2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_5;
22 import java.nio.charset.Charset;
24 public class AltosLib {
25 /* EEProm command letters */
26 public static final int AO_LOG_FLIGHT = 'F';
27 public static final int AO_LOG_SENSOR = 'A';
28 public static final int AO_LOG_TEMP_VOLT = 'T';
29 public static final int AO_LOG_DEPLOY = 'D';
30 public static final int AO_LOG_STATE = 'S';
31 public static final int AO_LOG_GPS_POS = 'P';
32 public static final int AO_LOG_GPS_TIME = 'G';
33 public static final int AO_LOG_GPS_LAT = 'N';
34 public static final int AO_LOG_GPS_LON = 'W';
35 public static final int AO_LOG_GPS_ALT = 'H';
36 public static final int AO_LOG_GPS_SAT = 'V';
37 public static final int AO_LOG_GPS_DATE = 'Y';
38 public static final int AO_LOG_PRESSURE = 'P';
40 /* Added for header fields in eeprom files */
41 public static final int AO_LOG_CONFIG_VERSION = 1000;
42 public static final int AO_LOG_MAIN_DEPLOY = 1001;
43 public static final int AO_LOG_APOGEE_DELAY = 1002;
44 public static final int AO_LOG_RADIO_CHANNEL = 1003;
45 public static final int AO_LOG_CALLSIGN = 1004;
46 public static final int AO_LOG_ACCEL_CAL = 1005;
47 public static final int AO_LOG_RADIO_CAL = 1006;
48 public static final int AO_LOG_MAX_FLIGHT_LOG = 1007;
49 public static final int AO_LOG_MANUFACTURER = 2000;
50 public static final int AO_LOG_PRODUCT = 2001;
51 public static final int AO_LOG_SERIAL_NUMBER = 2002;
52 public static final int AO_LOG_LOG_FORMAT = 2003;
54 public static final int AO_LOG_FREQUENCY = 2004;
55 public static final int AO_LOG_APOGEE_LOCKOUT = 2005;
56 public static final int AO_LOG_RADIO_RATE = 2006;
57 public static final int AO_LOG_IGNITE_MODE = 2007;
58 public static final int AO_LOG_PAD_ORIENTATION = 2008;
59 public static final int AO_LOG_RADIO_ENABLE = 2009;
60 public static final int AO_LOG_AES_KEY = 2010;
61 public static final int AO_LOG_APRS = 2011;
62 public static final int AO_LOG_BEEP_SETTING = 2012;
63 public static final int AO_LOG_TRACKER_SETTING = 2013;
64 public static final int AO_LOG_PYRO_TIME = 2014;
65 public static final int AO_LOG_APRS_ID = 2015;
66 public static final int AO_LOG_ALTITUDE_32 = 2016;
68 /* Added for header fields in telemega files */
69 public static final int AO_LOG_BARO_RESERVED = 3000;
70 public static final int AO_LOG_BARO_SENS = 3001;
71 public static final int AO_LOG_BARO_OFF = 3002;
72 public static final int AO_LOG_BARO_TCS = 3004;
73 public static final int AO_LOG_BARO_TCO = 3005;
74 public static final int AO_LOG_BARO_TREF = 3006;
75 public static final int AO_LOG_BARO_TEMPSENS = 3007;
76 public static final int AO_LOG_BARO_CRC = 3008;
77 public static final int AO_LOG_IMU_CAL = 3009;
79 public static final int AO_LOG_SOFTWARE_VERSION = 9999;
81 public final static int MISSING = 0x7fffffff;
83 /* Added to flag invalid records */
84 public static final int AO_LOG_INVALID = -1;
86 /* Flight state numbers and names */
87 public static final int ao_flight_startup = 0;
88 public static final int ao_flight_idle = 1;
89 public static final int ao_flight_pad = 2;
90 public static final int ao_flight_boost = 3;
91 public static final int ao_flight_fast = 4;
92 public static final int ao_flight_coast = 5;
93 public static final int ao_flight_drogue = 6;
94 public static final int ao_flight_main = 7;
95 public static final int ao_flight_landed = 8;
96 public static final int ao_flight_invalid = 9;
97 public static final int ao_flight_stateless = 10;
100 public final static int vendor_altusmetrum = 0xfffe;
102 public final static int product_altusmetrum = 0x000a;
103 public final static int product_telemetrum = 0x000b;
104 public final static int product_teledongle = 0x000c;
105 public final static int product_teleterra = 0x000d;
106 public final static int product_telebt = 0x000e;
107 public final static int product_telelaunch = 0x000f;
108 public final static int product_telelco = 0x0010;
109 public final static int product_telescience = 0x0011;
110 public final static int product_telepyro =0x0012;
111 public final static int product_telemega = 0x0023;
112 public final static int product_megadongle = 0x0024;
113 public final static int product_telegps = 0x0025;
114 public final static int product_easymini = 0x0026;
115 public final static int product_telemini = 0x0027;
116 public final static int product_easymega = 0x0028;
117 public final static int product_altusmetrum_min = 0x000a;
118 public final static int product_altusmetrum_max = 0x002c;
120 public final static int product_any = 0x10000;
121 public final static int product_basestation = 0x10000 + 1;
122 public final static int product_altimeter = 0x10000 + 2;
124 private static class Product {
128 Product (String name, int product) {
130 this.product = product;
134 private static Product[] products = {
135 new Product("telemetrum", product_telemetrum),
136 new Product("teleballoon", product_telemetrum),
137 new Product("teledongle", product_teledongle),
138 new Product("teleterra", product_teledongle),
139 new Product("telebt", product_telebt),
140 new Product("telelaunch", product_telelaunch),
141 new Product("telelco", product_telelco),
142 new Product("telescience", product_telescience),
143 new Product("telepyro", product_telepyro),
144 new Product("telemega", product_telemega),
145 new Product("megadongle", product_megadongle),
146 new Product("telegps", product_telegps),
147 new Product("easymini", product_easymini),
148 new Product("telemini", product_telemini),
149 new Product("easymega", product_easymega)
152 public static int name_to_product(String name) {
153 String low = name.toLowerCase();
155 for (int i = 0; i < products.length; i++)
156 if (low.startsWith(products[i].name))
157 return products[i].product;
161 /* Bluetooth "identifier" (bluetooth sucks) */
162 public final static String bt_product_telebt = "TeleBT";
164 /* "good" voltages */
166 public final static double ao_battery_good = 3.8;
167 public final static double ao_igniter_good = 3.5;
169 /* Telemetry modes */
170 public static final int ao_telemetry_off = 0;
171 public static final int ao_telemetry_min = 1;
172 public static final int ao_telemetry_standard = 1;
173 public static final int ao_telemetry_0_9 = 2;
174 public static final int ao_telemetry_0_8 = 3;
175 public static final int ao_telemetry_max = 3;
177 private static final String[] ao_telemetry_name = {
178 "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
181 public static final int ao_telemetry_rate_38400 = 0;
182 public static final int ao_telemetry_rate_9600 = 1;
183 public static final int ao_telemetry_rate_2400 = 2;
184 public static final int ao_telemetry_rate_max = 2;
186 public static final Integer[] ao_telemetry_rate_values = {
190 public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
192 public static final int ao_telemetry_standard_len = 32;
193 public static final int ao_telemetry_0_9_len = 95;
194 public static final int ao_telemetry_0_8_len = 94;
196 private static final int[] ao_telemetry_len = {
200 private static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
202 private static boolean map_initialized = false;
204 public static void initialize_map()
206 string_to_state.put("startup", ao_flight_startup);
207 string_to_state.put("idle", ao_flight_idle);
208 string_to_state.put("pad", ao_flight_pad);
209 string_to_state.put("boost", ao_flight_boost);
210 string_to_state.put("fast", ao_flight_fast);
211 string_to_state.put("coast", ao_flight_coast);
212 string_to_state.put("drogue", ao_flight_drogue);
213 string_to_state.put("apogee", ao_flight_coast);
214 string_to_state.put("main", ao_flight_main);
215 string_to_state.put("landed", ao_flight_landed);
216 string_to_state.put("invalid", ao_flight_invalid);
217 string_to_state.put("stateless", ao_flight_stateless);
218 map_initialized = true;
221 public static int telemetry_len(int telemetry) {
222 if (telemetry <= ao_telemetry_max)
223 return ao_telemetry_len[telemetry];
224 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
228 public static String telemetry_name(int telemetry) {
229 if (telemetry <= ao_telemetry_max)
230 return ao_telemetry_name[telemetry];
231 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
235 private static int[] split_version(String version) {
236 String[] tokens = version.split("\\.");
237 int[] ret = new int[tokens.length];
238 for (int i = 0; i < tokens.length; i++)
239 ret[i] = Integer.parseInt(tokens[i]);
243 public static int compare_version(String version_a, String version_b) {
244 int[] a = split_version(version_a);
245 int[] b = split_version(version_b);
247 for (int i = 0; i < Math.min(a.length, b.length); i++) {
253 if (a.length < b.length)
255 if (a.length > b.length)
260 private static String[] state_to_string = {
274 private static String[] state_to_string_capital = {
288 public static int state(String state) {
289 if (!map_initialized)
291 if (string_to_state.containsKey(state))
292 return string_to_state.get(state);
293 return ao_flight_invalid;
296 public static String state_name(int state) {
297 if (state < 0 || state_to_string.length <= state)
299 return state_to_string[state];
302 public static String state_name_capital(int state) {
303 if (state < 0 || state_to_string.length <= state)
305 return state_to_string_capital[state];
308 public static final int AO_GPS_VALID = (1 << 4);
309 public static final int AO_GPS_RUNNING = (1 << 5);
310 public static final int AO_GPS_DATE_VALID = (1 << 6);
311 public static final int AO_GPS_NUM_SAT_SHIFT = 0;
312 public static final int AO_GPS_NUM_SAT_MASK = 0xf;
314 public static final int AO_LOG_FORMAT_UNKNOWN = 0;
315 public static final int AO_LOG_FORMAT_FULL = 1;
316 public static final int AO_LOG_FORMAT_TINY = 2;
317 public static final int AO_LOG_FORMAT_TELEMETRY = 3;
318 public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
319 public static final int AO_LOG_FORMAT_TELEMEGA_OLD = 5;
320 public static final int AO_LOG_FORMAT_EASYMINI = 6;
321 public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
322 public static final int AO_LOG_FORMAT_TELEMINI = 8;
323 public static final int AO_LOG_FORMAT_TELEGPS = 9;
324 public static final int AO_LOG_FORMAT_TELEMEGA = 10;
325 public static final int AO_LOG_FORMAT_NONE = 127;
327 public static boolean isspace(int c) {
336 public static final boolean ishex(int c) {
337 if ('0' <= c && c <= '9')
339 if ('a' <= c && c <= 'f')
341 if ('A' <= c && c <= 'F')
346 public static final boolean ishex(String s) {
347 for (int i = 0; i < s.length(); i++)
348 if (!ishex(s.charAt(i)))
353 public static int fromhex(int c) {
354 if ('0' <= c && c <= '9')
356 if ('a' <= c && c <= 'f')
358 if ('A' <= c && c <= 'F')
363 public static int fromhex(String s) throws NumberFormatException {
365 for (int i = 0; i < s.length(); i++) {
369 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
372 v = v * 16 + fromhex(c);
377 public static boolean isdec(int c) {
378 if ('0' <= c && c <= '9')
383 public static boolean isdec(String s) {
384 for (int i = 0; i < s.length(); i++)
385 if (!isdec(s.charAt(i)))
390 public static int fromdec(int c) {
391 if ('0' <= c && c <= '9')
396 public static int int8(int[] bytes, int i) {
397 return (int) (byte) bytes[i];
400 public static int uint8(int[] bytes, int i) {
404 public static int int16(int[] bytes, int i) {
405 return (int) (short) (bytes[i] + (bytes[i+1] << 8));
408 public static int uint16(int[] bytes, int i) {
409 return bytes[i] + (bytes[i+1] << 8);
412 public static int uint32(int[] bytes, int i) {
419 public static int int32(int[] bytes, int i) {
420 return (int) uint32(bytes, i);
423 public static final Charset unicode_set = Charset.forName("UTF-8");
425 public static String string(int[] bytes, int s, int l) {
426 if (s + l > bytes.length) {
427 if (s > bytes.length) {
431 l = bytes.length - s;
436 for (i = l - 1; i >= 0; i--)
441 byte[] b = new byte[l];
443 for (i = 0; i < l; i++)
444 b[i] = (byte) bytes[s+i];
445 String n = new String(b, unicode_set);
449 public static int hexbyte(String s, int i) {
452 if (s.length() < i + 2)
453 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
456 throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
459 throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
460 return fromhex(c0) * 16 + fromhex(c1);
463 public static int[] hexbytes(String s) {
468 if ((s.length() & 1) != 0)
469 throw new NumberFormatException(String.format("invalid line \"%s\"", s));
470 byte[] bytes = s.getBytes(unicode_set);
471 n = bytes.length / 2;
473 for (i = 0; i < n; i++) {
474 int h = fromhex(bytes[(i << 1)]);
475 int l = fromhex(bytes[(i << 1) + 1]);
477 throw new NumberFormatException(String.format("invalid hex \"%c%c\"",
478 bytes[(i<<1)], bytes[(i<<1) + 1]));
484 public static int fromdec(String s) throws NumberFormatException {
487 for (int i = 0; i < s.length(); i++) {
489 if (i == 0 && c == '-') {
491 } else if (!isdec(c)) {
493 throw new NumberFormatException(String.format("invalid number \"%s\"", s));
496 v = v * 10 + fromdec(c);
501 public static String gets(FileInputStream s) throws IOException {
505 while ((c = s.read()) != -1) {
511 line = line + (char) c;
516 public static String replace_extension(String input, String extension) {
517 int dot = input.lastIndexOf(".");
519 input = input.substring(0,dot);
520 return input.concat(extension);
523 public static File replace_extension(File input, String extension) {
524 return new File(replace_extension(input.getPath(), extension));
527 public static String product_name(int product_id) {
528 switch (product_id) {
529 case product_altusmetrum: return "AltusMetrum";
530 case product_telemetrum: return "TeleMetrum";
531 case product_teledongle: return "TeleDongle";
532 case product_teleterra: return "TeleTerra";
533 case product_telebt: return "TeleBT";
534 case product_telelaunch: return "TeleLaunch";
535 case product_telelco: return "TeleLco";
536 case product_telescience: return "Telescience";
537 case product_telepyro: return "TelePyro";
538 case product_telemega: return "TeleMega";
539 case product_megadongle: return "MegaDongle";
540 case product_telegps: return "TeleGPS";
541 case product_easymini: return "EasyMini";
542 case product_telemini: return "TeleMini";
543 default: return "unknown";
547 public static String ignitor_name(int i) {
548 return String.format("Ignitor %c", 'A' + i);