else { - cmd = AltosLib.AO_LOG_INVALID; + String line = read_line(stream); + if (line == null) + return false; + cfg.parse_line(line); } + config = new AltosJson(cfg); + return true; + } - tick = chunk.data16(start+2); + private boolean read_old_data(InputStream stream) throws IOException { + String line; - data8 = new int[data_length]; - for (int i = 0; i < data_length; i++) - data8[i] = chunk.data(start + header_length + i); - } + data = new ArrayList<Byte>(); + while ((line = read_line(stream)) != null) { + String[] tokens = line.split("\\s+"); - void parse_string(String line) { - valid = false; - tick = 0; - cmd = AltosLib.AO_LOG_INVALID; + /* Make sure there's at least a type and time */ + if (tokens.length < 2) + break; - int data_length = record_length() - header_length; + /* packet type */ + if (tokens[0].length() != 1) + break; + int start = data.size(); - if (line == null) - return; - try { - String[] tokens = line.split("\\s+"); + if (config_data().log_format != AltosLib.AO_LOG_FORMAT_TINY) { + byte cmd = (byte) tokens[0].codePointAt(0); + data.add(cmd); - if (tokens[0].length() == 1) { - if (tokens.length == 2 + data_length) { - cmd = tokens[0].codePointAt(0); - tick = Integer.parseInt(tokens[1],16); - valid = true; - data8 = new int[data_length]; + int time = AltosLib.fromhex(tokens[1]); - for (int i = 0; i < data_length; i++) - data8[i] = Integer.parseInt(tokens[2 + i],16); + data.add((byte) 0); + data.add((byte) (time & 0xff)); + data.add((byte) (time >> 8)); + } + if (tokens.length == 4) { + /* Handle ancient log files */ + if (config_data().log_format == AltosLib.AO_LOG_FORMAT_TINY) { + /* + * Ancient TeleMini log files stored "extra" data to pretend + * that it was a TeleMetrum device. Throw that away and + * just save the actual log data. + */ + int a = AltosLib.fromhex(tokens[2]); + int b = AltosLib.fromhex(tokens[3]); + if (a != 0) + b = 0x8000 | a; + data.add((byte) (b & 0xff)); + data.add((byte) ((b >> 8))); + } else { + for (int i = 2; i < tokens.length; i++) { + int v = AltosLib.fromhex(tokens[i]); + data.add((byte) (v & 0xff)); + data.add((byte) ((v >> 8))); + } + /* Re-compute the checksum byte */ + data.set(start + 1, (byte) (256 - AltosConvert.checksum(data, start, data.size() - start))); } + } else { + for (int i = 2; i < tokens.length; i++) + data.add((byte) AltosLib.fromhex(tokens[i])); + /* Re-compute the checksum byte */ + data.set(start + 1, (byte) (256 - AltosConvert.checksum(data, start, data.size() - start))); } - } catch (NumberFormatException ne) { } + return true; + } + + private void read(InputStream stream) throws IOException { + BufferedInputStream bis = new BufferedInputStream(stream); + + bis.mark(1); + int c = bis.read(); + bis.reset(); + + if (c == '{') { + if (!read_config(bis)) + throw new IOException("failed to read config"); + if (!read_data(bis)) + throw new IOException("failed to read data"); + } else { + if (!read_old_config(bis)) + throw new IOException("failed to read old config"); + if (!read_old_data(bis)) + throw new IOException("failed to read old data"); + } + } + + /* + * Public APIs for I/O + */ + public void write(Writer w) throws IOException { + write_config(w); + write_data(w); + } + + public String toString() { + try { + Writer w = new StringWriter(); + + write(w); + return w.toString(); + } catch (Exception e) { + return null; + } + } + + public void print() throws IOException { + System.out.printf("%s", toString()); + } + + /* + * Constructors + */ + public AltosEeprom(InputStream stream) throws IOException { + read(stream); + } + + public AltosEeprom(String s) throws IOException { + read(new AltosStringInputStream(s)); + } + + public AltosEeprom(AltosJson config, ArrayList<Byte> data) { + this.config = config; + this.data = data; + } + + public AltosEeprom(AltosConfigData config_data, ArrayList<Byte> data) { + this.config = new AltosJson(config_data); + this.data = data; + } + + public AltosEeprom() { } } diff --git a/altoslib/AltosEepromChunk.java b/altoslib/AltosEepromChunk.java index 32d9f8ea..4f12c190 100644 --- a/altoslib/AltosEepromChunk.java +++ b/altoslib/AltosEepromChunk.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.util.concurrent.*; @@ -63,40 +63,8 @@ public class AltosEepromChunk { return true; } - public AltosEeprom eeprom(int offset, int log_format, AltosState state) throws ParseException { - AltosEeprom eeprom = null; - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_FULL: - eeprom = new AltosEepromTM(this, offset); - break; - case AltosLib.AO_LOG_FORMAT_TINY: - eeprom = new AltosEepromTMini(this, offset, state); - break; - case AltosLib.AO_LOG_FORMAT_TELEMETRY: - case AltosLib.AO_LOG_FORMAT_TELESCIENCE: - break; - case AltosLib.AO_LOG_FORMAT_TELEMEGA: - case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: - eeprom = new AltosEepromMega(this, offset, log_format); - break; - case AltosLib.AO_LOG_FORMAT_TELEMETRUM: - eeprom = new AltosEepromMetrum2(this, offset); - break; - case AltosLib.AO_LOG_FORMAT_TELEMINI2: - case AltosLib.AO_LOG_FORMAT_TELEMINI3: - case AltosLib.AO_LOG_FORMAT_EASYMINI: - eeprom = new AltosEepromMini(this, offset); - break; - case AltosLib.AO_LOG_FORMAT_TELEGPS: - eeprom = new AltosEepromGPS(this, offset); - break; - case AltosLib.AO_LOG_FORMAT_TELEFIRETWO: - eeprom = new AltosEepromFireTwo(this, offset); - break; - default: - throw new ParseException("unknown eeprom format " + log_format, 0); - } - return eeprom; + public boolean erased() { + return erased(0, chunk_size); } public AltosEepromChunk(AltosLink link, int block, boolean flush) diff --git a/altoslib/AltosEepromDownload.java b/altoslib/AltosEepromDownload.java index c38fcfdf..33f0dd17 100644 --- a/altoslib/AltosEepromDownload.java +++ b/altoslib/AltosEepromDownload.java @@ -16,13 +16,60 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; import java.text.*; import java.util.concurrent.*; +class AltosEepromNameData extends AltosDataListener { + AltosGPS gps = null; + + public void set_rssi(int rssi, int status) { } + public void set_received_time(long received_time) { } + + public void set_acceleration(double accel) { } + public void set_pressure(double pa) { } + public void set_thrust(double N) { } + + public void set_temperature(double deg_c) { } + public void set_battery_voltage(double volts) { } + + public void set_apogee_voltage(double volts) { } + public void set_main_voltage(double volts) { } + + public void set_gps(AltosGPS gps) { + if (gps != null && + gps.year != AltosLib.MISSING && + gps.month != AltosLib.MISSING && + gps.day != AltosLib.MISSING) { + this.gps = gps; + } + } + + public boolean done() { + if (gps == null) + return false; + return true; + } + + public void set_gyro(double roll, double pitch, double yaw) { } + public void set_accel_ground(double along, double across, double through) { } + public void set_accel(double along, double across, double through) { } + public void set_mag(double along, double across, double through) { } + public void set_pyro_voltage(double volts) { } + public void set_igniter_voltage(double[] voltage) { } + public void set_pyro_fired(int pyro_mask) { } + public void set_companion(AltosCompanion companion) { } + public void set_kalman(double height, double speed, double acceleration) { } + public void set_orient(double new_orient) { } + + public AltosEepromNameData(AltosCalData cal_data) { + super(cal_data); + } +} + public class AltosEepromDownload implements Runnable { AltosLink link; @@ -30,65 +77,38 @@ public class AltosEepromDownload implements Runnable { Thread eeprom_thread; AltosEepromMonitor monitor; - boolean want_file; - FileWriter eeprom_file; - LinkedList<String> eeprom_pending; - AltosEepromList flights; - boolean success; String parse_errors; - AltosState state; - private void FlushPending() throws IOException { - for (String s : flights.config_data) { - eeprom_file.write(s); - eeprom_file.write('\n'); - } + private boolean has_gps_date(AltosState state) { + if (state == null) + return false; - for (String s : eeprom_pending) - eeprom_file.write(s); + AltosGPS gps = state.gps; + + return gps != null && + gps.year != AltosLib.MISSING && + gps.month != AltosLib.MISSING && + gps.day != AltosLib.MISSING; } - private void CheckFile(boolean force) throws IOException { - if (eeprom_file != null) - return; - if (force || (state.flight != 0 && want_file)) { - AltosFile eeprom_name; - AltosGPS gps = state.gps; - - if (gps != null && - gps.year != AltosLib.MISSING && - gps.month != AltosLib.MISSING && - gps.day != AltosLib.MISSING) - { - eeprom_name = new AltosFile(gps.year, gps.month, gps.day, - state.serial, state.flight, "eeprom"); - } else - eeprom_name = new AltosFile(state.serial, state.flight, "eeprom"); - - eeprom_file = new FileWriter(eeprom_name); - if (eeprom_file != null) { - monitor.set_filename(eeprom_name.getName()); - FlushPending(); - eeprom_pending = null; - } - } + private AltosFile MakeFile(int serial, int flight, AltosEepromNameData name_data) throws IOException { + AltosFile eeprom_name; + + if (name_data.gps != null) { + AltosGPS gps = name_data.gps; + eeprom_name = new AltosFile(gps.year, gps.month, gps.day, + serial, flight, "eeprom"); + } else + eeprom_name = new AltosFile(serial, flight, "eeprom"); + + return eeprom_name; } boolean done; int prev_state; int state_block; - void LogEeprom(AltosEeprom r) throws IOException { - if (r.cmd != AltosLib.AO_LOG_INVALID) { - String line = r.string(); - if (eeprom_file != null) - eeprom_file.write(line); - else - eeprom_pending.add(line); - } - } - void LogError(String error) { if (parse_errors != null) parse_errors.concat(error.concat("\n")); @@ -96,112 +116,100 @@ public class AltosEepromDownload implements Runnable { parse_errors = error; } - void CaptureEeprom(AltosEepromChunk eechunk, int log_format) throws IOException, ParseException { - boolean any_valid = false; - boolean got_flight = false; - - int record_length = 8; - - state.set_serial(flights.config_data.serial); - monitor.set_serial(flights.config_data.serial); - - for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += record_length) { - AltosEeprom r = null; - - try { - r = eechunk.eeprom(i, log_format, state); - } catch (ParseException pe) { - LogError(pe.getMessage()); - r = null; - } + class BlockCache extends Hashtable<Integer,AltosEepromChunk> { + AltosEepromLog log; - if (r == null) - continue; - - record_length = r.record_length(); - - r.update_state(state); + AltosEepromChunk get(int start, boolean add) throws TimeoutException, InterruptedException { + if (contains(start)) + return super.get(start); + AltosEepromChunk eechunk = new AltosEepromChunk(link, start, start == log.start_block); + if (add) + put(start, eechunk); + return eechunk; + } - if (!got_flight && state.flight != AltosLib.MISSING) - monitor.set_flight(state.flight); + public BlockCache(AltosEepromLog log) { + this.log = log; + } + } - /* Monitor state transitions to update display */ - if (state.state() != AltosLib.ao_flight_invalid && - state.state() <= AltosLib.ao_flight_landed) - { - if (state.state() > AltosLib.ao_flight_pad) - want_file = true; - if (state.state() == AltosLib.ao_flight_landed) - done = true; - } + int FindLastLog(AltosEepromLog log, BlockCache cache) throws TimeoutException, InterruptedException { + int low = log.start_block; + int high = log.end_block - 1; - if (state.gps != null) - want_file = true; + while (low <= high) { + int mid = (high + low) / 2; - if (r.valid) { - any_valid = true; - LogEeprom(r); - } + if (!cache.get(mid, true).erased()) + low = mid + 1; + else + high = mid - 1; } - if (!any_valid) - done = true; - - CheckFile(false); + return low; } void CaptureLog(AltosEepromLog log) throws IOException, InterruptedException, TimeoutException, ParseException { int block, state_block = 0; int log_format = flights.config_data.log_format; - - state = new AltosState(); + BlockCache cache = new BlockCache(log); done = false; if (flights.config_data.serial < 0) throw new IOException("no serial number found"); - /* Reset per-capture variables */ - want_file = false; - eeprom_pending = new LinkedList<String>(); - /* Set serial number in the monitor dialog window */ - /* Now scan the eeprom, reading blocks of data and converting to .eeprom file form */ - - state_block = log.start_block; - prev_state = AltosLib.ao_flight_startup; - for (block = log.start_block; !done && block < log.end_block; block++) { - AltosEepromChunk eechunk = new AltosEepromChunk(link, block, block == log.start_block); - - /* - * Guess what kind of data is there if the device - * didn't tell us - */ - - if (log_format == AltosLib.AO_LOG_FORMAT_UNKNOWN) { - if (block == log.start_block) { - if (eechunk.data(0) == AltosLib.AO_LOG_FLIGHT) - log_format = AltosLib.AO_LOG_FORMAT_FULL; - else - log_format = AltosLib.AO_LOG_FORMAT_TINY; - } - } + monitor.set_serial(log.serial); + monitor.set_flight(log.flight); - CaptureEeprom (eechunk, log_format); + int start_block = log.start_block; + int end_block = FindLastLog(log, cache); - if (state.state() != prev_state && state.state() != AltosLib.ao_flight_invalid) { - state_block = block; - prev_state = state.state(); - } + monitor.set_max(end_block - start_block - 1); - monitor.set_value(state.state_name(), - state.state(), - block - state_block, - block - log.start_block); + ArrayList<Byte> data = new ArrayList<Byte>(); + + /* Now scan the eeprom, reading blocks of data to create a byte array of data */ + + for (block = start_block; block < end_block; block++) { + monitor.set_block(block - start_block); + + AltosEepromChunk eechunk = cache.get(block, false); + + for (int i = 0; i < eechunk.data.length; i++) + data.add((byte) eechunk.data[i]); } - CheckFile(true); + + /* Construct our internal representation of the eeprom data */ + AltosEeprom eeprom = new AltosEeprom(flights.config_data, data); + + /* Now see if we can't actually parse the resulting + * file to generate a better filename. Note that this + * doesn't need to work; we'll still save the data using + * a less accurate name. + */ + AltosEepromRecordSet set = new AltosEepromRecordSet(eeprom); + AltosEepromNameData name_data = new AltosEepromNameData(set.cal_data()); + + for (AltosEepromRecord record : set.ordered) { + record.provide_data(name_data, set.cal_data()); + if (name_data.done()) + break; + } + + AltosFile f = MakeFile(flights.config_data.serial, log.flight, name_data); + + monitor.set_filename(f.toString()); + + FileWriter w = new FileWriter(f); + + eeprom.write(w); + w.close(); } public void run () { + boolean success = false; + try { boolean failed = false; if (remote) @@ -211,16 +219,11 @@ public class AltosEepromDownload implements Runnable { parse_errors = null; if (log.selected) { monitor.reset(); - eeprom_file = null; try { CaptureLog(log); } catch (ParseException e) { LogError(e.getMessage()); } - if (eeprom_file != null) { - eeprom_file.flush(); - eeprom_file.close(); - } } if (parse_errors != null) { failed = true; @@ -273,12 +276,6 @@ public class AltosEepromDownload implements Runnable { link = given_link; remote = given_remote; flights = given_flights; - success = false; - - if (flights.config_data.log_has_state()) - monitor.set_states(AltosLib.ao_flight_boost, AltosLib.ao_flight_landed); - else - monitor.set_states(AltosLib.ao_flight_invalid, AltosLib.ao_flight_invalid); monitor.start(); } diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java index 5544ec37..067f0302 100644 --- a/altoslib/AltosEepromFile.java +++ b/altoslib/AltosEepromFile.java @@ -16,127 +16,36 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; import java.text.*; -class AltosEepromIterator implements Iterator<AltosState> { - AltosState state; - Iterator<AltosEeprom> body; - AltosEeprom next; - boolean seen; +public class AltosEepromFile implements AltosRecordSet { - public boolean hasNext() { - return !seen || body.hasNext(); - } - - public AltosState next() { - if (seen) { - AltosState n = state.clone(); - AltosEeprom e = body.next(); - - e.update_state(n); - state = n; - } - seen = true; - return state; - } - - public void remove () { - } - - public AltosEepromIterator(AltosState start, Iterator<AltosEeprom> body) { - this.state = start; - this.body = body; - this.seen = false; - } -} - -public class AltosEepromFile extends AltosStateIterable { - - AltosEepromIterable headers; - AltosEepromIterable body; - AltosState start; + AltosEepromRecordSet set; public void write_comments(PrintStream out) { - headers.write(out); } public void write(PrintStream out) { - headers.write(out); - body.write(out); + out.printf("%s\n", set.eeprom.toString()); } - public AltosEepromFile(FileInputStream input) { - headers = new AltosEepromIterable(AltosEepromHeader.read(input)); - - start = headers.state(); - if (start.state() != AltosLib.ao_flight_stateless) - start.set_state(AltosLib.ao_flight_pad); - - if (start.log_format == AltosLib.MISSING) { - if (start.product != null) { - if (start.product.startsWith("TeleMetrum")) - start.log_format = AltosLib.AO_LOG_FORMAT_FULL; - else if (start.product.startsWith("TeleMini")) - start.log_format = AltosLib.AO_LOG_FORMAT_TINY; - } - } - - switch (start.log_format) { - case AltosLib.AO_LOG_FORMAT_FULL: - body = new AltosEepromIterable(AltosEepromTM.read(input)); - break; - case AltosLib.AO_LOG_FORMAT_TINY: - body = new AltosEepromIterable(AltosEepromTMini.read(input)); - break; - case AltosLib.AO_LOG_FORMAT_TELEMETRY: - case AltosLib.AO_LOG_FORMAT_TELESCIENCE: - case AltosLib.AO_LOG_FORMAT_TELEMEGA: - case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: - body = new AltosEepromIterable(AltosEepromMega.read(input, start.log_format)); - break; - case AltosLib.AO_LOG_FORMAT_TELEMETRUM: - body = new AltosEepromIterable(AltosEepromMetrum2.read(input)); - break; - case AltosLib.AO_LOG_FORMAT_TELEMINI2: - case AltosLib.AO_LOG_FORMAT_TELEMINI3: - case AltosLib.AO_LOG_FORMAT_EASYMINI: - body = new AltosEepromIterable(AltosEepromMini.read(input)); - break; - case AltosLib.AO_LOG_FORMAT_TELEGPS: - body = new AltosEepromIterable(AltosEepromGPS.read(input)); - break; - case AltosLib.AO_LOG_FORMAT_TELEFIRETWO: - body = new AltosEepromIterable(AltosEepromFireTwo.read(input)); - break; - default: - body = new AltosEepromIterable(new LinkedList<AltosEeprom>()); - break; - } + public AltosEepromFile(InputStream input) throws IOException { + set = new AltosEepromRecordSet(input); + } - /* Find boost tick */ - AltosState state = start.clone(); - for (AltosEeprom eeprom : body) { - eeprom.update_state(state); - state.finish_update(); - if (state.state() >= AltosLib.ao_flight_boost) { - start.set_boost_tick(state.tick); - break; - } - } + public AltosConfigData config_data() { + return set.config_data(); } - public Iterator<AltosState> iterator() { - AltosState state = start.clone(); - Iterator<AltosEeprom> i = body.iterator(); + public AltosCalData cal_data() { + return set.cal_data(); + } - while (i.hasNext() && !state.valid()) { - i.next().update_state(state); - state.finish_update(); - } - return new AltosEepromIterator(state, i); + public void capture_series(AltosDataListener series) { + set.capture_series(series); } } diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java deleted file mode 100644 index 37b666b4..00000000 --- a/altoslib/AltosEepromHeader.java +++ /dev/null @@ -1,335 +0,0 @@ -/* - * Copyright © 2013 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; either version 2 of the License, or - * (at your option) any later version. - * - * 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_11; - -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromHeader extends AltosEeprom { - - public int cmd; - public String data; - public int config_a, config_b, config_c; - public boolean last; - public boolean valid; - - public int record_length () { return 0; } - - /* XXX pull rest of config data to state */ - public void update_state(AltosState state) { - switch (cmd) { - 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.set_callsign(data); - break; - case AltosLib.AO_LOG_ACCEL_CAL: - state.set_accel_g(config_a, config_b); - break; - case AltosLib.AO_LOG_RADIO_CAL: - break; - case AltosLib.AO_LOG_MANUFACTURER: - break; - case AltosLib.AO_LOG_PRODUCT: - state.product = data; - break; - case AltosLib.AO_LOG_LOG_FORMAT: - state.set_log_format(config_a); - break; - case AltosLib.AO_LOG_SERIAL_NUMBER: - state.set_serial(config_a); - break; - case AltosLib.AO_LOG_BARO_RESERVED: - state.make_baro(); - state.baro.reserved = config_a; - break; - case AltosLib.AO_LOG_BARO_SENS: - state.make_baro(); - state.baro.sens = config_a; - break; - case AltosLib.AO_LOG_BARO_OFF: - state.make_baro(); - state.baro.off = config_a; - break; - case AltosLib.AO_LOG_BARO_TCS: - state.make_baro(); - state.baro.tcs = config_a; - break; - case AltosLib.AO_LOG_BARO_TCO: - state.make_baro(); - state.baro.tco = config_a; - break; - case AltosLib.AO_LOG_BARO_TREF: - state.make_baro(); - state.baro.tref = config_a; - break; - case AltosLib.AO_LOG_BARO_TEMPSENS: - state.make_baro(); - state.baro.tempsens = config_a; - break; - case AltosLib.AO_LOG_BARO_CRC: - state.make_baro(); - state.baro.crc = config_a; - break; - case AltosLib.AO_LOG_IMU_CAL: - state.set_accel_zero(config_a, config_b, config_c); - break; - case AltosLib.AO_LOG_SOFTWARE_VERSION: - state.set_firmware_version(data); - break; - case AltosLib.AO_LOG_FREQUENCY: - case AltosLib.AO_LOG_APOGEE_LOCKOUT: - case AltosLib.AO_LOG_RADIO_RATE: - case AltosLib.AO_LOG_IGNITE_MODE: - break; - case AltosLib.AO_LOG_PAD_ORIENTATION: - state.set_pad_orientation(config_a); - break; - case AltosLib.AO_LOG_RADIO_ENABLE: - case AltosLib.AO_LOG_AES_KEY: - case AltosLib.AO_LOG_APRS: - case AltosLib.AO_LOG_BEEP_SETTING: - case AltosLib.AO_LOG_TRACKER_SETTING: - case AltosLib.AO_LOG_PYRO_TIME: - case AltosLib.AO_LOG_APRS_ID: - break; - case AltosLib.AO_LOG_ALTITUDE_32: - state.set_altitude_32(config_a); - break; - } - } - - public void write(PrintStream out) { - switch (cmd) { - case AltosLib.AO_LOG_CONFIG_VERSION: - out.printf("# Config version: %s\n", data); - break; - case AltosLib.AO_LOG_MAIN_DEPLOY: - out.printf("# Main deploy: %s\n", config_a); - break; - case AltosLib.AO_LOG_APOGEE_DELAY: - out.printf("# Apogee delay: %s\n", config_a); - break; - case AltosLib.AO_LOG_RADIO_CHANNEL: - out.printf("# Radio channel: %s\n", config_a); - break; - case AltosLib.AO_LOG_CALLSIGN: - out.printf("# Callsign: %s\n", data); - break; - case AltosLib.AO_LOG_ACCEL_CAL: - out.printf ("# Accel cal: %d %d\n", config_a, config_b); - break; - case AltosLib.AO_LOG_RADIO_CAL: - out.printf ("# Radio cal: %d\n", config_a); - break; - case AltosLib.AO_LOG_MAX_FLIGHT_LOG: - out.printf ("# Max flight log: %d\n", config_a); - break; - case AltosLib.AO_LOG_MANUFACTURER: - out.printf ("# Manufacturer: %s\n", data); - break; - case AltosLib.AO_LOG_PRODUCT: - out.printf ("# Product: %s\n", data); - break; - case AltosLib.AO_LOG_SERIAL_NUMBER: - out.printf ("# Serial number: %d\n", config_a); - break; - case AltosLib.AO_LOG_SOFTWARE_VERSION: - out.printf ("# Software version: %s\n", data); - break; - case AltosLib.AO_LOG_BARO_RESERVED: - out.printf ("# Baro reserved: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_SENS: - out.printf ("# Baro sens: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_OFF: - out.printf ("# Baro off: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_TCS: - out.printf ("# Baro tcs: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_TCO: - out.printf ("# Baro tco: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_TREF: - out.printf ("# Baro tref: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_TEMPSENS: - out.printf ("# Baro tempsens: %d\n", config_a); - break; - case AltosLib.AO_LOG_BARO_CRC: - out.printf ("# Baro crc: %d\n", config_a); - break; - case AltosLib.AO_LOG_IMU_CAL: - out.printf ("# IMU cal: %d %d %d\n", config_a, config_b, config_c); - break; - case AltosLib.AO_LOG_FREQUENCY: - case AltosLib.AO_LOG_APOGEE_LOCKOUT: - case AltosLib.AO_LOG_RADIO_RATE: - case AltosLib.AO_LOG_IGNITE_MODE: - break; - case AltosLib.AO_LOG_PAD_ORIENTATION: - out.printf("# Pad orientation: %d\n", config_a); - break; - case AltosLib.AO_LOG_RADIO_ENABLE: - case AltosLib.AO_LOG_AES_KEY: - case AltosLib.AO_LOG_APRS: - case AltosLib.AO_LOG_BEEP_SETTING: - case AltosLib.AO_LOG_TRACKER_SETTING: - case AltosLib.AO_LOG_PYRO_TIME: - case AltosLib.AO_LOG_APRS_ID: - break; - case AltosLib.AO_LOG_ALTITUDE_32: - out.printf("# Altitude-32: %d\n", config_a); - break; - } - } - - public AltosEepromHeader (String[] tokens) { - last = false; - valid = true; - try { - if (tokens[0].equals("Config") && tokens[1].equals("version:")) { - cmd = AltosLib.AO_LOG_CONFIG_VERSION; - data = tokens[2]; - } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) { - cmd = AltosLib.AO_LOG_MAIN_DEPLOY; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) { - cmd = AltosLib.AO_LOG_APOGEE_DELAY; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) { - cmd = AltosLib.AO_LOG_RADIO_CHANNEL; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Callsign:")) { - cmd = AltosLib.AO_LOG_CALLSIGN; - data = tokens[1].replaceAll("\"",""); - } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) { - cmd = AltosLib.AO_LOG_ACCEL_CAL; - config_a = Integer.parseInt(tokens[3]); - config_b = Integer.parseInt(tokens[5]); - } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) { - cmd = AltosLib.AO_LOG_RADIO_CAL; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) { - cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG; - config_a = Integer.parseInt(tokens[3]); - } else if (tokens[0].equals("manufacturer")) { - cmd = AltosLib.AO_LOG_MANUFACTURER; - data = tokens[1]; - } else if (tokens[0].equals("product")) { - cmd = AltosLib.AO_LOG_PRODUCT; - data = tokens[1]; - } else if (tokens[0].equals("serial-number")) { - cmd = AltosLib.AO_LOG_SERIAL_NUMBER; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("log-format")) { - cmd = AltosLib.AO_LOG_LOG_FORMAT; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("altitude-32")) { - cmd = AltosLib.AO_LOG_ALTITUDE_32; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("software-version")) { - cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; - data = tokens[1]; - last = true; - } else if (tokens[0].equals("ms5607")) { - if (tokens[1].equals("reserved:")) { - cmd = AltosLib.AO_LOG_BARO_RESERVED; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("sens:")) { - cmd = AltosLib.AO_LOG_BARO_SENS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("off:")) { - cmd = AltosLib.AO_LOG_BARO_OFF; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tcs:")) { - cmd = AltosLib.AO_LOG_BARO_TCS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tco:")) { - cmd = AltosLib.AO_LOG_BARO_TCO; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tref:")) { - cmd = AltosLib.AO_LOG_BARO_TREF; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tempsens:")) { - cmd = AltosLib.AO_LOG_BARO_TEMPSENS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("crc:")) { - cmd = AltosLib.AO_LOG_BARO_CRC; - config_a = Integer.parseInt(tokens[2]); - } else { - cmd = AltosLib.AO_LOG_INVALID; - data = tokens[2]; - } - } else if (tokens[0].equals("IMU") && tokens[1].equals("cal")) { - cmd = AltosLib.AO_LOG_IMU_CAL; - config_a = Integer.parseInt(tokens[3]); - config_b = Integer.parseInt(tokens[5]); - config_c = Integer.parseInt(tokens[7]); - } else if (tokens[0].equals("Pad") && tokens[1].equals("orientation:")) { - cmd = AltosLib.AO_LOG_PAD_ORIENTATION; - config_a = Integer.parseInt(tokens[2]); - } else - valid = false; - } catch (Exception e) { - valid = false; - } - } - - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> headers = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - AltosEepromHeader header = new AltosEepromHeader(line); - headers.add(header); - if (header.last) - break; - } catch (IOException ie) { - break; - } - } - - return headers; - } - - static public void write (PrintStream out, LinkedList<AltosEepromHeader> headers) { - out.printf("# Comments\n"); - for (AltosEepromHeader header : headers) { - header.write(out); - } - - } - - public AltosEepromHeader (String line) { - this(line.split("\\s+")); - } -} diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java deleted file mode 100644 index 77632ac1..00000000 --- a/altoslib/AltosEepromIterable.java +++ /dev/null @@ -1,127 +0,0 @@ -/* - * Copyright © 2013 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; either version 2 of the License, or - * (at your option) any later version. - * - * 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_11; - -import java.io.*; -import java.util.*; -import java.text.*; - -class AltosEepromOrdered implements Comparable<AltosEepromOrdered> { - AltosEeprom eeprom; - int index; - int tick; - - int cmdi() { - if (eeprom.cmd == AltosLib.AO_LOG_FLIGHT) - return 0; - return 1; - } - - public int compareTo(AltosEepromOrdered o) { - int cmd_diff = cmdi() - o.cmdi(); - - if (cmd_diff != 0) - return cmd_diff; - - if (eeprom.has_seconds() && o.eeprom.has_seconds()) { - int seconds_diff = eeprom.seconds() - o.eeprom.seconds(); - - if (seconds_diff != 0) - return seconds_diff; - } - - int tick_diff = tick - o.tick; - - if (tick_diff != 0) - return tick_diff; - return index - o.index; - } - - AltosEepromOrdered (AltosEeprom eeprom, int index, int tick) { - this.eeprom = eeprom; - this.index = index; - this.tick = tick; - } -} - -class AltosEepromOrderedIterator implements Iterator<AltosEeprom> { - TreeSet<AltosEepromOrdered> olist; - Iterator<AltosEepromOrdered> oiterator; - - public AltosEepromOrderedIterator(Iterable<AltosEeprom> eeproms) { - olist = new TreeSet<AltosEepromOrdered>(); - - int tick = 0; - int index = 0; - boolean first = true; - - for (AltosEeprom e : eeproms) { - int t = e.tick; - if (first) - tick = t; - else { - while (t < tick - 32767) - t += 65536; - tick = t; - } - olist.add(new AltosEepromOrdered(e, index++, tick)); - first = false; - } - - oiterator = olist.iterator(); - } - - public boolean hasNext() { - return oiterator.hasNext(); - } - - public AltosEeprom next() { - return oiterator.next().eeprom; - } - - public void remove () { - } -} - -public class AltosEepromIterable implements Iterable<AltosEeprom> { - public LinkedList<AltosEeprom> eeproms; - - public void write(PrintStream out) { - for (AltosEeprom eeprom : eeproms) - eeprom.write(out); - } - - public AltosState state() { - AltosState state = new AltosState(); - - for (AltosEeprom header : eeproms) - header.update_state(state); - return state; - } - - public AltosEepromIterable(LinkedList<AltosEeprom> eeproms) { - this.eeproms = eeproms; - } - - public Iterator<AltosEeprom> iterator() { - if (eeproms == null) - eeproms = new LinkedList<AltosEeprom>(); - return new AltosEepromOrderedIterator(eeproms); - } -} diff --git a/altoslib/AltosEepromList.java b/altoslib/AltosEepromList.java index fc72fd95..55d47e20 100644 --- a/altoslib/AltosEepromList.java +++ b/altoslib/AltosEepromList.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromLog.java b/altoslib/AltosEepromLog.java index 1bca6563..8d1f3fc4 100644 --- a/altoslib/AltosEepromLog.java +++ b/altoslib/AltosEepromLog.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.util.concurrent.*; @@ -32,8 +32,6 @@ public class AltosEepromLog { public int start_block; public int end_block; - public int year, month, day; - public boolean selected; public AltosEepromLog(AltosConfigData config_data, @@ -43,7 +41,6 @@ public class AltosEepromLog { throws InterruptedException, TimeoutException { int block; - boolean has_date = false; flight = in_flight; if (flight != 0) @@ -56,43 +53,5 @@ public class AltosEepromLog { * Select all flights for download */ selected = true; - - /* - * Look in TeleMetrum log data for date - */ - if (config_data.log_format == AltosLib.AO_LOG_FORMAT_UNKNOWN || - config_data.log_format == AltosLib.AO_LOG_FORMAT_FULL) - { - /* - * Only look in the first two blocks so that this - * process doesn't take a long time - */ - if (in_end_block > in_start_block + 2) - in_end_block = in_start_block + 2; - - for (block = in_start_block; block < in_end_block; block++) { - AltosEepromChunk eechunk = new AltosEepromChunk(link, block, block == in_start_block); - - for (int i = 0; i < AltosEepromChunk.chunk_size; i += AltosEepromTM.record_length) { - try { - AltosEepromTM r = new AltosEepromTM(eechunk, i); - - if (r.cmd == AltosLib.AO_LOG_FLIGHT) { - flight = r.b; - has_flight = true; - } - if (r.cmd == AltosLib.AO_LOG_GPS_DATE) { - year = 2000 + (r.a & 0xff); - month = (r.a >> 8) & 0xff; - day = (r.b & 0xff); - has_date = true; - } - } catch (ParseException pe) { - } - } - if (has_date && has_flight) - break; - } - } } } diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java deleted file mode 100644 index 082d6054..00000000 --- a/altoslib/AltosEepromMega.java +++ /dev/null @@ -1,287 +0,0 @@ -/* - * Copyright © 2011 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; either version 2 of the License, or - * (at your option) any later version. - * - * 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_11; - -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromMega extends AltosEeprom { - public static final int record_length = 32; - - public static final int max_sat = 12; - - private int log_format; - - public int record_length() { return record_length; } - - /* AO_LOG_FLIGHT elements */ - public int flight() { return data16(0); } - public int ground_accel() { return data16(2); } - public int ground_pres() { return data32(4); } - public int ground_accel_along() { return data16(8); } - public int ground_accel_across() { return data16(10); } - public int ground_accel_through() { return data16(12); } - public int ground_roll() { - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_TELEMEGA: - return data32(16); - case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: - return data16(14); - default: - return AltosLib.MISSING; - } - } - public int ground_pitch() { - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_TELEMEGA: - return data32(20); - case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: - return data16(16); - default: - return AltosLib.MISSING; - } - } - public int ground_yaw() { - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_TELEMEGA: - return data32(24); - case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: - return data16(18); - default: - return AltosLib.MISSING; - } - } - - /* AO_LOG_STATE elements */ - public int state() { return data16(0); } - public int reason() { return data16(2); } - - /* AO_LOG_SENSOR elements */ - public int pres() { return data32(0); } - public int temp() { return data32(4); } - public int accel_x() { return data16(8); } - public int accel_y() { return data16(10); } - public int accel_z() { return data16(12); } - public int gyro_x() { return data16(14); } - public int gyro_y() { return data16(16); } - public int gyro_z() { return data16(18); } - public int mag_x() { return data16(20); } - public int mag_y() { return data16(22); } - public int mag_z() { return data16(24); } - public int accel() { return data16(26); } - - /* AO_LOG_TEMP_VOLT elements */ - public int v_batt() { return data16(0); } - public int v_pbatt() { return data16(2); } - public int nsense() { return data16(4); } - public int sense(int i) { return data16(6 + i * 2); } - public int pyro() { return data16(26); } - - /* AO_LOG_GPS_TIME elements */ - public int latitude() { return data32(0); } - public int longitude() { return data32(4); } - public int altitude_low() { return data16(8); } - public int hour() { return data8(10); } - public int minute() { return data8(11); } - public int second() { return data8(12); } - public int flags() { return data8(13); } - public int year() { return data8(14); } - public int month() { return data8(15); } - public int day() { return data8(16); } - public int course() { return data8(17); } - public int ground_speed() { return data16(18); } - public int climb_rate() { return data16(20); } - public int pdop() { return data8(22); } - public int hdop() { return data8(23); } - public int vdop() { return data8(24); } - public int mode() { return data8(25); } - public int altitude_high() { return data16(26); } - - /* AO_LOG_GPS_SAT elements */ - public int nsat() { return data16(0); } - public int svid(int n) { return data8(2 + n * 2); } - public int c_n(int n) { return data8(2 + n * 2 + 1); } - - public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException { - this.log_format = log_format; - parse_chunk(chunk, start); - } - - public void update_state(AltosState state) { - super.update_state(state); - - AltosGPS gps; - - /* Flush any pending GPS changes */ - if (state.gps_pending) { - switch (cmd) { - case AltosLib.AO_LOG_GPS_LAT: - case AltosLib.AO_LOG_GPS_LON: - case AltosLib.AO_LOG_GPS_ALT: - case AltosLib.AO_LOG_GPS_SAT: - case AltosLib.AO_LOG_GPS_DATE: - break; - default: - state.set_temp_gps(); - break; - } - } - - switch (cmd) { - case AltosLib.AO_LOG_FLIGHT: - state.set_boost_tick(tick); - state.set_flight(flight()); - state.set_ground_accel(ground_accel()); - state.set_ground_pressure(ground_pres()); - state.set_accel_ground(ground_accel_along(), - ground_accel_across(), - ground_accel_through()); - state.set_gyro_zero(ground_roll() / 512.0, - ground_pitch() / 512.0, - ground_yaw() / 512.0); - break; - case AltosLib.AO_LOG_STATE: - state.set_tick(tick); - state.set_state(state()); - break; - case AltosLib.AO_LOG_SENSOR: - state.set_tick(tick); - state.set_ms5607(pres(), temp()); - - AltosIMU imu = new AltosIMU(accel_y(), /* along */ - accel_x(), /* across */ - accel_z(), /* through */ - gyro_y(), /* roll */ - gyro_x(), /* pitch */ - gyro_z()); /* yaw */ - - if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD) - state.check_imu_wrap(imu); - - state.set_imu(imu); - - state.set_mag(new AltosMag(mag_x(), - mag_y(), - mag_z())); - - state.set_accel(accel()); - - break; - case AltosLib.AO_LOG_TEMP_VOLT: - state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); - state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt())); - - int nsense = nsense(); - - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2))); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1))); - - double voltages[] = new double[nsense-2]; - for (int i = 0; i < nsense-2; i++) - voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); - - state.set_ignitor_voltage(voltages); - state.set_pyro_fired(pyro()); - break; - case AltosLib.AO_LOG_GPS_TIME: - state.set_tick(tick); - gps = state.make_temp_gps(false); - gps.lat = latitude() / 1e7; - gps.lon = longitude() / 1e7; - - if (state.altitude_32()) - gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); - else - gps.alt = altitude_low(); - - gps.hour = hour(); - gps.minute = minute(); - gps.second = second(); - - int flags = flags(); - - gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0; - gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; - gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> - AltosLib.AO_GPS_NUM_SAT_SHIFT; - - gps.year = 2000 + year(); - gps.month = month(); - gps.day = day(); - gps.ground_speed = ground_speed() * 1.0e-2; - gps.course = course() * 2; - gps.climb_rate = climb_rate() * 1.0e-2; - if (state.compare_version("1.4.9") >= 0) { - gps.pdop = pdop() / 10.0; - gps.hdop = hdop() / 10.0; - gps.vdop = vdop() / 10.0; - } else { - gps.pdop = pdop() / 100.0; - if (gps.pdop < 0.8) - gps.pdop += 2.56; - gps.hdop = hdop() / 100.0; - if (gps.hdop < 0.8) - gps.hdop += 2.56; - gps.vdop = vdop() / 100.0; - if (gps.vdop < 0.8) - gps.vdop += 2.56; - } - break; - case AltosLib.AO_LOG_GPS_SAT: - state.set_tick(tick); - gps = state.make_temp_gps(true); - - int n = nsat(); - if (n > max_sat) - n = max_sat; - for (int i = 0; i < n; i++) - gps.add_sat(svid(i), c_n(i)); - break; - } - } - - public AltosEepromMega (String line, int log_format) { - this.log_format = log_format; - parse_string(line); - } - - static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) { - LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - try { - AltosEepromMega mega = new AltosEepromMega(line, log_format); - if (mega.cmd != AltosLib.AO_LOG_INVALID) - megas.add(mega); - } catch (Exception e) { - System.out.printf ("exception\n"); - } - } catch (IOException ie) { - break; - } - } - - return megas; - } -} diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java deleted file mode 100644 index 04155071..00000000 --- a/altoslib/AltosEepromMini.java +++ /dev/null @@ -1,116 +0,0 @@ -/* - * Copyright © 2011 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; either version 2 of the License, or - * (at your option) any later version. - * - * 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_11; - -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromMini extends AltosEeprom { - public static final int record_length = 16; - - public int record_length() { return record_length; } - - /* AO_LOG_FLIGHT elements */ - public int flight() { return data16(0); } - public int ground_pres() { return data32(4); } - - /* AO_LOG_STATE elements */ - public int state() { return data16(0); } - public int reason() { return data16(2); } - - /* AO_LOG_SENSOR elements */ - public int pres() { return data24(0); } - public int temp() { return data24(3); } - public int sense_a() { return data16(6); } - public int sense_m() { return data16(8); } - public int v_batt() { return data16(10); } - - private double battery_voltage(AltosState state, int sensor) { - if (state.log_format == AltosLib.AO_LOG_FORMAT_EASYMINI) - return AltosConvert.easy_mini_voltage(sensor, state.serial); - if (state.log_format == AltosLib.AO_LOG_FORMAT_TELEMINI2) - return AltosConvert.tele_mini_2_voltage(sensor); - if (state.log_format == AltosLib.AO_LOG_FORMAT_TELEMINI3) - return AltosConvert.tele_mini_3_battery_voltage(sensor); - return -1; - } - - private double pyro_voltage(AltosState state, int sensor) { - if (state.log_format == AltosLib.AO_LOG_FORMAT_EASYMINI) - return AltosConvert.easy_mini_voltage(sensor, state.serial); - if (state.log_format == AltosLib.AO_LOG_FORMAT_TELEMINI2) - return AltosConvert.tele_mini_2_voltage(sensor); - if (state.log_format == AltosLib.AO_LOG_FORMAT_TELEMINI3) - return AltosConvert.tele_mini_3_pyro_voltage(sensor); - return -1; - } - - public void update_state(AltosState state) { - super.update_state(state); - - switch (cmd) { - case AltosLib.AO_LOG_FLIGHT: - state.set_flight(flight()); - state.set_ground_pressure(ground_pres()); - break; - case AltosLib.AO_LOG_STATE: - state.set_state(state()); - break; - case AltosLib.AO_LOG_SENSOR: - state.set_ms5607(pres(), temp()); - state.set_apogee_voltage(pyro_voltage(state, sense_a())); - state.set_main_voltage(pyro_voltage(state, sense_m())); - state.set_battery_voltage(battery_voltage(state, v_batt())); - break; - } - } - - public AltosEepromMini (AltosEepromChunk chunk, int start) throws ParseException { - parse_chunk(chunk, start); - } - - public AltosEepromMini (String line) { - parse_string(line); - } - - public AltosEepromMini(int in_cmd, int in_tick) { - cmd = in_cmd; - tick = in_tick; - valid = true; - } - - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> minis = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - AltosEepromMini mini = new AltosEepromMini(line); - minis.add(mini); - } catch (IOException ie) { - break; - } - } - - return minis; - } -} diff --git a/altoslib/AltosEepromMonitor.java b/altoslib/AltosEepromMonitor.java index 792fde27..a99ec687 100644 --- a/altoslib/AltosEepromMonitor.java +++ b/altoslib/AltosEepromMonitor.java @@ -16,13 +16,13 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosEepromMonitor { - public void set_states(int min_state, int max_state); + public void set_block(int in_block); - public void set_value(String in_state_name, int in_state, int in_state_block, int in_block); + public void set_max(int in_max); public void set_serial(int in_serial); diff --git a/altoslib/AltosEepromRecord.java b/altoslib/AltosEepromRecord.java new file mode 100644 index 00000000..094584fe --- /dev/null +++ b/altoslib/AltosEepromRecord.java @@ -0,0 +1,126 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public abstract class AltosEepromRecord implements Comparable<AltosEepromRecord> { + + AltosEeprom eeprom; + + int wide_tick; + + final int start; + final int length; + + public final static int header_length = 4; + + public int cmd() { + return eeprom.data8(start); + } + + public int tick() { + return eeprom.data16(start+2); + } + + public int data8(int i) { + i += start + header_length; + return eeprom.data8(i); + } + + public int data16(int i) { + return ((data8(i) | (data8(i+1) << 8)) << 16) >> 16; + } + + public int data24(int i) { + return data8(i) | (data8(i+1) << 8) | (data8(i+2) << 16); + } + + public int data32(int i) { + return data8(i) | (data8(i+1) << 8) | (data8(i+2) << 16) | (data8(i+3) << 24); + } + + public boolean valid(int s) { + return AltosConvert.checksum(eeprom.data, s, length) == 0; + } + + public boolean valid() { + return valid(start); + } + + private int cmdi() { + if (cmd() == AltosLib.AO_LOG_FLIGHT) + return 0; + return 1; + } + + public AltosConfigData config_data() { + return eeprom.config_data(); + } + + public int compareTo(AltosEepromRecord o) { + int cmd_diff = cmdi() - o.cmdi(); + + if (cmd_diff != 0) + return cmd_diff; + + int tick_diff = wide_tick - o.wide_tick; + + if (tick_diff != 0) + return tick_diff; + return start - o.start; + } + + /* AltosDataProvider */ + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + cal_data.set_tick(tick()); + if (cmd() == AltosLib.AO_LOG_FLIGHT) + cal_data.set_boost_tick(); + listener.set_time(cal_data.time()); + + /* Flush any pending GPS changes */ + if (!AltosLib.is_gps_cmd(cmd())) { + AltosGPS gps = cal_data.temp_gps(); + if (gps != null) { + listener.set_gps(gps); + cal_data.reset_temp_gps(); + } + } + } + + public int next_start() { + int s = start + length; + + while (s + length <= eeprom.data.size()) { + if (valid(s)) + return s; + s += length; + } + return -1; + } + + public boolean hasNext() { + return next_start() >= 0; + } + + public abstract AltosEepromRecord next(); + + public AltosEepromRecord(AltosEeprom eeprom, int start, int length) { + this.eeprom = eeprom; + this.start = start; + this.length = length; + + while (start + length < eeprom.data.size() && !valid()) + start += length; + } +} diff --git a/altoslib/AltosEepromFireTwo.java b/altoslib/AltosEepromRecordFireTwo.java index dd510280..d6b74d1b 100644 --- a/altoslib/AltosEepromFireTwo.java +++ b/altoslib/AltosEepromRecordFireTwo.java @@ -16,21 +16,17 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; import java.text.*; -public class AltosEepromFireTwo extends AltosEeprom { +public class AltosEepromRecordFireTwo extends AltosEepromRecord { public static final int record_length = 32; - public int record_length() { return record_length; } - /* AO_LOG_FLIGHT elements */ public int flight() { return data16(0); } - public int idle_pres() { return data16(2); } - public int idle_thrust() { return data16(4); } /* AO_LOG_STATE elements */ public int state() { return data16(0); } @@ -41,21 +37,15 @@ public class AltosEepromFireTwo extends AltosEeprom { public int thrust() { return data16(2); } public int temp(int i) { return data16(4+i*2); } - public AltosEepromFireTwo (AltosEepromChunk chunk, int start) throws ParseException { - parse_chunk(chunk, start); - } - private static final double r_above = 5600.0; private static final double r_below = 10000.0; private static final double v_adc = 3.3; - private static double - firetwo_adc(int raw) { + private static double firetwo_adc(int raw) { return raw / 4095.0; } - private static double - adc_to_pa(int adc) { + public static double adc_to_pa(int adc) { /* raw adc to processor voltage, then back through the * voltage divider to the sensor voltage @@ -67,52 +57,46 @@ public class AltosEepromFireTwo extends AltosEeprom { if (v < 0.5) v = 0.5; if (v > 4.5) v = 4.5; - double psi = (v - 0.5) / 4.0 * 1600.0; + double psi = (v - 0.5) / 4.0 * 2500.0; return AltosConvert.psi_to_pa(psi); } - public void update_state(AltosState state) { - super.update_state(state); + public static double adc_to_n(int adc) { + double v = firetwo_adc(adc); + + /* this is a total guess */ + return AltosConvert.lb_to_n(v * 298 * 9.807); + } + + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + super.provide_data(listener, cal_data); - switch (cmd) { + switch (cmd()) { case AltosLib.AO_LOG_FLIGHT: - state.set_flight(flight()); - state.set_ground_pressure(adc_to_pa(idle_pres())); + cal_data.set_flight(flight()); break; case AltosLib.AO_LOG_STATE: - state.set_state(state()); + listener.set_state(state()); break; case AltosLib.AO_LOG_SENSOR: - state.set_pressure(adc_to_pa(pres())); + listener.set_pressure(adc_to_pa(pres())); + listener.set_thrust(adc_to_n(thrust())); break; } } - public AltosEepromFireTwo (String line) { - parse_string(line); + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordFireTwo(eeprom, s); } - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> firetwos = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - try { - AltosEepromFireTwo firetwo = new AltosEepromFireTwo(line); - - if (firetwo.cmd != AltosLib.AO_LOG_INVALID) - firetwos.add(firetwo); - } catch (Exception e) { - System.out.printf ("exception\n"); - } - } catch (IOException ie) { - break; - } - } + public AltosEepromRecordFireTwo(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + } - return firetwos; + public AltosEepromRecordFireTwo(AltosEeprom eeprom) { + this(eeprom, 0); } } diff --git a/altoslib/AltosEepromRecordFull.java b/altoslib/AltosEepromRecordFull.java new file mode 100644 index 00000000..85709f73 --- /dev/null +++ b/altoslib/AltosEepromRecordFull.java @@ -0,0 +1,114 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosEepromRecordFull extends AltosEepromRecord { + public static final int record_length = 8; + + public static final int max_sat = 12; + + public static final int two_g_default = 16294 - 15758; + + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + + super.provide_data(listener, cal_data); + AltosGPS gps; + + switch (cmd()) { + case AltosLib.AO_LOG_FLIGHT: + listener.set_state(AltosLib.ao_flight_pad); + cal_data.set_ground_accel(data16(0)); + cal_data.set_flight(data16(2)); + if (cal_data.accel_plus_g == AltosLib.MISSING) + cal_data.set_accel_plus_minus(data16(0), data16(0) + two_g_default); + break; + case AltosLib.AO_LOG_SENSOR: + listener.set_acceleration(cal_data.acceleration(data16(0))); + listener.set_pressure(AltosConvert.barometer_to_pressure(data16(2))); + break; + case AltosLib.AO_LOG_PRESSURE: + listener.set_pressure(AltosConvert.barometer_to_pressure(data16(2))); + break; + case AltosLib.AO_LOG_TEMP_VOLT: + listener.set_temperature(AltosConvert.thermometer_to_temperature(data16(0))); + listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(data16(2))); + break; + case AltosLib.AO_LOG_DEPLOY: + listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(data16(0))); + listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(data16(2))); + break; + case AltosLib.AO_LOG_STATE: + listener.set_state(data16(0)); + break; + case AltosLib.AO_LOG_GPS_TIME: + gps = cal_data.make_temp_gps(tick(),false); + + gps.hour = data8(0); + gps.minute = data8(1); + gps.second = data8(2); + + int flags = data8(3); + + gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0; + gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; + gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> + AltosLib.AO_GPS_NUM_SAT_SHIFT; + break; + case AltosLib.AO_LOG_GPS_LAT: + gps = cal_data.make_temp_gps(tick(),false); + + int lat32 = data32(0); + gps.lat = (double) lat32 / 1e7; + break; + case AltosLib.AO_LOG_GPS_LON: + gps = cal_data.make_temp_gps(tick(),false); + + int lon32 = data32(0); + gps.lon = (double) lon32 / 1e7; + break; + case AltosLib.AO_LOG_GPS_ALT: + gps = cal_data.make_temp_gps(tick(),false); + gps.alt = data16(0); + break; + case AltosLib.AO_LOG_GPS_SAT: + gps = cal_data.make_temp_gps(tick(),true); + int svid = data16(0); + int c_n0 = data16(3); + gps.add_sat(svid, c_n0); + break; + case AltosLib.AO_LOG_GPS_DATE: + gps = cal_data.make_temp_gps(tick(),false); + gps.year = data8(0) + 2000; + gps.month = data8(1); + gps.day = data8(2); + break; + } + } + + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordFull(eeprom, s); + } + + public AltosEepromRecordFull(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + } + + public AltosEepromRecordFull(AltosEeprom eeprom) { + this(eeprom, 0); + } +} diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromRecordGps.java index e76b36dd..5cf5db39 100644 --- a/altoslib/AltosEepromGPS.java +++ b/altoslib/AltosEepromRecordGps.java @@ -1,5 +1,5 @@ /* - * Copyright © 2014 Keith Packard <keithp@keithp.com> + * Copyright © 2017 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 @@ -16,19 +16,15 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; import java.text.*; -public class AltosEepromGPS extends AltosEeprom { +public class AltosEepromRecordGps extends AltosEepromRecord { public static final int record_length = 32; - public static final int max_sat = 12; - - public int record_length() { return record_length; } - /* AO_LOG_FLIGHT elements */ public int flight() { return data16(0); } public int start_altitude() { return data16(2); } @@ -55,10 +51,8 @@ public class AltosEepromGPS extends AltosEeprom { public int mode() { return data8(25); } public int altitude_high() { return data16(26); } - public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; } - - public int seconds() { - switch (cmd) { + private int seconds() { + switch (cmd()) { case AltosLib.AO_LOG_GPS_TIME: return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month()))); default: @@ -66,44 +60,33 @@ public class AltosEepromGPS extends AltosEeprom { } } - public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException { - parse_chunk(chunk, start); + public int compareTo(AltosEepromRecord o) { + AltosEepromRecordGps og = (AltosEepromRecordGps) o; + + int seconds_diff = seconds() - og.seconds(); + + if (seconds_diff != 0) + return seconds_diff; + + return start - o.start; } - public void update_state(AltosState state) { - super.update_state(state); - - AltosGPS gps; - - /* Flush any pending GPS changes */ - if (state.gps_pending) { - switch (cmd) { - case AltosLib.AO_LOG_GPS_LAT: - case AltosLib.AO_LOG_GPS_LON: - case AltosLib.AO_LOG_GPS_ALT: - case AltosLib.AO_LOG_GPS_SAT: - case AltosLib.AO_LOG_GPS_DATE: - break; - default: - state.set_temp_gps(); - break; - } - } + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + super.provide_data(listener, cal_data); - switch (cmd) { + switch (cmd()) { case AltosLib.AO_LOG_FLIGHT: - if (state.flight == AltosLib.MISSING) { - state.set_boost_tick(tick); - state.set_flight(flight()); + if (cal_data.flight == AltosLib.MISSING) { + cal_data.set_boost_tick(); + cal_data.set_flight(flight()); } /* no place to log start lat/lon yet */ break; case AltosLib.AO_LOG_GPS_TIME: - state.set_tick(tick); - gps = state.make_temp_gps(false); + AltosGPS gps = new AltosGPS(); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - if (state.altitude_32()) + if (eeprom.config_data().altitude_32 == 1) gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); else gps.alt = altitude_low(); @@ -125,7 +108,7 @@ public class AltosEepromGPS extends AltosEeprom { gps.ground_speed = ground_speed() * 1.0e-2; gps.course = course() * 2; gps.climb_rate = climb_rate() * 1.0e-2; - if (state.compare_version("1.4.9") >= 0) { + if (eeprom.config_data().compare_version("1.4.9") >= 0) { gps.pdop = pdop() / 10.0; gps.hdop = hdop() / 10.0; gps.vdop = vdop() / 10.0; @@ -140,34 +123,23 @@ public class AltosEepromGPS extends AltosEeprom { if (gps.vdop < 0.8) gps.vdop += 2.56; } + listener.set_gps(gps); break; } } - public AltosEepromGPS (String line) { - parse_string(line); + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordGps(eeprom, s); } - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - try { - AltosEepromGPS tgps = new AltosEepromGPS(line); - if (tgps.cmd != AltosLib.AO_LOG_INVALID) - tgpss.add(tgps); - } catch (Exception e) { - System.out.printf ("exception\n"); - } - } catch (IOException ie) { - break; - } - } + public AltosEepromRecordGps(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + } - return tgpss; + public AltosEepromRecordGps(AltosEeprom eeprom) { + this(eeprom, 0); } } diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java new file mode 100644 index 00000000..ad3e23fd --- /dev/null +++ b/altoslib/AltosEepromRecordMega.java @@ -0,0 +1,260 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosEepromRecordMega extends AltosEepromRecord { + public static final int record_length = 32; + + public static final int max_sat = 12; + + private int log_format; + + /* AO_LOG_FLIGHT elements */ + private int flight() { return data16(0); } + private int ground_accel() { return data16(2); } + private int ground_pres() { return data32(4); } + private int ground_accel_along() { return data16(8); } + private int ground_accel_across() { return data16(10); } + private int ground_accel_through() { return data16(12); } + private int ground_roll() { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + return data32(16); + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + return data16(14); + default: + return AltosLib.MISSING; + } + } + private int ground_pitch() { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + return data32(20); + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + return data16(16); + default: + return AltosLib.MISSING; + } + } + private int ground_yaw() { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + return data32(24); + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + return data16(18); + default: + return AltosLib.MISSING; + } + } + + /* AO_LOG_STATE elements */ + private int state() { return data16(0); } + private int reason() { return data16(2); } + + /* AO_LOG_SENSOR elements */ + private int pres() { return data32(0); } + private int temp() { return data32(4); } + private int accel_x() { return data16(8); } + private int accel_y() { return data16(10); } + private int accel_z() { return data16(12); } + private int gyro_x() { return data16(14); } + private int gyro_y() { return data16(16); } + private int gyro_z() { return data16(18); } + private int mag_x() { return data16(20); } + private int mag_z() { return data16(22); } + private int mag_y() { return data16(24); } + private int accel() { return data16(26); } + + /* AO_LOG_TEMP_VOLT elements */ + private int v_batt() { return data16(0); } + private int v_pbatt() { return data16(2); } + private int nsense() { return data16(4); } + private int sense(int i) { return data16(6 + i * 2); } + private int pyro() { return data16(26); } + + /* AO_LOG_GPS_TIME elements */ + private int latitude() { return data32(0); } + private int longitude() { return data32(4); } + private int altitude_low() { return data16(8); } + private int hour() { return data8(10); } + private int minute() { return data8(11); } + private int second() { return data8(12); } + private int flags() { return data8(13); } + private int year() { return data8(14); } + private int month() { return data8(15); } + private int day() { return data8(16); } + private int course() { return data8(17); } + private int ground_speed() { return data16(18); } + private int climb_rate() { return data16(20); } + private int pdop() { return data8(22); } + private int hdop() { return data8(23); } + private int vdop() { return data8(24); } + private int mode() { return data8(25); } + private int altitude_high() { return data16(26); } + + /* AO_LOG_GPS_SAT elements */ + private int nsat() { return data16(0); } + private int svid(int n) { return data8(2 + n * 2); } + private int c_n(int n) { return data8(2 + n * 2 + 1); } + + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + super.provide_data(listener, cal_data); + + AltosGPS gps; + + switch (cmd()) { + case AltosLib.AO_LOG_FLIGHT: + cal_data.set_flight(flight()); + cal_data.set_ground_accel(ground_accel()); + cal_data.set_ground_pressure(ground_pres()); + listener.set_accel_ground(ground_accel_along(), + ground_accel_across(), + ground_accel_through()); + cal_data.set_gyro_zero(ground_roll() / 512.0, + ground_pitch() / 512.0, + ground_yaw() / 512.0); + break; + case AltosLib.AO_LOG_STATE: + listener.set_state(state()); + break; + case AltosLib.AO_LOG_SENSOR: + AltosConfigData config_data = eeprom.config_data(); + AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());; + listener.set_pressure(pt.pres); + listener.set_temperature(pt.temp); + + int accel_along = accel_y(); + int accel_across = accel_x(); + int accel_through = accel_z(); + int gyro_roll = gyro_y(); + int gyro_pitch = gyro_x(); + int gyro_yaw = gyro_z(); + + int mag_along = mag_y(); + int mag_across = mag_x(); + int mag_through = mag_z(); + + if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD) + cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw); + + listener.set_accel(cal_data.accel_along(accel_along), + cal_data.accel_across(accel_across), + cal_data.accel_through(accel_through)); + listener.set_gyro(cal_data.gyro_roll(gyro_roll), + cal_data.gyro_pitch(gyro_pitch), + cal_data.gyro_yaw(gyro_yaw)); + + listener.set_mag(cal_data.mag_along(mag_along), + cal_data.mag_across(mag_across), + cal_data.mag_through(mag_through)); + + + final double lsb_per_g = 1920.0/105.5; + + double acceleration = AltosConvert.acceleration_from_sensor( + accel(), + cal_data.ground_accel, + cal_data.ground_accel + 2 * lsb_per_g, + cal_data.ground_accel); + + listener.set_acceleration(acceleration); + break; + case AltosLib.AO_LOG_TEMP_VOLT: + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); + listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt())); + + int nsense = nsense(); + + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2))); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1))); + + double voltages[] = new double[nsense-2]; + for (int i = 0; i < nsense-2; i++) + voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); + + listener.set_igniter_voltage(voltages); + listener.set_pyro_fired(pyro()); + break; + case AltosLib.AO_LOG_GPS_TIME: + gps = cal_data.make_temp_gps(tick(), false); + gps.lat = latitude() / 1e7; + gps.lon = longitude() / 1e7; + + if (config_data().altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); + + gps.hour = hour(); + gps.minute = minute(); + gps.second = second(); + + int flags = flags(); + + gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0; + gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; + gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> + AltosLib.AO_GPS_NUM_SAT_SHIFT; + + gps.year = 2000 + year(); + gps.month = month(); + gps.day = day(); + gps.ground_speed = ground_speed() * 1.0e-2; + gps.course = course() * 2; + gps.climb_rate = climb_rate() * 1.0e-2; + if (config_data().compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } + break; + case AltosLib.AO_LOG_GPS_SAT: + gps = cal_data.make_temp_gps(tick(), true); + + int n = nsat(); + if (n > max_sat) + n = max_sat; + for (int i = 0; i < n; i++) + gps.add_sat(svid(i), c_n(i)); + break; + } + } + + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordMega(eeprom, s); + } + + public AltosEepromRecordMega(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + log_format = eeprom.config_data().log_format; + } + + public AltosEepromRecordMega(AltosEeprom eeprom) { + this(eeprom, 0); + } +} diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromRecordMetrum.java index f685b3ce..3da50544 100644 --- a/altoslib/AltosEepromMetrum2.java +++ b/altoslib/AltosEepromRecordMetrum.java @@ -1,5 +1,5 @@ /* - * Copyright © 2011 Keith Packard <keithp@keithp.com> + * Copyright © 2017 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 @@ -16,13 +16,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromMetrum2 extends AltosEeprom { +public class AltosEepromRecordMetrum extends AltosEepromRecord { public static final int record_length = 16; public int record_length() { return record_length; } @@ -69,64 +65,42 @@ public class AltosEepromMetrum2 extends AltosEeprom { public int svid(int n) { return data8(2 + n * 2); } public int c_n(int n) { return data8(2 + n * 2 + 1); } - public AltosEepromMetrum2 (AltosEepromChunk chunk, int start) throws ParseException { - parse_chunk(chunk, start); - } - - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + super.provide_data(listener, cal_data); AltosGPS gps; - /* Flush any pending GPS changes */ - if (state.gps_pending) { - switch (cmd) { - case AltosLib.AO_LOG_GPS_POS: - case AltosLib.AO_LOG_GPS_LAT: - case AltosLib.AO_LOG_GPS_LON: - case AltosLib.AO_LOG_GPS_ALT: - case AltosLib.AO_LOG_GPS_SAT: - case AltosLib.AO_LOG_GPS_DATE: - break; - default: - state.set_temp_gps(); - break; - } - } - - switch (cmd) { + switch (cmd()) { case AltosLib.AO_LOG_FLIGHT: - state.set_flight(flight()); - state.set_ground_accel(ground_accel()); - state.set_ground_pressure(ground_pres()); -// state.set_temperature(ground_temp() / 100.0); + cal_data.set_flight(flight()); + cal_data.set_ground_accel(ground_accel()); + cal_data.set_ground_pressure(ground_pres()); break; case AltosLib.AO_LOG_STATE: - state.set_state(state()); + listener.set_state(state()); break; case AltosLib.AO_LOG_SENSOR: - state.set_ms5607(pres(), temp()); - state.set_accel(accel()); - + AltosPresTemp pt = eeprom.config_data().ms5607().pres_temp(pres(), temp()); + listener.set_pressure(pt.pres); + listener.set_temperature(pt.temp); + listener.set_acceleration(cal_data.acceleration(accel())); break; case AltosLib.AO_LOG_TEMP_VOLT: - state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); - - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a())); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m())); - + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a())); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m())); break; case AltosLib.AO_LOG_GPS_POS: - gps = state.make_temp_gps(false); + gps = cal_data.make_temp_gps(tick(), false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - if (state.altitude_32()) + if (config_data().altitude_32()) gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); else gps.alt = altitude_low(); break; case AltosLib.AO_LOG_GPS_TIME: - gps = state.make_temp_gps(false); + gps = cal_data.make_temp_gps(tick(), false); gps.hour = hour(); gps.minute = minute(); @@ -145,7 +119,7 @@ public class AltosEepromMetrum2 extends AltosEeprom { gps.pdop = pdop() / 10.0; break; case AltosLib.AO_LOG_GPS_SAT: - gps = state.make_temp_gps(true); + gps = cal_data.make_temp_gps(tick(), true); int n = nsat(); for (int i = 0; i < n; i++) @@ -154,31 +128,18 @@ public class AltosEepromMetrum2 extends AltosEeprom { } } - public AltosEepromMetrum2 (String line) { - parse_string(line); + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordMetrum(eeprom, s); } - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> metrums = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - try { - AltosEepromMetrum2 metrum = new AltosEepromMetrum2(line); - - if (metrum.cmd != AltosLib.AO_LOG_INVALID) - metrums.add(metrum); - } catch (Exception e) { - System.out.printf ("exception\n"); - } - } catch (IOException ie) { - break; - } - } + public AltosEepromRecordMetrum(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + } - return metrums; + public AltosEepromRecordMetrum(AltosEeprom eeprom) { + this(eeprom, 0); } } diff --git a/altoslib/AltosEepromRecordMini.java b/altoslib/AltosEepromRecordMini.java new file mode 100644 index 00000000..55696693 --- /dev/null +++ b/altoslib/AltosEepromRecordMini.java @@ -0,0 +1,105 @@ +/* + * Copyright © 2017 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; either version 2 of the License, or + * (at your option) any later version. + * + * 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_12; + +public class AltosEepromRecordMini extends AltosEepromRecord { + public static final int record_length = 16; + + /* AO_LOG_FLIGHT elements */ + public int flight() { return data16(0); } + public int ground_pres() { return data32(4); } + + /* AO_LOG_STATE elements */ + public int state() { return data16(0); } + public int reason() { return data16(2); } + + /* AO_LOG_SENSOR elements */ + public int pres() { return data24(0); } + public int temp() { return data24(3); } + public int sense_a() { return data16(6); } + public int sense_m() { return data16(8); } + public int v_batt() { return data16(10); } + + private int log_format() { + return eeprom.config_data().log_format; + } + + private double battery_voltage(int sensor) { + int log_format = log_format(); + if (log_format == AltosLib.AO_LOG_FORMAT_EASYMINI1) + return AltosConvert.easy_mini_1_voltage(sensor, eeprom.config_data().serial); + if (log_format == AltosLib.AO_LOG_FORMAT_EASYMINI2) + return AltosConvert.easy_mini_2_voltage(sensor); + if (log_format == AltosLib.AO_LOG_FORMAT_TELEMINI2) + return AltosConvert.tele_mini_2_voltage(sensor); + if (log_format == AltosLib.AO_LOG_FORMAT_TELEMINI3) + return AltosConvert.tele_mini_3_battery_voltage(sensor); + return -1; + } + + private double pyro_voltage(int sensor) { + int log_format = log_format(); + if (log_format == AltosLib.AO_LOG_FORMAT_EASYMINI1) + return AltosConvert.easy_mini_1_voltage(sensor, eeprom.config_data().serial); + if (log_format == AltosLib.AO_LOG_FORMAT_EASYMINI2) + return AltosConvert.easy_mini_2_voltage(sensor); + if (log_format == AltosLib.AO_LOG_FORMAT_TELEMINI2) + return AltosConvert.tele_mini_2_voltage(sensor); + if (log_format == AltosLib.AO_LOG_FORMAT_TELEMINI3) + return AltosConvert.tele_mini_3_pyro_voltage(sensor); + return -1; + } + + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + super.provide_data(listener, cal_data); + + switch (cmd()) { + case AltosLib.AO_LOG_FLIGHT: + cal_data.set_flight(flight()); + cal_data.set_ground_pressure(ground_pres()); + break; + case AltosLib.AO_LOG_STATE: + listener.set_state(state()); + break; + case AltosLib.AO_LOG_SENSOR: + AltosPresTemp pt = eeprom.config_data().ms5607().pres_temp(pres(), temp()); + listener.set_pressure(pt.pres); + listener.set_temperature(pt.temp); + listener.set_apogee_voltage(pyro_voltage(sense_a())); + listener.set_main_voltage(pyro_voltage(sense_m())); + listener.set_battery_voltage(battery_voltage(v_batt())); + break; + } + } + + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordMini(eeprom, s); + } + + public AltosEepromRecordMini(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + } + + public AltosEepromRecordMini(AltosEeprom eeprom) { + this(eeprom, 0); + } +} diff --git a/altoslib/AltosEepromRecordSet.java b/altoslib/AltosEepromRecordSet.java new file mode 100644 index 00000000..48e90c05 --- /dev/null +++ b/altoslib/AltosEepromRecordSet.java @@ -0,0 +1,120 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +import java.io.*; +import java.util.*; + +public class AltosEepromRecordSet implements AltosRecordSet { + AltosEeprom eeprom; + TreeSet<AltosEepromRecord> ordered; + AltosCalData cal_data; + + public AltosConfigData config_data() { + return eeprom.config_data(); + } + + public AltosCalData cal_data() { + if (cal_data == null) { + cal_data = new AltosCalData(config_data()); + for (AltosEepromRecord record : ordered) { + if (record.cmd() == AltosLib.AO_LOG_FLIGHT) { + cal_data.set_tick(record.tick()); + cal_data.set_boost_tick(); + break; + } + } + } + return cal_data; + } + + public void capture_series(AltosDataListener listener) { + AltosCalData cal_data = cal_data(); + + cal_data.reset(); + for (AltosEepromRecord record : ordered) { + record.provide_data(listener, cal_data); + } + listener.finish(); + } + + public AltosEepromRecordSet(AltosEeprom eeprom) { + this.eeprom = eeprom; + + AltosConfigData config_data = eeprom.config_data(); + + AltosEepromRecord record = null; + + switch (config_data.log_format) { + case AltosLib.AO_LOG_FORMAT_FULL: + record = new AltosEepromRecordFull(eeprom); + break; + case AltosLib.AO_LOG_FORMAT_TINY: + record = new AltosEepromRecordTiny(eeprom); + break; + case AltosLib.AO_LOG_FORMAT_TELEMETRY: + case AltosLib.AO_LOG_FORMAT_TELESCIENCE: + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + record = new AltosEepromRecordMega(eeprom); + break; + case AltosLib.AO_LOG_FORMAT_TELEMETRUM: + record = new AltosEepromRecordMetrum(eeprom); + break; + case AltosLib.AO_LOG_FORMAT_TELEMINI2: + case AltosLib.AO_LOG_FORMAT_TELEMINI3: + case AltosLib.AO_LOG_FORMAT_EASYMINI1: + case AltosLib.AO_LOG_FORMAT_EASYMINI2: + record = new AltosEepromRecordMini(eeprom); + break; + case AltosLib.AO_LOG_FORMAT_TELEGPS: + record = new AltosEepromRecordGps(eeprom); + break; + case AltosLib.AO_LOG_FORMAT_TELEFIRETWO: + record = new AltosEepromRecordFireTwo(eeprom); + break; + } + + if (record == null) { + System.out.printf("failed to parse log format %d\n", config_data.log_format); + return; + } + ordered = new TreeSet<AltosEepromRecord>(); + int tick = 0; + boolean first = true; + + for (;;) { + int t = record.tick(); + + if (first) { + tick = t; + first = false; + } else { + while (t < tick - 32767) + t += 65536; + tick = t; + } + record.wide_tick = tick; + ordered.add(record); + if (!record.hasNext()) + break; + record = record.next(); + } + } + + public AltosEepromRecordSet(InputStream input) throws IOException { + this(new AltosEeprom(input)); + } +} diff --git a/altoslib/AltosEepromRecordTiny.java b/altoslib/AltosEepromRecordTiny.java new file mode 100644 index 00000000..06ee9d54 --- /dev/null +++ b/altoslib/AltosEepromRecordTiny.java @@ -0,0 +1,86 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosEepromRecordTiny extends AltosEepromRecord implements AltosDataProvider { + public static final int record_length = 2; + + private int value() { + return eeprom.data16(start); + } + + public boolean valid(int s) { + return eeprom.data16(s) != 0xffff; + } + + public int cmd() { + if (start == 0) + return AltosLib.AO_LOG_FLIGHT; + if ((value() & 0x8000) != 0) + return AltosLib.AO_LOG_STATE; + return AltosLib.AO_LOG_SENSOR; + } + + public int tick() { + int tick = 0; + int step = 10; + for (int i = 2; i < start; i += 2) + { + int v = eeprom.data16(i); + + if ((v & 0x8000) != 0) { + if ((v & 0x7fff) >= AltosLib.ao_flight_drogue) + step = 100; + } else { + tick += step; + } + } + return tick; + } + + public void provide_data(AltosDataListener listener) { + int value = data16(-header_length); + + listener.set_tick(tick()); + switch (cmd()) { + case AltosLib.AO_LOG_FLIGHT: + listener.set_state(AltosLib.ao_flight_pad); + listener.cal_data().set_flight(value); + listener.cal_data().set_boost_tick(); + break; + case AltosLib.AO_LOG_STATE: + listener.set_state(value & 0x7fff); + break; + case AltosLib.AO_LOG_SENSOR: + listener.set_pressure(AltosConvert.barometer_to_pressure(value)); + break; + } + } + + public AltosEepromRecord next() { + int s = next_start(); + if (s < 0) + return null; + return new AltosEepromRecordTiny(eeprom, s); + } + + public AltosEepromRecordTiny(AltosEeprom eeprom, int start) { + super(eeprom, start, record_length); + } + + public AltosEepromRecordTiny(AltosEeprom eeprom) { + this(eeprom, 0); + } +} diff --git a/altoslib/AltosEepromTM.java b/altoslib/AltosEepromTM.java deleted file mode 100644 index 9a09f926..00000000 --- a/altoslib/AltosEepromTM.java +++ /dev/null @@ -1,206 +0,0 @@ -/* - * 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; either version 2 of the License, or - * (at your option) any later version. - * - * 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_11; - -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromTM extends AltosEeprom { - public int a; - public int b; - - public static final int record_length = 8; - - public void write(PrintStream out) { - out.printf("%c %4x %4x %4x\n", cmd, tick, a, b); - } - - public int record_length() { return record_length; } - - public String string() { - return String.format("%c %4x %4x %4x\n", cmd, tick, a, b); - } - - public void update_state(AltosState state) { - super.update_state(state); - - AltosGPS gps; - - /* Flush any pending GPS changes */ - if (state.gps_pending) { - switch (cmd) { - case AltosLib.AO_LOG_GPS_LAT: - case AltosLib.AO_LOG_GPS_LON: - case AltosLib.AO_LOG_GPS_ALT: - case AltosLib.AO_LOG_GPS_SAT: - case AltosLib.AO_LOG_GPS_DATE: - break; - default: - state.set_temp_gps(); - break; - } - } - - switch (cmd) { - case AltosLib.AO_LOG_FLIGHT: - state.set_state(AltosLib.ao_flight_pad); - state.set_ground_accel(a); - state.set_flight(b); - state.set_boost_tick(tick); - break; - case AltosLib.AO_LOG_SENSOR: - state.set_accel(a); - state.set_pressure(AltosConvert.barometer_to_pressure(b)); - break; - case AltosLib.AO_LOG_PRESSURE: - state.set_pressure(AltosConvert.barometer_to_pressure(b)); - break; - case AltosLib.AO_LOG_TEMP_VOLT: - state.set_temperature(AltosConvert.thermometer_to_temperature(a)); - state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(b)); - break; - case AltosLib.AO_LOG_DEPLOY: - state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(a)); - state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(b)); - break; - case AltosLib.AO_LOG_STATE: - state.set_state(a); - break; - case AltosLib.AO_LOG_GPS_TIME: - gps = state.make_temp_gps(false); - - gps.hour = (a & 0xff); - gps.minute = (a >> 8); - gps.second = (b & 0xff); - - int flags = (b >> 8); - - gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0; - gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; - gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> - AltosLib.AO_GPS_NUM_SAT_SHIFT; - break; - case AltosLib.AO_LOG_GPS_LAT: - gps = state.make_temp_gps(false); - - int lat32 = a | (b << 16); - gps.lat = (double) lat32 / 1e7; - break; - case AltosLib.AO_LOG_GPS_LON: - gps = state.make_temp_gps(false); - - int lon32 = a | (b << 16); - gps.lon = (double) lon32 / 1e7; - break; - case AltosLib.AO_LOG_GPS_ALT: - gps = state.make_temp_gps(false); - gps.alt = a; - break; - case AltosLib.AO_LOG_GPS_SAT: - gps = state.make_temp_gps(true); - int svid = a; - int c_n0 = b >> 8; - gps.add_sat(svid, c_n0); - break; - case AltosLib.AO_LOG_GPS_DATE: - gps = state.make_temp_gps(false); - gps.year = (a & 0xff) + 2000; - gps.month = a >> 8; - gps.day = b & 0xff; - break; - } - } - - public AltosEepromTM (AltosEepromChunk chunk, int start) throws ParseException { - - cmd = chunk.data(start); - valid = true; - - valid = !chunk.erased(start, record_length); - if (valid) { - if (AltosConvert.checksum(chunk.data, start, record_length) != 0) - throw new ParseException(String.format("invalid checksum at 0x%x", - chunk.address + start), 0); - } else { - cmd = AltosLib.AO_LOG_INVALID; - } - - tick = chunk.data16(start + 2); - a = chunk.data16(start + 4); - b = chunk.data16(start + 6); - } - - public AltosEepromTM (String line) { - valid = false; - tick = 0; - a = 0; - b = 0; - if (line == null) { - cmd = AltosLib.AO_LOG_INVALID; - } else { - try { - String[] tokens = line.split("\\s+"); - - if (tokens[0].length() == 1) { - if (tokens.length != 4) { - cmd = AltosLib.AO_LOG_INVALID; - } else { - cmd = tokens[0].codePointAt(0); - tick = Integer.parseInt(tokens[1],16); - valid = true; - a = Integer.parseInt(tokens[2],16); - b = Integer.parseInt(tokens[3],16); - } - } else { - cmd = AltosLib.AO_LOG_INVALID; - } - } catch (NumberFormatException ne) { - cmd = AltosLib.AO_LOG_INVALID; - } - } - } - - public AltosEepromTM(int in_cmd, int in_tick, int in_a, int in_b) { - valid = true; - cmd = in_cmd; - tick = in_tick; - a = in_a; - b = in_b; - } - - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> tms = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - AltosEepromTM tm = new AltosEepromTM(line); - tms.add(tm); - } catch (IOException ie) { - break; - } - } - - return tms; - } - -} diff --git a/altoslib/AltosEepromTMini.java b/altoslib/AltosEepromTMini.java deleted file mode 100644 index 2557f431..00000000 --- a/altoslib/AltosEepromTMini.java +++ /dev/null @@ -1,160 +0,0 @@ -/* - * 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; either version 2 of the License, or - * (at your option) any later version. - * - * 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_11; - -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromTMini extends AltosEeprom { - public int i; - public int a; - public int b; - - public static final int record_length = 2; - - public void write(PrintStream out) { - out.printf("%c %4x %4x %4x\n", cmd, tick, a, b); - } - - public int record_length() { return record_length; } - - public String string() { - return String.format("%c %4x %4x %4x\n", cmd, tick, a, b); - } - - public void update_state(AltosState state) { - super.update_state(state); - - switch (cmd) { - case AltosLib.AO_LOG_FLIGHT: - state.set_state(AltosLib.ao_flight_boost); - state.set_flight(b); - break; - case AltosLib.AO_LOG_PRESSURE: - if (tick == 0) - state.set_ground_pressure(AltosConvert.barometer_to_pressure(b)); - else - state.set_pressure(AltosConvert.barometer_to_pressure(b)); - break; - case AltosLib.AO_LOG_STATE: - state.set_state(a); - break; - } - } - - public AltosEepromTMini (AltosEepromChunk chunk, int start, AltosState state) throws ParseException { - int value = chunk.data16(start); - - int i = (chunk.address + start) / record_length; - - cmd = chunk.data(start); - valid = true; - - valid = !chunk.erased(start, record_length); - - switch (i) { - case 0: - cmd = AltosLib.AO_LOG_FLIGHT; - tick = 0; - a = 0; - b = value; - break; - case 1: - cmd = AltosLib.AO_LOG_PRESSURE; - tick = 0; - a = 0; - b = value; - break; - default: - if ((value & 0x8000) != 0) { - cmd = AltosLib.AO_LOG_STATE; - tick = state.tick; - a = value & 0x7fff; - b = 0; - } else { - if (state.ascent) - tick = state.tick + 10; - else - tick = state.tick + 100; - cmd = AltosLib.AO_LOG_PRESSURE; - a = 0; - b = value; - } - break; - } - } - - public AltosEepromTMini (String line) { - valid = false; - tick = 0; - a = 0; - b = 0; - if (line == null) { - cmd = AltosLib.AO_LOG_INVALID; - } else { - try { - String[] tokens = line.split("\\s+"); - - if (tokens[0].length() == 1) { - if (tokens.length != 4) { - cmd = AltosLib.AO_LOG_INVALID; - } else { - cmd = tokens[0].codePointAt(0); - tick = Integer.parseInt(tokens[1],16); - valid = true; - a = Integer.parseInt(tokens[2],16); - b = Integer.parseInt(tokens[3],16); - } - } else { - cmd = AltosLib.AO_LOG_INVALID; - } - } catch (NumberFormatException ne) { - cmd = AltosLib.AO_LOG_INVALID; - } - } - } - - public AltosEepromTMini(int in_cmd, int in_tick, int in_a, int in_b) { - valid = true; - cmd = in_cmd; - tick = in_tick; - a = in_a; - b = in_b; - } - - static public LinkedList<AltosEeprom> read(FileInputStream input) { - LinkedList<AltosEeprom> tms = new LinkedList<AltosEeprom>(); - - for (;;) { - try { - String line = AltosLib.gets(input); - if (line == null) - break; - AltosEepromTMini tm = new AltosEepromTMini(line); - tms.add(tm); - } catch (IOException ie) { - break; - } - } - - return tms; - } - -} diff --git a/altoslib/AltosFile.java b/altoslib/AltosFile.java index ef75762a..69f779c1 100644 --- a/altoslib/AltosFile.java +++ b/altoslib/AltosFile.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.File; import java.util.*; @@ -66,7 +66,7 @@ public class AltosFile extends File { extension); } - public AltosFile(AltosState state) { - this(state.serial, state.flight, state.receiver_serial, "telem"); + public AltosFile(AltosCalData cal_data) { + this(cal_data.serial, cal_data.flight, cal_data.receiver_serial, "telem"); } } diff --git a/altoslib/AltosFlash.java b/altoslib/AltosFlash.java index ad573305..c8db1f77 100644 --- a/altoslib/AltosFlash.java +++ b/altoslib/AltosFlash.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosFlashListener.java b/altoslib/AltosFlashListener.java index e15d7ac3..60052133 100644 --- a/altoslib/AltosFlashListener.java +++ b/altoslib/AltosFlashListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosFlashListener { public void position(String label, int percent); diff --git a/altoslib/AltosFlightDisplay.java b/altoslib/AltosFlightDisplay.java index c395dc45..8fe33c5e 100644 --- a/altoslib/AltosFlightDisplay.java +++ b/altoslib/AltosFlightDisplay.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosFlightDisplay extends AltosUnitsListener, AltosFontListener { void reset(); diff --git a/altoslib/AltosFlightListener.java b/altoslib/AltosFlightListener.java new file mode 100644 index 00000000..d61831a9 --- /dev/null +++ b/altoslib/AltosFlightListener.java @@ -0,0 +1,162 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public abstract class AltosFlightListener { + + public int flight; + public int serial; + public int tick; + public int boost_tick; + public int state; + + public double accel_plus_g; + public double accel_minus_g; + public double accel; + + public double ground_pressure; + public double ground_altitude; + + AltosGPS temp_gps; + int temp_gps_sat_tick; + int gps_sequence; + + /* AltosEepromRecord */ + public void set_boost_tick(int boost_tick) { + if (boost_tick != AltosLib.MISSING) + this.boost_tick = boost_tick; + } + + public void set_tick(int tick) { + if (tick != AltosLib.MISSING) + this.tick = tick; + } + + public double time() { + if (tick == AltosLib.MISSING) + return AltosLib.MISSING; + if (boost_tick != AltosLib.MISSING) + return (tick - boost_tick) / 100.0; + else + return tick / 100.0; + } + + public double boost_time() { + if (boost_tick == AltosLib.MISSING) + return AltosLib.MISSING; + return boost_tick / 100.0; + } + + public abstract void set_rssi(int rssi, int status); + public abstract void set_received_time(long received_time); + + /* AltosEepromRecordFull */ + + public void set_serial(int serial) { + if (serial != AltosLib.MISSING) + this.serial = serial; + } + + public void set_state(int state) { + if (state != AltosLib.MISSING) + this.state = state; + } + + public int state() { return state; } + + public abstract void set_ground_accel(double ground_accel); + public void set_flight(int flight) { + if (flight != AltosLib.MISSING) + this.flight = flight; + } + public int flight() { + return flight; + } + + public abstract void set_accel(double accel); + public abstract void set_acceleration(double accel); + public abstract void set_accel_g(double accel_plus_g, double accel_minus_g); + public abstract void set_pressure(double pa); + public abstract void set_thrust(double N); + + public abstract void set_temperature(double deg_c); + public abstract void set_battery_voltage(double volts); + + public abstract void set_apogee_voltage(double volts); + public abstract void set_main_voltage(double volts); + + public void set_temp_gps() { + temp_gps = null; + } + + public boolean gps_pending() { + return temp_gps != null; + } + + public AltosGPS make_temp_gps(boolean sats) { + if (temp_gps == null) { + temp_gps = new AltosGPS(); + } + if (sats) { + if (tick != temp_gps_sat_tick) + temp_gps.cc_gps_sat = null; + temp_gps_sat_tick = tick; + } + return temp_gps; + } + + public void set_ground_pressure(double ground_pressure) { + if (ground_pressure != AltosLib.MISSING) { + this.ground_pressure = ground_pressure; + this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure); + } + } + + public abstract void set_accel_ground(double along, double across, double through); + public abstract void set_gyro_zero(double roll, double pitch, double yaw); + public abstract void check_imu_wrap(AltosIMU imu); + public abstract void set_imu(AltosIMU imu); + public abstract void set_mag(AltosMag mag); + public abstract void set_pyro_voltage(double volts); + public abstract void set_igniter_voltage(double[] voltage); + public abstract void set_pyro_fired(int pyro_mask); + + public void copy(AltosFlightListener old) { + flight = old.flight; + serial = old.serial; + tick = old.tick; + boost_tick = old.boost_tick; + accel_plus_g = old.accel_plus_g; + accel_minus_g = old.accel_minus_g; + ground_pressure = old.ground_pressure; + ground_altitude = old.ground_altitude; + temp_gps = old.temp_gps; + temp_gps_sat_tick = old.temp_gps_sat_tick; + } + + public void init() { + flight = AltosLib.MISSING; + serial = AltosLib.MISSING; + tick = AltosLib.MISSING; + boost_tick = AltosLib.MISSING; + accel_plus_g = AltosLib.MISSING; + accel_minus_g = AltosLib.MISSING; + accel = AltosLib.MISSING; + ground_pressure = AltosLib.MISSING; + ground_altitude = AltosLib.MISSING; + temp_gps = null; + temp_gps_sat_tick = AltosLib.MISSING; + } +} diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java index 250e2236..671bf638 100644 --- a/altoslib/AltosFlightReader.java +++ b/altoslib/AltosFlightReader.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.io.*; @@ -31,6 +31,8 @@ public abstract class AltosFlightReader { public abstract AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException; + public abstract AltosCalData cal_data(); + public abstract void close(boolean interrupted); public void set_frequency(double frequency) throws InterruptedException, TimeoutException { } @@ -45,8 +47,6 @@ 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 new file mode 100644 index 00000000..57f1a491 --- /dev/null +++ b/altoslib/AltosFlightSeries.java @@ -0,0 +1,697 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +import java.util.*; + +public class AltosFlightSeries extends AltosDataListener { + + public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>(); + + public double speed_filter_width = 4.0; + public double accel_filter_width = 4.0; + + public int[] indices() { + int[] indices = new int[series.size()]; + for (int i = 0; i < indices.length; i++) + indices[i] = -1; + step_indices(indices); + return indices; + } + + private double time(int id, int index) { + AltosTimeSeries s = series.get(id); + + if (index < 0) + return Double.NEGATIVE_INFINITY; + + if (index < s.values.size()) + return s.values.get(index).time; + return Double.POSITIVE_INFINITY; + } + + public boolean step_indices(int[] indices) { + double min_next = time(0, indices[0]+1); + + for (int i = 1; i < indices.length; i++) { + double next = time(i, indices[i]+1); + if (next < min_next) + min_next = next; + } + + if (min_next == Double.POSITIVE_INFINITY) + return false; + + for (int i = 0; i < indices.length; i++) { + double t = time(i, indices[i] + 1); + + if (t <= min_next) + indices[i]++; + } + return true; + } + + public double time(int[] indices) { + double max = time(0, indices[0]); + + for (int i = 1; i < indices.length; i++) { + double t = time(i, indices[i]); + if (t >= max) + max = t; + } + return max; + } + + public double value(String name, int[] indices) { + for (int i = 0; i < indices.length; i++) { + AltosTimeSeries s = series.get(i); + if (s.label.equals(name)) { + int index = indices[i]; + if (index < 0) + index = 0; + if (index >= s.values.size()) + index = s.values.size() - 1; + return s.values.get(index).value; + } + } + return AltosLib.MISSING; + } + + public double value(String name, double time) { + for (AltosTimeSeries s : series) { + if (s.label.equals(name)) + return s.value(time); + } + return AltosLib.MISSING; + } + + public double value_before(String name, double time) { + for (AltosTimeSeries s : series) { + if (s.label.equals(name)) + return s.value_before(time); + } + return AltosLib.MISSING; + } + + public double value_after(String name, double time) { + for (AltosTimeSeries s : series) { + if (s.label.equals(name)) + return s.value_after(time); + } + return AltosLib.MISSING; + } + + public AltosTimeSeries make_series(String label, AltosUnits units) { + return new AltosTimeSeries(label, units); + } + + public void add_series(AltosTimeSeries s) { + for (int e = 0; e < series.size(); e++) { + if (s.compareTo(series.get(e)) < 0){ + series.add(e, s); + return; + } + } + series.add(s); + } + + public AltosTimeSeries add_series(String label, AltosUnits units) { + AltosTimeSeries s = make_series(label, units); + add_series(s); + return s; + } + + public void remove_series(AltosTimeSeries s) { + series.remove(s); + } + + public boolean has_series(String label) { + for (AltosTimeSeries s : series) + if (s.label.equals(label)) + return true; + return false; + } + + public AltosTimeSeries state_series; + + public static final String state_name = "State"; + + public void set_state(int state) { + + if (state == AltosLib.ao_flight_pad) + return; + + if (state_series == null) + state_series = add_series(state_name, AltosConvert.state_name); + else if (this.state == state) + return; + this.state = state; + state_series.add(time(), state); + } + + public AltosTimeSeries accel_series; + + public static final String accel_name = "Accel"; + + public AltosTimeSeries vert_accel_series; + + public static final String vert_accel_name = "Vertical Accel"; + + public void set_acceleration(double acceleration) { + if (acceleration == AltosLib.MISSING) + return; + if (accel_series == null) + accel_series = add_series(accel_name, AltosConvert.accel); + + accel_series.add(time(), acceleration); + } + + private void compute_accel() { + if (accel_series != null) + return; + + if (speed_series != null) { + AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed); + speed_series.filter(temp_series, accel_filter_width); + accel_series = add_series(accel_name, AltosConvert.accel); + temp_series.differentiate(accel_series); + } + } + + public void set_received_time(long received_time) { + } + + public AltosTimeSeries rssi_series; + + public static final String rssi_name = "RSSI"; + + public AltosTimeSeries status_series; + + public static final String status_name = "Radio Status"; + + public void set_rssi(int rssi, int status) { + if (rssi_series == null) { + rssi_series = add_series(rssi_name, null); + status_series = add_series(status_name, null); + } + rssi_series.add(time(), rssi); + status_series.add(time(), status); + } + + public AltosTimeSeries pressure_series; + + public static final String pressure_name = "Pressure"; + + public AltosTimeSeries altitude_series; + + public static final String altitude_name = "Altitude"; + + public AltosTimeSeries height_series; + + public static final String height_name = "Height"; + + public void set_pressure(double pa) { + if (pa == AltosLib.MISSING) + return; + + if (pressure_series == null) + pressure_series = add_series(pressure_name, AltosConvert.pressure); + pressure_series.add(time(), pa); + if (altitude_series == null) + altitude_series = add_series(altitude_name, AltosConvert.height); + + if (cal_data().ground_pressure == AltosLib.MISSING) + cal_data().set_ground_pressure(pa); + + double altitude = AltosConvert.pressure_to_altitude(pa); + altitude_series.add(time(), altitude); + } + + private void compute_height() { + double ground_altitude = cal_data().ground_altitude; + if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) { + height_series = add_series(height_name, AltosConvert.height); + for (AltosTimeValue alt : altitude_series) + height_series.add(alt.time, alt.value - ground_altitude); + } + + if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) { + double gps_ground_altitude = cal_data().gps_pad.alt; + gps_height = add_series(gps_height_name, AltosConvert.height); + for (AltosTimeValue gps_alt : gps_altitude) + gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude); + } + } + + public AltosTimeSeries speed_series; + + public static final String speed_name = "Speed"; + + private void compute_speed() { + if (speed_series != null) + return; + + AltosTimeSeries alt_speed_series = null; + AltosTimeSeries accel_speed_series = null; + + if (altitude_series != null) { + AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height); + altitude_series.filter(temp_series, speed_filter_width); + + alt_speed_series = make_series(speed_name, AltosConvert.speed); + temp_series.differentiate(alt_speed_series); + } + if (accel_series != null) { + + if (orient_series != null) { + vert_accel_series = add_series(vert_accel_name, AltosConvert.accel); + + for (AltosTimeValue a : accel_series) { + double orient = orient_series.value(a.time); + double a_abs = a.value + AltosConvert.gravity; + double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity; + + vert_accel_series.add(a.time, v_a); + } + } + + AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed); + + if (vert_accel_series != null) + vert_accel_series.integrate(temp_series); + else + accel_series.integrate(temp_series); + + accel_speed_series = make_series(speed_name, AltosConvert.speed); + temp_series.filter(accel_speed_series, 0.1); + } + + if (alt_speed_series != null && accel_speed_series != null) { + double apogee_time = AltosLib.MISSING; + if (state_series != null) { + for (AltosTimeValue d : state_series) { + if (d.value >= AltosLib.ao_flight_drogue){ + apogee_time = d.time; + break; + } + } + } + if (apogee_time == AltosLib.MISSING) { + speed_series = alt_speed_series; + } else { + speed_series = make_series(speed_name, AltosConvert.speed); + for (AltosTimeValue d : accel_speed_series) { + if (d.time <= apogee_time) + speed_series.add(d); + } + for (AltosTimeValue d : alt_speed_series) { + if (d.time > apogee_time) + speed_series.add(d); + } + + } + } else if (alt_speed_series != null) { + speed_series = alt_speed_series; + } else if (accel_speed_series != null) { + speed_series = accel_speed_series; + } + if (speed_series != null) + add_series(speed_series); + } + + public AltosTimeSeries orient_series; + + public static final String orient_name = "Tilt Angle"; + + private void compute_orient() { + + if (orient_series != null) + return; + + if (accel_ground_across == AltosLib.MISSING) + return; + + if (cal_data().pad_orientation == AltosLib.MISSING) + return; + + if (cal_data().accel_zero_across == AltosLib.MISSING) + return; + + AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across), + AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through), + AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along), + cal_data().pad_orientation); + double prev_time = ground_time; + + orient_series = add_series(orient_name, AltosConvert.orient); + orient_series.add(ground_time, rotation.tilt()); + + for (AltosTimeValue roll_v : gyro_roll) { + double time = roll_v.time; + double dt = time - prev_time; + + if (dt > 0) { + double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt; + double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt; + double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt; + + rotation.rotate(pitch, yaw, roll); + orient_series.add(time, rotation.tilt()); + } + prev_time = time; + } + } + + public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series; + + public static final String kalman_height_name = "Kalman Height"; + public static final String kalman_speed_name = "Kalman Speed"; + public static final String kalman_accel_name = "Kalman Accel"; + + public void set_kalman(double height, double speed, double acceleration) { + if (kalman_height_series == null) { + kalman_height_series = add_series(kalman_height_name, AltosConvert.height); + kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed); + kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel); + } + kalman_height_series.add(time(), height); + kalman_speed_series.add(time(), speed); + kalman_accel_series.add(time(), acceleration); + } + + public AltosTimeSeries thrust_series; + + public static final String thrust_name = "Thrust"; + + public void set_thrust(double N) { + if (thrust_series == null) + thrust_series = add_series(thrust_name, AltosConvert.force); + thrust_series.add(time(), N); + } + + public AltosTimeSeries temperature_series; + + public static final String temperature_name = "Temperature"; + + public void set_temperature(double deg_c) { + if (temperature_series == null) + temperature_series = add_series(temperature_name, AltosConvert.temperature); + temperature_series.add(time(), deg_c); + } + + public AltosTimeSeries battery_voltage_series; + + public static final String battery_voltage_name = "Battery Voltage"; + + public void set_battery_voltage(double volts) { + if (volts == AltosLib.MISSING) + return; + if (battery_voltage_series == null) + battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage); + battery_voltage_series.add(time(), volts); + } + + public AltosTimeSeries apogee_voltage_series; + + public static final String apogee_voltage_name = "Apogee Voltage"; + + public void set_apogee_voltage(double volts) { + if (volts == AltosLib.MISSING) + return; + if (apogee_voltage_series == null) + apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage); + apogee_voltage_series.add(time(), volts); + } + + public AltosTimeSeries main_voltage_series; + + public static final String main_voltage_name = "Main Voltage"; + + public void set_main_voltage(double volts) { + if (volts == AltosLib.MISSING) + return; + if (main_voltage_series == null) + main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage); + main_voltage_series.add(time(), volts); + } + + public ArrayList<AltosGPSTimeValue> gps_series; + + public AltosGPS gps_before(double time) { + AltosGPS gps = null; + for (AltosGPSTimeValue gtv : gps_series) + if (gtv.time <= time) + gps = gtv.gps; + else + break; + return gps; + } + + public AltosTimeSeries sats_in_view; + public AltosTimeSeries sats_in_soln; + public AltosTimeSeries gps_altitude; + public AltosTimeSeries gps_height; + public AltosTimeSeries gps_ground_speed; + public AltosTimeSeries gps_ascent_rate; + public AltosTimeSeries gps_course; + public AltosTimeSeries gps_speed; + public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop; + + public static final String sats_in_view_name = "Satellites in view"; + public static final String sats_in_soln_name = "Satellites in solution"; + public static final String gps_altitude_name = "GPS Altitude"; + public static final String gps_height_name = "GPS Height"; + public static final String gps_ground_speed_name = "GPS Ground Speed"; + public static final String gps_ascent_rate_name = "GPS Ascent Rate"; + public static final String gps_course_name = "GPS Course"; + public static final String gps_speed_name = "GPS Speed"; + public static final String gps_pdop_name = "GPS Dilution of Precision"; + public static final String gps_vdop_name = "GPS Vertical Dilution of Precision"; + public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision"; + + public void set_gps(AltosGPS gps) { + if (gps_series == null) + gps_series = new ArrayList<AltosGPSTimeValue>(); + gps_series.add(new AltosGPSTimeValue(time(), gps)); + + if (sats_in_soln == null) { + sats_in_soln = add_series(sats_in_soln_name, null); + } + sats_in_soln.add(time(), gps.nsat); + if (gps.pdop != AltosLib.MISSING) { + if (gps_pdop == null) + gps_pdop = add_series(gps_pdop_name, null); + gps_pdop.add(time(), gps.pdop); + } + if (gps.hdop != AltosLib.MISSING) { + if (gps_hdop == null) + gps_hdop = add_series(gps_hdop_name, null); + gps_hdop.add(time(), gps.hdop); + } + if (gps.vdop != AltosLib.MISSING) { + if (gps_vdop == null) + gps_vdop = add_series(gps_vdop_name, null); + gps_vdop.add(time(), gps.vdop); + } + if (gps.locked) { + if (gps.alt != AltosLib.MISSING) { + if (gps_altitude == null) + gps_altitude = add_series(gps_altitude_name, AltosConvert.height); + gps_altitude.add(time(), gps.alt); + } + if (gps.ground_speed != AltosLib.MISSING) { + if (gps_ground_speed == null) + gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed); + gps_ground_speed.add(time(), gps.ground_speed); + } + if (gps.climb_rate != AltosLib.MISSING) { + if (gps_ascent_rate == null) + gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed); + gps_ascent_rate.add(time(), gps.climb_rate); + } + if (gps.course != AltosLib.MISSING) { + if (gps_course == null) + gps_course = add_series(gps_course_name, null); + gps_course.add(time(), gps.course); + } + if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) { + if (gps_speed == null) + gps_speed = add_series(gps_speed_name, null); + gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed + + gps.climb_rate * gps.climb_rate)); + } + } + if (gps.cc_gps_sat != null) { + if (sats_in_view == null) + sats_in_view = add_series(sats_in_view_name, null); + sats_in_view.add(time(), gps.cc_gps_sat.length); + } + } + + public static final String accel_along_name = "Accel Along"; + public static final String accel_across_name = "Accel Across"; + public static final String accel_through_name = "Accel Through"; + + public AltosTimeSeries accel_along, accel_across, accel_through; + + public static final String gyro_roll_name = "Roll Rate"; + public static final String gyro_pitch_name = "Pitch Rate"; + public static final String gyro_yaw_name = "Yaw Rate"; + + public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw; + + public static final String mag_along_name = "Magnetic Field Along"; + public static final String mag_across_name = "Magnetic Field Across"; + public static final String mag_through_name = "Magnetic Field Through"; + + public AltosTimeSeries mag_along, mag_across, mag_through; + + public void set_accel(double along, double across, double through) { + if (accel_along == null) { + accel_along = add_series(accel_along_name, AltosConvert.accel); + accel_across = add_series(accel_across_name, AltosConvert.accel); + accel_through = add_series(accel_through_name, AltosConvert.accel); + } + accel_along.add(time(), along); + accel_across.add(time(), across); + accel_through.add(time(), through); + } + + private double accel_ground_along = AltosLib.MISSING; + private double accel_ground_across = AltosLib.MISSING; + private double accel_ground_through = AltosLib.MISSING; + + private double ground_time; + + public void set_accel_ground(double along, double across, double through) { + accel_ground_along = along; + accel_ground_across = across; + accel_ground_through = through; + ground_time = time(); + } + + public void set_gyro(double roll, double pitch, double yaw) { + if (gyro_roll == null) { + gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate); + gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate); + gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate); + } + gyro_roll.add(time(), roll); + gyro_pitch.add(time(), pitch); + gyro_yaw.add(time(), yaw); + } + + public void set_mag(double along, double across, double through) { + if (mag_along == null) { + mag_along = add_series(mag_along_name, AltosConvert.magnetic_field); + mag_across = add_series(mag_across_name, AltosConvert.magnetic_field); + mag_through = add_series(mag_through_name, AltosConvert.magnetic_field); + } + mag_along.add(time(), along); + mag_across.add(time(), across); + mag_through.add(time(), through); + } + + public void set_orient(double orient) { + if (orient_series == null) + orient_series = add_series(orient_name, AltosConvert.orient); + orient_series.add(time(), orient); + } + + public static final String pyro_voltage_name = "Pyro Voltage"; + + public AltosTimeSeries pyro_voltage; + + public void set_pyro_voltage(double volts) { + if (pyro_voltage == null) + pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage); + pyro_voltage.add(time(), volts); + } + + private static String[] igniter_voltage_names; + + public String igniter_voltage_name(int channel) { + if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) { + String[] new_igniter_voltage_names = new String[channel + 1]; + int i = 0; + + if (igniter_voltage_names != null) { + for (; i < igniter_voltage_names.length; i++) + new_igniter_voltage_names[i] = igniter_voltage_names[i]; + } + for (; i < channel+1; i++) + new_igniter_voltage_names[i] = AltosLib.igniter_name(i); + igniter_voltage_names = new_igniter_voltage_names; + } + return igniter_voltage_names[channel]; + } + + public AltosTimeSeries[] igniter_voltage; + + public void set_igniter_voltage(double[] voltage) { + int channels = voltage.length; + if (igniter_voltage == null || igniter_voltage.length <= channels) { + AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1]; + int i = 0; + + if (igniter_voltage != null) { + for (; i < igniter_voltage.length; i++) + new_igniter_voltage[i] = igniter_voltage[i]; + } + for (; i < channels; i++) + new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage); + igniter_voltage = new_igniter_voltage; + } + for (int channel = 0; channel < voltage.length; channel++) + igniter_voltage[channel].add(time(), voltage[channel]); + } + + public static final String pyro_fired_name = "Pyro Channel State"; + + public AltosTimeSeries pyro_fired_series; + + int last_pyro_mask; + + public void set_pyro_fired(int pyro_mask) { + if (pyro_fired_series == null) + pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name); + for (int channel = 0; channel < 32; channel++) { + if ((last_pyro_mask & (1 << channel)) == 0 && + (pyro_mask & (1 << channel)) != 0) { + pyro_fired_series.add(time(), channel); + } + } + last_pyro_mask = pyro_mask; + } + + public void set_companion(AltosCompanion companion) { + } + + public void finish() { + compute_orient(); + compute_speed(); + compute_accel(); + compute_height(); + } + + public AltosTimeSeries[] series() { + finish(); + return series.toArray(new AltosTimeSeries[0]); + } + + public AltosFlightSeries(AltosCalData cal_data) { + super(cal_data); + } +} diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java index 98f13dac..6f8732cf 100644 --- a/altoslib/AltosFlightStats.java +++ b/altoslib/AltosFlightStats.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; @@ -25,15 +25,17 @@ public class AltosFlightStats { public double max_gps_height; public double max_speed; public double max_acceleration; - public double[] state_speed = new double[AltosLib.ao_flight_invalid + 1]; - public double[] state_accel = new double[AltosLib.ao_flight_invalid + 1]; - public int[] state_count = new int[AltosLib.ao_flight_invalid + 1]; - public double[] state_start = new double[AltosLib.ao_flight_invalid + 1]; - public double[] state_end = new double[AltosLib.ao_flight_invalid + 1]; + public double[] state_speed = new double[AltosLib.ao_flight_invalid + 1]; + public double[] state_accel = new double[AltosLib.ao_flight_invalid + 1]; + public double[] state_time = new double[AltosLib.ao_flight_invalid + 1]; + public String product; + public String firmware_version; public int serial; public int flight; public int year, month, day; public int hour, minute, second; + public double boost_time; + public double landed_time; public double lat, lon; public double pad_lat, pad_lon; public boolean has_flight_data; @@ -46,65 +48,133 @@ public class AltosFlightStats { public boolean has_imu; public boolean has_mag; public boolean has_orient; - public int num_ignitor; + public int num_igniter; - double landed_time(AltosStateIterable states) { - AltosState state = null; + double landed_time(AltosFlightSeries series) { + double landed_state_time = AltosLib.MISSING; - for (AltosState s : states) { - state = s; - if (state.state() == AltosLib.ao_flight_landed) - break; + double prev_state_time = AltosLib.MISSING; + if (series.state_series != null) { + for (AltosTimeValue state : series.state_series) { + if (state.value == AltosLib.ao_flight_landed) { + landed_state_time = state.time; + break; + } else { + prev_state_time = state.time; + } + } } - if (state == null) - return AltosLib.MISSING; + if (landed_state_time == AltosLib.MISSING && series.height_series != null) + landed_state_time = series.height_series.get(series.height_series.size()-1).time; - double landed_height = state.height(); + double landed_height = AltosLib.MISSING; + + if (series.height_series != null) { + for (AltosTimeValue height : series.height_series) { + landed_height = height.value; + if (height.time >= landed_state_time) + break; + } + } - state = null; + if (landed_height == AltosLib.MISSING) + return AltosLib.MISSING; boolean above = true; double landed_time = AltosLib.MISSING; - for (AltosState s : states) { - state = s; - - if (state.height() > landed_height + 10) { - above = true; - } else { - if (above && Math.abs(state.height() - landed_height) < 2) { - above = false; - landed_time = state.time; + if (series.height_series != null) { + for (AltosTimeValue height : series.height_series) { + if (height.value > landed_height + 10) { + above = true; + } else { + if (above && Math.abs(height.value - landed_height) < 2) { + above = false; + landed_time = height.time; + } } } } + + if (landed_time == AltosLib.MISSING || (prev_state_time != AltosLib.MISSING && landed_time < prev_state_time)) + landed_time = landed_state_time; return landed_time; } - double boost_time(AltosStateIterable states) { - double boost_time = AltosLib.MISSING; - AltosState state = null; + double boost_time(AltosFlightSeries series) { + double boost_time = AltosLib.MISSING; + double boost_state_time = AltosLib.MISSING; - for (AltosState s : states) { - state = s; - if (state.acceleration() < 1) - boost_time = state.time; - if (state.state() >= AltosLib.ao_flight_boost && state.state() <= AltosLib.ao_flight_landed) - break; + if (series.state_series != null) { + for (AltosTimeValue state : series.state_series) { + if (state.value >= AltosLib.ao_flight_boost && state.value <= AltosLib.ao_flight_landed) { + boost_state_time = state.time; + break; + } + } } - if (state == null) - return AltosLib.MISSING; - + if (series.accel_series != null) { + for (AltosTimeValue accel : series.accel_series) { + if (accel.value < 1) + boost_time = accel.time; + if (boost_state_time != AltosLib.MISSING && accel.time >= boost_state_time) + break; + } + } + if (boost_time == AltosLib.MISSING) + boost_time = boost_state_time; return boost_time; } + private void add_times(AltosFlightSeries series, int state, double start_time, double end_time) { + double delta_time = end_time - start_time; + if (0 <= state && state <= AltosLib.ao_flight_invalid && delta_time > 0) { + speeds[state].value += series.speed_series.average(start_time, end_time) * delta_time; + speeds[state].time += delta_time; + accels[state].value += series.accel_series.average(start_time, end_time) * delta_time; + accels[state].time += delta_time; + state_time[state] += delta_time; + + if (state == AltosLib.ao_flight_boost) { + AltosTimeValue tv_speed = series.speed_series.max(start_time, end_time); + if (tv_speed != null && (max_speed == AltosLib.MISSING || tv_speed.value > max_speed)) + max_speed = tv_speed.value; + AltosTimeValue tv_accel = series.accel_series.max(start_time, end_time); + if (tv_accel != null && (max_acceleration == AltosLib.MISSING || tv_accel.value > max_acceleration)) + max_acceleration = tv_accel.value; + } + } + } + + AltosTimeValue[] speeds = new AltosTimeValue[AltosLib.ao_flight_invalid + 1]; + AltosTimeValue[] accels = new AltosTimeValue[AltosLib.ao_flight_invalid + 1]; - public AltosFlightStats(AltosStateIterable states) throws InterruptedException, IOException { - double boost_time = boost_time(states); - double end_time = 0; - double landed_time = landed_time(states); + public AltosFlightStats(AltosFlightSeries series) { + AltosCalData cal_data = series.cal_data(); + + series.finish(); + + boost_time = boost_time(series); + landed_time = landed_time(series); + + if (series.state_series != null){ + boolean fixed_boost = false; + boolean fixed_landed = false; + for (AltosTimeValue state : series.state_series) { + if ((int) state.value == AltosLib.ao_flight_boost) + if (boost_time != AltosLib.MISSING && !fixed_boost) { + state.time = boost_time; + fixed_boost = true; + } + if ((int) state.value == AltosLib.ao_flight_landed) + if (landed_time != AltosLib.MISSING && !fixed_landed) { + state.time = landed_time; + fixed_landed = true; + } + } + } year = month = day = AltosLib.MISSING; hour = minute = second = AltosLib.MISSING; @@ -120,96 +190,75 @@ public class AltosFlightStats { has_mag = false; has_orient = false; - 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; + for (int s = 0; s < AltosLib.ao_flight_invalid + 1; s++) { + state_speed[s] = AltosLib.MISSING; + state_accel[s] = AltosLib.MISSING; + state_time[s] = 0; + speeds[s] = new AltosTimeValue(0, 0); + accels[s] = new AltosTimeValue(0, 0); } - for (AltosState state : states) { - if (serial == AltosLib.MISSING && state.serial != AltosLib.MISSING) - serial = state.serial; - if (flight == AltosLib.MISSING && state.flight != AltosLib.MISSING) - flight = state.flight; - if (state.battery_voltage != AltosLib.MISSING) - has_battery = true; - if (state.main_voltage != AltosLib.MISSING) - has_flight_adc = true; - if (state.rssi != AltosLib.MISSING) - has_rssi = true; - end_time = state.time; - - if (state.pressure() != AltosLib.MISSING) - has_flight_data = true; - - 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; - } + max_speed = AltosLib.MISSING; + max_acceleration = AltosLib.MISSING; - if (state.gps != null && state.gps.locked) { - year = state.gps.year; - month = state.gps.month; - day = state.gps.day; - hour = state.gps.hour; - minute = state.gps.minute; - second = state.gps.second; + if (series.state_series != null) { + AltosTimeValue prev = null; + for (AltosTimeValue state : series.state_series) { + if (prev != null) + add_times(series, (int) prev.value, prev.time, state.time); + prev = state; } - max_height = state.max_height(); - max_speed = state.max_speed(); - max_acceleration = state.max_acceleration(); - max_gps_height = state.max_gps_height(); - - 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 (prev != null) + add_times(series, (int) prev.value, prev.time, series.accel_series.last().time); + } + + for (int s = 0; s <= AltosLib.ao_flight_invalid; s++) { + if (speeds[s].time > 0) + state_speed[s] = speeds[s].value / speeds[s].time; + if (accels[s].time > 0) + state_accel[s] = accels[s].value / accels[s].time; + } + + product = cal_data.product; + firmware_version = cal_data.firmware_version; + serial = cal_data.serial; + flight = cal_data.flight; + + has_battery = series.battery_voltage_series != null; + has_flight_adc = series.main_voltage_series != null; + has_rssi = series.rssi_series != null; + has_flight_data = series.pressure_series != null; + + 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; } - 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.ignitor_voltage != null && state.ignitor_voltage.length > num_ignitor) - num_ignitor = state.ignitor_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; + + max_height = AltosLib.MISSING; + if (series.height_series != null) + max_height = series.height_series.max().value; + max_gps_height = AltosLib.MISSING; + if (series.gps_height != null) { + AltosTimeValue tv = series.gps_height.max(); + if (tv != null) + max_gps_height = tv.value; } } } diff --git a/altoslib/AltosFontListener.java b/altoslib/AltosFontListener.java index c7f339a0..97947d0b 100644 --- a/altoslib/AltosFontListener.java +++ b/altoslib/AltosFontListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosFontListener { void font_size_changed(int font_size); diff --git a/altoslib/AltosForce.java b/altoslib/AltosForce.java new file mode 100644 index 00000000..47fb900c --- /dev/null +++ b/altoslib/AltosForce.java @@ -0,0 +1,49 @@ +/* + * Copyright © 2017 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_12; + +public class AltosForce extends AltosUnits { + + public double value(double v, boolean imperial_units) { + if (imperial_units) + return AltosConvert.n_to_lb(v); + return v; + } + + public double inverse(double v, boolean imperial_units) { + if (imperial_units) + return AltosConvert.lb_to_n(v); + return v; + } + + public String show_units(boolean imperial_units) { + if (imperial_units) + return "lbs"; + return "N"; + } + + public String say_units(boolean imperial_units) { + if (imperial_units) + return "pounds"; + return "newtons"; + } + + public int show_fraction(int width, boolean imperial_units) { + return width / 9; + } +} diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java index 3b2a445a..6838be8a 100644 --- a/altoslib/AltosFrequency.java +++ b/altoslib/AltosFrequency.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java index 0b30ed45..b6ca3576 100644 --- a/altoslib/AltosGPS.java +++ b/altoslib/AltosGPS.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.util.concurrent.*; @@ -383,17 +383,13 @@ public class AltosGPS implements Cloneable { } } - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { - AltosGPS gps = new AltosGPS(link, config_data); - - if (gps != null) { - state.set_gps(gps, state.gps_sequence++); - return; - } + AltosGPS gps = new AltosGPS(link, link.config_data()); + if (gps != null) + listener.set_gps(gps); } catch (TimeoutException te) { } - state.set_gps(null, 0); } public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException { diff --git a/altoslib/AltosGPSSat.java b/altoslib/AltosGPSSat.java index e2f0f380..8d3b316a 100644 --- a/altoslib/AltosGPSSat.java +++ b/altoslib/AltosGPSSat.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.text.*; diff --git a/altoslib/AltosGPSTimeValue.java b/altoslib/AltosGPSTimeValue.java new file mode 100644 index 00000000..e15c60e3 --- /dev/null +++ b/altoslib/AltosGPSTimeValue.java @@ -0,0 +1,28 @@ +/* + * Copyright © 2017 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_12; + +public class AltosGPSTimeValue { + public double time; + public AltosGPS gps; + + public AltosGPSTimeValue(double time, AltosGPS gps) { + this.time = time; + this.gps = gps; + } +} diff --git a/altoslib/AltosGreatCircle.java b/altoslib/AltosGreatCircle.java index 6e5bd362..f1cb1940 100644 --- a/altoslib/AltosGreatCircle.java +++ b/altoslib/AltosGreatCircle.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.lang.Math; import java.io.*; diff --git a/altoslib/AltosHeight.java b/altoslib/AltosHeight.java index 0cd495fb..668080f1 100644 --- a/altoslib/AltosHeight.java +++ b/altoslib/AltosHeight.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosHeight extends AltosUnits { diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java index e746b649..7ab121ad 100644 --- a/altoslib/AltosHexfile.java +++ b/altoslib/AltosHexfile.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.LinkedList; diff --git a/altoslib/AltosHexsym.java b/altoslib/AltosHexsym.java index 2eb08f75..4f56af9a 100644 --- a/altoslib/AltosHexsym.java +++ b/altoslib/AltosHexsym.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosHexsym { String name; diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index f6cadf1d..dee28a92 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -16,30 +16,32 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.*; import java.io.*; public class AltosIMU implements Cloneable { - public int accel_along; - public int accel_across; - public int accel_through; + public int accel_x; + public int accel_y; + public int accel_z; - public int gyro_roll; - public int gyro_pitch; - public int gyro_yaw; + public int gyro_x; + public int gyro_y; + public int gyro_z; public static final double counts_per_g = 2048.0; public static double convert_accel(double counts) { - return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION); + return counts / counts_per_g * AltosConvert.gravity; } - public static final double counts_per_degsec = 16.4; + /* In radians */ + public static final double GYRO_FULLSCALE_DEGREES = 2000.0; + public static final double GYRO_COUNTS = 32767.0; - public static double convert_gyro(double counts) { - return counts / counts_per_degsec; + public static double gyro_degrees_per_second(double counts, double cal) { + return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS; } public boolean parse_string(String line) { @@ -49,12 +51,12 @@ public class AltosIMU implements Cloneable { String[] items = line.split("\\s+"); if (items.length >= 8) { - accel_along = Integer.parseInt(items[1]); - accel_across = Integer.parseInt(items[2]); - accel_through = Integer.parseInt(items[3]); - gyro_roll = Integer.parseInt(items[5]); - gyro_pitch = Integer.parseInt(items[6]); - gyro_yaw = Integer.parseInt(items[7]); + accel_x = Integer.parseInt(items[1]); + accel_y = Integer.parseInt(items[2]); + accel_z = Integer.parseInt(items[3]); + gyro_x = Integer.parseInt(items[5]); + gyro_y = Integer.parseInt(items[6]); + gyro_z = Integer.parseInt(items[7]); } return true; } @@ -62,46 +64,41 @@ public class AltosIMU implements Cloneable { public AltosIMU clone() { AltosIMU n = new AltosIMU(); - n.accel_along = accel_along; - n.accel_across = accel_across; - n.accel_through = accel_through; + n.accel_x = accel_x; + n.accel_y = accel_y; + n.accel_z = accel_z; - n.gyro_roll = gyro_roll; - n.gyro_pitch = gyro_pitch; - n.gyro_yaw = gyro_yaw; + n.gyro_x = gyro_x; + n.gyro_y = gyro_y; + n.gyro_z = gyro_z; return n; } - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosIMU imu = new AltosIMU(link); - - if (imu != null) - state.set_imu(imu); + AltosCalData cal_data = listener.cal_data(); + + if (imu != null) { + listener.set_gyro(cal_data.gyro_roll(imu.gyro_y), + cal_data.gyro_pitch(imu.gyro_x), + cal_data.gyro_yaw(imu.gyro_z)); + listener.set_accel_ground(cal_data.accel_along(imu.accel_y), + cal_data.accel_across(imu.accel_x), + cal_data.accel_through(imu.accel_z)); + } } catch (TimeoutException te) { } } public AltosIMU() { - accel_along = AltosLib.MISSING; - accel_across = AltosLib.MISSING; - accel_through = AltosLib.MISSING; - - gyro_roll = AltosLib.MISSING; - gyro_pitch = AltosLib.MISSING; - gyro_yaw = AltosLib.MISSING; - } - - public AltosIMU(int accel_along, int accel_across, int accel_through, - int gyro_roll, int gyro_pitch, int gyro_yaw) { - - this.accel_along = accel_along; - this.accel_across = accel_across; - this.accel_through = accel_through; + accel_x = AltosLib.MISSING; + accel_y = AltosLib.MISSING; + accel_z = AltosLib.MISSING; - this.gyro_roll = gyro_roll; - this.gyro_pitch = gyro_pitch; - this.gyro_yaw = gyro_yaw; + gyro_x = AltosLib.MISSING; + gyro_y = AltosLib.MISSING; + gyro_z = AltosLib.MISSING; } public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException { diff --git a/altoslib/AltosIdle.java b/altoslib/AltosIdle.java index d37af966..b5ee20d0 100644 --- a/altoslib/AltosIdle.java +++ b/altoslib/AltosIdle.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java index 73717e17..058df0a1 100644 --- a/altoslib/AltosIdleFetch.java +++ b/altoslib/AltosIdleFetch.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; @@ -30,61 +30,62 @@ class AltosIdler { static final int idle_gps = 0; static final int idle_imu = 1; static final int idle_mag = 2; - static final int idle_ms5607 = 3; static final int idle_mma655x = 4; + static final int idle_ms5607 = 5; static final int idle_sensor_tm = 10; static final int idle_sensor_metrum = 11; static final int idle_sensor_mega = 12; - static final int idle_sensor_emini = 13; - static final int idle_sensor_tmini2 = 14; - static final int idle_sensor_tgps = 15; - static final int idle_sensor_tmini3 = 16; + static final int idle_sensor_emini1 = 13; + static final int idle_sensor_emini2 = 14; + static final int idle_sensor_tmini2 = 15; + static final int idle_sensor_tgps = 16; + static final int idle_sensor_tmini3 = 17; - public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException, AltosUnknownProduct { + public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, TimeoutException, AltosUnknownProduct { for (int idler : idlers) { - AltosIdle idle = null; switch (idler) { case idle_gps: - AltosGPS.update_state(state, link, config_data); + AltosGPS.provide_data(listener, link); break; case idle_imu: - AltosIMU.update_state(state, link, config_data); + AltosIMU.provide_data(listener, link); break; case idle_mag: - AltosMag.update_state(state, link, config_data); - break; - case idle_ms5607: - AltosMs5607.update_state(state, link, config_data); + AltosMag.provide_data(listener, link); break; case idle_mma655x: - AltosMma655x.update_state(state, link, config_data); + AltosMma655x.provide_data(listener, link); + break; + case idle_ms5607: + AltosMs5607.provide_data(listener, link); break; case idle_sensor_tm: - AltosSensorTM.update_state(state, link, config_data); + AltosSensorTM.provide_data(listener, link); break; case idle_sensor_metrum: - AltosSensorMetrum.update_state(state, link, config_data); + AltosSensorMetrum.provide_data(listener, link); break; case idle_sensor_mega: - AltosSensorMega.update_state(state, link, config_data); + AltosSensorMega.provide_data(listener, link); + break; + case idle_sensor_emini1: + AltosSensorEMini.provide_data(listener, link, 1); break; - case idle_sensor_emini: - AltosSensorEMini.update_state(state, link, config_data); + case idle_sensor_emini2: + AltosSensorEMini.provide_data(listener, link, 2); break; case idle_sensor_tmini2: - AltosSensorTMini2.update_state(state, link, config_data); + AltosSensorTMini2.provide_data(listener, link); break; case idle_sensor_tgps: - AltosSensorTGPS.update_state(state, link, config_data); + AltosSensorTGPS.provide_data(listener, link); break; case idle_sensor_tmini3: - AltosSensorTMini3.update_state(state, link, config_data); + AltosSensorTMini3.provide_data(listener, link); break; } - if (idle != null) - idle.update_state(state); } } @@ -99,13 +100,17 @@ class AltosIdler { } -public class AltosIdleFetch implements AltosStateUpdate { +public class AltosIdleFetch implements AltosDataProvider { static final AltosIdler[] idlers = { - new AltosIdler("EasyMini", + new AltosIdler("EasyMini-v1", AltosIdler.idle_ms5607, - AltosIdler.idle_sensor_emini), + AltosIdler.idle_sensor_emini1), + + new AltosIdler("EasyMini-v2", + AltosIdler.idle_ms5607, + AltosIdler.idle_sensor_emini2), new AltosIdler("TeleMini-v1", AltosIdler.idle_sensor_tm), @@ -124,16 +129,19 @@ public class AltosIdleFetch implements AltosStateUpdate { new AltosIdler("TeleMetrum-v2", AltosIdler.idle_gps, - AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, + AltosIdler.idle_mma655x, + AltosIdler.idle_ms5607, AltosIdler.idle_sensor_metrum), new AltosIdler("TeleMega", AltosIdler.idle_gps, - AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, + AltosIdler.idle_mma655x, + AltosIdler.idle_ms5607, AltosIdler.idle_imu, AltosIdler.idle_mag, AltosIdler.idle_sensor_mega), new AltosIdler("EasyMega", - AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, + AltosIdler.idle_mma655x, + AltosIdler.idle_ms5607, AltosIdler.idle_imu, AltosIdler.idle_mag, AltosIdler.idle_sensor_mega), new AltosIdler("TeleGPS", @@ -143,29 +151,22 @@ public class AltosIdleFetch implements AltosStateUpdate { AltosLink link; - public void update_state(AltosState state) throws InterruptedException, AltosUnknownProduct { + public void provide_data(AltosDataListener listener) throws InterruptedException, AltosUnknownProduct { try { boolean matched = false; /* Fetch config data from remote */ AltosConfigData config_data = new AltosConfigData(link); - state.set_state(AltosLib.ao_flight_stateless); - state.set_serial(config_data.serial); - state.set_callsign(config_data.callsign); - state.set_ground_accel(config_data.accel_cal_plus); - state.set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus); - state.set_product(config_data.product); - state.set_firmware_version(config_data.version); - state.set_log_space(config_data.log_space); + listener.set_state(AltosLib.ao_flight_stateless); for (AltosIdler idler : idlers) { if (idler.matches(config_data)) { - idler.update_state(state, link, config_data); + idler.provide_data(listener, link); matched = true; break; } } if (!matched) throw new AltosUnknownProduct(config_data.product); - state.set_received_time(System.currentTimeMillis()); + listener.set_received_time(System.currentTimeMillis()); } catch (TimeoutException te) { } diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index c374b601..fc5d4cc8 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.concurrent.*; @@ -52,20 +52,20 @@ public class AltosIdleMonitor extends Thread { return link.reply_abort; } - boolean update_state(AltosState state) throws InterruptedException, TimeoutException, AltosUnknownProduct { + boolean provide_data(AltosDataListener listener) throws InterruptedException, TimeoutException, AltosUnknownProduct { boolean worked = false; boolean aborted = false; try { start_link(); - fetch.update_state(state); + fetch.provide_data(listener); if (!link.has_error && !link.reply_abort) worked = true; } finally { aborted = stop_link(); if (worked) { if (remote) - state.set_rssi(link.rssi(), 0); + listener.set_rssi(link.rssi(), 0); listener_state.battery = link.monitor_battery(); } } @@ -92,12 +92,14 @@ public class AltosIdleMonitor extends Thread { } public void run() { - AltosState state = new AltosState(); + AltosState state = null; try { for (;;) { try { link.config_data(); - update_state(state); + if (state == null) + state = new AltosState(new AltosCalData(link.config_data())); + provide_data(state); listener.update(state, listener_state); } catch (TimeoutException te) { } catch (AltosUnknownProduct ae) { diff --git a/altoslib/AltosIdleMonitorListener.java b/altoslib/AltosIdleMonitorListener.java index 3349e9c4..1ddec09a 100644 --- a/altoslib/AltosIdleMonitorListener.java +++ b/altoslib/AltosIdleMonitorListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosIdleMonitorListener { public void update(AltosState state, AltosListenerState listener_state); diff --git a/altoslib/AltosIdleReader.java b/altoslib/AltosIdleReader.java index 5903c968..d15e2174 100644 --- a/altoslib/AltosIdleReader.java +++ b/altoslib/AltosIdleReader.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.io.*; @@ -25,6 +25,7 @@ import java.util.concurrent.*; public class AltosIdleReader extends AltosFlightReader { AltosLink link; boolean remote; + AltosCalData cal_data = null; AltosState state = null; AltosIdleFetch fetch; long next_millis; @@ -44,15 +45,23 @@ public class AltosIdleReader extends AltosFlightReader { return link.reply_abort; } + public AltosCalData cal_data() { + if (cal_data == null) { + try { + cal_data = new AltosCalData(link.config_data()); + } catch (InterruptedException ie) { + } catch (TimeoutException te) { + } + if (cal_data == null) + cal_data = new AltosCalData(); + } + return cal_data; + } + public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { boolean worked = false; boolean aborted = false; - if (state == null) - state = new AltosState(); - else - state = state.clone(); - long delay = next_millis - System.currentTimeMillis(); if (delay > 0) @@ -61,7 +70,9 @@ public class AltosIdleReader extends AltosFlightReader { try { try { start_link(); - fetch.update_state(state); + if (state == null) + state = new AltosState(cal_data()); + fetch.provide_data(state); if (!link.has_error && !link.reply_abort) worked = true; } catch (TimeoutException te) { diff --git a/altoslib/AltosIgnite.java b/altoslib/AltosIgnite.java index cdc5c614..767c00fb 100644 --- a/altoslib/AltosIgnite.java +++ b/altoslib/AltosIgnite.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.*; import java.io.*; @@ -102,7 +102,7 @@ public class AltosIgnite { private void get_npyro() throws InterruptedException, TimeoutException { if (config_data == null) config_data = new AltosConfigData(link); - if (config_data != null) + if (config_data != null && config_data.npyro != AltosLib.MISSING) npyro = config_data.npyro; else npyro = 0; @@ -174,6 +174,7 @@ public class AltosIgnite { try { start_link(); link.printf("i DoIt %s\n", igniter); + link.flush_output(); } catch (TimeoutException te) { } finally { stop_link(); diff --git a/altoslib/AltosImage.java b/altoslib/AltosImage.java index 2e32b720..abe9d56f 100644 --- a/altoslib/AltosImage.java +++ b/altoslib/AltosImage.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosJson.java b/altoslib/AltosJson.java index 22f81d03..52c9b41e 100644 --- a/altoslib/AltosJson.java +++ b/altoslib/AltosJson.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; @@ -25,39 +25,39 @@ import java.lang.*; import java.lang.reflect.*; class JsonUtil { - StringBuffer quote(StringBuffer result, String a) { - result.append("\""); + Writer quote(Writer writer, String a) throws IOException { + writer.append("\""); for (int i = 0; i < a.length(); i++) { char c = a.charAt(i); switch (c) { case '"': case '\\': - result.append('\\').append(c); + writer.append('\\').append(c); break; case '\n': - result.append("\\n"); + writer.append("\\n"); break; default: - result.append(c); + writer.append(c); break; } } - result.append("\""); - return result; + writer.append("\""); + return writer; } - StringBuffer append(StringBuffer result, AltosJson value, int indent, boolean pretty) { + Writer append(Writer result, AltosJson value, int indent, boolean pretty) throws IOException { value.append(result, indent, pretty); return result; } - StringBuffer append(StringBuffer result, String string) { + Writer append(Writer result, String string) throws IOException { result.append(string); return result; } - StringBuffer indent(StringBuffer result, int indent) { + Writer indent(Writer result, int indent) throws IOException { result.append("\n"); for (int i = 0; i < indent; i++) result.append("\t"); @@ -80,7 +80,7 @@ class JsonUtil { class JsonHash extends JsonUtil { Hashtable<String,AltosJson> hash; - void append_hash(StringBuffer result, int indent, boolean pretty) { + void append_hash(Writer result, int indent, boolean pretty) throws IOException { boolean first = true; result.append("{"); @@ -125,7 +125,7 @@ class JsonHash extends JsonUtil { class JsonArray extends JsonUtil { ArrayList<AltosJson> array; - void append_array(StringBuffer result, int indent, boolean pretty) { + void append_array(Writer result, int indent, boolean pretty) throws IOException { boolean first = true; append(result, "["); @@ -185,6 +185,7 @@ class JsonToken { static final int _colon = 9; static final int _end = 10; static final int _error = 11; + static final int _none = 12; static String token_name(int token) { switch (token) { @@ -245,7 +246,7 @@ class JsonToken { this.sval = sval; } - JsonToken(int token, StringBuffer bval) { + JsonToken(int token, Writer bval) { this(token, bval.toString()); } } @@ -254,11 +255,11 @@ class JsonToken { * Lexer for json */ class JsonLexer extends JsonUtil { - StringReader f; - int line; - int ungot = -2; - StringBuffer pending_token; - JsonToken token; + InputStream f; + int line; + int ungot = -2; + StringBuffer pending_token; + private JsonToken token; static class keyword { String word; @@ -382,7 +383,7 @@ class JsonLexer extends JsonUtil { return new JsonToken(JsonToken._long, lval); } case '"': - StringBuffer bval = new StringBuffer(); + Writer bval = new StringWriter(); for (;;) { c = ch(); if (c == '"') @@ -400,7 +401,7 @@ class JsonLexer extends JsonUtil { break; } } - bval.appendCodePoint(c); + bval.write(c); } return new JsonToken(JsonToken._string, bval); default: @@ -424,11 +425,17 @@ class JsonLexer extends JsonUtil { } void next() { - token = lex(); + token = null; + } + + JsonToken token() { + if (token == null) + token = lex(); + return token; } JsonToken expect(int e) { - JsonToken t = token; + JsonToken t = token(); if (t.token != e) throw new IllegalArgumentException(String.format("got \"%s\" while expecting \"%s\"", token.token_name(), @@ -438,7 +445,13 @@ class JsonLexer extends JsonUtil { } JsonLexer(String s) { - f = new StringReader(s); + f = new AltosStringInputStream(s); + line = 1; + token = null; + } + + JsonLexer(InputStream f) { + this.f = f; line = 1; token = null; } @@ -464,7 +477,7 @@ class JsonParse { lexer.next(); for (;;) { /* Allow for empty hashes */ - if (lexer.token.token == JsonToken._cc) { + if (lexer.token().token == JsonToken._cc) { lexer.next(); return hash; } @@ -475,7 +488,7 @@ class JsonParse { AltosJson value = value(); hash.put(key, value); - switch (lexer.token.token) { + switch (lexer.token().token) { case JsonToken._comma: lexer.next(); break; @@ -483,7 +496,7 @@ class JsonParse { lexer.next(); return hash; default: - parse_error("got %s expect \",\" or \"}\"", lexer.token.token_name()); + parse_error("got %s expect \",\" or \"}\"", lexer.token().token_name()); return null; } } @@ -496,14 +509,14 @@ class JsonParse { lexer.next(); for (int i = 0;; i++) { /* Allow for empty arrays */ - if (lexer.token.token == JsonToken._cs) { + if (lexer.token().token == JsonToken._cs) { lexer.next(); return array; } AltosJson value = value(); array.put(i, value); - switch (lexer.token.token) { + switch (lexer.token().token) { case JsonToken._comma: lexer.next(); break; @@ -511,7 +524,7 @@ class JsonParse { lexer.next(); return array; default: - parse_error("got %s expect \",\" or \"]\"", lexer.token.token_name()); + parse_error("got %s expect \",\" or \"]\"", lexer.token().token_name()); return null; } } @@ -521,29 +534,29 @@ class JsonParse { * identify the next object in the input */ AltosJson value() { - switch (lexer.token.token) { + switch (lexer.token().token) { case JsonToken._oc: return new AltosJson(hash()); case JsonToken._os: return new AltosJson(array()); case JsonToken._double: - double dval = lexer.token.dval; + double dval = lexer.token().dval; lexer.next(); return new AltosJson(dval); case JsonToken._long: - long lval = lexer.token.lval; + long lval = lexer.token().lval; lexer.next(); return new AltosJson(lval); case JsonToken._string: - String sval = lexer.token.sval; + String sval = lexer.token().sval; lexer.next(); return new AltosJson(sval); case JsonToken._boolean: - boolean bval = lexer.token.bval; + boolean bval = lexer.token().bval; lexer.next(); return new AltosJson(bval); default: - parse_error("Unexpected token \"%s\"", lexer.token.token_name()); + parse_error("Unexpected token \"%s\"", lexer.token().token_name()); } return null; } @@ -556,6 +569,10 @@ class JsonParse { JsonParse(String s) { lexer = new JsonLexer(s); } + + JsonParse(InputStream f) { + lexer = new JsonLexer(f); + } } public class AltosJson extends JsonUtil { @@ -578,7 +595,7 @@ public class AltosJson extends JsonUtil { /* Generate string representation of the value */ - StringBuffer append(StringBuffer result, int indent, boolean pretty) { + Writer append(Writer result, int indent, boolean pretty) throws IOException { switch (type) { case type_hash: hash.append_hash(result, indent, pretty); @@ -615,9 +632,13 @@ public class AltosJson extends JsonUtil { } private String toString(int indent, boolean pretty) { - StringBuffer result = new StringBuffer(); - append(result, indent, pretty); - return result.toString(); + try { + Writer result = new StringWriter(); + append(result, indent, pretty); + return result.toString(); + } catch (Exception e) { + return null; + } } public String toString() { @@ -628,6 +649,14 @@ public class AltosJson extends JsonUtil { return toString(0, true); } + public void write(Writer w, int indent, boolean pretty) throws IOException { + append(w, indent, pretty); + } + + public void write(Writer w) throws IOException { + write(w, 0, true); + } + /* Parse string representation to a value */ @@ -641,6 +670,16 @@ public class AltosJson extends JsonUtil { } } + public static AltosJson fromInputStream(InputStream f) { + JsonParse parse = new JsonParse(f); + try { + return parse.parse(); + } catch (IllegalArgumentException ie) { + System.out.printf("json:\n%s\n", ie.getMessage()); + return null; + } + } + /* Accessor functions */ private boolean assert_type(boolean setting, int type, int other_type, String error) { @@ -1213,6 +1252,10 @@ public class AltosJson extends JsonUtil { for (Field field : c.getDeclaredFields()) { String fieldName = field.getName(); + /* XXX hack to allow fields to be not converted */ + if (fieldName.startsWith("__")) + continue; + /* Skip static fields */ if (Modifier.isStatic(field.getModifiers())) continue; diff --git a/altoslib/AltosKML.java b/altoslib/AltosKML.java index 25108bf9..587b845b 100644 --- a/altoslib/AltosKML.java +++ b/altoslib/AltosKML.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; @@ -36,8 +36,9 @@ public class AltosKML implements AltosWriter { File name; PrintWriter out; int flight_state = -1; - AltosState prev = null; - double gps_start_altitude; + AltosGPS prev = null; + double gps_start_altitude = AltosLib.MISSING; + AltosFlightStats stats; static final String[] kml_state_colors = { "FF000000", // startup @@ -101,42 +102,47 @@ public class AltosKML implements AltosWriter { "</Document>\n" + "</kml>\n"; - void start (AltosState record) { - out.printf(kml_header_start, record.flight, record.serial); + void start (AltosCalData cal_data) { + AltosGPS gps = cal_data.gps_pad; + + gps_start_altitude = cal_data.gps_pad_altitude; + out.printf(kml_header_start, cal_data.flight, cal_data.serial); out.printf("Date: %04d-%02d-%02d\n", - record.gps.year, record.gps.month, record.gps.day); + gps.year, gps.month, gps.day); out.printf("Time: %2d:%02d:%02d\n", - record.gps.hour, record.gps.minute, record.gps.second); + gps.hour, gps.minute, gps.second); out.printf("%s", kml_header_end); } boolean started = false; - void state_start(AltosState state) { - String state_name = AltosLib.state_name(state.state()); - String state_color = state_color(state.state()); + void state_start(int state) { + String state_name = AltosLib.state_name(state); + String state_color = state_color(state); out.printf(kml_style_start, state_name, state_color); - out.printf("\tState: %s\n", state_name); + out.printf("State: %s\n", state_name); + out.printf("Time: %6.2f s\n", stats.state_time[state]); + out.printf("Average speed: %s\n", AltosConvert.speed.show(6, stats.state_speed[state])); + out.printf("Average accel: %s\n", AltosConvert.accel.show(6, stats.state_accel[state])); out.printf("%s", kml_style_end); out.printf(kml_placemark_start, state_name, state_name); } - void state_end(AltosState state) { + void state_end() { out.printf("%s", kml_placemark_end); } - void coord(AltosState state) { - AltosGPS gps = state.gps; + void coord(double time, AltosGPS gps, int state, double height) { double altitude; - if (state.height() != AltosLib.MISSING) - altitude = state.height() + gps_start_altitude; + if (height != AltosLib.MISSING) + altitude = height + gps_start_altitude; else altitude = gps.alt; out.printf(kml_coord_fmt, gps.lon, gps.lat, altitude, (double) gps.alt, - state.time, gps.nsat); + time, gps.nsat); } void end() { @@ -145,7 +151,7 @@ public class AltosKML implements AltosWriter { public void close() { if (prev != null) { - state_end(prev); + state_end(); end(); prev = null; } @@ -155,40 +161,37 @@ public class AltosKML implements AltosWriter { } } - public void write(AltosState state) { - AltosGPS gps = state.gps; - - if (gps == null) - return; - + public void write(AltosGPSTimeValue gtv, AltosCalData cal_data, int state, double height) { + AltosGPS gps = gtv.gps; if (gps.lat == AltosLib.MISSING) return; if (gps.lon == AltosLib.MISSING) return; - if (!started) { - start(state); - started = true; - gps_start_altitude = gps.alt; - } - if (prev != null && prev.gps_sequence == state.gps_sequence) - return; - if (state.state() != flight_state) { - flight_state = state.state(); + if (state != flight_state) { + flight_state = state; if (prev != null) { - coord(state); - state_end(prev); + coord(gtv.time, gps, state, height); + state_end(); } state_start(state); } - coord(state); - prev = state; + coord(0, gps, state, height); + prev = gps; } - public void write(AltosStateIterable states) { - for (AltosState state : states) { - if ((state.set & AltosState.set_gps) != 0) - write(state); - } + private int state(AltosFlightSeries series, double time) { + return (int) series.value_before(AltosFlightSeries.state_name, time); + } + + private double height(AltosFlightSeries series, double time) { + return series.value(AltosFlightSeries.height_name, time); + } + + public void write(AltosFlightSeries series) { + stats = new AltosFlightStats(series); + start(series.cal_data()); + for (AltosGPSTimeValue gtv : series.gps_series) + write(gtv, series.cal_data(), state(series, gtv.time), height(series, gtv.time)); } public AltosKML(File in_name) throws FileNotFoundException { diff --git a/altoslib/AltosLatLon.java b/altoslib/AltosLatLon.java index 5865d3cc..6fcc43fe 100644 --- a/altoslib/AltosLatLon.java +++ b/altoslib/AltosLatLon.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosLatLon { public double lat; diff --git a/altoslib/AltosLatitude.java b/altoslib/AltosLatitude.java index 4663cd09..f43397d0 100644 --- a/altoslib/AltosLatitude.java +++ b/altoslib/AltosLatitude.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosLatitude extends AltosLocation { public String pos() { return "N"; } diff --git a/altoslib/AltosLaunchSite.java b/altoslib/AltosLaunchSite.java index 8a06cdb2..19fb4858 100644 --- a/altoslib/AltosLaunchSite.java +++ b/altoslib/AltosLaunchSite.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.*; diff --git a/altoslib/AltosLaunchSiteListener.java b/altoslib/AltosLaunchSiteListener.java index d2ee601e..0d926353 100644 --- a/altoslib/AltosLaunchSiteListener.java +++ b/altoslib/AltosLaunchSiteListener.java @@ -15,7 +15,7 @@ * 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_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.*; diff --git a/altoslib/AltosLaunchSites.java b/altoslib/AltosLaunchSites.java index d5c41c82..365f19e3 100644 --- a/altoslib/AltosLaunchSites.java +++ b/altoslib/AltosLaunchSites.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.*; diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java index a3f164d4..d1063509 100644 --- a/altoslib/AltosLib.java +++ b/altoslib/AltosLib.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.*; import java.io.*; @@ -38,6 +38,20 @@ public class AltosLib { public static final int AO_LOG_GPS_DATE = 'Y'; public static final int AO_LOG_PRESSURE = 'P'; + public static boolean is_gps_cmd(int cmd) { + switch (cmd) { + case AltosLib.AO_LOG_GPS_POS: + case AltosLib.AO_LOG_GPS_TIME: + case AltosLib.AO_LOG_GPS_LAT: + case AltosLib.AO_LOG_GPS_LON: + case AltosLib.AO_LOG_GPS_ALT: + case AltosLib.AO_LOG_GPS_SAT: + case AltosLib.AO_LOG_GPS_DATE: + return true; + } + return false; + } + /* Added for header fields in eeprom files */ public static final int AO_LOG_CONFIG_VERSION = 1000; public static final int AO_LOG_MAIN_DEPLOY = 1001; @@ -162,6 +176,16 @@ public class AltosLib { return product_any; } + public static boolean has_9dof(int device_type) { + return device_type == product_telemega || device_type == product_easymega; + } + + public static boolean has_gps(int device_type) { + return device_type == product_telemetrum || + device_type == product_telemega || + device_type == product_telegps; + } + /* Bluetooth "identifier" (bluetooth sucks) */ public final static String bt_product_telebt = "TeleBT"; @@ -330,7 +354,7 @@ public class AltosLib { public static final int AO_LOG_FORMAT_TELEMETRY = 3; public static final int AO_LOG_FORMAT_TELESCIENCE = 4; public static final int AO_LOG_FORMAT_TELEMEGA_OLD = 5; - public static final int AO_LOG_FORMAT_EASYMINI = 6; + public static final int AO_LOG_FORMAT_EASYMINI1 = 6; public static final int AO_LOG_FORMAT_TELEMETRUM = 7; public static final int AO_LOG_FORMAT_TELEMINI2 = 8; public static final int AO_LOG_FORMAT_TELEGPS = 9; @@ -338,6 +362,7 @@ public class AltosLib { public static final int AO_LOG_FORMAT_DETHERM = 11; public static final int AO_LOG_FORMAT_TELEMINI3 = 12; public static final int AO_LOG_FORMAT_TELEFIRETWO = 13; + public static final int AO_LOG_FORMAT_EASYMINI2 = 14; public static final int AO_LOG_FORMAT_NONE = 127; public static boolean isspace(int c) { @@ -561,7 +586,31 @@ public class AltosLib { } } - public static String ignitor_name(int i) { + public static String igniter_name(int i) { return String.format("Ignitor %c", 'A' + i); } + + public static AltosRecordSet record_set(File file) throws FileNotFoundException, IOException { + FileInputStream in; + in = new FileInputStream(file); + if (file.getName().endsWith("telem")) { + return new AltosTelemetryFile(in); + } else if (file.getName().endsWith("eeprom")) { + return new AltosEepromFile(in); + } else { + String name = file.getName(); + int dot = name.lastIndexOf('.'); + String extension; + + if (dot == -1) + throw new IOException(String.format("%s (Missing extension)", file.toString())); + else { + extension = name.substring(dot); + throw new IOException(String.format("%s (Invalid extension '%s')", + file.toString(), + extension)); + } + } + } + } diff --git a/altoslib/AltosLine.java b/altoslib/AltosLine.java index 952a21e3..b3833f64 100644 --- a/altoslib/AltosLine.java +++ b/altoslib/AltosLine.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosLine { public String line; diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 76a4eb31..5a802ef1 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.concurrent.*; @@ -556,7 +556,7 @@ public abstract class AltosLink implements Runnable { return AltosLib.MISSING; double volts = AltosLib.MISSING; - if (config_data.product.startsWith("TeleBT-v3")) { + if (config_data.product.startsWith("TeleBT-v3") || config_data.product.startsWith("TeleBT-v4")) { volts = AltosConvert.tele_bt_3_battery(monitor_batt); } else { volts = AltosConvert.cc_battery_to_voltage(monitor_batt); diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java index 80bc0df2..949d2271 100644 --- a/altoslib/AltosListenerState.java +++ b/altoslib/AltosListenerState.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosLocation.java b/altoslib/AltosLocation.java index c612caaa..45831004 100644 --- a/altoslib/AltosLocation.java +++ b/altoslib/AltosLocation.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public abstract class AltosLocation extends AltosUnits { diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java index 6d873d78..44bea646 100644 --- a/altoslib/AltosLog.java +++ b/altoslib/AltosLog.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.text.*; @@ -61,8 +61,8 @@ public class AltosLog implements Runnable { return file; } - boolean open (AltosState state) throws IOException, InterruptedException { - AltosFile a = new AltosFile(state); + boolean open (AltosCalData cal_data) throws IOException, InterruptedException { + AltosFile a = new AltosFile(cal_data); log_file = new FileWriter(a, true); if (log_file != null) { @@ -80,24 +80,31 @@ public class AltosLog implements Runnable { public void run () { try { - AltosState state = new AltosState(); AltosConfigData receiver_config = link.config_data(); - state.set_receiver_serial(receiver_config.serial); + AltosCalData cal_data = new AltosCalData(); + AltosState state = null; + cal_data.set_receiver_serial(receiver_config.serial); for (;;) { AltosLine line = input_queue.take(); if (line.line == null) continue; try { AltosTelemetry telem = AltosTelemetry.parse(line.line); - state = state.clone(); - telem.update_state(state); - if (state.serial != serial || state.flight != flight || log_file == null) + if (state == null) + state = new AltosState(cal_data); + telem.provide_data(state); + + if (cal_data.serial != serial || + cal_data.flight != flight || + log_file == null) { close_log_file(); - serial = state.serial; - flight = state.flight; - if (state.serial != AltosLib.MISSING && state.flight != AltosLib.MISSING) - open(state); + serial = cal_data.serial; + flight = cal_data.flight; + state = null; + if (cal_data.serial != AltosLib.MISSING && + cal_data.flight != AltosLib.MISSING) + open(cal_data); } } catch (ParseException pe) { } catch (AltosCRCException ce) { diff --git a/altoslib/AltosLongitude.java b/altoslib/AltosLongitude.java index 4c6d1857..b2134cbb 100644 --- a/altoslib/AltosLongitude.java +++ b/altoslib/AltosLongitude.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosLongitude extends AltosLocation { public String pos() { return "E"; } diff --git a/altoslib/AltosMag.java b/altoslib/AltosMag.java index e89ec0de..0d8ec69f 100644 --- a/altoslib/AltosMag.java +++ b/altoslib/AltosMag.java @@ -16,15 +16,15 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.*; import java.io.*; public class AltosMag implements Cloneable { - public int along; - public int across; - public int through; + public int x; + public int z; + public int y; public static final double counts_per_gauss = 1090; @@ -33,10 +33,6 @@ public class AltosMag implements Cloneable { } public boolean parse_string(String line) { -// if (line.startsWith("Syntax error")) { -// along = across = through = 0; -// return true; -// } if (!line.startsWith("X:")) return false; @@ -44,9 +40,9 @@ public class AltosMag implements Cloneable { String[] items = line.split("\\s+"); if (items.length >= 6) { - along = Integer.parseInt(items[1]); - across = Integer.parseInt(items[3]); - through = Integer.parseInt(items[5]); + x = Integer.parseInt(items[1]); + z = Integer.parseInt(items[3]); + y = Integer.parseInt(items[5]); } return true; } @@ -54,30 +50,27 @@ public class AltosMag implements Cloneable { public AltosMag clone() { AltosMag n = new AltosMag(); - n.along = along; - n.across = across; - n.through = through; + n.x = x; + n.z = z; + n.y = y; return n; } public AltosMag() { - along = AltosLib.MISSING; - across = AltosLib.MISSING; - through = AltosLib.MISSING; + x = AltosLib.MISSING; + z = AltosLib.MISSING; + y = AltosLib.MISSING; } - public AltosMag(int along, int across, int through) { - this.along = along; - this.across = across; - this.through = through; - } - - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosMag mag = new AltosMag(link); + AltosCalData cal_data = listener.cal_data(); if (mag != null) - state.set_mag(mag); + listener.set_mag(cal_data.mag_along(mag.y), + cal_data.mag_across(mag.x), + cal_data.mag_through(mag.z)); } catch (TimeoutException te) { } } diff --git a/altoslib/AltosMap.java b/altoslib/AltosMap.java index e3c4a6a7..286cf1bb 100644 --- a/altoslib/AltosMap.java +++ b/altoslib/AltosMap.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.*; @@ -220,11 +220,11 @@ public class AltosMap implements AltosMapTileListener, AltosMapStoreListener { return false; } - public void show(AltosState state, AltosListenerState listener_state) { + public void show(AltosGPS gps, int state) { - /* If insufficient gps data, nothing to update + /* + * If insufficient gps data, nothing to update */ - AltosGPS gps = state.gps; if (gps == null) return; @@ -232,23 +232,23 @@ public class AltosMap implements AltosMapTileListener, AltosMapStoreListener { if (!gps.locked && gps.nsat < 4) return; - switch (state.state()) { + switch (state) { case AltosLib.ao_flight_boost: if (!have_boost) { - add_mark(gps.lat, gps.lon, state.state()); + add_mark(gps.lat, gps.lon, state); have_boost = true; } break; case AltosLib.ao_flight_landed: if (!have_landed) { - add_mark(gps.lat, gps.lon, state.state()); + add_mark(gps.lat, gps.lon, state); have_landed = true; } break; } if (path != null) { - AltosMapRectangle damage = path.add(gps.lat, gps.lon, state.state()); + AltosMapRectangle damage = path.add(gps.lat, gps.lon, state); if (damage != null) repaint(damage, AltosMapPath.stroke_width); @@ -259,6 +259,10 @@ public class AltosMap implements AltosMapTileListener, AltosMapStoreListener { maybe_centre(gps.lat, gps.lon); } + public void show(AltosState state, AltosListenerState listener_state) { + show(state.gps, state.state()); + } + public void centre(AltosLatLon lat_lon) { centre = lat_lon; set_transform(); @@ -268,10 +272,14 @@ public class AltosMap implements AltosMapTileListener, AltosMapStoreListener { centre(new AltosLatLon(lat, lon)); } - public void centre(AltosState state) { - if (!state.gps.locked && state.gps.nsat < 4) + public void centre(AltosGPS gps) { + if (!gps.locked && gps.nsat < 4) return; - centre(state.gps.lat, state.gps.lon); + centre(gps.lat, gps.lon); + } + + public void centre(AltosState state) { + centre(state.gps); } public void maybe_centre(double lat, double lon) { diff --git a/altoslib/AltosMapCache.java b/altoslib/AltosMapCache.java index 4e529177..54d2dbdd 100644 --- a/altoslib/AltosMapCache.java +++ b/altoslib/AltosMapCache.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.net.*; diff --git a/altoslib/AltosMapCacheListener.java b/altoslib/AltosMapCacheListener.java index 057d1c43..8c07e3c1 100644 --- a/altoslib/AltosMapCacheListener.java +++ b/altoslib/AltosMapCacheListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosMapCacheListener { public void map_cache_changed(int map_cache); diff --git a/altoslib/AltosMapInterface.java b/altoslib/AltosMapInterface.java index a2ea81db..5089db64 100644 --- a/altoslib/AltosMapInterface.java +++ b/altoslib/AltosMapInterface.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.net.*; diff --git a/altoslib/AltosMapLine.java b/altoslib/AltosMapLine.java index c475f52d..f2174935 100644 --- a/altoslib/AltosMapLine.java +++ b/altoslib/AltosMapLine.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.Math; @@ -44,39 +44,9 @@ public abstract class AltosMapLine { } public String line_dist() { - String format; AltosGreatCircle g = new AltosGreatCircle(start.lat, start.lon, end.lat, end.lon); - double distance = g.distance; - if (AltosConvert.imperial_units) { - distance = AltosConvert.meters_to_feet(distance); - if (distance < 1000) { - format = "%4.0fft"; - } else { - distance /= 5280; - if (distance < 10) - format = "%5.3fmi"; - else if (distance < 100) - format = "%5.2fmi"; - else if (distance < 1000) - format = "%5.1fmi"; - else - format = "%5.0fmi"; - } - } else { - if (distance < 1000) { - format = "%4.0fm"; - } else { - distance /= 1000; - if (distance < 100) - format = "%5.2fkm"; - else if (distance < 1000) - format = "%5.1fkm"; - else - format = "%5.0fkm"; - } - } - return String.format(format, distance); + return AltosConvert.distance.show(7, g.distance); } } diff --git a/altoslib/AltosMapLoader.java b/altoslib/AltosMapLoader.java index 17e88bf4..b57591df 100644 --- a/altoslib/AltosMapLoader.java +++ b/altoslib/AltosMapLoader.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; diff --git a/altoslib/AltosMapLoaderListener.java b/altoslib/AltosMapLoaderListener.java index 07624f80..7f36c002 100644 --- a/altoslib/AltosMapLoaderListener.java +++ b/altoslib/AltosMapLoaderListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosMapLoaderListener { public abstract void loader_start(int max); diff --git a/altoslib/AltosMapMark.java b/altoslib/AltosMapMark.java index cbe7bebe..4ef179ef 100644 --- a/altoslib/AltosMapMark.java +++ b/altoslib/AltosMapMark.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.Math; diff --git a/altoslib/AltosMapPath.java b/altoslib/AltosMapPath.java index c2335169..1542a4e9 100644 --- a/altoslib/AltosMapPath.java +++ b/altoslib/AltosMapPath.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.Math; diff --git a/altoslib/AltosMapPathPoint.java b/altoslib/AltosMapPathPoint.java index 5182ecfd..409a6a5c 100644 --- a/altoslib/AltosMapPathPoint.java +++ b/altoslib/AltosMapPathPoint.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.Math; diff --git a/altoslib/AltosMapRectangle.java b/altoslib/AltosMapRectangle.java index a2321e19..0751aa33 100644 --- a/altoslib/AltosMapRectangle.java +++ b/altoslib/AltosMapRectangle.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosMapRectangle { AltosLatLon ul, lr; diff --git a/altoslib/AltosMapStore.java b/altoslib/AltosMapStore.java index 7cce05a5..4eba3a04 100644 --- a/altoslib/AltosMapStore.java +++ b/altoslib/AltosMapStore.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.net.*; @@ -91,6 +91,7 @@ public class AltosMapStore { static Object forbidden_lock = new Object(); static long forbidden_time; static boolean forbidden_set; + public static int forbidden_response; private int fetch_url() { URL u; @@ -116,6 +117,7 @@ public class AltosMapStore { synchronized (forbidden_lock) { forbidden_time = System.nanoTime(); forbidden_set = true; + forbidden_response = response; return AltosMapTile.forbidden; } } diff --git a/altoslib/AltosMapStoreListener.java b/altoslib/AltosMapStoreListener.java index e3935201..1fb7194a 100644 --- a/altoslib/AltosMapStoreListener.java +++ b/altoslib/AltosMapStoreListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosMapStoreListener { abstract void notify_store(AltosMapStore store, int status); diff --git a/altoslib/AltosMapTile.java b/altoslib/AltosMapTile.java index 4d6dc8d1..4b01e437 100644 --- a/altoslib/AltosMapTile.java +++ b/altoslib/AltosMapTile.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; diff --git a/altoslib/AltosMapTileListener.java b/altoslib/AltosMapTileListener.java index 219dcd07..3c6275a0 100644 --- a/altoslib/AltosMapTileListener.java +++ b/altoslib/AltosMapTileListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosMapTileListener { abstract public void notify_tile(AltosMapTile tile, int status); diff --git a/altoslib/AltosMapTransform.java b/altoslib/AltosMapTransform.java index 266557b6..b6d4f435 100644 --- a/altoslib/AltosMapTransform.java +++ b/altoslib/AltosMapTransform.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.lang.Math; diff --git a/altoslib/AltosMapTypeListener.java b/altoslib/AltosMapTypeListener.java index 1d5e2b47..94401a00 100644 --- a/altoslib/AltosMapTypeListener.java +++ b/altoslib/AltosMapTypeListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosMapTypeListener { public void map_type_changed(int map_type); diff --git a/altoslib/AltosMapZoomListener.java b/altoslib/AltosMapZoomListener.java index 93c26cbb..c4a0acd6 100644 --- a/altoslib/AltosMapZoomListener.java +++ b/altoslib/AltosMapZoomListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosMapZoomListener { abstract public void zoom_changed(int zoom); diff --git a/altoslib/AltosMma655x.java b/altoslib/AltosMma655x.java index 503eb5fd..0f6022ac 100644 --- a/altoslib/AltosMma655x.java +++ b/altoslib/AltosMma655x.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.*; @@ -46,17 +46,18 @@ public class AltosMma655x implements Cloneable { return n; } - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException, AltosUnknownProduct { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, AltosUnknownProduct { try { AltosMma655x mma655x = new AltosMma655x(link); + AltosCalData cal_data = listener.cal_data(); if (mma655x != null) { int accel = mma655x.accel; - if (config_data.mma655x_inverted()) + if (cal_data.mma655x_inverted) accel = 4095 - accel; - if (config_data.pad_orientation == 1) + if (cal_data.pad_orientation == 1) accel = 4095 - accel; - state.set_accel(accel); + listener.set_acceleration(cal_data.acceleration(accel)); } } catch (TimeoutException te) { } catch (NumberFormatException ne) { diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java index 631bc716..5b3ba65d 100644 --- a/altoslib/AltosMs5607.java +++ b/altoslib/AltosMs5607.java @@ -16,34 +16,42 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.*; import java.io.*; public class AltosMs5607 { - public int reserved; - public int sens; - public int off; - public int tcs; - public int tco; - public int tref; - public int tempsens; - public int crc; - - public int raw_pres; - public int raw_temp; - public int pa; - public int cc; - - static final boolean ms5611 = false; - - void convert() { + public int reserved = AltosLib.MISSING; + public int sens = AltosLib.MISSING; + public int off = AltosLib.MISSING; + public int tcs = AltosLib.MISSING; + public int tco = AltosLib.MISSING; + public int tref = AltosLib.MISSING; + public int tempsens = AltosLib.MISSING; + public int crc = AltosLib.MISSING; + private boolean ms5611 = false; + + public boolean valid_config() { + return reserved != AltosLib.MISSING && + sens != AltosLib.MISSING && + off != AltosLib.MISSING && + tcs != AltosLib.MISSING && + tco != AltosLib.MISSING && + tref != AltosLib.MISSING && + tempsens != AltosLib.MISSING && + crc != AltosLib.MISSING; + } + + public AltosPresTemp pres_temp(int raw_pres, int raw_temp) { int dT; - int TEMP; - long OFF; - long SENS; - //int P; + int TEMP; + long OFF; + long SENS; + int P; + + if (raw_pres == AltosLib.MISSING || raw_temp == AltosLib.MISSING) + return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING); dT = raw_temp - ((int) tref << 8); @@ -64,7 +72,7 @@ public class AltosMs5607 { int TEMPM = TEMP - 2000; long OFF2 = ((long) 61 * (long) TEMPM * (long) TEMPM) >> 4; long SENS2 = (long) 2 * (long) TEMPM * (long) TEMPM; - if (TEMP < 1500) { + if (TEMP < -1500) { int TEMPP = TEMP + 1500; long TEMPP2 = (long) TEMPP * (long) TEMPP; OFF2 = OFF2 + 15 * TEMPP2; @@ -75,96 +83,75 @@ public class AltosMs5607 { SENS -= SENS2; } - pa = (int) (((((long) raw_pres * SENS) >> 21) - OFF) >> 15); - cc = TEMP; - } + P = (int) (((((long) raw_pres * SENS) >> 21) - OFF) >> 15); - public int set(int in_pres, int in_temp) { - raw_pres = in_pres; - raw_temp = in_temp; - convert(); - return pa; + return new AltosPresTemp(P, TEMP / 100.0); } - public boolean parse_line(String line) { - String[] items = line.split("\\s+"); - if (line.startsWith("Pressure:")) { - if (items.length >= 2) { - raw_pres = Integer.parseInt(items[1]); - } - } else if (line.startsWith("Temperature:")) { - if (items.length >= 2) - raw_temp = Integer.parseInt(items[1]); - } else if (line.startsWith("ms5607 reserved:")) { - if (items.length >= 3) - reserved = Integer.parseInt(items[2]); - } else if (line.startsWith("ms5607 sens:")) { - if (items.length >= 3) { - sens = Integer.parseInt(items[2]); + public AltosPresTemp pres_temp(AltosLink link) throws InterruptedException, TimeoutException { + int raw_pres = AltosLib.MISSING; + int raw_temp = AltosLib.MISSING; + boolean done = false; + + link.printf("B\n"); + while (!done) { + String line = link.get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + + String[] items = line.split("\\s+"); + if (line.startsWith("Pressure:")) { + if (items.length >= 2) { + raw_pres = Integer.parseInt(items[1]); + } + } else if (line.startsWith("Temperature:")) { + if (items.length >= 2) + raw_temp = Integer.parseInt(items[1]); + } else if (line.startsWith("Altitude:")) { + done = true; } - } else if (line.startsWith("ms5607 off:")) { - if (items.length >= 3) - off = Integer.parseInt(items[2]); - } else if (line.startsWith("ms5607 tcs:")) { - if (items.length >= 3) - tcs = Integer.parseInt(items[2]); - } else if (line.startsWith("ms5607 tco:")) { - if (items.length >= 3) - tco = Integer.parseInt(items[2]); - } else if (line.startsWith("ms5607 tref:")) { - if (items.length >= 3) - tref = Integer.parseInt(items[2]); - } else if (line.startsWith("ms5607 tempsens:")) { - if (items.length >= 3) - tempsens = Integer.parseInt(items[2]); - } else if (line.startsWith("ms5607 crc:")) { - if (items.length >= 3) - crc = Integer.parseInt(items[2]); - } else if (line.startsWith("Altitude:")) { - return false; } - return true; + return pres_temp(raw_pres, raw_temp); + } + + public AltosMs5607(boolean ms5611) { + this.ms5611 = ms5611; } - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + public AltosMs5607() { + this(false); + } + + public AltosMs5607(AltosMs5607 old) { + reserved = old.reserved; + sens = old.sens; + off = old.off; + tcs = old.tcs; + tco = old.tco; + tref = old.tref; + tempsens = old.tempsens; + crc = old.crc; + } + + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { - AltosMs5607 ms5607 = new AltosMs5607(link, config_data); + AltosCalData cal_data = listener.cal_data(); + AltosMs5607 ms5607 = cal_data.ms5607; if (ms5607 != null) { - state.set_ms5607(ms5607); - return; + AltosPresTemp pt = ms5607.pres_temp(link); + listener.set_temperature(pt.temp); + listener.set_pressure(pt.pres); } } catch (TimeoutException te) { } } - public AltosMs5607() { - raw_pres = AltosLib.MISSING; - raw_temp = AltosLib.MISSING; - pa = AltosLib.MISSING; - cc = AltosLib.MISSING; + public AltosMs5607(AltosConfigData config_data) { + this(config_data.ms5607()); } public AltosMs5607 (AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException { - this(); - reserved = config_data.ms5607_reserved; - sens = config_data.ms5607_sens; - off = config_data.ms5607_off; - tcs = config_data.ms5607_tcs; - tco = config_data.ms5607_tco; - tref = config_data.ms5607_tref; - tempsens = config_data.ms5607_tempsens; - crc = config_data.ms5607_crc; - link.printf("B\n"); - for (;;) { - String line = link.get_reply_no_dialog(5000); - if (line == null) { - throw new TimeoutException(); - } - if (!parse_line(line)) { - break; - } - } - convert(); + this(config_data); } } diff --git a/altoslib/AltosNoSymbol.java b/altoslib/AltosNoSymbol.java index 37542cf0..8372d396 100644 --- a/altoslib/AltosNoSymbol.java +++ b/altoslib/AltosNoSymbol.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosNoSymbol extends Exception { public AltosNoSymbol(String name) { diff --git a/altoslib/AltosOrient.java b/altoslib/AltosOrient.java index 8b3a3541..4546a798 100644 --- a/altoslib/AltosOrient.java +++ b/altoslib/AltosOrient.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosOrient extends AltosUnits { diff --git a/altoslib/AltosParse.java b/altoslib/AltosParse.java index b4b6f875..77cf969d 100644 --- a/altoslib/AltosParse.java +++ b/altoslib/AltosParse.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.*; import java.text.*; diff --git a/altoslib/AltosPointDouble.java b/altoslib/AltosPointDouble.java index 31b03b1f..301d07b0 100644 --- a/altoslib/AltosPointDouble.java +++ b/altoslib/AltosPointDouble.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosPointDouble { public double x, y; diff --git a/altoslib/AltosPointInt.java b/altoslib/AltosPointInt.java index 233a8d31..25f5dd2a 100644 --- a/altoslib/AltosPointInt.java +++ b/altoslib/AltosPointInt.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosPointInt { public int x, y; diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java index 35d44631..0c388f1b 100644 --- a/altoslib/AltosPreferences.java +++ b/altoslib/AltosPreferences.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; @@ -363,11 +363,11 @@ public class AltosPreferences { } } - public static void set_state(AltosState state) { + public static void set_state(AltosState state, int serial) { synchronized(backend) { - backend.putJson(String.format(statePreferenceFormat, state.serial), new AltosJson(state)); - backend.putInt(statePreferenceLatest, state.serial); + backend.putJson(String.format(statePreferenceFormat, serial), new AltosJson(state)); + backend.putInt(statePreferenceLatest, serial); flush_preferences(); } } diff --git a/altoslib/AltosPreferencesBackend.java b/altoslib/AltosPreferencesBackend.java index 327b534c..00fd2c6d 100644 --- a/altoslib/AltosPreferencesBackend.java +++ b/altoslib/AltosPreferencesBackend.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; diff --git a/altoslib/AltosPresTemp.java b/altoslib/AltosPresTemp.java new file mode 100644 index 00000000..4cd382c8 --- /dev/null +++ b/altoslib/AltosPresTemp.java @@ -0,0 +1,25 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosPresTemp { + double pres = AltosLib.MISSING; + double temp = AltosLib.MISSING; + + public AltosPresTemp(double pres, double temp) { + this.pres = pres; + this.temp = temp; + } +} diff --git a/altoslib/AltosStateIterable.java b/altoslib/AltosPressure.java index 5332aecd..507a4cee 100644 --- a/altoslib/AltosStateIterable.java +++ b/altoslib/AltosPressure.java @@ -1,5 +1,5 @@ /* - * Copyright © 2013 Keith Packard <keithp@keithp.com> + * Copyright © 2017 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 @@ -16,28 +16,35 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; -import java.io.*; -import java.util.*; +public class AltosPressure extends AltosUnits { -public abstract class AltosStateIterable implements Iterable<AltosState> { + public double value(double v, boolean imperial_units) { + if (imperial_units) + return AltosConvert.pa_to_psi(v); + return v; + } + + public double inverse(double v, boolean imperial_units) { + if (imperial_units) + return AltosConvert.psi_to_pa(v); + return v; + } - public void write_comments (PrintStream out) { + public String show_units(boolean imperial_units) { + if (imperial_units) + return "psi"; + return "Pa"; } - public abstract void write(PrintStream out); + public String say_units(boolean imperial_units) { + if (imperial_units) + return "p s i"; + return "pascals"; + } - public static AltosStateIterable iterable(File file) { - FileInputStream in; - try { - in = new FileInputStream(file); - } catch (Exception e) { - return null; - } - if (file.getName().endsWith("telem")) - return new AltosTelemetryFile(in); - else - return new AltosEepromFile(in); + public int show_fraction(int width, boolean imperial_units) { + return width / 9; } } diff --git a/altoslib/AltosProgrammer.java b/altoslib/AltosProgrammer.java index ba04107b..0a828a32 100644 --- a/altoslib/AltosProgrammer.java +++ b/altoslib/AltosProgrammer.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java index 33d7486c..0ea3bfc1 100644 --- a/altoslib/AltosPyro.java +++ b/altoslib/AltosPyro.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.*; import java.text.*; @@ -290,6 +290,10 @@ public class AltosPyro { } } + public AltosPyro() { + this(0); + } + public String toString() { String ret = String.format("%d", channel); diff --git a/altoslib/AltosPyroName.java b/altoslib/AltosPyroName.java new file mode 100644 index 00000000..0152e479 --- /dev/null +++ b/altoslib/AltosPyroName.java @@ -0,0 +1,32 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosPyroName extends AltosUnits { + + public double value(double v, boolean imperial_units) { return v; } + + public double inverse(double v, boolean imperial_units) { return v; } + + public String string_value(double v, boolean imperial_units) { + return AltosLib.igniter_name((int) v); + } + + public String show_units(boolean imperial_units) { return "state"; } + + public String say_units(boolean imperial_units) { return "state"; } + + public int show_fraction(int width, boolean imperial_units) { return 0; } +} diff --git a/altoslib/AltosQuaternion.java b/altoslib/AltosQuaternion.java index 40786e32..6d6bc12c 100644 --- a/altoslib/AltosQuaternion.java +++ b/altoslib/AltosQuaternion.java @@ -16,12 +16,13 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosQuaternion { double r; /* real bit */ double x, y, z; /* imaginary bits */ + /* Multiply by b */ public AltosQuaternion multiply(AltosQuaternion b) { return new AltosQuaternion( this.r * b.r - this.x * b.x - this.y * b.y - this.z * b.z, @@ -31,35 +32,36 @@ public class AltosQuaternion { } public AltosQuaternion conjugate() { - return new AltosQuaternion( - this.r, - -this.x, - -this.y, - -this.z); + return new AltosQuaternion(this.r, + -this.x, + -this.y, + -this.z); } public double normal() { - return (this.r * this.r + - this.x * this.x + - this.y * this.y + - this.z * this.z); + return Math.sqrt(this.r * this.r + + this.x * this.x + + this.y * this.y + + this.z * this.z); } + /* Scale by a real value */ public AltosQuaternion scale(double b) { - return new AltosQuaternion( - this.r * b, - this.x * b, - this.y * b, - this.z * b); + return new AltosQuaternion(this.r * b, + this.x * b, + this.y * b, + this.z * b); } + /* Divide by the length to end up with a quaternion of length 1 */ public AltosQuaternion normalize() { double n = normal(); if (n <= 0) return this; - return scale(1/Math.sqrt(n)); + return scale(1/n); } + /* dot product */ public double dot(AltosQuaternion b) { return (this.r * b.r + this.x * b.x + @@ -67,10 +69,14 @@ public class AltosQuaternion { this.z * b.z); } + /* Rotate 'this' by 'b' */ public AltosQuaternion rotate(AltosQuaternion b) { return (b.multiply(this)).multiply(b.conjugate()); } + /* Given two vectors (this and b), compute a quaternion + * representing the rotation between them + */ public AltosQuaternion vectors_to_rotation(AltosQuaternion b) { /* * The cross product will point orthogonally to the two @@ -145,7 +151,13 @@ public class AltosQuaternion { return new AltosQuaternion(1, 0, 0, 0); } - static public AltosQuaternion half_euler(double x, double y, double z) { + static public AltosQuaternion euler(double x, double y, double z) { + + /* Halve the euler angles */ + x = x / 2.0; + y = y / 2.0; + z = z / 2.0; + double s_x = Math.sin(x), c_x = Math.cos(x); double s_y = Math.sin(y), c_y = Math.cos(y); double s_z = Math.sin(z), c_z = Math.cos(z);; diff --git a/altoslib/AltosRecordSet.java b/altoslib/AltosRecordSet.java new file mode 100644 index 00000000..91cce624 --- /dev/null +++ b/altoslib/AltosRecordSet.java @@ -0,0 +1,22 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +import java.util.*; + +public interface AltosRecordSet { + public AltosCalData cal_data(); + public void capture_series(AltosDataListener listener); +} diff --git a/altoslib/AltosRectangle.java b/altoslib/AltosRectangle.java index 50b3caa6..810388ed 100644 --- a/altoslib/AltosRectangle.java +++ b/altoslib/AltosRectangle.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosRectangle { public int x, y, width, height; diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java index 59ade871..24b425b7 100644 --- a/altoslib/AltosReplayReader.java +++ b/altoslib/AltosReplayReader.java @@ -16,40 +16,139 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; 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 () { + /* 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()); + state = new AltosState(record_set.cal_data()); + this.record_set = record_set; + try { + semaphore.acquire(); + } catch (InterruptedException ie) { + } + } +} + public class AltosReplayReader extends AltosFlightReader { - Iterator<AltosState> iterator; - File file; + File file; + AltosReplay replay; + Thread t; + int reads; - public AltosState read() { - if (iterator.hasNext()) - return iterator.next(); - return null; + public AltosCalData cal_data() { + return replay.state.cal_data(); } - public void close (boolean interrupted) { + public AltosState read() { + switch (reads) { + case 0: + /* Tell the display that we're in pad mode */ + replay.state.set_state(AltosLib.ao_flight_pad); + break; + case 1: + t = new Thread(replay); + t.start(); + /* fall through */ + default: + /* Wait for something to change */ + try { + replay.semaphore.acquire(); + } catch (InterruptedException ie) { + } + break; + } + reads++; + + /* When done, let the display know */ + if (replay.done) + return null; + + /* Fake out the received time */ + replay.state.set_received_time(System.currentTimeMillis()); + return replay.state; } - 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 void close (boolean interrupted) { } 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) { + reads = 0; file = in_file; name = file.getName(); + replay = new AltosReplay(record_set); } } diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java index dcfbda32..46ee2b6e 100644 --- a/altoslib/AltosRomconfig.java +++ b/altoslib/AltosRomconfig.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosRotation.java b/altoslib/AltosRotation.java index 1235d86b..eec8c529 100644 --- a/altoslib/AltosRotation.java +++ b/altoslib/AltosRotation.java @@ -16,11 +16,33 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosRotation extends AltosQuaternion { private AltosQuaternion rotation; + /* Compute pitch angle from vertical by taking the pad + * orientation vector and rotating it by the current total + * rotation value. That will be a unit vector pointing along + * the airframe axis. The Z value will be the cosine of the + * angle from vertical. + * + * rot = ao_rotation * vertical * ao_rotation° + * rot = ao_rotation * (0,0,0,1) * ao_rotation° + * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z + * + * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r) + * = a.z² - a.y² - a.x² + a.r² + * + * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation° + * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z + * + * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r) + * = -a.z² + a.y² + a.x² - a.r² + * + * tilt = acos(rot) (in radians) + */ + public double tilt() { double rotz = rotation.z * rotation.z - rotation.y * rotation.y - rotation.x * rotation.x + rotation.r * rotation.r; @@ -28,8 +50,11 @@ public class AltosRotation extends AltosQuaternion { return tilt; } - public void rotate(double dt, double x, double y, double z) { - AltosQuaternion rot = AltosQuaternion.half_euler(x * dt / 2.0, y * dt / 2.0, z * dt / 2.0); + /* Given euler rotations in three axes, perform a combined rotation using + * quaternions + */ + public void rotate(double x, double y, double z) { + AltosQuaternion rot = AltosQuaternion.euler(x, y, z); rotation = rot.multiply(rotation).normalize(); } diff --git a/altoslib/AltosRotationRate.java b/altoslib/AltosRotationRate.java new file mode 100644 index 00000000..492f1217 --- /dev/null +++ b/altoslib/AltosRotationRate.java @@ -0,0 +1,38 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosRotationRate extends AltosUnits { + + public double value(double p, boolean imperial_units) { + return p; + } + + public double inverse(double p, boolean imperial_units) { + return p; + } + + public String show_units(boolean imperial_units) { + return "°/sec"; + } + + public String say_units(boolean imperial_units) { + return "degrees per second"; + } + + public int show_fraction(int width, boolean imperial_units) { + return 1; + } +} diff --git a/altoslib/AltosSavedState.java b/altoslib/AltosSavedState.java index 76d12faf..66876864 100644 --- a/altoslib/AltosSavedState.java +++ b/altoslib/AltosSavedState.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosSelfFlash.java b/altoslib/AltosSelfFlash.java index ae7cd69a..53782172 100644 --- a/altoslib/AltosSelfFlash.java +++ b/altoslib/AltosSelfFlash.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; diff --git a/altoslib/AltosSensorEMini.java b/altoslib/AltosSensorEMini.java index 2581685f..1bdbb60c 100644 --- a/altoslib/AltosSensorEMini.java +++ b/altoslib/AltosSensorEMini.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -26,15 +26,25 @@ public class AltosSensorEMini { public int main; public int batt; - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link, int version) throws InterruptedException { try { AltosSensorEMini sensor_emini = new AltosSensorEMini(link); + AltosCalData cal_data = listener.cal_data(); if (sensor_emini == null) return; - state.set_battery_voltage(AltosConvert.easy_mini_voltage(sensor_emini.batt, config_data.serial)); - state.set_apogee_voltage(AltosConvert.easy_mini_voltage(sensor_emini.apogee, config_data.serial)); - state.set_main_voltage(AltosConvert.easy_mini_voltage(sensor_emini.main, config_data.serial)); + switch (version) { + case 1: + listener.set_battery_voltage(AltosConvert.easy_mini_1_voltage(sensor_emini.batt, cal_data.serial)); + listener.set_apogee_voltage(AltosConvert.easy_mini_1_voltage(sensor_emini.apogee, cal_data.serial)); + listener.set_main_voltage(AltosConvert.easy_mini_1_voltage(sensor_emini.main, cal_data.serial)); + break; + case 2: + listener.set_battery_voltage(AltosConvert.easy_mini_2_voltage(sensor_emini.batt)); + listener.set_apogee_voltage(AltosConvert.easy_mini_2_voltage(sensor_emini.apogee)); + listener.set_main_voltage(AltosConvert.easy_mini_2_voltage(sensor_emini.main)); + break; + } } catch (TimeoutException te) { } diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java index d79c0805..00873afe 100644 --- a/altoslib/AltosSensorMM.java +++ b/altoslib/AltosSensorMM.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorMega.java b/altoslib/AltosSensorMega.java index 63c7a0ce..e58b03a1 100644 --- a/altoslib/AltosSensorMega.java +++ b/altoslib/AltosSensorMega.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -89,18 +89,18 @@ class AltosSensorMega { } } - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosSensorMega sensor_mega = new AltosSensorMega(link); - state.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_mega.v_batt)); - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[4])); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[5])); + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_mega.v_batt)); + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[4])); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[5])); - double[] ignitor_voltage = new double[4]; + double[] igniter_voltage = new double[4]; for (int i = 0; i < 4; i++) - ignitor_voltage[i] = AltosConvert.mega_pyro_voltage(sensor_mega.sense[i]); - state.set_ignitor_voltage(ignitor_voltage); + igniter_voltage[i] = AltosConvert.mega_pyro_voltage(sensor_mega.sense[i]); + listener.set_igniter_voltage(igniter_voltage); } catch (TimeoutException te) { } diff --git a/altoslib/AltosSensorMetrum.java b/altoslib/AltosSensorMetrum.java index cb163911..e01d57cc 100644 --- a/altoslib/AltosSensorMetrum.java +++ b/altoslib/AltosSensorMetrum.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -53,12 +53,12 @@ class AltosSensorMetrum { } } - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosSensorMetrum sensor_metrum = new AltosSensorMetrum(link); - state.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_metrum.v_batt)); - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_a)); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_m)); + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_metrum.v_batt)); + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_a)); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_m)); } catch (TimeoutException te) { } } diff --git a/altoslib/AltosSensorTGPS.java b/altoslib/AltosSensorTGPS.java index 9c2bcb10..14514413 100644 --- a/altoslib/AltosSensorTGPS.java +++ b/altoslib/AltosSensorTGPS.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -24,13 +24,13 @@ public class AltosSensorTGPS { public int tick; public int batt; - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosSensorTGPS sensor_tgps = new AltosSensorTGPS(link); if (sensor_tgps == null) return; - state.set_battery_voltage(AltosConvert.tele_gps_voltage(sensor_tgps.batt)); + listener.set_battery_voltage(AltosConvert.tele_gps_voltage(sensor_tgps.batt)); } catch (TimeoutException te) { } diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java index 5d1b1b7f..bdedaa9c 100644 --- a/altoslib/AltosSensorTM.java +++ b/altoslib/AltosSensorTM.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -29,18 +29,19 @@ public class AltosSensorTM { public int drogue; public int main; - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosSensorTM sensor_tm = new AltosSensorTM(link); + AltosCalData cal_data = listener.cal_data(); if (sensor_tm == null) return; - state.set_accel(sensor_tm.accel); - state.set_pressure(AltosConvert.barometer_to_pressure(sensor_tm.pres)); - state.set_temperature(AltosConvert.thermometer_to_temperature(sensor_tm.temp)); - state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(sensor_tm.batt)); - state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.drogue)); - state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.main)); + listener.set_acceleration(cal_data.acceleration((sensor_tm.accel))); + listener.set_pressure(AltosConvert.barometer_to_pressure(sensor_tm.pres)); + listener.set_temperature(AltosConvert.thermometer_to_temperature(sensor_tm.temp)); + listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(sensor_tm.batt)); + listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(sensor_tm.drogue)); + listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(sensor_tm.main)); } catch (TimeoutException te) { } diff --git a/altoslib/AltosSensorTMini2.java b/altoslib/AltosSensorTMini2.java index 7e00abd0..9b5a1854 100644 --- a/altoslib/AltosSensorTMini2.java +++ b/altoslib/AltosSensorTMini2.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -26,15 +26,15 @@ public class AltosSensorTMini2 { public int main; public int batt; - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosSensorTMini2 sensor_tmini = new AltosSensorTMini2(link); if (sensor_tmini == null) return; - state.set_battery_voltage(AltosConvert.tele_mini_2_voltage(sensor_tmini.batt)); - state.set_apogee_voltage(AltosConvert.tele_mini_2_voltage(sensor_tmini.apogee)); - state.set_main_voltage(AltosConvert.tele_mini_2_voltage(sensor_tmini.main)); + listener.set_battery_voltage(AltosConvert.tele_mini_2_voltage(sensor_tmini.batt)); + listener.set_apogee_voltage(AltosConvert.tele_mini_2_voltage(sensor_tmini.apogee)); + listener.set_main_voltage(AltosConvert.tele_mini_2_voltage(sensor_tmini.main)); } catch (TimeoutException te) { } diff --git a/altoslib/AltosSensorTMini3.java b/altoslib/AltosSensorTMini3.java index 19d514d7..b92def03 100644 --- a/altoslib/AltosSensorTMini3.java +++ b/altoslib/AltosSensorTMini3.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.concurrent.TimeoutException; @@ -26,15 +26,15 @@ public class AltosSensorTMini3 { public int main; public int batt; - static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException { + static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException { try { AltosSensorTMini3 sensor_tmini = new AltosSensorTMini3(link); if (sensor_tmini == null) return; - state.set_battery_voltage(AltosConvert.tele_mini_3_battery_voltage(sensor_tmini.batt)); - state.set_apogee_voltage(AltosConvert.tele_mini_3_pyro_voltage(sensor_tmini.apogee)); - state.set_main_voltage(AltosConvert.tele_mini_3_pyro_voltage(sensor_tmini.main)); + listener.set_battery_voltage(AltosConvert.tele_mini_3_battery_voltage(sensor_tmini.batt)); + listener.set_apogee_voltage(AltosConvert.tele_mini_3_pyro_voltage(sensor_tmini.apogee)); + listener.set_main_voltage(AltosConvert.tele_mini_3_pyro_voltage(sensor_tmini.main)); } catch (TimeoutException te) { } diff --git a/altoslib/AltosSpeed.java b/altoslib/AltosSpeed.java index 465c190c..2a8ccedc 100644 --- a/altoslib/AltosSpeed.java +++ b/altoslib/AltosSpeed.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosSpeed extends AltosUnits { diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index fd2684db..9ee3d57d 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -20,11 +20,9 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; -import java.io.*; - -public class AltosState implements Cloneable { +public class AltosState extends AltosDataListener { public static final int set_position = 1; public static final int set_gps = 2; @@ -40,12 +38,8 @@ public class AltosState implements Cloneable { public long received_time; - public double time; - public double prev_time; - public double time_change; - public int tick; - private int prev_tick; - public int boost_tick; + public int rssi; + public int status; class AltosValue { double value; @@ -290,22 +284,9 @@ public class AltosState implements Cloneable { } } - private int state; - public int flight; - public int serial; - public int altitude_32; - public int receiver_serial; public boolean landed; public boolean ascent; /* going up? */ public boolean boost; /* under power */ - public int rssi; - public int status; - public int device_type; - public int config_major; - public int config_minor; - public int apogee_delay; - public int main_deploy; - public int flight_log_max; private double pressure_to_altitude(double p) { if (p == AltosLib.MISSING) @@ -448,6 +429,11 @@ public class AltosState implements Cloneable { } public void set_altitude(double new_altitude) { + double old_altitude = altitude.value(); + if (old_altitude != AltosLib.MISSING) { + while (old_altitude - new_altitude > 32000) + new_altitude += 65536.0; + } altitude.set_measured(new_altitude, time); } @@ -515,6 +501,9 @@ public class AltosState implements Cloneable { pressure.set(p, time); } + public void set_thrust(double N) { + } + public double baro_height() { double a = altitude(); double g = ground_altitude(); @@ -667,6 +656,11 @@ public class AltosState implements Cloneable { public AltosValue kalman_height, kalman_speed, kalman_acceleration; public void set_kalman(double height, double speed, double acceleration) { + double old_height = kalman_height.value(); + if (old_height != AltosLib.MISSING) { + while (old_height - height > 32000) + height += 65536; + } kalman_height.set(height, time); kalman_speed.set(speed, time); kalman_acceleration.set(acceleration, time); @@ -678,16 +672,10 @@ public class AltosState implements Cloneable { public double apogee_voltage; public double main_voltage; - public double ignitor_voltage[]; + public double igniter_voltage[]; public AltosGPS gps; - public AltosGPS temp_gps; - public int temp_gps_sat_tick; public boolean gps_pending; - public int gps_sequence; - - public AltosIMU imu; - public AltosMag mag; public static final int MIN_PAD_SAMPLES = 10; @@ -699,6 +687,7 @@ public class AltosState implements Cloneable { public AltosGreatCircle from_pad; public double elevation; /* from pad */ + public double distance; /* distance along ground */ public double range; /* total distance */ public double gps_height; @@ -708,20 +697,7 @@ public class AltosState implements Cloneable { public int speak_tick; public double speak_altitude; - public String callsign; - public String firmware_version; - - public double accel_plus_g; - public double accel_minus_g; - public double accel; public double ground_accel; - public double ground_accel_avg; - - public int log_format; - public int log_space; - public String product; - - public AltosMs5607 baro; public AltosCompanion companion; @@ -740,23 +716,11 @@ public class AltosState implements Cloneable { received_time = System.currentTimeMillis(); time = AltosLib.MISSING; - time_change = AltosLib.MISSING; - prev_time = AltosLib.MISSING; - tick = AltosLib.MISSING; - prev_tick = AltosLib.MISSING; - boost_tick = AltosLib.MISSING; state = AltosLib.ao_flight_invalid; - flight = AltosLib.MISSING; landed = false; boost = false; rssi = AltosLib.MISSING; status = 0; - device_type = AltosLib.MISSING; - config_major = AltosLib.MISSING; - config_minor = AltosLib.MISSING; - apogee_delay = AltosLib.MISSING; - main_deploy = AltosLib.MISSING; - flight_log_max = AltosLib.MISSING; ground_altitude = new AltosCValue(); ground_pressure = new AltosGroundPressure(); @@ -771,43 +735,40 @@ public class AltosState implements Cloneable { pyro_voltage = AltosLib.MISSING; apogee_voltage = AltosLib.MISSING; main_voltage = AltosLib.MISSING; - ignitor_voltage = null; + igniter_voltage = null; kalman_height = new AltosValue(); kalman_speed = new AltosValue(); kalman_acceleration = new AltosValue(); gps = null; - temp_gps = null; - temp_gps_sat_tick = 0; - gps_sequence = 0; gps_pending = false; - imu = null; last_imu_time = AltosLib.MISSING; rotation = null; - ground_rotation = null; - - mag = null; - accel_zero_along = AltosLib.MISSING; - accel_zero_across = AltosLib.MISSING; - accel_zero_through = AltosLib.MISSING; accel_ground_along = AltosLib.MISSING; accel_ground_across = AltosLib.MISSING; accel_ground_through = AltosLib.MISSING; - pad_orientation = AltosLib.MISSING; + accel_along = AltosLib.MISSING; + accel_across = AltosLib.MISSING; + accel_through = AltosLib.MISSING; - gyro_zero_roll = AltosLib.MISSING; - gyro_zero_pitch = AltosLib.MISSING; - gyro_zero_yaw = AltosLib.MISSING; + gyro_roll = AltosLib.MISSING; + gyro_pitch = AltosLib.MISSING; + gyro_yaw = AltosLib.MISSING; + + mag_along = AltosLib.MISSING; + mag_across = AltosLib.MISSING; + mag_through = AltosLib.MISSING; set_npad(0); ngps = 0; from_pad = null; elevation = AltosLib.MISSING; + distance = AltosLib.MISSING; range = AltosLib.MISSING; gps_height = AltosLib.MISSING; @@ -825,32 +786,14 @@ public class AltosState implements Cloneable { speak_tick = AltosLib.MISSING; speak_altitude = AltosLib.MISSING; - callsign = null; - firmware_version = null; - - accel_plus_g = AltosLib.MISSING; - accel_minus_g = AltosLib.MISSING; - accel = AltosLib.MISSING; - ground_accel = AltosLib.MISSING; - ground_accel_avg = AltosLib.MISSING; - - log_format = AltosLib.MISSING; - log_space = AltosLib.MISSING; - product = null; - serial = AltosLib.MISSING; - receiver_serial = AltosLib.MISSING; - altitude_32 = AltosLib.MISSING; - baro = null; companion = null; pyro_fired = 0; } void finish_update() { - prev_tick = tick; - ground_altitude.finish_update(); altitude.finish_update(); pressure.finish_update(); @@ -863,156 +806,12 @@ public class AltosState implements Cloneable { kalman_acceleration.finish_update(); } - void copy(AltosState old) { - - if (old == null) { - init(); - return; - } - - received_time = old.received_time; - time = old.time; - time_change = old.time_change; - prev_time = old.time; - - tick = old.tick; - prev_tick = old.tick; - boost_tick = old.boost_tick; - - state = old.state; - flight = old.flight; - landed = old.landed; - ascent = old.ascent; - boost = old.boost; - rssi = old.rssi; - status = old.status; - device_type = old.device_type; - config_major = old.config_major; - config_minor = old.config_minor; - apogee_delay = old.apogee_delay; - main_deploy = old.main_deploy; - flight_log_max = old.flight_log_max; - - set = 0; - - ground_pressure.copy(old.ground_pressure); - ground_altitude.copy(old.ground_altitude); - altitude.copy(old.altitude); - pressure.copy(old.pressure); - speed.copy(old.speed); - acceleration.copy(old.acceleration); - orient.copy(old.orient); - - battery_voltage = old.battery_voltage; - pyro_voltage = old.pyro_voltage; - temperature = old.temperature; - apogee_voltage = old.apogee_voltage; - main_voltage = old.main_voltage; - ignitor_voltage = old.ignitor_voltage; - - kalman_height.copy(old.kalman_height); - kalman_speed.copy(old.kalman_speed); - kalman_acceleration.copy(old.kalman_acceleration); - - if (old.gps != null) - gps = old.gps.clone(); - else - gps = null; - if (old.temp_gps != null) - temp_gps = old.temp_gps.clone(); - else - temp_gps = null; - temp_gps_sat_tick = old.temp_gps_sat_tick; - gps_sequence = old.gps_sequence; - gps_pending = old.gps_pending; - - if (old.imu != null) - imu = old.imu.clone(); - else - imu = null; - last_imu_time = old.last_imu_time; - - if (old.rotation != null) - rotation = new AltosRotation (old.rotation); - - if (old.ground_rotation != null) { - ground_rotation = new AltosRotation(old.ground_rotation); - } - - accel_zero_along = old.accel_zero_along; - accel_zero_across = old.accel_zero_across; - accel_zero_through = old.accel_zero_through; - - accel_ground_along = old.accel_ground_along; - accel_ground_across = old.accel_ground_across; - accel_ground_through = old.accel_ground_through; - pad_orientation = old.pad_orientation; - - gyro_zero_roll = old.gyro_zero_roll; - gyro_zero_pitch = old.gyro_zero_pitch; - gyro_zero_yaw = old.gyro_zero_yaw; - - if (old.mag != null) - mag = old.mag.clone(); - else - mag = null; - - npad = old.npad; - gps_waiting = old.gps_waiting; - gps_ready = old.gps_ready; - ngps = old.ngps; - - if (old.from_pad != null) - from_pad = old.from_pad.clone(); - else - from_pad = null; - - elevation = old.elevation; - range = old.range; - - gps_height = old.gps_height; - - gps_altitude.copy(old.gps_altitude); - gps_ground_altitude.copy(old.gps_ground_altitude); - gps_ground_speed.copy(old.gps_ground_speed); - gps_ascent_rate.copy(old.gps_ascent_rate); - gps_course.copy(old.gps_course); - gps_speed.copy(old.gps_speed); - - pad_lat = old.pad_lat; - pad_lon = old.pad_lon; - pad_alt = old.pad_alt; - - speak_tick = old.speak_tick; - speak_altitude = old.speak_altitude; - - callsign = old.callsign; - firmware_version = old.firmware_version; - - accel_plus_g = old.accel_plus_g; - accel_minus_g = old.accel_minus_g; - accel = old.accel; - ground_accel = old.ground_accel; - ground_accel_avg = old.ground_accel_avg; - - log_format = old.log_format; - log_space = old.log_space; - product = old.product; - serial = old.serial; - receiver_serial = old.receiver_serial; - altitude_32 = old.altitude_32; - - baro = old.baro; - companion = old.companion; - - pyro_fired = old.pyro_fired; - } - void update_time() { } void update_gps() { elevation = AltosLib.MISSING; + distance = AltosLib.MISSING; range = AltosLib.MISSING; if (gps == null) @@ -1054,36 +853,15 @@ public class AltosState implements Cloneable { h = 0; from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); elevation = from_pad.elevation; + distance = from_pad.distance; range = from_pad.range; } } - public void set_tick(int new_tick) { - if (new_tick != AltosLib.MISSING) { - if (prev_tick != AltosLib.MISSING) { - while (new_tick < prev_tick - 1000) { - new_tick += 65536; - } - } - tick = new_tick; - time = tick / 100.0; - time_change = time - prev_time; - } - } - - public void set_boost_tick(int boost_tick) { - if (boost_tick != AltosLib.MISSING) - this.boost_tick = boost_tick; - } - public String state_name() { return AltosLib.state_name(state); } - public void set_product(String product) { - this.product = product; - } - public void set_state(int state) { if (state != AltosLib.ao_flight_invalid) { this.state = state; @@ -1097,96 +875,8 @@ public class AltosState implements Cloneable { return state; } - public void set_device_type(int device_type) { - this.device_type = device_type; - switch (device_type) { - case AltosLib.product_telegps: - this.state = AltosLib.ao_flight_stateless; - break; - } - } - - public void set_log_format(int log_format) { - this.log_format = log_format; - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_TELEGPS: - this.state = AltosLib.ao_flight_stateless; - break; - } - } - - public void set_log_space(int log_space) { - this.log_space = log_space; - } - - public void set_flight_params(int apogee_delay, int main_deploy) { - this.apogee_delay = apogee_delay; - this.main_deploy = main_deploy; - } - - public void set_config(int major, int minor, int flight_log_max) { - config_major = major; - config_minor = minor; - this.flight_log_max = flight_log_max; - } - - public void set_callsign(String callsign) { - this.callsign = callsign; - } - - public void set_firmware_version(String version) { - firmware_version = version; - } - - public int compare_version(String other_version) { - if (firmware_version == null) - return AltosLib.MISSING; - return AltosLib.compare_version(firmware_version, other_version); - } - private void re_init() { - int bt = boost_tick; - int rs = receiver_serial; init(); - boost_tick = bt; - receiver_serial = rs; - } - - public void set_flight(int flight) { - - /* When the flight changes, reset the state */ - if (flight != AltosLib.MISSING) { - if (this.flight != AltosLib.MISSING && - this.flight != flight) { - re_init(); - } - this.flight = flight; - } - } - - public void set_serial(int serial) { - /* When the serial changes, reset the state */ - if (serial != AltosLib.MISSING) { - if (this.serial != AltosLib.MISSING && - this.serial != serial) { - re_init(); - } - this.serial = serial; - } - } - - public void set_receiver_serial(int serial) { - if (serial != AltosLib.MISSING) - receiver_serial = serial; - } - - public boolean altitude_32() { - return altitude_32 == 1; - } - - public void set_altitude_32(int altitude_32) { - if (altitude_32 != AltosLib.MISSING) - this.altitude_32 = altitude_32; } public int rssi() { @@ -1206,42 +896,24 @@ public class AltosState implements Cloneable { received_time = ms; } - public void set_gps(AltosGPS gps, int sequence) { + public void set_gps(AltosGPS gps) { if (gps != null) { - this.gps = gps.clone(); - gps_sequence = sequence; + this.gps = gps; update_gps(); set |= set_gps; } } - - public double accel_zero_along; - public double accel_zero_across; - public double accel_zero_through; - public AltosRotation rotation; - public AltosRotation ground_rotation; - - public void set_accel_zero(double zero_along, double zero_across, double zero_through) { - if (zero_along != AltosLib.MISSING) { - accel_zero_along = zero_along; - accel_zero_across = zero_across; - accel_zero_through = zero_through; - } - } - - public int pad_orientation; public double accel_ground_along, accel_ground_across, accel_ground_through; void update_pad_rotation() { - if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) { - rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across), - AltosIMU.convert_accel(accel_ground_through - accel_zero_through), - AltosIMU.convert_accel(accel_ground_along - accel_zero_along), - pad_orientation); - ground_rotation = rotation; + if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) { + rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across), + AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through), + AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along), + cal_data().pad_orientation); orient.set_computed(rotation.tilt(), time); } } @@ -1253,197 +925,95 @@ public class AltosState implements Cloneable { update_pad_rotation(); } - public void set_pad_orientation(int pad_orientation) { - this.pad_orientation = pad_orientation; - update_pad_rotation(); - } - - public double gyro_zero_roll; - public double gyro_zero_pitch; - public double gyro_zero_yaw; - - public void set_gyro_zero(double roll, double pitch, double yaw) { - if (roll != AltosLib.MISSING) { - gyro_zero_roll = roll; - gyro_zero_pitch = pitch; - gyro_zero_yaw = yaw; - } - } - public double last_imu_time; - private double radians(double degrees) { - if (degrees == AltosLib.MISSING) - return AltosLib.MISSING; - return degrees * Math.PI / 180.0; - } - private void update_orient() { if (last_imu_time != AltosLib.MISSING) { double t = time - last_imu_time; - double pitch = radians(gyro_pitch()); - double yaw = radians(gyro_yaw()); - double roll = radians(gyro_roll()); + if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) { + double pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t; + double yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t; + double roll = AltosConvert.degrees_to_radians(gyro_roll) * t; - if (t > 0 & pitch != AltosLib.MISSING && rotation != null) { - rotation.rotate(t, pitch, yaw, roll); + rotation.rotate(pitch, yaw, roll); orient.set_computed(rotation.tilt(), time); } } last_imu_time = time; } - public void set_imu(AltosIMU imu) { - if (imu != null) - imu = imu.clone(); - this.imu = imu; + private double gyro_roll, gyro_pitch, gyro_yaw; + + public void set_gyro(double roll, double pitch, double yaw) { + gyro_roll = roll; + gyro_pitch = pitch; + gyro_yaw = yaw; update_orient(); } - private double gyro_zero_overflow(double first) { - double v = first / 128.0; - if (v < 0) - v = Math.ceil(v); - else - v = Math.floor(v); - return v * 128.0; - } + private double accel_along, accel_across, accel_through; - public void check_imu_wrap(AltosIMU imu) { - if (this.imu == null) { - gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll); - gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch); - gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw); - } + public void set_accel(double along, double across, double through) { + accel_along = along; + accel_across = across; + accel_through = through; + update_orient(); } public double accel_along() { - if (imu != null && accel_zero_along != AltosLib.MISSING) - return AltosIMU.convert_accel(imu.accel_along - accel_zero_along); - return AltosLib.MISSING; + return accel_along; } public double accel_across() { - if (imu != null && accel_zero_across != AltosLib.MISSING) - return AltosIMU.convert_accel(imu.accel_across - accel_zero_across); - return AltosLib.MISSING; + return accel_across; } public double accel_through() { - if (imu != null && accel_zero_through != AltosLib.MISSING) - return AltosIMU.convert_accel(imu.accel_through - accel_zero_through); - return AltosLib.MISSING; + return accel_through; } public double gyro_roll() { - if (imu != null && gyro_zero_roll != AltosLib.MISSING) { - return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll); - } - return AltosLib.MISSING; + return gyro_roll; } public double gyro_pitch() { - if (imu != null && gyro_zero_pitch != AltosLib.MISSING) { - return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch); - } - return AltosLib.MISSING; + return gyro_pitch; } public double gyro_yaw() { - if (imu != null && gyro_zero_yaw != AltosLib.MISSING) { - return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw); - } - return AltosLib.MISSING; + return gyro_yaw; } - public void set_mag(AltosMag mag) { - this.mag = mag.clone(); + private double mag_along, mag_across, mag_through; + + public void set_mag(double along, double across, double through) { + mag_along = along; + mag_across = across; + mag_through = through; } public double mag_along() { - if (mag != null) - return AltosMag.convert_gauss(mag.along); - return AltosLib.MISSING; + return mag_along; } public double mag_across() { - if (mag != null) - return AltosMag.convert_gauss(mag.across); - return AltosLib.MISSING; + return mag_across; } public double mag_through() { - if (mag != null) - return AltosMag.convert_gauss(mag.through); - return AltosLib.MISSING; - } - - public AltosMs5607 make_baro() { - if (baro == null) - baro = new AltosMs5607(); - return baro; - } - - public void set_ms5607(AltosMs5607 ms5607) { - baro = ms5607; - - if (baro != null) { - set_pressure(baro.pa); - set_temperature(baro.cc / 100.0); - } - } - - public void set_ms5607(int pres, int temp) { - if (baro != null) { - baro.set(pres, temp); - - set_pressure(baro.pa); - set_temperature(baro.cc / 100.0); - } + return mag_through; } public void set_companion(AltosCompanion companion) { this.companion = companion; } - void update_accel() { - if (accel == AltosLib.MISSING) - return; - if (accel_plus_g == AltosLib.MISSING) - return; - if (accel_minus_g == AltosLib.MISSING) - return; - - double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0; - double counts_per_mss = counts_per_g / 9.80665; - acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time); - } - - public void set_accel_g(double accel_plus_g, double accel_minus_g) { - if (accel_plus_g != AltosLib.MISSING) { - this.accel_plus_g = accel_plus_g; - this.accel_minus_g = accel_minus_g; - update_accel(); - } - } - - public void set_ground_accel(double ground_accel) { - if (ground_accel != AltosLib.MISSING) - this.ground_accel = ground_accel; - } - - public void set_accel(double accel) { - if (accel != AltosLib.MISSING) { - this.accel = accel; - if (state == AltosLib.ao_flight_pad) { - if (ground_accel_avg == AltosLib.MISSING) - ground_accel_avg = accel; - else - ground_accel_avg = (ground_accel_avg * 7 + accel) / 8; - } + public void set_acceleration(double acceleration) { + if (acceleration != AltosLib.MISSING) { + this.acceleration.set_measured(acceleration, time); + set |= set_data; } - update_accel(); } public void set_temperature(double temperature) { @@ -1481,78 +1051,21 @@ public class AltosState implements Cloneable { } } - public void set_ignitor_voltage(double[] voltage) { - this.ignitor_voltage = voltage; + public void set_igniter_voltage(double[] voltage) { + this.igniter_voltage = voltage; } public void set_pyro_fired(int fired) { this.pyro_fired = fired; } - public double time_since_boost() { - if (tick == AltosLib.MISSING) - return 0.0; - - if (boost_tick == AltosLib.MISSING) - return tick / 100.0; - return (tick - boost_tick) / 100.0; - } - - public boolean valid() { - return tick != AltosLib.MISSING && serial != AltosLib.MISSING; - } - - public AltosGPS make_temp_gps(boolean sats) { - if (temp_gps == null) { - temp_gps = new AltosGPS(gps); - } - gps_pending = true; - if (sats) { - if (tick != temp_gps_sat_tick) - temp_gps.cc_gps_sat = null; - temp_gps_sat_tick = tick; - } - return temp_gps; - } - - public void set_temp_gps() { - set_gps(temp_gps, gps_sequence + 1); - gps_pending = false; - temp_gps = null; - } - - public AltosState clone() { - AltosState s = new AltosState(); - s.copy(this); - - /* Code to test state save/restore. Enable only for that purpose - */ - if (false) { - AltosJson json = new AltosJson(this); - String onetrip = json.toPrettyString(); - AltosJson back = AltosJson.fromString(onetrip); - AltosState tripstate = (AltosState) back.make(this.getClass()); - AltosJson tripjson = new AltosJson(tripstate); - String twotrip = tripjson.toPrettyString(); - - if (!onetrip.equals(twotrip)) { - try { - FileWriter one_file = new FileWriter("one.json", true); - one_file.write(onetrip); - one_file.flush(); - FileWriter two_file = new FileWriter("two.json", true); - two_file.write(twotrip); - two_file.flush(); - } catch (Exception e) { - } - System.out.printf("json error\n"); - System.exit(1); - } - } - return s; + public AltosState() { + Thread.dumpStack(); + init(); } - public AltosState () { + public AltosState (AltosCalData cal_data) { + super(cal_data); init(); } } diff --git a/altoslib/AltosStateName.java b/altoslib/AltosStateName.java new file mode 100644 index 00000000..5ba21f27 --- /dev/null +++ b/altoslib/AltosStateName.java @@ -0,0 +1,32 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosStateName extends AltosUnits { + + public double value(double v, boolean imperial_units) { return v; } + + public double inverse(double v, boolean imperial_units) { return v; } + + public String string_value(double v, boolean imperial_units) { + return AltosLib.state_name((int) v); + } + + public String show_units(boolean imperial_units) { return "state"; } + + public String say_units(boolean imperial_units) { return "state"; } + + public int show_fraction(int width, boolean imperial_units) { return 0; } +} diff --git a/altoslib/AltosStringInputStream.java b/altoslib/AltosStringInputStream.java new file mode 100644 index 00000000..48fff3ea --- /dev/null +++ b/altoslib/AltosStringInputStream.java @@ -0,0 +1,61 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +import java.util.*; +import java.io.*; + +public class AltosStringInputStream extends InputStream { + + String s; + int at; + int mark; + + public int available() { + return s.length() - at; + } + + public void mark(int read_limit) { + mark = at; + } + + public boolean markSupported() { + return true; + } + + public int read() { + if (at == s.length()) + return -1; + return (int) s.charAt(at++); + } + + public void reset() { + at = mark; + } + + public long skip(long n) throws IOException { + if (n < 0) n = 0; + + if (at + n > s.length()) + n = s.length() - at; + at += n; + return n; + } + + public AltosStringInputStream(String s) { + this.s = s; + this.at = 0; + } +} diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java index f830bf35..7d576942 100644 --- a/altoslib/AltosTelemetry.java +++ b/altoslib/AltosTelemetry.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; @@ -24,13 +24,16 @@ import java.text.*; * Telemetry data contents */ -public abstract class AltosTelemetry implements AltosStateUpdate { +public abstract class AltosTelemetry implements AltosDataProvider { + int[] bytes; /* All telemetry packets have these fields */ - public int tick; - public int serial; - public int rssi; - public int status; + public int rssi() { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); } + public int status() { return AltosLib.uint8(bytes, bytes.length - 2); } + + /* All telemetry packets report these fields in some form */ + public abstract int serial(); + public abstract int tick(); /* Mark when we received the packet */ long received_time; @@ -43,13 +46,13 @@ public abstract class AltosTelemetry implements AltosStateUpdate { return sum == bytes[bytes.length - 1]; } - public void update_state(AltosState state) { - state.set_serial(serial); - if (state.state() == AltosLib.ao_flight_invalid) - state.set_state(AltosLib.ao_flight_startup); - state.set_tick(tick); - state.set_rssi(rssi, status); - state.set_received_time(received_time); + public void provide_data(AltosDataListener listener) { + listener.set_serial(serial()); + if (listener.state == AltosLib.ao_flight_invalid) + listener.set_state(AltosLib.ao_flight_startup); + listener.set_tick(tick()); + listener.set_rssi(rssi(), status()); + listener.set_received_time(received_time); } final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7); @@ -88,12 +91,6 @@ public abstract class AltosTelemetry implements AltosStateUpdate { if (!cksum(bytes)) throw new ParseException(String.format("invalid line \"%s\"", hex), 0); - int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74; - int status = AltosLib.uint8(bytes, bytes.length - 2); - - if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0) - throw new AltosCRCException(rssi); - /* length, data ..., rssi, status, checksum -- 4 bytes extra */ switch (bytes.length) { case AltosLib.ao_telemetry_standard_len + 4: @@ -108,35 +105,18 @@ public abstract class AltosTelemetry implements AltosStateUpdate { default: throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0); } - if (telem != null) { - telem.received_time = System.currentTimeMillis(); - telem.rssi = rssi; - telem.status = status; - } return telem; } - public static int extend_height(AltosState state, int height_16) { - double compare_height; - int height = height_16; - - if (state.gps != null && state.gps.alt != AltosLib.MISSING) { - compare_height = state.gps_height(); - } else { - compare_height = state.height(); - } - - if (compare_height != AltosLib.MISSING) { - int high_bits = (int) Math.floor (compare_height / 65536.0); - - height = (high_bits << 16) | (height_16 & 0xffff); + public AltosTelemetry() { + this.received_time = System.currentTimeMillis(); + } - if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height)) - height += 65536; - else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height)) - height -= 65536; - } - return height; + public AltosTelemetry(int[] bytes) throws AltosCRCException { + this(); + this.bytes = bytes; + if ((status() & PKT_APPEND_STATUS_1_CRC_OK) == 0) + throw new AltosCRCException(rssi()); } public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException { @@ -149,7 +129,7 @@ public abstract class AltosTelemetry implements AltosStateUpdate { throw new AltosCRCException(AltosParse.parse_int(word[i++])); } - AltosTelemetry telem; + AltosTelemetry telem = null; if (word[i].equals("TELEM")) { telem = parse_hex(word[i+1]); diff --git a/altoslib/AltosTelemetryCompanion.java b/altoslib/AltosTelemetryCompanion.java index a97fda2d..c6dfe3eb 100644 --- a/altoslib/AltosTelemetryCompanion.java +++ b/altoslib/AltosTelemetryCompanion.java @@ -16,24 +16,19 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryCompanion extends AltosTelemetryStandard { - AltosCompanion companion; - - static final public int max_channels = 12; - - public AltosTelemetryCompanion(int[] bytes) { - super(bytes); + AltosCompanion companion() { int channels = uint8(7); if (channels > max_channels) channels = max_channels; - companion = new AltosCompanion(channels); + AltosCompanion companion = new AltosCompanion(channels); - companion.tick = tick; + companion.tick = tick(); companion.board_id = uint8(5); companion.update_period = uint8(6); @@ -45,11 +40,17 @@ public class AltosTelemetryCompanion extends AltosTelemetryStandard { for (int i = 0; i < channels; i++) companion.companion_data[i] = uint16(8 + i * 2); } + return companion; } - public void update_state(AltosState state) { - super.update_state(state); + static final public int max_channels = 12; + + public AltosTelemetryCompanion(int[] bytes) throws AltosCRCException { + super(bytes); + } - state.set_companion(companion); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); + listener.set_companion(companion()); } } diff --git a/altoslib/AltosTelemetryConfiguration.java b/altoslib/AltosTelemetryConfiguration.java index 6ded5461..ea307442 100644 --- a/altoslib/AltosTelemetryConfiguration.java +++ b/altoslib/AltosTelemetryConfiguration.java @@ -16,47 +16,39 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryConfiguration extends AltosTelemetryStandard { - int device_type; - int flight; - int config_major; - int config_minor; - int apogee_delay; - int main_deploy; - int v_batt; - int flight_log_max; - String callsign; - String version; - - public AltosTelemetryConfiguration(int[] bytes) { - super(bytes); + int device_type() { return uint8(5); } + int flight() { return uint16(6); } + int config_major() { return uint8(8); } + int config_minor() { return uint8(9); } + int apogee_delay() { return uint16(10); } + int main_deploy() { return uint16(12); } + int v_batt() { return uint16(10); } + int flight_log_max() { return uint16(14); } + String callsign() { return string(16, 8); } + String version() { return string(24, 8); } - device_type = uint8(5); - flight = uint16(6); - config_major = uint8(8); - config_minor = uint8(9); - v_batt = uint16(10); - apogee_delay = uint16(10); - main_deploy = uint16(12); - flight_log_max = uint16(14); - callsign = string(16, 8); - version = string(24, 8); + public AltosTelemetryConfiguration(int[] bytes) throws AltosCRCException { + super(bytes); } - public void update_state(AltosState state) { - super.update_state(state); - state.set_device_type(device_type); - state.set_flight(flight); - state.set_config(config_major, config_minor, flight_log_max); - if (device_type == AltosLib.product_telegps) - state.set_battery_voltage(AltosConvert.tele_gps_voltage(v_batt)); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); + + AltosCalData cal_data = listener.cal_data(); + + cal_data.set_device_type(device_type()); + cal_data.set_flight(flight()); + cal_data.set_config(config_major(), config_minor(), flight_log_max()); + if (device_type() == AltosLib.product_telegps) + listener.set_battery_voltage(AltosConvert.tele_gps_voltage(v_batt())); else - state.set_flight_params(apogee_delay, main_deploy); + cal_data.set_flight_params(apogee_delay() / 100.0, main_deploy()); - state.set_callsign(callsign); - state.set_firmware_version(version); + cal_data.set_callsign(callsign()); + cal_data.set_firmware_version(version()); } } diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java index 9c5f8dae..135b0284 100644 --- a/altoslib/AltosTelemetryFile.java +++ b/altoslib/AltosTelemetryFile.java @@ -16,82 +16,125 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; import java.text.*; -class AltosTelemetryIterator implements Iterator<AltosState> { - AltosState state; - Iterator<AltosTelemetry> telems; - AltosTelemetry next; - boolean seen; - - public boolean hasNext() { - return !seen || telems.hasNext(); - } - - public AltosState next() { - if (seen) { - AltosState n = state.clone(); - AltosTelemetry t = telems.next(); - - t.update_state(n); - state = n; - } - seen = true; - return state; +class AltosTelemetryNullListener extends AltosDataListener { + public void set_rssi(int rssi, int status) { } + public void set_received_time(long received_time) { } + + public void set_acceleration(double accel) { } + public void set_pressure(double pa) { } + public void set_thrust(double N) { } + + public void set_kalman(double height, double speed, double accel) { } + + public void set_temperature(double deg_c) { } + public void set_battery_voltage(double volts) { } + + public void set_apogee_voltage(double volts) { } + public void set_main_voltage(double volts) { } + + public void set_gps(AltosGPS gps) { } + + public void set_orient(double orient) { } + public void set_gyro(double roll, double pitch, double yaw) { } + public void set_accel_ground(double along, double across, double through) { } + public void set_accel(double along, double across, double through) { } + public void set_mag(double along, double across, double through) { } + public void set_pyro_voltage(double volts) { } + public void set_igniter_voltage(double[] voltage) { } + public void set_pyro_fired(int pyro_mask) { } + public void set_companion(AltosCompanion companion) { } + + public boolean cal_data_complete() { + /* All telemetry packets */ + AltosCalData cal_data = cal_data(); + + if (cal_data.serial == AltosLib.MISSING) + return false; + + if (cal_data.boost_tick == AltosLib.MISSING) + return false; + + /* + * TelemetryConfiguration: + * + * device_type, flight, config version, log max, + * flight params, callsign and version + */ + if (cal_data.device_type == AltosLib.MISSING) + return false; + + /* + * TelemetrySensor or TelemetryMegaData: + * + * ground_accel, accel+/-, ground pressure + */ + if (cal_data.ground_pressure == AltosLib.MISSING) + return false; + + /* + * TelemetryLocation + */ + if (AltosLib.has_gps(cal_data.device_type) && cal_data.gps_pad == null) + return false; + + return true; } - public void remove () { - } - - public AltosTelemetryIterator(AltosState start, Iterator<AltosTelemetry> telems) { - this.state = start; - this.telems = telems; - this.seen = false; + public AltosTelemetryNullListener(AltosCalData cal_data) { + super(cal_data); } } -public class AltosTelemetryFile extends AltosStateIterable { +public class AltosTelemetryFile implements AltosRecordSet { AltosTelemetryIterable telems; - AltosState start; + AltosCalData cal_data; public void write_comments(PrintStream out) { } public void write(PrintStream out) { - } - public AltosTelemetryFile(FileInputStream input) { - telems = new AltosTelemetryIterable(input); - start = new AltosState(); - - /* Find boost tick */ - AltosState state = start.clone(); + /* Construct cal data by walking through the telemetry data until we've found everything available */ + public AltosCalData cal_data() { + if (cal_data == null) { + cal_data = new AltosCalData(); + AltosTelemetryNullListener l = new AltosTelemetryNullListener(cal_data); - for (AltosTelemetry telem : telems) { - telem.update_state(state); - state.finish_update(); - if (state.state() != AltosLib.ao_flight_invalid && state.state() >= AltosLib.ao_flight_boost) { - start.set_boost_tick(state.tick); - break; + for (AltosTelemetry telem : telems) { + telem.provide_data(l); + if (l.cal_data_complete()) + break; } } + return cal_data; } - public Iterator<AltosState> iterator() { - AltosState state = start.clone(); - Iterator<AltosTelemetry> i = telems.iterator(); + public void capture_series(AltosDataListener listener) { + AltosCalData cal_data = cal_data(); + + cal_data.reset(); + for (AltosTelemetry telem : telems) { + int tick = telem.tick(); + cal_data.set_tick(tick); - while (i.hasNext() && !state.valid()) { - AltosTelemetry t = i.next(); - t.update_state(state); - state.finish_update(); + /* Try to pick up at least one pre-boost value */ + if (cal_data.time() >= -2) + telem.provide_data(listener); + if (listener.state == AltosLib.ao_flight_landed) + break; } - return new AltosTelemetryIterator(state, i); + listener.finish(); + } + + public AltosTelemetryFile(FileInputStream input) throws IOException { + telems = new AltosTelemetryIterable(input); } } diff --git a/altoslib/AltosTelemetryIterable.java b/altoslib/AltosTelemetryIterable.java index 0cba86a3..d3e4ce67 100644 --- a/altoslib/AltosTelemetryIterable.java +++ b/altoslib/AltosTelemetryIterable.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.io.*; import java.util.*; @@ -67,7 +67,7 @@ public class AltosTelemetryIterable implements Iterable<AltosTelemetry> { int index; public void add (AltosTelemetry telem) { - int t = telem.tick; + int t = telem.tick(); if (!telems.isEmpty()) { while (t < tick - 1000) t += 65536; @@ -80,29 +80,25 @@ public class AltosTelemetryIterable implements Iterable<AltosTelemetry> { return new AltosTelemetryOrderedIterator(telems); } - public AltosTelemetryIterable (FileInputStream input) { + public AltosTelemetryIterable (FileInputStream input) throws IOException { telems = new TreeSet<AltosTelemetryOrdered> (); tick = 0; index = 0; - try { - for (;;) { - String line = AltosLib.gets(input); - if (line == null) { + for (;;) { + String line = AltosLib.gets(input); + if (line == null) { + break; + } + try { + AltosTelemetry telem = AltosTelemetry.parse(line); + if (telem == null) break; - } - try { - AltosTelemetry telem = AltosTelemetry.parse(line); - if (telem == null) - break; - add(telem); - } catch (ParseException pe) { - System.out.printf("parse exception %s\n", pe.getMessage()); - } catch (AltosCRCException ce) { - } + add(telem); + } catch (ParseException pe) { + System.out.printf("parse exception %s\n", pe.getMessage()); + } catch (AltosCRCException ce) { } - } catch (IOException io) { - System.out.printf("io exception\n"); } } } diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java index 08c52986..027f601e 100644 --- a/altoslib/AltosTelemetryLegacy.java +++ b/altoslib/AltosTelemetryLegacy.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; @@ -233,6 +233,17 @@ public class AltosTelemetryLegacy extends AltosTelemetry { final static String AO_TELEM_SAT_SVID = "s_v"; final static String AO_TELEM_SAT_C_N_0 = "s_c"; + public int tick; + public int serial; + public int rssi; + public int status; + + public int tick() { return tick; } + public int serial() { return serial; } + + public int rssi() { return rssi; } + public int status() { return status; } + public int version; public String callsign; public int flight; @@ -271,7 +282,6 @@ public class AltosTelemetryLegacy extends AltosTelemetry { flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING); rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING); state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid")); - tick = map.get_int(AO_TELEM_TICK, 0); /* raw sensor values */ accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING); @@ -420,7 +430,6 @@ public class AltosTelemetryLegacy extends AltosTelemetry { * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that */ - int[] bytes; int adjust; /* @@ -452,8 +461,9 @@ public class AltosTelemetryLegacy extends AltosTelemetry { static final int AO_GPS_DATE_VALID = (1 << 6); static final int AO_GPS_COURSE_VALID = (1 << 7); - public AltosTelemetryLegacy(int[] in_bytes) { - bytes = in_bytes; + public AltosTelemetryLegacy(int[] in_bytes) throws AltosCRCException { + super(in_bytes); + version = 4; adjust = 0; @@ -463,6 +473,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry { } else serial = uint16(0); + rssi = super.rssi(); callsign = string(62, 8); flight = uint16(2); state = uint8(4); @@ -537,23 +548,26 @@ public class AltosTelemetryLegacy extends AltosTelemetry { } } - public void update_state(AltosState state) { - state.set_tick(tick); - state.set_state(this.state); - state.set_flight(flight); - state.set_serial(serial); - state.set_rssi(rssi, status); + public void provide_data(AltosDataListener listener) { + listener.set_serial(serial); + listener.set_tick(tick); + listener.set_state(this.state); + listener.set_flight(flight); + listener.set_rssi(rssi, status); + + listener.set_pressure(AltosConvert.barometer_to_pressure(pres)); + + AltosCalData cal_data = listener.cal_data(); - state.set_pressure(AltosConvert.barometer_to_pressure(pres)); - state.set_accel_g(accel_plus_g, accel_minus_g); - state.set_accel(accel); + cal_data.set_accel_plus_minus(accel_plus_g, accel_minus_g); + listener.set_acceleration(cal_data.acceleration(accel)); if (kalman_height != AltosLib.MISSING) - state.set_kalman(kalman_height, kalman_speed, kalman_acceleration); - state.set_temperature(AltosConvert.thermometer_to_temperature(temp)); - state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt)); - state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee)); - state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main)); + listener.set_kalman(kalman_height, kalman_speed, kalman_acceleration); + listener.set_temperature(AltosConvert.thermometer_to_temperature(temp)); + listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt)); + listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(apogee)); + listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(main)); if (gps != null) - state.set_gps(gps, gps_sequence); + listener.set_gps(gps); } } diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java index 11995640..f4366e33 100644 --- a/altoslib/AltosTelemetryLocation.java +++ b/altoslib/AltosTelemetryLocation.java @@ -16,81 +16,73 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryLocation extends AltosTelemetryStandard { - int flags; - int altitude; - int latitude; - int longitude; - int year; - int month; - int day; - int hour; - int minute; - int second; - int pdop; - int hdop; - int vdop; - int mode; - int ground_speed; - int climb_rate; - int course; + int flags() { return uint8(5); } + int altitude() { + if ((mode() & AO_GPS_MODE_ALTITUDE_24) != 0) + return (int8(31) << 16) | uint16(6); + else + return int16(6); + } + int latitude() { return uint32(8); } + int longitude() { return uint32(12); } + int year() { return uint8(16); } + int month() { return uint8(17); } + int day() { return uint8(18); } + int hour() { return uint8(19); } + int minute() { return uint8(20); } + int second() { return uint8(21); } + int pdop() { return uint8(22); } + int hdop() { return uint8(23); } + int vdop() { return uint8(24); } + int mode() { return uint8(25); } + int ground_speed() { return uint16(26); } + int climb_rate() { return int16(28); } + int course() { return uint8(30); } public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */ - public AltosTelemetryLocation(int[] bytes) { + public AltosTelemetryLocation(int[] bytes) throws AltosCRCException { super(bytes); + } - flags = uint8(5); - latitude = uint32(8); - longitude = uint32(12); - year = uint8(16); - month = uint8(17); - day = uint8(18); - hour = uint8(19); - minute = uint8(20); - second = uint8(21); - pdop = uint8(22); - hdop = uint8(23); - vdop = uint8(24); - mode = uint8(25); - ground_speed = uint16(26); - climb_rate = int16(28); - course = uint8(30); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - if ((mode & AO_GPS_MODE_ALTITUDE_24) != 0) { - altitude = (int8(31) << 16) | uint16(6); - } else - altitude = int16(6); - } + AltosCalData cal_data = listener.cal_data(); - public void update_state(AltosState state) { - super.update_state(state); - AltosGPS gps = state.make_temp_gps(false); + AltosGPS gps = cal_data.make_temp_gps(tick(), false); + int flags = flags(); gps.nsat = flags & 0xf; gps.locked = (flags & (1 << 4)) != 0; gps.connected = (flags & (1 << 5)) != 0; + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; if (gps.locked) { - gps.lat = latitude * 1.0e-7; - gps.lon = longitude * 1.0e-7; - gps.alt = altitude; - gps.year = 2000 + year; - gps.month = month; - gps.day = day; - gps.hour = hour; - gps.minute = minute; - gps.second = second; - gps.ground_speed = ground_speed * 1.0e-2; - gps.course = course * 2; - gps.climb_rate = climb_rate * 1.0e-2; - gps.pdop = pdop / 10.0; - gps.hdop = hdop / 10.0; - gps.vdop = vdop / 10.0; + gps.lat = latitude() * 1.0e-7; + gps.lon = longitude() * 1.0e-7; + gps.alt = altitude(); + gps.year = 2000 + year(); + gps.month = month(); + gps.day = day(); + gps.hour = hour(); + gps.minute = minute(); + gps.second = second(); + gps.ground_speed = ground_speed() * 1.0e-2; + gps.course = course() * 2; + gps.climb_rate = climb_rate() * 1.0e-2; + + if (gps.nsat >= 4) + cal_data.set_gps(gps); } - state.set_temp_gps(); + listener.set_gps(gps); + cal_data.set_gps(gps); + cal_data.reset_temp_gps(); } } diff --git a/altoslib/AltosTelemetryMap.java b/altoslib/AltosTelemetryMap.java index c8185434..a7ddc684 100644 --- a/altoslib/AltosTelemetryMap.java +++ b/altoslib/AltosTelemetryMap.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.util.HashMap; diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java index 6ea5ec89..7ef9c637 100644 --- a/altoslib/AltosTelemetryMegaData.java +++ b/altoslib/AltosTelemetryMegaData.java @@ -16,78 +16,58 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMegaData extends AltosTelemetryStandard { - int state; - int v_batt; - int v_pyro; - int sense[]; + int state() { return uint8(5); } - int ground_pres; - int ground_accel; - int accel_plus_g; - int accel_minus_g; + int v_batt() { return int16(6); } + int v_pyro() { return int16(8); } + int sense(int i) { int v = uint8(10+i); return v << 4 | v >> 8; } - int acceleration; - int speed; - int height_16; + int ground_pres() { return int32(16); } + int ground_accel() { return int16(20); } + int accel_plus_g() { return int16(22); } + int accel_minus_g() { return int16(24);} - public AltosTelemetryMegaData(int[] bytes) { - super(bytes); - - state = uint8(5); - - v_batt = int16(6); - v_pyro = int16(8); - - sense = new int[6]; - - for (int i = 0; i < 6; i++) { - sense[i] = uint8(10 + i) << 4; - sense[i] |= sense[i] >> 8; - } + int acceleration() { return int16(26); } + int speed() { return int16(28); } + int height_16() { return int16(30); } - ground_pres = int32(16); - ground_accel = int16(20); - accel_plus_g = int16(22); - accel_minus_g = int16(24); - - acceleration = int16(26); - speed = int16(28); - - height_16 = int16(30); + public AltosTelemetryMegaData(int[] bytes) throws AltosCRCException { + super(bytes); } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - state.set_state(this.state); + listener.set_state(state()); - state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt)); - state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro)); + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); + listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro())); - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4])); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5])); + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(4))); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(5))); double voltages[] = new double[4]; for (int i = 0; i < 4; i++) - voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]); + voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); + + listener.set_igniter_voltage(voltages); - state.set_ignitor_voltage(voltages); + AltosCalData cal_data = listener.cal_data(); - state.set_ground_accel(ground_accel); - state.set_ground_pressure(ground_pres); - state.set_accel_g(accel_plus_g, accel_minus_g); + cal_data.set_ground_accel(ground_accel()); + cal_data.set_ground_pressure(ground_pres()); + cal_data.set_accel_plus_minus(accel_plus_g(), accel_minus_g()); /* Fill in the high bits of height from recent GPS * data if available, otherwise guess using the * previous kalman height */ - state.set_kalman(extend_height(state, height_16), - speed/16.0, acceleration / 16.0); + listener.set_kalman(height_16(), speed()/16.0, acceleration() / 16.0); } } diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java index 2dfc455a..4c64b554 100644 --- a/altoslib/AltosTelemetryMegaSensor.java +++ b/altoslib/AltosTelemetryMegaSensor.java @@ -16,64 +16,68 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { - int accel; - int pres; - int temp; + int orient() { return int8(5); } - int accel_x; - int accel_y; - int accel_z; + int accel() { return int16(6); } + int pres() { return int32(8); } + int temp() { return int16(12); } - int gyro_x; - int gyro_y; - int gyro_z; + int accel_x() { return int16(14); } + int accel_y() { return int16(16); } + int accel_z() { return int16(18); } - int mag_x; - int mag_y; - int mag_z; + int gyro_x() { return int16(20); } + int gyro_y() { return int16(22); } + int gyro_z() { return int16(24); } - int orient; + int mag_x() { return int16(26); } + int mag_z() { return int16(28); } + int mag_y() { return int16(30); } - public AltosTelemetryMegaSensor(int[] bytes) { + public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException { super(bytes); + } - orient = int8(5); - accel = int16(6); - pres = int32(8); - temp = int16(12); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - accel_x = int16(14); - accel_y = int16(16); - accel_z = int16(18); + AltosCalData cal_data = listener.cal_data(); - gyro_x = int16(20); - gyro_y = int16(22); - gyro_z = int16(24); + listener.set_acceleration(cal_data.acceleration(accel())); + listener.set_pressure(pres()); + listener.set_temperature(temp() / 100.0); - mag_x = int16(26); - mag_y = int16(28); - mag_z = int16(30); - } + listener.set_orient(orient()); - public void update_state(AltosState state) { - super.update_state(state); + /* XXX we have no calibration data for these values */ - state.set_accel(accel); - state.set_pressure(pres); - state.set_temperature(temp / 100.0); + if (cal_data.accel_zero_along == AltosLib.MISSING) + cal_data.set_accel_zero(0, 0, 0); + if (cal_data.gyro_zero_roll == AltosLib.MISSING) + cal_data.set_gyro_zero(0, 0, 0); - state.set_orient(orient); + int accel_along = accel_y(); + int accel_across = accel_x(); + int accel_through = accel_z(); + int gyro_roll = gyro_y(); + int gyro_pitch = gyro_x(); + int gyro_yaw = gyro_z(); - state.set_imu(new AltosIMU(accel_y, /* along */ - accel_x, /* across */ - accel_z, /* through */ - gyro_y, /* along */ - gyro_x, /* across */ - gyro_z)); /* through */ + int mag_along = mag_y(); + int mag_across = mag_x(); + int mag_through = mag_z(); - state.set_mag(new AltosMag(mag_x, mag_y, mag_z)); + listener.set_accel(cal_data.accel_along(accel_along), + cal_data.accel_across(accel_across), + cal_data.accel_through(accel_through)); + listener.set_gyro(cal_data.gyro_roll(gyro_roll), + cal_data.gyro_pitch(gyro_pitch), + cal_data.gyro_yaw(gyro_yaw)); + listener.set_mag(cal_data.mag_along(mag_along), + cal_data.mag_across(mag_across), + cal_data.mag_through(mag_through)); } } diff --git a/altoslib/AltosTelemetryMetrumData.java b/altoslib/AltosTelemetryMetrumData.java index 53a10cc4..8cd09b41 100644 --- a/altoslib/AltosTelemetryMetrumData.java +++ b/altoslib/AltosTelemetryMetrumData.java @@ -16,28 +16,23 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMetrumData extends AltosTelemetryStandard { - int ground_pres; - int ground_accel; - int accel_plus_g; - int accel_minus_g; + int ground_pres() { return int32(8); } + int ground_accel() { return int16(12); } + int accel_plus_g() { return int16(14); } + int accel_minus_g() { return int16(16); } - public AltosTelemetryMetrumData(int[] bytes) { + public AltosTelemetryMetrumData(int[] bytes) throws AltosCRCException { super(bytes); - - ground_pres = int32(8); - ground_accel = int16(12); - accel_plus_g = int16(14); - accel_minus_g = int16(16); } - public void update_state(AltosState state) { - state.set_ground_accel(ground_accel); - state.set_accel_g(accel_plus_g, accel_minus_g); - state.set_ground_pressure(ground_pres); + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + cal_data.set_ground_accel(ground_accel()); + cal_data.set_accel_plus_minus(accel_plus_g(), accel_minus_g()); + cal_data.set_ground_pressure(ground_pres()); } } diff --git a/altoslib/AltosTelemetryMetrumSensor.java b/altoslib/AltosTelemetryMetrumSensor.java index e15043b4..79d3a499 100644 --- a/altoslib/AltosTelemetryMetrumSensor.java +++ b/altoslib/AltosTelemetryMetrumSensor.java @@ -16,56 +16,42 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { - int state; + int state() { return uint8(5); } - int accel; - int pres; - int temp; + int accel() { return int16(6); } + int pres() { return int32(8); } + int temp() { return int16(12); } - int acceleration; - int speed; - int height_16; + int acceleration() { return int16(14); } + int speed() { return int16(16); } + int height_16() { return int16(18); } - int v_batt; - int sense_a; - int sense_m; + int v_batt() { return int16(20); } + int sense_a() { return int16(22); } + int sense_m() { return int16(24); } - public AltosTelemetryMetrumSensor(int[] bytes) { + public AltosTelemetryMetrumSensor(int[] bytes) throws AltosCRCException { super(bytes); - - state = int8(5); - accel = int16(6); - pres = int32(8); - temp = int16(12); - - acceleration = int16(14); - speed = int16(16); - height_16 = int16(18); - - v_batt = int16(20); - sense_a = int16(22); - sense_m = int16(24); } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - state.set_state(this.state); + listener.set_state(state()); - state.set_accel(accel); - state.set_pressure(pres); - state.set_temperature(temp/100.0); + listener.set_acceleration(listener.cal_data().acceleration(accel())); + listener.set_pressure(pres()); + listener.set_temperature(temp()/100.0); - state.set_kalman(extend_height(state, height_16), - speed/16.0, acceleration/16.0); + listener.set_kalman(height_16(), speed()/16.0, acceleration()/16.0); - state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt)); + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a)); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m)); + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a())); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m())); } } diff --git a/altoslib/AltosTelemetryMini2.java b/altoslib/AltosTelemetryMini2.java index 50ec504d..3ea287ac 100644 --- a/altoslib/AltosTelemetryMini2.java +++ b/altoslib/AltosTelemetryMini2.java @@ -16,58 +16,46 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMini2 extends AltosTelemetryStandard { - int state; - int v_batt; - int sense_a; - int sense_m; + int state() { return uint8(5); } - int pres; - int temp; + int v_batt() { return int16(6); } + int sense_a() { return int16(8); } + int sense_m() { return int16(10); } - int acceleration; - int speed; - int height; + int pres() { return int32(12); } + int temp() { return int16(16); } - int ground_pres; + int acceleration() { return int16(18); } + int speed() { return int16(20); } + int height() { return int16(22); } - public AltosTelemetryMini2(int[] bytes) { - super(bytes); - - state = int8(5); - - v_batt = int16(6); - sense_a = int16(8); - sense_m = int16(10); - - pres = int32(12); - temp = int16(16); + int ground_pres() { return int32(24); } - acceleration = int16(18); - speed = int16(20); - height = int16(22); - - ground_pres = int32(24); + public AltosTelemetryMini2(int[] bytes) throws AltosCRCException { + super(bytes); } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); + + listener.set_state(state()); - state.set_state(this.state); + listener.set_battery_voltage(AltosConvert.tele_mini_2_voltage(v_batt())); + listener.set_apogee_voltage(AltosConvert.tele_mini_2_voltage(sense_a())); + listener.set_main_voltage(AltosConvert.tele_mini_2_voltage(sense_m())); - state.set_battery_voltage(AltosConvert.tele_mini_2_voltage(v_batt)); - state.set_apogee_voltage(AltosConvert.tele_mini_2_voltage(sense_a)); - state.set_main_voltage(AltosConvert.tele_mini_2_voltage(sense_m)); + AltosCalData cal_data = listener.cal_data(); - state.set_ground_pressure(ground_pres); + cal_data.set_ground_pressure(ground_pres()); - state.set_pressure(pres); - state.set_temperature(temp/100.0); + listener.set_pressure(pres()); + listener.set_temperature(temp()/100.0); - state.set_kalman(height, speed/16.0, acceleration/16.0); + listener.set_kalman(height(), speed()/16.0, acceleration()/16.0); } } diff --git a/altoslib/AltosTelemetryMini3.java b/altoslib/AltosTelemetryMini3.java index 21f8c485..c66f8e61 100644 --- a/altoslib/AltosTelemetryMini3.java +++ b/altoslib/AltosTelemetryMini3.java @@ -16,61 +16,45 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMini3 extends AltosTelemetryStandard { - int state; + int state() { return uint8(5); } - int v_batt; - int sense_a; - int sense_m; + int v_batt() { return int16(6); } + int sense_a() { return int16(8); } + int sense_m() { return int16(10); } - int pres; - int temp; + int pres() { return int32(12); } + int temp() { return int16(16); } - int acceleration; - int speed; - int height_16; + int acceleration() { return int16(18); } + int speed() { return int16(20); } + int height_16() { return int16(22); } - int ground_pres; + int ground_pres() { return int32(24); } - public AltosTelemetryMini3(int[] bytes) { + public AltosTelemetryMini3(int[] bytes) throws AltosCRCException { super(bytes); - - state = int8(5); - - v_batt = int16(6); - sense_a = int16(8); - sense_m = int16(10); - - pres = int32(12); - temp = int16(16); - - acceleration = int16(18); - speed = int16(20); - height_16 = int16(22); - - ground_pres = int32(24); } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - state.set_state(this.state); + listener.set_state(state()); - state.set_battery_voltage(AltosConvert.tele_mini_3_battery_voltage(v_batt)); + listener.set_battery_voltage(AltosConvert.tele_mini_3_battery_voltage(v_batt())); - state.set_apogee_voltage(AltosConvert.tele_mini_3_pyro_voltage(sense_a)); - state.set_main_voltage(AltosConvert.tele_mini_3_pyro_voltage(sense_m)); + listener.set_apogee_voltage(AltosConvert.tele_mini_3_pyro_voltage(sense_a())); + listener.set_main_voltage(AltosConvert.tele_mini_3_pyro_voltage(sense_m())); - state.set_pressure(pres); - state.set_temperature(temp/100.0); + listener.cal_data().set_ground_pressure(ground_pres()); - state.set_kalman(extend_height(state, height_16), - speed/16.0, acceleration/16.0); + listener.set_pressure(pres()); + listener.set_temperature(temp()/100.0); - state.set_ground_pressure(ground_pres); + listener.set_kalman(height_16(), speed()/16.0, acceleration()/16.0); } } diff --git a/altoslib/AltosTelemetryRaw.java b/altoslib/AltosTelemetryRaw.java index 339043a6..f2108d68 100644 --- a/altoslib/AltosTelemetryRaw.java +++ b/altoslib/AltosTelemetryRaw.java @@ -16,14 +16,14 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryRaw extends AltosTelemetryStandard { - public AltosTelemetryRaw(int[] bytes) { + public AltosTelemetryRaw(int[] bytes) throws AltosCRCException { super(bytes); } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); } } diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java index 6a93c2c3..26fe4f26 100644 --- a/altoslib/AltosTelemetryReader.java +++ b/altoslib/AltosTelemetryReader.java @@ -16,19 +16,20 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; import java.io.*; import java.util.concurrent.*; public class AltosTelemetryReader extends AltosFlightReader { - AltosLink link; - AltosLog log; - double frequency; - int telemetry; - int telemetry_rate; - AltosState state = null; + AltosLink link; + AltosLog log; + double frequency; + int telemetry; + int telemetry_rate; + private AltosState state = null; + private AltosCalData cal_data = null; LinkedBlockingQueue<AltosLine> telem; @@ -40,14 +41,22 @@ public class AltosTelemetryReader extends AltosFlightReader { throw new IOException("IO error"); } while (!link.get_monitor()); AltosTelemetry telem = AltosTelemetry.parse(l.line); - if (state == null) - state = new AltosState(); - else - state = state.clone(); - telem.update_state(state); + if (state == null) { + System.out.printf("Make state\n"); + state = new AltosState(cal_data()); + } + telem.provide_data(state); return state; } + public AltosCalData cal_data() { + if (cal_data == null) { + System.out.printf("Make cal data\n"); + cal_data = new AltosCalData(); + } + return cal_data; + } + public void flush() { telem.clear(); } @@ -55,6 +64,7 @@ public class AltosTelemetryReader extends AltosFlightReader { public void reset() { flush(); state = null; + cal_data = null; } public void close(boolean interrupted) { diff --git a/altoslib/AltosTelemetrySatellite.java b/altoslib/AltosTelemetrySatellite.java index 6897f0e6..60bc4a51 100644 --- a/altoslib/AltosTelemetrySatellite.java +++ b/altoslib/AltosTelemetrySatellite.java @@ -16,16 +16,15 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetrySatellite extends AltosTelemetryStandard { - int channels; - AltosGPSSat[] sats; + int channels() { return uint8(5); } - public AltosTelemetrySatellite(int[] bytes) { - super(bytes); + AltosGPSSat[] sats() { + int channels = channels(); + AltosGPSSat[] sats = null; - channels = uint8(5); if (channels > 12) channels = 12; if (channels == 0) @@ -38,14 +37,22 @@ public class AltosTelemetrySatellite extends AltosTelemetryStandard { sats[i] = new AltosGPSSat(svid, c_n_1); } } + return sats; } - public void update_state(AltosState state) { - super.update_state(state); + public AltosTelemetrySatellite(int[] bytes) throws AltosCRCException { + super(bytes); + } + + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); + + AltosCalData cal_data = listener.cal_data(); - AltosGPS gps = state.make_temp_gps(true); + AltosGPS gps = cal_data.make_temp_gps(tick(), true); - gps.cc_gps_sat = sats; - state.set_temp_gps(); + gps.cc_gps_sat = sats(); + listener.set_gps(gps); + cal_data.reset_temp_gps(); } } diff --git a/altoslib/AltosTelemetrySensor.java b/altoslib/AltosTelemetrySensor.java index 3c3e6a01..dc8efa9b 100644 --- a/altoslib/AltosTelemetrySensor.java +++ b/altoslib/AltosTelemetrySensor.java @@ -16,66 +16,52 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetrySensor extends AltosTelemetryStandard { - int state; - int accel; - int pres; - int temp; - int v_batt; - int sense_d; - int sense_m; + int state() { return uint8(5); } + int accel() { return int16(6); } + int pres() { return int16(8); } + int temp() { return int16(10); } + int v_batt() { return int16(12); } + int sense_d() { return int16(14); } + int sense_m() { return int16(16); } - int acceleration; - int speed; - int height; + int acceleration() { return int16(18); } + int speed() { return int16(20); } + int height_16() { return int16(22); } - int ground_accel; - int ground_pres; - int accel_plus_g; - int accel_minus_g; + int ground_accel() { return int16(24); } + int ground_pres() { return int16(26); } + int accel_plus_g() { return int16(28); } + int accel_minus_g() { return int16(30); } - public AltosTelemetrySensor(int[] bytes) { + public AltosTelemetrySensor(int[] bytes) throws AltosCRCException { super(bytes); - state = uint8(5); - - accel = int16(6); - pres = int16(8); - temp = int16(10); - v_batt = int16(12); - sense_d = int16(14); - sense_m = int16(16); + } - acceleration = int16(18); - speed = int16(20); - height = int16(22); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - ground_pres = int16(24); - ground_accel = int16(26); - accel_plus_g = int16(28); - accel_minus_g = int16(30); - } + listener.set_state(state()); - public void update_state(AltosState state) { - super.update_state(state); + AltosCalData cal_data = listener.cal_data(); - state.set_state(this.state); - if (type == packet_type_TM_sensor) { - state.set_ground_accel(ground_accel); - state.set_accel_g(accel_plus_g, accel_minus_g); - state.set_accel(accel); + if (type() == packet_type_TM_sensor) { + cal_data.set_ground_accel(ground_accel()); + cal_data.set_accel_plus_minus(accel_plus_g(), accel_minus_g()); + listener.set_acceleration(cal_data.acceleration(accel())); } - state.set_ground_pressure(AltosConvert.barometer_to_pressure(ground_pres)); - state.set_pressure(AltosConvert.barometer_to_pressure(pres)); - state.set_temperature(AltosConvert.thermometer_to_temperature(temp)); - state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt)); - if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) { - state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sense_d)); - state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sense_m)); + cal_data.set_ground_pressure(AltosConvert.barometer_to_pressure(ground_pres())); + listener.set_pressure(AltosConvert.barometer_to_pressure(pres())); + listener.set_temperature(AltosConvert.thermometer_to_temperature(temp())); + listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt())); + if (type() == packet_type_TM_sensor || type() == packet_type_Tm_sensor) { + listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(sense_d())); + listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(sense_m())); } - state.set_kalman(height, speed/16.0, acceleration / 16.0); + listener.set_kalman(height_16(), speed()/16.0, acceleration()/16.0); } } diff --git a/altoslib/AltosTelemetryStandard.java b/altoslib/AltosTelemetryStandard.java index 35d315c7..2a1c9365 100644 --- a/altoslib/AltosTelemetryStandard.java +++ b/altoslib/AltosTelemetryStandard.java @@ -16,12 +16,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public abstract class AltosTelemetryStandard extends AltosTelemetry { - int[] bytes; - int type; - public int int8(int off) { return AltosLib.int8(bytes, off + 1); } @@ -50,10 +47,16 @@ public abstract class AltosTelemetryStandard extends AltosTelemetry { return AltosLib.string(bytes, off + 1, l); } - public static AltosTelemetry parse_hex(int[] bytes) { - int type = AltosLib.uint8(bytes, 4 + 1); + public int type() { return uint8(4); } + + public int serial() { return uint16(0); } + + public int tick() { return uint16(2); } + public static AltosTelemetry parse_hex(int[] bytes) throws AltosCRCException { AltosTelemetry telem; + + int type = AltosLib.uint8(bytes, 4+1); switch (type) { case packet_type_TM_sensor: case packet_type_Tm_sensor: @@ -97,15 +100,11 @@ public abstract class AltosTelemetryStandard extends AltosTelemetry { return telem; } - public AltosTelemetryStandard(int[] bytes) { - this.bytes = bytes; - - serial = uint16(0); - tick = uint16(2); - type = uint8(4); + public AltosTelemetryStandard(int[] bytes) throws AltosCRCException { + super(bytes); } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); } } diff --git a/altoslib/AltosTemperature.java b/altoslib/AltosTemperature.java index d63e81d1..efc6d5e1 100644 --- a/altoslib/AltosTemperature.java +++ b/altoslib/AltosTemperature.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTemperature extends AltosUnits { diff --git a/altoslib/AltosTime.java b/altoslib/AltosTime.java new file mode 100644 index 00000000..5c6ab037 --- /dev/null +++ b/altoslib/AltosTime.java @@ -0,0 +1,33 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +public class AltosTime extends AltosUnits { + public double value(double v, boolean imperial_units) { return v; } + + public double inverse(double v, boolean imperial_unis) { return v; } + + public String show_units(boolean imperial_units) { return "s"; } + + public String say_units(boolean imperial_units) { return "seconds"; } + + public int show_fraction(int width, boolean imperial_units) { + if (width < 5) + return 0; + return width - 5; + } + + public int say_fraction(boolean imperial_units) { return 0; } +} diff --git a/altoslib/AltosTimeSeries.java b/altoslib/AltosTimeSeries.java new file mode 100644 index 00000000..b3c432fc --- /dev/null +++ b/altoslib/AltosTimeSeries.java @@ -0,0 +1,307 @@ +/* + * Copyright © 2017 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, either version 2 of the License, or + * (at your option) any later version. + * + * 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. + */ + +package org.altusmetrum.altoslib_12; + +import java.util.*; + +public class AltosTimeSeries implements Iterable<AltosTimeValue>, Comparable<AltosTimeSeries> { + public String label; + public AltosUnits units; + ArrayList<AltosTimeValue> values; + + public int compareTo(AltosTimeSeries other) { + return label.compareTo(other.label); + } + + public void add(AltosTimeValue tv) { + values.add(tv); + } + + public void add(double time, double value) { + add(new AltosTimeValue(time, value)); + } + + public AltosTimeValue get(int i) { + return values.get(i); + } + + private double lerp(AltosTimeValue v0, AltosTimeValue v1, double t) { + /* degenerate case */ + if (v0.time == v1.time) + return (v0.value + v1.value) / 2; + + return (v0.value * (v1.time - t) + v1.value * (t - v0.time)) / (v1.time - v0.time); + } + + private int after_index(double time) { + int lo = 0; + int hi = values.size() - 1; + + while (lo <= hi) { + int mid = (lo + hi) / 2; + + if (values.get(mid).time < time) + lo = mid + 1; + else + hi = mid - 1; + } + return lo; + } + + /* Compute a value for an arbitrary time */ + public double value(double time) { + int after = after_index(time); + double ret; + + if (after == 0) + ret = values.get(0).value; + else if (after == values.size()) + ret = values.get(after - 1).value; + else { + AltosTimeValue b = values.get(after-1); + AltosTimeValue a = values.get(after); + ret = lerp(b, a, time); + } + return ret; + } + + /* Find the value just before an arbitrary time */ + public double value_before(double time) { + int after = after_index(time); + + if (after == 0) + return values.get(0).value; + return values.get(after-1).value; + } + + /* Find the value just after an arbitrary time */ + public double value_after(double time) { + int after = after_index(time); + + if (after == values.size()) + return values.get(after-1).value; + 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(); + } + + public Iterator<AltosTimeValue> iterator() { + return values.iterator(); + } + + public AltosTimeValue max() { + AltosTimeValue max = null; + for (AltosTimeValue tv : values) + if (max == null || tv.value > max.value) + max = tv; + return max; + } + + public AltosTimeValue max(double start_time, double end_time) { + AltosTimeValue max = null; + for (AltosTimeValue tv : values) { + if (start_time <= tv.time && tv.time <= end_time) + if (max == null || tv.value > max.value) + max = tv; + } + return max; + } + + public AltosTimeValue min() { + AltosTimeValue min = null; + for (AltosTimeValue tv : values) { + if (min == null || tv.value < min.value) + min = tv; + } + return min; + } + + public AltosTimeValue min(double start_time, double end_time) { + AltosTimeValue min = null; + for (AltosTimeValue tv : values) { + if (start_time <= tv.time && tv.time <= end_time) + if (min == null || tv.value < min.value) + min = tv; + } + return min; + } + + public AltosTimeValue first() { + return values.get(0); + } + + public AltosTimeValue last() { + return values.get(values.size() - 1); + } + + public double average() { + double total_value = 0; + double total_time = 0; + AltosTimeValue prev = null; + for (AltosTimeValue tv : values) { + if (prev != null) { + total_value += (tv.value + prev.value) / 2 * (tv.time - prev.time); + total_time += (tv.time - prev.time); + } + prev = tv; + } + if (total_time == 0) + return AltosLib.MISSING; + return total_value / total_time; + } + + public double average(double start_time, double end_time) { + double total_value = 0; + double total_time = 0; + AltosTimeValue prev = null; + for (AltosTimeValue tv : values) { + if (start_time <= tv.time && tv.time <= end_time) { + if (prev != null) { + total_value += (tv.value + prev.value) / 2 * (tv.time - start_time); + total_time += (tv.time - start_time); + } + start_time = tv.time; + } + prev = tv; + } + if (total_time == 0) + return AltosLib.MISSING; + return total_value / total_time; + } + + public AltosTimeSeries integrate(AltosTimeSeries integral) { + double value = 0.0; + double pvalue = 0.0; + double time = 0.0; + boolean start = true; + + for (AltosTimeValue v : values) { + if (start) { + value = 0.0; + start = false; + } else { + value += (pvalue + v.value) / 2.0 * (v.time - time); + } + pvalue = v.value; + time = v.time; + integral.add(time, value); + + } + return integral; + } + + public AltosTimeSeries differentiate(AltosTimeSeries diff) { + double value = 0.0; + double time = 0.0; + boolean start = true; + + for (AltosTimeValue v: values) { + if (start) { + value = v.value; + time = v.time; + start = false; + } else { + double dx = v.time - time; + double dy = v.value - value; + + if (dx != 0) + diff.add(time, dy/dx); + + time = v.time; + value = v.value; + } + } + return diff; + } + + private int find_left(int i, double dt) { + int j; + double t = values.get(i).time - dt; + for (j = i; j >= 0; j--) { + if (values.get(j).time < t) + break; + } + return j + 1; + + } + + private int find_right(int i, double dt) { + int j; + double t = values.get(i).time + dt; + for (j = i; j < values.size(); j++) { + if (values.get(j).time > t) + break; + } + return j - 1; + + } + + private double filter_coeff(double dist, double width) { + double ratio = dist / (width / 2); + + return Math.cos(ratio * Math.PI / 2); + } + + public AltosTimeSeries filter(AltosTimeSeries f, double width) { + double half_width = width/2; + for (int i = 0; i < values.size(); i++) { + double center_time = values.get(i).time; + double left_time = center_time - half_width; + double right_time = center_time + half_width; + double total_coeff = 0.0; + double total_value = 0.0; + + int left = find_left(i, half_width); + int right = find_right(i, half_width); + + for (int j = left; j <= right; j++) { + double j_time = values.get(j).time; + + if (left_time <= j_time && j_time <= right_time) { + double j_left = j == left ? left_time : values.get(j-1).time; + double j_right = j == right ? right_time : values.get(j+1).time; + double interval = (j_right - j_left) / 2.0; + double coeff = filter_coeff(j_time - center_time, width) * interval; + double value = values.get(j).value; + double partial = value * coeff; + + total_coeff += coeff; + total_value += partial; + } + } + if (total_coeff != 0.0) + f.add(center_time, total_value / total_coeff); + } + return f; + } + + public AltosTimeSeries(String label, AltosUnits units) { + this.label = label; + this.units = units; + this.values = new ArrayList<AltosTimeValue>(); + } +} diff --git a/altoslib/AltosTimeValue.java b/altoslib/AltosTimeValue.java new file mode 100644 index 00000000..298ac7f0 --- /dev/null +++ b/altoslib/AltosTimeValue.java @@ -0,0 +1,28 @@ +/* + * Copyright © 2017 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_12; + +public class AltosTimeValue { + public double time; + public double value; + + public AltosTimeValue(double time, double value) { + this.time = time; + this.value = value; + } +} diff --git a/altoslib/AltosUnits.java b/altoslib/AltosUnits.java index 717a106a..e1194487 100644 --- a/altoslib/AltosUnits.java +++ b/altoslib/AltosUnits.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; @@ -41,6 +41,10 @@ public abstract class AltosUnits { public abstract double inverse(double v, boolean imperial_units); + public String string_value(double v, boolean imperial_units) { + return new Double(value(v, imperial_units)).toString(); + } + public abstract String show_units(boolean imperial_units); public abstract String say_units(boolean imperial_units); @@ -113,6 +117,10 @@ public abstract class AltosUnits { return say_units(v, AltosConvert.imperial_units); } + public String string_value(double v) { + return string_value(v, AltosConvert.imperial_units); + } + /* Parsing functions. Use the first range of the type */ public String parse_units(boolean imperial_units) { return first_range(imperial_units).show_units; diff --git a/altoslib/AltosUnitsListener.java b/altoslib/AltosUnitsListener.java index e094810c..1f06afbf 100644 --- a/altoslib/AltosUnitsListener.java +++ b/altoslib/AltosUnitsListener.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosUnitsListener { public void units_changed(boolean imperial_units); diff --git a/altoslib/AltosUnitsRange.java b/altoslib/AltosUnitsRange.java index 9f56001d..6bf0d91f 100644 --- a/altoslib/AltosUnitsRange.java +++ b/altoslib/AltosUnitsRange.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.text.*; diff --git a/altoslib/AltosUnknownProduct.java b/altoslib/AltosUnknownProduct.java index 114abc76..e4bebcd4 100644 --- a/altoslib/AltosUnknownProduct.java +++ b/altoslib/AltosUnknownProduct.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosUnknownProduct extends Exception { public String product; diff --git a/altoslib/AltosVersion.java.in b/altoslib/AltosVersion.java.in index a48c532b..c8399f2e 100644 --- a/altoslib/AltosVersion.java.in +++ b/altoslib/AltosVersion.java.in @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosVersion { public final static String version = "@VERSION@"; diff --git a/altoslib/AltosVoltage.java b/altoslib/AltosVoltage.java index 8031c805..ef53ac11 100644 --- a/altoslib/AltosVoltage.java +++ b/altoslib/AltosVoltage.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosVoltage extends AltosUnits { diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java index 691dc4de..c77e48b0 100644 --- a/altoslib/AltosWriter.java +++ b/altoslib/AltosWriter.java @@ -16,11 +16,11 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public interface AltosWriter { - public void write(AltosStateIterable states); + public void write(AltosFlightSeries series); public void close(); } diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index 26159421..11b5d562 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -26,6 +26,7 @@ record_files = \ altoslib_JAVA = \ AltosLib.java \ + AltosCalData.java \ AltosCompanion.java \ AltosConfigData.java \ AltosConfigDataException.java \ @@ -35,28 +36,34 @@ altoslib_JAVA = \ AltosCSV.java \ AltosDebug.java \ AltosEeprom.java \ + AltosRecordSet.java \ + AltosEepromRecord.java \ + AltosEepromRecordFull.java \ + AltosEepromRecordTiny.java \ + AltosEepromRecordMega.java \ + AltosEepromRecordMetrum.java \ + AltosEepromRecordMini.java \ + AltosEepromRecordGps.java \ + AltosEepromRecordFireTwo.java \ + AltosEepromRecordSet.java \ AltosEepromChunk.java \ AltosEepromDownload.java \ + AltosEepromMonitor.java \ AltosEepromFile.java \ - AltosEepromTM.java \ - AltosEepromTMini.java \ - AltosEepromHeader.java \ - AltosEepromIterable.java \ AltosEepromList.java \ AltosEepromLog.java \ - AltosEepromMega.java \ - AltosEepromMetrum2.java \ - AltosEepromMini.java \ - AltosEepromGPS.java \ - AltosEepromMonitor.java \ - AltosEepromFireTwo.java \ AltosFile.java \ AltosFlash.java \ AltosFlashListener.java \ + AltosDataListener.java \ + AltosDataProvider.java \ + AltosFlightSeries.java \ AltosFlightReader.java \ AltosFlightStats.java \ + AltosForce.java \ AltosFrequency.java \ AltosGPS.java \ + AltosGPSTimeValue.java \ AltosGPSSat.java \ AltosGreatCircle.java \ AltosHexfile.java \ @@ -79,9 +86,12 @@ altoslib_JAVA = \ AltosNoSymbol.java \ AltosOrient.java \ AltosParse.java \ + AltosPressure.java \ + AltosPresTemp.java \ AltosPreferences.java \ AltosPreferencesBackend.java \ AltosProgrammer.java \ + AltosPyroName.java \ AltosReplayReader.java \ AltosRomconfig.java \ AltosSavedState.java \ @@ -95,8 +105,8 @@ altoslib_JAVA = \ AltosSensorMetrum.java \ AltosSensorTGPS.java \ AltosState.java \ - AltosStateIterable.java \ - AltosStateUpdate.java \ + AltosStateName.java \ + AltosStringInputStream.java \ AltosTelemetry.java \ AltosTelemetryConfiguration.java \ AltosTelemetryCompanion.java \ @@ -116,6 +126,9 @@ altoslib_JAVA = \ AltosTelemetrySensor.java \ AltosTelemetrySatellite.java \ AltosTelemetryStandard.java \ + AltosTime.java \ + AltosTimeSeries.java \ + AltosTimeValue.java \ AltosUnitsListener.java \ AltosUnknownProduct.java \ AltosMs5607.java \ @@ -132,6 +145,7 @@ altoslib_JAVA = \ AltosLocation.java \ AltosLatitude.java \ AltosLongitude.java \ + AltosRotationRate.java \ AltosPyro.java \ AltosWriter.java \ AltosQuaternion.java \ |