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_1;
23 * Telemetry data contents
26 public abstract class AltosTelemetry implements AltosStateUpdate {
28 /* All telemetry packets have these fields */
34 /* Mark when we received the packet */
37 static boolean cksum(int[] bytes) {
39 for (int i = 1; i < bytes.length - 1; i++)
42 return sum == bytes[bytes.length - 1];
45 public void update_state(AltosState state) {
48 final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
49 final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
50 final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
52 final static int packet_type_TM_sensor = 0x01;
53 final static int packet_type_Tm_sensor = 0x02;
54 final static int packet_type_Tn_sensor = 0x03;
55 final static int packet_type_configuration = 0x04;
56 final static int packet_type_location = 0x05;
57 final static int packet_type_satellite = 0x06;
58 final static int packet_type_companion = 0x07;
59 final static int packet_type_MM_sensor = 0x08;
60 final static int packet_type_MM_data = 0x09;
61 final static int packet_type_Mini = 0x10;
63 static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
64 AltosTelemetry telem = null;
68 bytes = AltosLib.hexbytes(hex);
69 } catch (NumberFormatException ne) {
70 throw new ParseException(ne.getMessage(), 0);
73 /* one for length, one for checksum */
74 if (bytes[0] != bytes.length - 2)
75 throw new ParseException(String.format("invalid length %d != %d\n",
77 bytes.length - 2), 0);
79 throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
81 int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
82 int status = AltosLib.uint8(bytes, bytes.length - 2);
84 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
85 throw new AltosCRCException(rssi);
87 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
88 switch (bytes.length) {
89 case AltosLib.ao_telemetry_standard_len + 4:
90 int type = AltosLib.uint8(bytes, 4 + 1);
93 case packet_type_TM_sensor:
94 case packet_type_Tm_sensor:
95 case packet_type_Tn_sensor:
96 telem = new AltosTelemetrySensor(bytes);
98 case packet_type_configuration:
99 telem = new AltosTelemetryConfiguration(bytes);
101 case packet_type_location:
102 telem = new AltosTelemetryLocation(bytes);
104 case packet_type_satellite:
105 telem = new AltosTelemetrySatellite(bytes);
107 case packet_type_companion:
108 telem = new AltosTelemetryCompanion(bytes);
110 case packet_type_MM_sensor:
111 telem = new AltosTelemetryMegaSensor(bytes);
113 case packet_type_MM_data:
114 telem = new AltosTelemetryMegaData(bytes);
117 telem = new AltosTelemetryRaw(bytes);
122 case AltosLib.ao_telemetry_0_9_len + 4:
123 telem = new AltosTelemetryLegacy(bytes);
125 case AltosLib.ao_telemetry_0_8_len + 4:
126 telem = new AltosTelemetryLegacy(bytes);
129 throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
132 telem.received_time = System.currentTimeMillis();
134 telem.status = status;
139 public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
140 String[] word = line.split("\\s+");
143 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
145 AltosParse.word(word[i++], "RSSI");
146 throw new AltosCRCException(AltosParse.parse_int(word[i++]));
149 AltosTelemetry telem;
151 if (word[i].equals("TELEM")) {
152 telem = parse_hex(word[i+1]);
154 telem = new AltosTelemetryLegacy(line);