579 lines
14 KiB
Java
579 lines
14 KiB
Java
/*
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* Copyright © 2010 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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package org.altusmetrum.altoslib_14;
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import java.io.*;
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import java.util.*;
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public class AltosCSV implements AltosWriter {
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File name;
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PrintStream out;
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boolean header_written;
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boolean seen_boost;
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int boost_tick;
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boolean has_call;
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boolean has_basic;
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boolean has_accel;
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boolean has_baro;
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boolean has_pyro;
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boolean has_radio;
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boolean has_battery;
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boolean has_flight_state;
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boolean has_3d_accel;
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boolean has_imu;
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boolean has_igniter;
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boolean has_gps;
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boolean has_gps_sat;
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boolean has_companion;
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boolean has_motor_pressure;
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AltosFlightSeries series;
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int[] indices;
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static final int ALTOS_CSV_VERSION = 6;
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/* Version 4 format:
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*
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* General info
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* version number
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* serial number
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* flight number
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* callsign
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* time (seconds since boost)
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*
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* Radio info (if available)
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* rssi
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* link quality
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*
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* Flight status
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* state
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* state name
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*
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* Basic sensors
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* acceleration (m/s²)
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* pressure (mBar)
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* altitude (m)
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* height (m)
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* accelerometer speed (m/s)
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* barometer speed (m/s)
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* temp (°C)
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* drogue (V)
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* main (V)
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*
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* Battery
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* battery (V)
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*
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* Advanced sensors (if available)
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* accel_x (m/s²)
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* accel_y (m/s²)
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* accel_z (m/s²)
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* gyro_x (d/s)
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* gyro_y (d/s)
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* gyro_z (d/s)
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* mag_x (g)
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* mag_y (g)
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* mag_z (g)
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* tilt (d)
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*
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* Extra igniter voltages (if available)
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* pyro (V)
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* igniter_a (V)
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* igniter_b (V)
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* igniter_c (V)
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* igniter_d (V)
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*
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* GPS data (if available)
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* connected (1/0)
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* locked (1/0)
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* nsat (used for solution)
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* latitude (°)
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* longitude (°)
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* altitude (m)
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* year (e.g. 2010)
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* month (1-12)
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* day (1-31)
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* hour (0-23)
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* minute (0-59)
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* second (0-59)
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* from_pad_dist (m)
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* from_pad_azimuth (deg true)
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* from_pad_range (m)
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* from_pad_elevation (deg from horizon)
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* pdop
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* hdop
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* vdop
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*
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* GPS Sat data
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* C/N0 data for all 32 valid SDIDs
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*
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* Companion data
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* companion_id (1-255. 10 is TeleScience)
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* time of last companion data (seconds since boost)
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* update_period (0.1-2.55 minimum telemetry interval)
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* channels (0-12)
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* channel data for all 12 possible channels
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*/
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void write_general_header() {
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out.printf(Locale.ROOT,"version,serial,flight");
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if (series.cal_data().callsign != null)
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out.printf(Locale.ROOT,",call");
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out.printf(Locale.ROOT,",time");
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}
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double time() {
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return series.time(indices);
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}
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void write_general() {
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out.printf(Locale.ROOT,"%s, %d, %d",
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ALTOS_CSV_VERSION,
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series.cal_data().serial,
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series.cal_data().flight);
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if (series.cal_data().callsign != null)
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out.printf(Locale.ROOT,",%s", series.cal_data().callsign);
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out.printf(Locale.ROOT,", %8.2f", time());
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}
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void write_radio_header() {
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out.printf(Locale.ROOT,"rssi,lqi");
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}
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int rssi() {
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return (int) series.value(AltosFlightSeries.rssi_name, indices);
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}
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int status() {
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return (int) series.value(AltosFlightSeries.status_name, indices);
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}
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void write_radio() {
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out.printf(Locale.ROOT,"%4d, %3d",
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rssi(), status() & 0x7f);
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}
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void write_flight_header() {
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out.printf(Locale.ROOT,"state,state_name");
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}
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int state() {
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return (int) series.value(AltosFlightSeries.state_name, indices);
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}
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void write_flight() {
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int state = state();
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out.printf(Locale.ROOT,"%2d,%8s", state, AltosLib.state_name(state));
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}
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void write_basic_header() {
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if (has_accel)
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out.printf(Locale.ROOT,"acceleration,");
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if (has_baro)
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out.printf(Locale.ROOT,"pressure,altitude,");
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out.printf(Locale.ROOT,"height,speed");
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if (has_baro)
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out.printf(Locale.ROOT,",temperature");
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if (has_pyro)
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out.printf(Locale.ROOT,",drogue_voltage,main_voltage");
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}
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double acceleration() { return series.value(AltosFlightSeries.accel_name, indices); }
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double pressure() { return series.value(AltosFlightSeries.pressure_name, indices); }
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double altitude() { return series.value(AltosFlightSeries.altitude_name, indices); }
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double height() { return series.value(AltosFlightSeries.height_name, indices); }
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double speed() { return series.value(AltosFlightSeries.speed_name, indices); }
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double temperature() { return series.value(AltosFlightSeries.temperature_name, indices); }
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double apogee_voltage() { return series.value(AltosFlightSeries.apogee_voltage_name, indices); }
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double main_voltage() { return series.value(AltosFlightSeries.main_voltage_name, indices); }
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void write_basic() {
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if (has_accel)
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out.printf(Locale.ROOT,"%8.2f,", acceleration());
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if (has_baro)
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out.printf(Locale.ROOT,"%10.2f,%8.2f,",
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pressure(), altitude());
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out.printf(Locale.ROOT,"%8.2f,%8.2f",
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height(), speed());
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if (has_baro)
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out.printf(Locale.ROOT,",%5.1f", temperature());
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if (has_pyro)
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out.printf(Locale.ROOT,",%5.2f,%5.2f",
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apogee_voltage(),
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main_voltage());
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}
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void write_battery_header() {
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out.printf(Locale.ROOT,"battery_voltage");
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}
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double battery_voltage() { return series.value(AltosFlightSeries.battery_voltage_name, indices); }
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void write_battery() {
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out.printf(Locale.ROOT,"%5.2f", battery_voltage());
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}
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void write_motor_pressure_header() {
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out.printf(Locale.ROOT,"motor_pressure");
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}
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double motor_pressure() { return series.value(AltosFlightSeries.motor_pressure_name, indices); }
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void write_motor_pressure() {
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out.printf(Locale.ROOT,"%10.1f", motor_pressure());
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}
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void write_3d_accel_header() {
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out.printf(Locale.ROOT,"accel_x,accel_y,accel_z");
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}
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double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
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double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
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double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
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void write_3d_accel() {
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out.printf(Locale.ROOT,"%7.2f,%7.2f,%7.2f",
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accel_along(), accel_across(), accel_through());
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}
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void write_imu_header() {
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out.printf(Locale.ROOT,"gyro_roll,gyro_pitch,gyro_yaw,mag_x,mag_y,mag_z,tilt");
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}
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double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
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double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
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double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
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double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
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double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
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double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
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double tilt() { return series.value(AltosFlightSeries.orient_name, indices); }
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void write_imu() {
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out.printf(Locale.ROOT,"%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
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gyro_roll(), gyro_pitch(), gyro_yaw(),
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mag_along(), mag_across(), mag_through(),
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tilt());
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}
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void write_igniter_header() {
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out.printf(Locale.ROOT,"pyro");
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for (int i = 0; i < series.igniter_voltage.length; i++)
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out.printf(Locale.ROOT,",%s", AltosLib.igniter_short_name(i));
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}
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double pyro() { return series.value(AltosFlightSeries.pyro_voltage_name, indices); }
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double igniter_value(int channel) { return series.value(series.igniter_voltage_name(channel), indices); }
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void write_igniter() {
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out.printf(Locale.ROOT,"%5.2f", pyro());
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for (int i = 0; i < series.igniter_voltage.length; i++)
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out.printf(Locale.ROOT,",%5.2f", igniter_value(i));
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}
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void write_gps_header() {
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out.printf(Locale.ROOT,"connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop");
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}
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void write_gps() {
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AltosGPS gps = series.gps_before(series.time(indices));
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AltosGreatCircle from_pad;
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if (series.cal_data().gps_pad != null && gps != null)
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from_pad = new AltosGreatCircle(series.cal_data().gps_pad, gps);
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else
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from_pad = new AltosGreatCircle();
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if (gps == null)
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gps = new AltosGPS();
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out.printf(Locale.ROOT,"%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",
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gps.connected?1:0,
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gps.locked?1:0,
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gps.nsat,
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gps.lat,
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gps.lon,
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gps.alt,
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gps.year,
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gps.month,
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gps.day,
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gps.hour,
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gps.minute,
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gps.second,
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from_pad.distance,
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from_pad.range,
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from_pad.bearing,
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from_pad.elevation,
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gps.pdop,
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gps.hdop,
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gps.vdop);
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}
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void write_gps_sat_header() {
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for(int i = 1; i <= 32; i++) {
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out.printf(Locale.ROOT,"sat%02d", i);
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if (i != 32)
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out.printf(Locale.ROOT,",");
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}
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}
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void write_gps_sat() {
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AltosGPS gps = series.gps_before(series.time(indices));
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for(int i = 1; i <= 32; i++) {
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int c_n0 = 0;
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if (gps != null && gps.cc_gps_sat != null) {
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for(int j = 0; j < gps.cc_gps_sat.length; j++)
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if (gps.cc_gps_sat[j].svid == i) {
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c_n0 = gps.cc_gps_sat[j].c_n0;
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break;
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}
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}
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out.printf ("%3d", c_n0);
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if (i != 32)
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out.printf(Locale.ROOT,",");
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}
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}
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void write_companion_header() {
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/*
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out.printf(Locale.ROOT,"companion_id,companion_time,companion_update,companion_channels");
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for (int i = 0; i < 12; i++)
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out.printf(Locale.ROOT,",companion_%02d", i);
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*/
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}
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void write_companion() {
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/*
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AltosCompanion companion = state.companion;
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int channels_written = 0;
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if (companion == null) {
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out.printf(Locale.ROOT,"0,0,0,0");
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} else {
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out.printf(Locale.ROOT,"%3d,%5.2f,%5.2f,%2d",
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companion.board_id,
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(companion.tick - boost_tick) / 100.0,
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companion.update_period / 100.0,
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companion.channels);
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for (; channels_written < companion.channels; channels_written++)
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out.printf(Locale.ROOT,",%5d", companion.companion_data[channels_written]);
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}
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for (; channels_written < 12; channels_written++)
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out.printf(Locale.ROOT,",0");
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*/
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}
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void write_header() {
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out.printf(Locale.ROOT,"#"); write_general_header();
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if (has_radio) {
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out.printf(Locale.ROOT,",");
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write_radio_header();
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}
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if (has_flight_state) {
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out.printf(Locale.ROOT,",");
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write_flight_header();
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}
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if (has_basic) {
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out.printf(Locale.ROOT,",");
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write_basic_header();
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}
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if (has_battery) {
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out.printf(Locale.ROOT,",");
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write_battery_header();
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}
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if (has_motor_pressure) {
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out.printf(Locale.ROOT,",");
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write_motor_pressure_header();
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}
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if (has_3d_accel) {
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out.printf(Locale.ROOT,",");
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write_3d_accel_header();
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}
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if (has_imu) {
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out.printf(Locale.ROOT,",");
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write_imu_header();
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}
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if (has_igniter) {
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out.printf(Locale.ROOT,",");
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write_igniter_header();
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}
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if (has_gps) {
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out.printf(Locale.ROOT,",");
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write_gps_header();
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}
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if (has_gps_sat) {
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out.printf(Locale.ROOT,",");
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write_gps_sat_header();
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}
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if (has_companion) {
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out.printf(Locale.ROOT,",");
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write_companion_header();
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}
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out.printf ("\n");
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}
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void write_one() {
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write_general();
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if (has_radio) {
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out.printf(Locale.ROOT,",");
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write_radio();
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}
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if (has_flight_state) {
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out.printf(Locale.ROOT,",");
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write_flight();
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}
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if (has_basic) {
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out.printf(Locale.ROOT,",");
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write_basic();
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}
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if (has_battery) {
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out.printf(Locale.ROOT,",");
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write_battery();
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}
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if (has_motor_pressure) {
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out.printf(Locale.ROOT,",");
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write_motor_pressure();
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}
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if (has_3d_accel) {
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out.printf(Locale.ROOT,",");
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write_3d_accel();
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}
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if (has_imu) {
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out.printf(Locale.ROOT,",");
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write_imu();
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}
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if (has_igniter) {
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out.printf(Locale.ROOT,",");
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write_igniter();
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}
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if (has_gps) {
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out.printf(Locale.ROOT,",");
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write_gps();
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}
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if (has_gps_sat) {
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out.printf(Locale.ROOT,",");
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write_gps_sat();
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}
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if (has_companion) {
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out.printf(Locale.ROOT,",");
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write_companion();
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}
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out.printf ("\n");
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}
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private void write() {
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if (state() == AltosLib.ao_flight_startup)
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return;
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if (!header_written) {
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write_header();
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header_written = true;
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}
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write_one();
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}
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private PrintStream out() {
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return out;
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}
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public void close() {
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out.close();
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}
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public void write(AltosFlightSeries series) {
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// series.write_comments(out());
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this.series = series;
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series.finish();
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has_radio = false;
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has_flight_state = false;
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has_basic = false;
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has_accel = false;
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has_baro = false;
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has_pyro = false;
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has_battery = false;
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has_motor_pressure = false;
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has_3d_accel = false;
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has_imu = false;
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has_igniter = false;
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has_gps = false;
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|
has_gps_sat = false;
|
|
has_companion = false;
|
|
|
|
if (series.has_series(AltosFlightSeries.rssi_name))
|
|
has_radio = true;
|
|
if (series.has_series(AltosFlightSeries.state_name))
|
|
has_flight_state = true;
|
|
if (series.has_series(AltosFlightSeries.accel_name)) {
|
|
has_basic = true;
|
|
has_accel = true;
|
|
}
|
|
if (series.has_series(AltosFlightSeries.pressure_name)) {
|
|
has_basic = true;
|
|
has_baro = true;
|
|
}
|
|
if (series.has_series(AltosFlightSeries.apogee_voltage_name))
|
|
has_pyro = true;
|
|
if (series.has_series(AltosFlightSeries.battery_voltage_name))
|
|
has_battery = true;
|
|
if (series.has_series(AltosFlightSeries.motor_pressure_name))
|
|
has_motor_pressure = true;
|
|
if (series.has_series(AltosFlightSeries.accel_across_name))
|
|
has_3d_accel = true;
|
|
if (series.has_series(AltosFlightSeries.gyro_roll_name))
|
|
has_imu = true;
|
|
if (series.has_series(AltosFlightSeries.pyro_voltage_name))
|
|
has_igniter = 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;
|
|
}
|
|
}
|
|
|
|
public AltosCSV(PrintStream in_out, File in_name) {
|
|
name = in_name;
|
|
out = in_out;
|
|
}
|
|
|
|
public AltosCSV(File in_name) throws FileNotFoundException {
|
|
this(new PrintStream(in_name), in_name);
|
|
}
|
|
|
|
public AltosCSV(String in_string) throws FileNotFoundException {
|
|
this(new File(in_string));
|
|
}
|
|
}
|