Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / altoslib / AltosTelemetry.java

diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index f830bf3582a0a452f24facbda8671e45019d642b..7d576942c22f6348cd2b804c9855d751f1745f69 100644 (file)
--- 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]);