Initial Commit - Copy from Altus Metrum AltOS
This commit is contained in:
372
ao-tools/ao-view/aoview_state.c
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372
ao-tools/ao-view/aoview_state.c
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/*
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* Copyright © 2009 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#include "aoview.h"
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#include <math.h>
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static inline double sqr(double a) { return a * a; };
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static void
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aoview_great_circle (double start_lat, double start_lon,
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double end_lat, double end_lon,
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double *dist, double *bearing)
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{
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const double rad = M_PI / 180;
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const double earth_radius = 6371.2 * 1000; /* in meters */
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double lat1 = rad * start_lat;
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double lon1 = rad * -start_lon;
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double lat2 = rad * end_lat;
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double lon2 = rad * -end_lon;
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double d_lat = lat2 - lat1;
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double d_lon = lon2 - lon1;
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/* From http://en.wikipedia.org/wiki/Great-circle_distance */
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double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
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sqr(cos(lat1) * sin(lat2) -
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sin(lat1) * cos(lat2) * cos(d_lon)));
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double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
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double d = atan2(vdn,vdd);
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double course;
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if (cos(lat1) < 1e-20) {
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if (lat1 > 0)
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course = M_PI;
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else
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course = -M_PI;
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} else {
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if (d < 1e-10)
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course = 0;
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else
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course = acos((sin(lat2)-sin(lat1)*cos(d)) /
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(sin(d)*cos(lat1)));
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if (sin(lon2-lon1) > 0)
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course = 2 * M_PI-course;
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}
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*dist = d * earth_radius;
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*bearing = course * 180/M_PI;
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}
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static void
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aoview_state_add_deg(int column, char *label, double deg, char pos, char neg)
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{
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double int_part;
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double min;
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char sign = pos;
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if (deg < 0) {
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deg = -deg;
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sign = neg;
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}
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int_part = floor (deg);
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min = (deg - int_part) * 60.0;
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aoview_table_add_row(column, label, "%d°%lf'%c",
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(int) int_part, min, sign);
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}
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static char *ascent_states[] = {
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"boost",
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"fast",
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"coast",
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0,
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};
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static double
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aoview_time(void)
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{
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struct timespec now;
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clock_gettime(CLOCK_MONOTONIC, &now);
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return (double) now.tv_sec + (double) now.tv_nsec / 1.0e9;
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}
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/*
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* Fill out the derived data fields
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*/
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static void
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aoview_state_derive(struct cc_telem *data, struct aostate *state)
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{
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int i;
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double new_height;
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double height_change;
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double time_change;
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double accel_counts_per_mss;
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int tick_count;
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state->report_time = aoview_time();
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state->prev_data = state->data;
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state->prev_npad = state->npad;
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state->data = *data;
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tick_count = data->tick;
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if (tick_count < state->prev_data.tick)
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tick_count += 65536;
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time_change = (tick_count - state->prev_data.tick) / 100.0;
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state->ground_altitude = aoview_pres_to_altitude(data->ground_pres);
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new_height = aoview_pres_to_altitude(data->flight_pres) - state->ground_altitude;
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height_change = new_height - state->height;
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state->height = new_height;
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if (time_change)
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state->baro_speed = (state->baro_speed * 3 + (height_change / time_change)) / 4.0;
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accel_counts_per_mss = ((data->accel_minus_g - data->accel_plus_g) / 2.0) / 9.80665;
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state->acceleration = (data->ground_accel - data->flight_accel) / accel_counts_per_mss;
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state->speed = data->flight_vel / (accel_counts_per_mss * 100.0);
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state->temperature = cc_thermometer_to_temperature(data->temp);
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state->drogue_sense = cc_ignitor_to_voltage(data->drogue);
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state->main_sense = cc_ignitor_to_voltage(data->main);
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state->battery = cc_battery_to_voltage(data->batt);
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if (!strcmp(data->state, "pad")) {
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if (data->gps.gps_locked && data->gps.nsat >= 4) {
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state->npad++;
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state->pad_lat_total += data->gps.lat;
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state->pad_lon_total += data->gps.lon;
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state->pad_alt_total += data->gps.alt;
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if (state->npad > 1) {
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state->pad_lat = (state->pad_lat * 31 + data->gps.lat) / 32.0;
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state->pad_lon = (state->pad_lon * 31 + data->gps.lon) / 32.0;
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state->pad_alt = (state->pad_alt * 31 + data->gps.alt) / 32.0;
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} else {
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state->pad_lat = data->gps.lat;
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state->pad_lon = data->gps.lon;
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state->pad_alt = data->gps.alt;
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}
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}
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}
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state->ascent = FALSE;
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for (i = 0; ascent_states[i]; i++)
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if (!strcmp(data->state, ascent_states[i]))
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state->ascent = TRUE;
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/* Only look at accelerometer data on the way up */
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if (state->ascent && state->acceleration > state->max_acceleration)
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state->max_acceleration = state->acceleration;
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if (state->ascent && state->speed > state->max_speed)
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state->max_speed = state->speed;
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if (state->height > state->max_height)
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state->max_height = state->height;
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state->gps.gps_locked = data->gps.gps_locked;
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state->gps.gps_connected = data->gps.gps_connected;
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if (data->gps.gps_locked) {
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state->gps = data->gps;
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state->gps_valid = 1;
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if (state->npad)
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aoview_great_circle(state->pad_lat, state->pad_lon, state->gps.lat, state->gps.lon,
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&state->distance, &state->bearing);
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}
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if (data->gps_tracking.channels)
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state->gps_tracking = data->gps_tracking;
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if (state->npad) {
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state->gps_height = state->gps.alt - state->pad_alt;
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} else {
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state->gps_height = 0;
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}
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}
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void
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aoview_speak_state(struct aostate *state)
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{
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if (strcmp(state->data.state, state->prev_data.state)) {
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aoview_voice_speak("%s\n", state->data.state);
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if (!strcmp(state->data.state, "drogue"))
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aoview_voice_speak("apogee %d meters\n",
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(int) state->max_height);
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if (!strcmp(state->prev_data.state, "boost"))
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aoview_voice_speak("max speed %d meters per second\n",
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(int) state->max_speed);
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}
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if (state->prev_npad < MIN_PAD_SAMPLES && state->npad >= MIN_PAD_SAMPLES)
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aoview_voice_speak("g p s ready\n");
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}
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void
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aoview_speak_height(struct aostate *state)
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{
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aoview_voice_speak("%d meters\n", state->height);
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}
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struct aostate aostate;
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static guint aostate_timeout;
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#define COMPASS_LIMIT(n) ((n * 22.5) + 22.5/2)
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static char *compass_points[] = {
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"north",
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"north north east",
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"north east",
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"east north east",
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"east",
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"east south east",
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"south east",
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"south south east",
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"south",
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"south south west",
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"south west",
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"west south west",
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"west",
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"west north west",
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"north west",
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"north north west",
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};
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static char *
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aoview_compass_point(double bearing)
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{
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int i;
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while (bearing < 0)
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bearing += 360.0;
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while (bearing >= 360.0)
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bearing -= 360.0;
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i = floor ((bearing - 22.5/2) / 22.5 + 0.5);
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if (i < 0) i = 0;
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if (i >= sizeof (compass_points) / sizeof (compass_points[0]))
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i = 0;
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return compass_points[i];
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}
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static gboolean
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aoview_state_timeout(gpointer data)
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{
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double now = aoview_time();
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if (strlen(aostate.data.state) > 0 && strcmp(aostate.data.state, "pad") != 0)
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aoview_speak_height(&aostate);
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if (now - aostate.report_time >= 20 || !strcmp(aostate.data.state, "landed")) {
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if (!aostate.ascent) {
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if (fabs(aostate.baro_speed) < 20 && aostate.height < 100)
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aoview_voice_speak("rocket landed safely\n");
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else
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aoview_voice_speak("rocket may have crashed\n");
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if (aostate.gps_valid) {
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aoview_voice_speak("rocket reported %s of pad distance %d meters\n",
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aoview_compass_point(aostate.bearing),
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(int) aostate.distance);
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}
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}
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aostate_timeout = 0;
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return FALSE;
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}
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return TRUE;
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}
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void
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aoview_state_reset(void)
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{
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memset(&aostate, '\0', sizeof (aostate));
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}
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void
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aoview_state_notify(struct cc_telem *data)
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{
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struct aostate *state = &aostate;
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aoview_state_derive(data, state);
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aoview_table_start();
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if (state->npad >= MIN_PAD_SAMPLES)
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aoview_table_add_row(0, "Ground state", "ready");
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else
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aoview_table_add_row(0, "Ground state", "waiting for gps (%d)",
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MIN_PAD_SAMPLES - state->npad);
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aoview_table_add_row(0, "Rocket state", "%s", state->data.state);
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aoview_table_add_row(0, "Callsign", "%s", state->data.callsign);
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aoview_table_add_row(0, "Rocket serial", "%d", state->data.serial);
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aoview_table_add_row(0, "Rocket flight", "%d", state->data.flight);
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aoview_table_add_row(0, "RSSI", "%6ddBm", state->data.rssi);
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aoview_table_add_row(0, "Height", "%6dm", state->height);
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aoview_table_add_row(0, "Max height", "%6dm", state->max_height);
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aoview_table_add_row(0, "Acceleration", "%7.1fm/s²", state->acceleration);
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aoview_table_add_row(0, "Max acceleration", "%7.1fm/s²", state->max_acceleration);
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aoview_table_add_row(0, "Speed", "%7.1fm/s", state->ascent ? state->speed : state->baro_speed);
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aoview_table_add_row(0, "Max Speed", "%7.1fm/s", state->max_speed);
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aoview_table_add_row(0, "Temperature", "%6.2f°C", state->temperature);
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aoview_table_add_row(0, "Battery", "%5.2fV", state->battery);
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aoview_table_add_row(0, "Drogue", "%5.2fV", state->drogue_sense);
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aoview_table_add_row(0, "Main", "%5.2fV", state->main_sense);
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aoview_table_add_row(0, "Pad altitude", "%dm", state->ground_altitude);
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aoview_table_add_row(1, "Satellites", "%d", state->gps.nsat);
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if (state->gps.gps_locked) {
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aoview_table_add_row(1, "GPS", "locked");
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} else if (state->gps.gps_connected) {
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aoview_table_add_row(1, "GPS", "unlocked");
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} else {
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aoview_table_add_row(1, "GPS", "not available");
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}
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if (state->gps_valid) {
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aoview_state_add_deg(1, "Latitude", state->gps.lat, 'N', 'S');
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aoview_state_add_deg(1, "Longitude", state->gps.lon, 'E', 'W');
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aoview_table_add_row(1, "GPS altitude", "%d", state->gps.alt);
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aoview_table_add_row(1, "GPS height", "%d", state->gps_height);
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aoview_table_add_row(1, "GPS date", "%04d-%02d-%02d",
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state->gps.gps_time.year,
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state->gps.gps_time.month,
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state->gps.gps_time.day);
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aoview_table_add_row(1, "GPS time", "%02d:%02d:%02d",
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state->gps.gps_time.hour,
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state->gps.gps_time.minute,
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state->gps.gps_time.second);
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}
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if (state->gps.gps_extended) {
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aoview_table_add_row(1, "GPS ground speed", "%7.1fm/s %d°",
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state->gps.ground_speed,
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state->gps.course);
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aoview_table_add_row(1, "GPS climb rate", "%7.1fm/s",
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state->gps.climb_rate);
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aoview_table_add_row(1, "GPS precision", "%4.1f(hdop) %3dm(h) %3dm(v)",
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state->gps.hdop, state->gps.h_error, state->gps.v_error);
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}
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if (state->npad) {
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aoview_table_add_row(1, "Distance from pad", "%5.0fm", state->distance);
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aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
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aoview_state_add_deg(1, "Pad latitude", state->pad_lat, 'N', 'S');
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aoview_state_add_deg(1, "Pad longitude", state->pad_lon, 'E', 'W');
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aoview_table_add_row(1, "Pad GPS alt", "%gm", state->pad_alt);
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}
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if (state->gps.gps_connected) {
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int nsat_vis = 0;
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int c;
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aoview_table_add_row(2, "Satellites Visible", "%d", state->gps_tracking.channels);
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for (c = 0; c < state->gps_tracking.channels; c++) {
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aoview_table_add_row(2, "Satellite id,C/N0",
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"%3d,%2d",
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state->gps_tracking.sats[c].svid,
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state->gps_tracking.sats[c].c_n0);
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}
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}
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aoview_table_finish();
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aoview_label_show(state);
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aoview_speak_state(state);
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if (!aostate_timeout && strcmp(state->data.state, "pad") != 0)
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aostate_timeout = g_timeout_add_seconds(10, aoview_state_timeout, NULL);
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}
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void
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aoview_state_new(void)
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{
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}
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void
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aoview_state_init(GladeXML *xml)
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{
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aoview_state_new();
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}
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