--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosDroid;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.lang.reflect.Method;
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothSocket;
+import android.content.Context;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
+
+import org.altusmetrum.AltosLib.*;
+
+public class AltosBluetooth extends AltosLink {
+
+ // Debugging
+ private static final String TAG = "AltosBluetooth";
+ private static final boolean D = true;
+
+ /**
+ * This thread runs while attempting to make an outgoing connection
+ * with a device. It runs straight through; the connection either
+ * succeeds or fails.
+ */
+
+ private BluetoothAdapter adapter;
+ private ConnectThread connect_thread;
+ private BluetoothSocket socket;
+ private InputStream input;
+ private OutputStream output;
+
+ private class ConnectThread extends Thread {
+ private final BluetoothDevice mmDevice;
+ private String mSocketType;
+ BluetoothSocket tmp_socket;
+
+ public ConnectThread(BluetoothDevice device, boolean secure) {
+ mmDevice = device;
+ mSocketType = secure ? "Secure" : "Insecure";
+
+ // Get a BluetoothSocket for a connection with the
+ // given BluetoothDevice
+ try {
+ if (secure) {
+ Method m = device.getClass().getMethod("createRfcommSocket", new Class[] {int.class});
+ tmp_socket = (BluetoothSocket) m.invoke(device, 2);
+ // tmp = device.createRfcommSocket(2);
+ } else {
+ Method m = device.getClass().getMethod("createInsecureRfcommSocket", new Class[] {int.class});
+ tmp_socket = (BluetoothSocket) m.invoke(device, 2);
+ // tmp = device.createInsecureRfcommSocket(2);
+ }
+ } catch (Exception e) {
+ Log.e(TAG, "Socket Type: " + mSocketType + "create() failed", e);
+ e.printStackTrace();
+ }
+ }
+
+ public void run() {
+ Log.i(TAG, "BEGIN connect_thread SocketType:" + mSocketType);
+ setName("ConnectThread" + mSocketType);
+
+ // Always cancel discovery because it will slow down a connection
+ adapter.cancelDiscovery();
+
+ // Make a connection to the BluetoothSocket
+ try {
+ // This is a blocking call and will only return on a
+ // successful connection or an exception
+ tmp_socket.connect();
+ } catch (IOException e) {
+ // Close the socket
+ try {
+ tmp_socket.close();
+ } catch (IOException e2) {
+ Log.e(TAG, "unable to close() " + mSocketType +
+ " socket during connection failure", e2);
+ }
+ connection_failed();
+ return;
+ }
+
+ try {
+ synchronized (AltosBluetooth.this) {
+ input = tmp_socket.getInputStream();
+ output = tmp_socket.getOutputStream();
+ socket = tmp_socket;
+ // Reset the ConnectThread because we're done
+ AltosBluetooth.this.notify();
+ connect_thread = null;
+ }
+ } catch (Exception e) {
+ Log.e(TAG, "Failed to finish connection", e);
+ e.printStackTrace();
+ }
+ }
+
+ public void cancel() {
+ try {
+ if (tmp_socket != null)
+ tmp_socket.close();
+ } catch (IOException e) {
+ Log.e(TAG, "close() of connect " + mSocketType + " socket failed", e);
+ }
+ }
+ }
+
+ private synchronized void wait_connected() throws InterruptedException {
+ if (input == null) {
+ wait();
+ }
+ }
+
+ private void connection_failed() {
+ }
+
+ public void print(String data) {
+ byte[] bytes = data.getBytes();
+ try {
+ wait_connected();
+ output.write(bytes);
+ } catch (IOException e) {
+ connection_failed();
+ } catch (InterruptedException e) {
+ connection_failed();
+ }
+ }
+
+ public int getchar() {
+ try {
+ wait_connected();
+ return input.read();
+ } catch (IOException e) {
+ connection_failed();
+ } catch (java.lang.InterruptedException e) {
+ connection_failed();
+ }
+ return AltosLink.ERROR;
+ }
+
+ public void close() {
+ synchronized(this) {
+ if (connect_thread != null) {
+ connect_thread.cancel();
+ connect_thread = null;
+ }
+ }
+ }
+
+ public void flush_output() {
+ super.flush_output();
+ /* any local work needed to flush bluetooth? */
+ }
+
+ public boolean can_cancel_reply() {
+ return false;
+ }
+ public boolean show_reply_timeout() {
+ return true;
+ }
+
+ public void hide_reply_timeout() {
+ }
+
+ public AltosBluetooth(BluetoothDevice device) {
+ adapter = BluetoothAdapter.getDefaultAdapter();
+ connect_thread = new ConnectThread(device, true);
+ connect_thread.start();
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+class AltosSensorTM {
+ int tick;
+ int accel;
+ int pres;
+ int temp;
+ int batt;
+ int drogue;
+ int main;
+
+ public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("a\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("accel:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("pres:")) {
+ pres = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("temp:")) {
+ temp = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("drogue:")) {
+ drogue = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ main = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ break;
+ }
+ }
+}
+
+class AltosSensorMM {
+ int tick;
+ int sense[];
+ int v_batt;
+ int v_pyro;
+ int accel;
+ int accel_ref;
+
+ public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("a\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ sense = new int[6];
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("0:")) {
+ sense[0] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("1:")) {
+ sense[1] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("2:")) {
+ sense[2] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("3:")) {
+ sense[3] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("4:")) {
+ sense[4] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("5:")) {
+ sense[5] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("6:")) {
+ v_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("7:")) {
+ v_pyro = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("8:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("9:")) {
+ accel_ref = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ break;
+ }
+ }
+}
+
+class AltosIMUQuery extends AltosIMU {
+
+ public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("I\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("Accel:"))
+ continue;
+ String[] items = line.split("\\s+");
+ if (items.length >= 8) {
+ accel_x = Integer.parseInt(items[1]);
+ accel_y = Integer.parseInt(items[2]);
+ accel_z = Integer.parseInt(items[3]);
+ gyro_x = Integer.parseInt(items[5]);
+ gyro_y = Integer.parseInt(items[6]);
+ gyro_z = Integer.parseInt(items[7]);
+ }
+ break;
+ }
+ }
+}
+
+class AltosMs5607Query extends AltosMs5607 {
+ public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("v\nB\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ String[] items = line.split("\\s+");
+ if (line.startsWith("Pressure:")) {
+ if (items.length >= 2)
+ raw_pres = Integer.parseInt(items[1]);
+ } else if (line.startsWith("Temperature:")) {
+ if (items.length >= 2)
+ raw_temp = Integer.parseInt(items[1]);
+ } else if (line.startsWith("ms5607 reserved:")) {
+ if (items.length >= 3)
+ reserved = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 sens:")) {
+ if (items.length >= 3)
+ sens = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 off:")) {
+ if (items.length >= 3)
+ off = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tcs:")) {
+ if (items.length >= 3)
+ tcs = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tco:")) {
+ if (items.length >= 3)
+ tco = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tref:")) {
+ if (items.length >= 3)
+ tref = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tempsens:")) {
+ if (items.length >= 3)
+ tempsens = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 crc:")) {
+ if (items.length >= 3)
+ crc = Integer.parseInt(items[2]);
+ } else if (line.startsWith("Altitude"))
+ break;
+ }
+ convert();
+ }
+}
+
+class AltosGPSQuery extends AltosGPS {
+ public AltosGPSQuery (AltosLink link, AltosConfigData config_data)
+ throws TimeoutException, InterruptedException {
+ boolean says_done = config_data.compare_version("1.0") >= 0;
+ link.printf("g\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ String[] bits = line.split("\\s+");
+ if (bits.length == 0)
+ continue;
+ if (line.startsWith("Date:")) {
+ if (bits.length < 2)
+ continue;
+ String[] d = bits[1].split(":");
+ if (d.length < 3)
+ continue;
+ year = Integer.parseInt(d[0]) + 2000;
+ month = Integer.parseInt(d[1]);
+ day = Integer.parseInt(d[2]);
+ continue;
+ }
+ if (line.startsWith("Time:")) {
+ if (bits.length < 2)
+ continue;
+ String[] d = bits[1].split("/");
+ if (d.length < 3)
+ continue;
+ hour = Integer.parseInt(d[0]);
+ minute = Integer.parseInt(d[1]);
+ second = Integer.parseInt(d[2]);
+ continue;
+ }
+ if (line.startsWith("Lat/Lon:")) {
+ if (bits.length < 3)
+ continue;
+ lat = Integer.parseInt(bits[1]) * 1.0e-7;
+ lon = Integer.parseInt(bits[2]) * 1.0e-7;
+ continue;
+ }
+ if (line.startsWith("Alt:")) {
+ if (bits.length < 2)
+ continue;
+ alt = Integer.parseInt(bits[1]);
+ continue;
+ }
+ if (line.startsWith("Flags:")) {
+ if (bits.length < 2)
+ continue;
+ int status = Integer.decode(bits[1]);
+ connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
+ locked = (status & AltosLib.AO_GPS_VALID) != 0;
+ if (!says_done)
+ break;
+ continue;
+ }
+ if (line.startsWith("Sats:")) {
+ if (bits.length < 2)
+ continue;
+ nsat = Integer.parseInt(bits[1]);
+ cc_gps_sat = new AltosGPSSat[nsat];
+ for (int i = 0; i < nsat; i++) {
+ int svid = Integer.parseInt(bits[2+i*2]);
+ int cc_n0 = Integer.parseInt(bits[3+i*2]);
+ cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
+ }
+ }
+ if (line.startsWith("done"))
+ break;
+ if (line.startsWith("Syntax error"))
+ break;
+ }
+ }
+}
+
+public class AltosIdleMonitor extends Thread {
+ AltosLink link;
+ AltosIdleMonitorListener listener;
+ AltosState state;
+ boolean remote;
+ double frequency;
+ AltosState previous_state;
+ AltosConfigData config_data;
+ AltosGPS gps;
+
+ int AltosRSSI() throws TimeoutException, InterruptedException {
+ link.printf("s\n");
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ String[] items = line.split("\\s+");
+ if (items.length < 2)
+ return 0;
+ if (!items[0].equals("RSSI:"))
+ return 0;
+ int rssi = Integer.parseInt(items[1]);
+ return rssi;
+ }
+
+ void update_state() throws InterruptedException, TimeoutException {
+ AltosRecord record;
+ int rssi;
+
+ try {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.start_remote();
+ } else
+ link.flush_input();
+ config_data = new AltosConfigData(link);
+ if (config_data.product.startsWith("TeleMetrum")) {
+ AltosRecordTM record_tm = new AltosRecordTM();
+ AltosSensorTM sensor = new AltosSensorTM(link);
+ record_tm.accel = sensor.accel;
+ record_tm.pres = sensor.pres;
+ record_tm.batt = sensor.batt;
+ record_tm.temp = sensor.temp;
+ record_tm.drogue = sensor.drogue;
+ record_tm.main = sensor.main;
+ record_tm.ground_accel = record_tm.accel;
+ record_tm.ground_pres = record_tm.pres;
+ record_tm.accel_plus_g = config_data.accel_cal_plus;
+ record_tm.accel_minus_g = config_data.accel_cal_minus;
+ record_tm.tick = sensor.tick;
+ record = record_tm;
+ } else if (config_data.product.startsWith("MegaMetrum")) {
+ AltosRecordMM record_mm = new AltosRecordMM();
+ AltosSensorMM sensor = new AltosSensorMM(link);
+ AltosMs5607 ms5607 = new AltosMs5607Query(link);
+ AltosIMU imu = new AltosIMUQuery(link);
+
+ record_mm.accel_plus_g = config_data.accel_cal_plus;
+ record_mm.accel_minus_g = config_data.accel_cal_minus;
+
+ record_mm.ground_accel = sensor.accel;
+ record_mm.accel = sensor.accel;
+ record_mm.ground_pres = ms5607.pa;
+ record_mm.pres = ms5607.pa;
+ record_mm.temp = ms5607.cc;
+
+ record_mm.v_batt = sensor.v_batt;
+ record_mm.v_pyro = sensor.v_pyro;
+ record_mm.sense = sensor.sense;
+
+ record_mm.imu = imu;
+
+ record = record_mm;
+ } else
+ record = new AltosRecord();
+
+ gps = new AltosGPSQuery(link, config_data);
+ } finally {
+ if (remote) {
+ link.stop_remote();
+ rssi = AltosRSSI();
+ } else
+ rssi = 0;
+ }
+
+ record.version = 0;
+ record.callsign = config_data.callsign;
+ record.serial = config_data.serial;
+ record.flight = config_data.log_available() > 0 ? 255 : 0;
+ record.rssi = rssi;
+ record.status = 0;
+ record.state = AltosLib.ao_flight_idle;
+
+ record.gps = gps;
+ state = new AltosState (record, state);
+ }
+
+ public void set_frequency(double in_frequency) {
+ frequency = in_frequency;
+ }
+
+ public void post_state() {
+ listener.update(state);
+ }
+
+ public void run() {
+ try {
+ for (;;) {
+ try {
+ update_state();
+ post_state();
+ } catch (TimeoutException te) {
+ }
+ Thread.sleep(1000);
+ }
+ } catch (InterruptedException ie) {
+ link.close();
+ }
+ }
+
+ public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
+ throws FileNotFoundException, InterruptedException, TimeoutException {
+ listener = in_listener;
+ link = in_link;
+ remote = in_remote;
+ state = null;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public interface AltosIdleMonitorListener {
+ public void update(AltosState state);
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+class AltosADCTM {
+ int tick;
+ int accel;
+ int pres;
+ int temp;
+ int batt;
+ int drogue;
+ int main;
+
+ public AltosADCTM(AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("a\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("accel:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("pres:")) {
+ pres = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("temp:")) {
+ temp = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("drogue:")) {
+ drogue = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ main = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ break;
+ }
+ }
+}
+
+class AltosGPSQuery extends AltosGPS {
+ public AltosGPSQuery (AltosLink link, AltosConfigData config_data)
+ throws TimeoutException, InterruptedException {
+ boolean says_done = config_data.compare_version("1.0") >= 0;
+ link.printf("g\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ String[] bits = line.split("\\s+");
+ if (bits.length == 0)
+ continue;
+ if (line.startsWith("Date:")) {
+ if (bits.length < 2)
+ continue;
+ String[] d = bits[1].split(":");
+ if (d.length < 3)
+ continue;
+ year = Integer.parseInt(d[0]) + 2000;
+ month = Integer.parseInt(d[1]);
+ day = Integer.parseInt(d[2]);
+ continue;
+ }
+ if (line.startsWith("Time:")) {
+ if (bits.length < 2)
+ continue;
+ String[] d = bits[1].split("/");
+ if (d.length < 3)
+ continue;
+ hour = Integer.parseInt(d[0]);
+ minute = Integer.parseInt(d[1]);
+ second = Integer.parseInt(d[2]);
+ continue;
+ }
+ if (line.startsWith("Lat/Lon:")) {
+ if (bits.length < 3)
+ continue;
+ lat = Integer.parseInt(bits[1]) * 1.0e-7;
+ lon = Integer.parseInt(bits[2]) * 1.0e-7;
+ continue;
+ }
+ if (line.startsWith("Alt:")) {
+ if (bits.length < 2)
+ continue;
+ alt = Integer.parseInt(bits[1]);
+ continue;
+ }
+ if (line.startsWith("Flags:")) {
+ if (bits.length < 2)
+ continue;
+ int status = Integer.decode(bits[1]);
+ connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
+ locked = (status & AltosLib.AO_GPS_VALID) != 0;
+ if (!says_done)
+ break;
+ continue;
+ }
+ if (line.startsWith("Sats:")) {
+ if (bits.length < 2)
+ continue;
+ nsat = Integer.parseInt(bits[1]);
+ cc_gps_sat = new AltosGPSSat[nsat];
+ for (int i = 0; i < nsat; i++) {
+ int svid = Integer.parseInt(bits[2+i*2]);
+ int cc_n0 = Integer.parseInt(bits[3+i*2]);
+ cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
+ }
+ }
+ if (line.startsWith("done"))
+ break;
+ if (line.startsWith("Syntax error"))
+ break;
+ }
+ }
+}
+
+public class AltosIdleMonitor extends Thread {
+ AltosLink link;
+ AltosIdleMonitorListener listener;
+ AltosState state;
+ boolean remote;
+ double frequency;
+ AltosState previous_state;
+ AltosConfigData config_data;
+ AltosADC adc;
+ AltosGPS gps;
+
+ int AltosRSSI() throws TimeoutException, InterruptedException {
+ link.printf("s\n");
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ String[] items = line.split("\\s+");
+ if (items.length < 2)
+ return 0;
+ if (!items[0].equals("RSSI:"))
+ return 0;
+ int rssi = Integer.parseInt(items[1]);
+ return rssi;
+ }
+
+ void update_state() throws InterruptedException, TimeoutException {
+ AltosRecordTM record = new AltosRecordTM();
+ int rssi;
+
+ try {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.start_remote();
+ } else
+ link.flush_input();
+ config_data = new AltosConfigData(link);
+ adc = new AltosADC(link);
+ gps = new AltosGPSQuery(link, config_data);
+ } finally {
+ if (remote) {
+ link.stop_remote();
+ rssi = AltosRSSI();
+ } else
+ rssi = 0;
+ }
+
+ record.version = 0;
+ record.callsign = config_data.callsign;
+ record.serial = config_data.serial;
+ record.flight = config_data.log_available() > 0 ? 255 : 0;
+ record.rssi = rssi;
+ record.status = 0;
+ record.state = AltosLib.ao_flight_idle;
+
+ record.tick = adc.tick;
+
+ record.accel = adc.accel;
+ record.pres = adc.pres;
+ record.batt = adc.batt;
+ record.temp = adc.temp;
+ record.drogue = adc.drogue;
+ record.main = adc.main;
+
+ record.ground_accel = record.accel;
+ record.ground_pres = record.pres;
+ record.accel_plus_g = config_data.accel_cal_plus;
+ record.accel_minus_g = config_data.accel_cal_minus;
+ record.acceleration = 0;
+ record.speed = 0;
+ record.height = 0;
+ record.gps = gps;
+ state = new AltosState (record, state);
+ }
+
+ public void set_frequency(double in_frequency) {
+ frequency = in_frequency;
+ }
+
+ public void post_state() {
+ listener.update(state);
+ }
+
+ public void run() {
+ try {
+ for (;;) {
+ try {
+ update_state();
+ post_state();
+ } catch (TimeoutException te) {
+ }
+ Thread.sleep(1000);
+ }
+ } catch (InterruptedException ie) {
+ link.close();
+ }
+ }
+
+ public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
+ throws FileNotFoundException, InterruptedException, TimeoutException {
+ listener = in_listener;
+ link = in_link;
+ remote = in_remote;
+ state = null;
+ }
+}
public double raw_pressure() {
if (pres != MISSING)
- return pres / 100.0;
+ return pres;
return MISSING;
}
public double ground_pressure() {
if (ground_pres != MISSING)
- return ground_pres / 100.0;
+ return ground_pres;
return MISSING;
}
public double battery_voltage() {
if (v_batt != MISSING)
- return 3.3 * adc(v_batt) * 27.0 / (15.0 + 27.0);
+ return 3.3 * adc(v_batt) * (15.0 + 27.0) / 27.0;
return MISSING;
}
static double pyro(int raw) {
if (raw != MISSING)
- return 3.3 * adc(raw) * 27.0 / (100.0 + 27.0);
+ return 3.3 * adc(raw) * (100.0 + 27.0) / 27.0;
return MISSING;
}
}
ngps++;
}
- }
+ } else
+ pad_alt = ground_altitude;
gps_waiting = MIN_PAD_SAMPLES - npad;
if (gps_waiting < 0)
boost = (AltosLib.ao_flight_boost == state);
/* Only look at accelerometer data under boost */
- if (boost && acceleration > max_acceleration)
+ if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
max_acceleration = acceleration;
- if (boost && speed > max_speed)
+ if (boost && speed > max_speed && speed != AltosRecord.MISSING)
max_speed = speed;
- if (boost && baro_speed > max_baro_speed)
+ if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
max_baro_speed = baro_speed;
- if (height > max_height)
+ if (height > max_height && height != AltosRecord.MISSING)
max_height = height;
if (data.gps != null) {
if (gps == null || !gps.locked || data.gps.locked)
telem.clear();
}
+ public void reset() {
+ previous = null;
+ flush();
+ }
+
public void close(boolean interrupted) {
link.remove_monitor(telem);
log.close();
$(SRC)/AltosGPS.java \
$(SRC)/AltosGPSSat.java \
$(SRC)/AltosGreatCircle.java \
+ $(SRC)/AltosIdleMonitor.java \
+ $(SRC)/AltosIdleMonitorListener.java \
$(SRC)/AltosLine.java \
$(SRC)/AltosLink.java \
$(SRC)/AltosLog.java \
import java.util.concurrent.*;
import org.altusmetrum.AltosLib.*;
-class AltosADC {
- int tick;
- int accel;
- int pres;
- int temp;
- int batt;
- int drogue;
- int main;
-
- public AltosADC(AltosSerial serial) throws InterruptedException, TimeoutException {
- serial.printf("a\n");
- for (;;) {
- String line = serial.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("tick:"))
- continue;
- String[] items = line.split("\\s+");
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("accel:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("pres:")) {
- pres = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("temp:")) {
- temp = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("batt:")) {
- batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("drogue:")) {
- drogue = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("main:")) {
- main = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
- }
- break;
- }
- }
-}
-
-class AltosGPSQuery extends AltosGPS {
- public AltosGPSQuery (AltosSerial serial, AltosConfigData config_data)
- throws TimeoutException, InterruptedException {
- boolean says_done = config_data.compare_version("1.0") >= 0;
- serial.printf("g\n");
- for (;;) {
- String line = serial.get_reply_no_dialog(5000);
- if (line == null)
- throw new TimeoutException();
- String[] bits = line.split("\\s+");
- if (bits.length == 0)
- continue;
- if (line.startsWith("Date:")) {
- if (bits.length < 2)
- continue;
- String[] d = bits[1].split(":");
- if (d.length < 3)
- continue;
- year = Integer.parseInt(d[0]) + 2000;
- month = Integer.parseInt(d[1]);
- day = Integer.parseInt(d[2]);
- continue;
- }
- if (line.startsWith("Time:")) {
- if (bits.length < 2)
- continue;
- String[] d = bits[1].split("/");
- if (d.length < 3)
- continue;
- hour = Integer.parseInt(d[0]);
- minute = Integer.parseInt(d[1]);
- second = Integer.parseInt(d[2]);
- continue;
- }
- if (line.startsWith("Lat/Lon:")) {
- if (bits.length < 3)
- continue;
- lat = Integer.parseInt(bits[1]) * 1.0e-7;
- lon = Integer.parseInt(bits[2]) * 1.0e-7;
- continue;
- }
- if (line.startsWith("Alt:")) {
- if (bits.length < 2)
- continue;
- alt = Integer.parseInt(bits[1]);
- continue;
- }
- if (line.startsWith("Flags:")) {
- if (bits.length < 2)
- continue;
- int status = Integer.decode(bits[1]);
- connected = (status & Altos.AO_GPS_RUNNING) != 0;
- locked = (status & Altos.AO_GPS_VALID) != 0;
- if (!says_done)
- break;
- continue;
- }
- if (line.startsWith("Sats:")) {
- if (bits.length < 2)
- continue;
- nsat = Integer.parseInt(bits[1]);
- cc_gps_sat = new AltosGPSSat[nsat];
- for (int i = 0; i < nsat; i++) {
- int svid = Integer.parseInt(bits[2+i*2]);
- int cc_n0 = Integer.parseInt(bits[3+i*2]);
- cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
- }
- }
- if (line.startsWith("done"))
- break;
- if (line.startsWith("Syntax error"))
- break;
- }
- }
-}
-
-class AltosIdleMonitor extends Thread {
- AltosDevice device;
- AltosSerial serial;
- AltosIdleMonitorUI ui;
- AltosState state;
- boolean remote;
- double frequency;
- AltosState previous_state;
- AltosConfigData config_data;
- AltosADC adc;
- AltosGPS gps;
-
- int AltosRSSI() throws TimeoutException, InterruptedException {
- serial.printf("s\n");
- String line = serial.get_reply_no_dialog(5000);
- if (line == null)
- throw new TimeoutException();
- String[] items = line.split("\\s+");
- if (items.length < 2)
- return 0;
- if (!items[0].equals("RSSI:"))
- return 0;
- int rssi = Integer.parseInt(items[1]);
- return rssi;
- }
-
- void update_state() throws InterruptedException, TimeoutException {
- AltosRecordTM record = new AltosRecordTM();
- int rssi;
-
- try {
- if (remote) {
- serial.set_radio_frequency(frequency);
- serial.start_remote();
- } else
- serial.flush_input();
- config_data = new AltosConfigData(serial);
- adc = new AltosADC(serial);
- gps = new AltosGPSQuery(serial, config_data);
- } finally {
- if (remote) {
- serial.stop_remote();
- rssi = AltosRSSI();
- } else
- rssi = 0;
- }
-
- record.version = 0;
- record.callsign = config_data.callsign;
- record.serial = config_data.serial;
- record.flight = config_data.log_available() > 0 ? 255 : 0;
- record.rssi = rssi;
- record.status = 0;
- record.state = Altos.ao_flight_idle;
-
- record.tick = adc.tick;
-
- record.accel = adc.accel;
- record.pres = adc.pres;
- record.batt = adc.batt;
- record.temp = adc.temp;
- record.drogue = adc.drogue;
- record.main = adc.main;
-
- record.ground_accel = record.accel;
- record.ground_pres = record.pres;
- record.accel_plus_g = config_data.accel_cal_plus;
- record.accel_minus_g = config_data.accel_cal_minus;
- record.acceleration = 0;
- record.speed = 0;
- record.height = 0;
- record.gps = gps;
- state = new AltosState (record, state);
- }
-
- void set_frequency(double in_frequency) {
- frequency = in_frequency;
- }
-
- public void post_state() {
- Runnable r = new Runnable() {
- public void run() {
- ui.update(state);
- }
- };
- SwingUtilities.invokeLater(r);
- }
-
- public void run() {
- try {
- for (;;) {
- try {
- update_state();
- post_state();
- } catch (TimeoutException te) {
- if (AltosSerial.debug)
- System.out.printf ("monitor idle data timeout\n");
- }
- Thread.sleep(1000);
- }
- } catch (InterruptedException ie) {
- serial.close();
- }
- }
-
- public AltosIdleMonitor(AltosIdleMonitorUI in_ui, AltosDevice in_device, boolean in_remote)
- throws FileNotFoundException, AltosSerialInUseException, InterruptedException, TimeoutException {
- device = in_device;
- ui = in_ui;
- serial = new AltosSerial(device);
- remote = in_remote;
- state = null;
- }
-}
-
-public class AltosIdleMonitorUI extends AltosFrame implements AltosFlightDisplay, AltosFontListener {
+public class AltosIdleMonitorUI extends AltosFrame implements AltosFlightDisplay, AltosFontListener, AltosIdleMonitorListener {
AltosDevice device;
JTabbedPane pane;
AltosPad pad;
}
}
- public void update(AltosState state) {
- show (state, 0);
+ public void update(final AltosState state) {
+ Runnable r = new Runnable() {
+ public void run() {
+ show(state, 0);
+ }
+ };
+ SwingUtilities.invokeLater(r);
}
Container bag;
pack();
setVisible(true);
- thread = new AltosIdleMonitor(this, device, remote);
+ thread = new AltosIdleMonitor((AltosIdleMonitorListener) this, (AltosLink) new AltosSerial (device), (boolean) remote);
status_update = new AltosFlightStatusUpdate(flightStatus);
String line = serial.get_reply(5000);
if (line == null)
throw new TimeoutException();
- if (get_string(line, "Igniter: drogue Status: ", status_name))
+ String[] items = line.split("\\s+");
+
+ if (items.length < 4)
+ continue;
+
+ if (!items[0].equals("Igniter:"))
+ continue;
+
+ if (!items[2].equals("Status:"))
+ continue;
+
+ if (items[1].equals("drogue")) {
if (igniter == Apogee)
- status = status(status_name.get());
- if (get_string(line, "Igniter: main Status: ", status_name)) {
+ status = status(items[3]);
+ } else if (items[1].equals("main")) {
if (igniter == Main)
- status = status(status_name.get());
+ status = status(items[3]);
break;
}
}
}
public boolean equals(AltosScanResult other) {
- return (callsign.equals(other.callsign) &&
- serial == other.serial &&
- flight == other.flight &&
+ return (serial == other.serial &&
frequency.frequency == other.frequency.frequency &&
telemetry == other.telemetry);
}
+
+ public boolean up_to_date(AltosScanResult other) {
+ if (flight == 0 && other.flight != 0) {
+ flight = other.flight;
+ return false;
+ }
+ if (callsign.equals("N0CALL") && !other.callsign.equals("N0CALL")) {
+ callsign = other.callsign;
+ return false;
+ }
+ return true;
+ }
}
class AltosScanResults extends LinkedList<AltosScanResult> implements ListModel {
LinkedList<ListDataListener> listeners = new LinkedList<ListDataListener>();
+ void changed(ListDataEvent de) {
+ for (ListDataListener l : listeners)
+ l.contentsChanged(de);
+ }
+
public boolean add(AltosScanResult r) {
- for (AltosScanResult old : this)
- if (old.equals(r))
+ int i = 0;
+ for (AltosScanResult old : this) {
+ if (old.equals(r)) {
+ if (!old.up_to_date(r))
+ changed (new ListDataEvent(this,
+ ListDataEvent.CONTENTS_CHANGED,
+ i, i));
return true;
+ }
+ i++;
+ }
super.add(r);
- ListDataEvent de = new ListDataEvent(this,
- ListDataEvent.INTERVAL_ADDED,
- this.size() - 2, this.size() - 1);
- for (ListDataListener l : listeners)
- l.contentsChanged(de);
+ changed(new ListDataEvent(this,
+ ListDataEvent.INTERVAL_ADDED,
+ this.size() - 2, this.size() - 1));
return true;
}
void set_frequency() throws InterruptedException, TimeoutException {
reader.set_frequency(frequencies[frequency_index].frequency);
+ reader.reset();
}
void next() throws InterruptedException, TimeoutException {
ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ if (!ao_external_monitoring)
+ continue;
m = &ao_monitor_ring[ao_monitor_tail];
ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
switch (ao_monitoring) {
telemetry.mega_data.v_batt = packet->adc.v_batt;
telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
- /* XXX figure out right shift value; 4 might suffice */
+ /* ADC range is 0-4095, so shift by four to save the high 8 bits */
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 8;
+ telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
telemetry.mega_data.ground_pres = ao_ground_pres;
telemetry.mega_data.ground_accel = ao_ground_accel;
CC1120_RFEND_CFG1, 0x0f, /* RFEND Configuration, Reg 1 */\r
CC1120_RFEND_CFG0, 0x00, /* RFEND Configuration, Reg 0 */\r
// CC1120_PA_CFG2, 0x3f, /* Power Amplifier Configuration, Reg 2 */\r
- CC1120_PA_CFG2, 0x04, /* Power Amplifier Configuration, Reg 2 */\r
+ CC1120_PA_CFG2, 0x3f, /* Power Amplifier Configuration, Reg 2 */\r
CC1120_PA_CFG1, 0x56, /* Power Amplifier Configuration, Reg 1 */\r
CC1120_PA_CFG0, 0x7b, /* Power Amplifier Configuration, Reg 0 */\r
CC1120_PKT_LEN, 0xff, /* Packet Length Configuration */\r
projects / fw / altos / commitdiff