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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_11;
24 * Telemetry data contents
27 public abstract class AltosTelemetry implements AltosStateUpdate {
30 /* All telemetry packets have these fields */
31 public int rssi() { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
32 public int status() { return AltosLib.uint8(bytes, bytes.length - 2); }
34 /* All telemetry packets report these fields in some form */
35 public abstract int serial();
36 public abstract int tick();
38 /* Mark when we received the packet */
41 static boolean cksum(int[] bytes) {
43 for (int i = 1; i < bytes.length - 1; i++)
46 return sum == bytes[bytes.length - 1];
49 public void update_state(AltosState state) {
50 state.set_serial(serial());
51 if (state.state() == AltosLib.ao_flight_invalid)
52 state.set_state(AltosLib.ao_flight_startup);
53 state.set_tick(tick());
54 state.set_rssi(rssi(), status());
55 state.set_received_time(received_time);
58 final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
59 final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
60 final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
62 final static int packet_type_TM_sensor = 0x01;
63 final static int packet_type_Tm_sensor = 0x02;
64 final static int packet_type_Tn_sensor = 0x03;
65 final static int packet_type_configuration = 0x04;
66 final static int packet_type_location = 0x05;
67 final static int packet_type_satellite = 0x06;
68 final static int packet_type_companion = 0x07;
69 final static int packet_type_mega_sensor = 0x08;
70 final static int packet_type_mega_data = 0x09;
71 final static int packet_type_metrum_sensor = 0x0a;
72 final static int packet_type_metrum_data = 0x0b;
73 final static int packet_type_mini2 = 0x10;
74 final static int packet_type_mini3 = 0x11;
76 static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
77 AltosTelemetry telem = null;
81 bytes = AltosLib.hexbytes(hex);
82 } catch (NumberFormatException ne) {
83 throw new ParseException(ne.getMessage(), 0);
86 /* one for length, one for checksum */
87 if (bytes[0] != bytes.length - 2)
88 throw new ParseException(String.format("invalid length %d != %d\n",
90 bytes.length - 2), 0);
92 throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
94 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
95 switch (bytes.length) {
96 case AltosLib.ao_telemetry_standard_len + 4:
97 telem = AltosTelemetryStandard.parse_hex(bytes);
99 case AltosLib.ao_telemetry_0_9_len + 4:
100 telem = new AltosTelemetryLegacy(bytes);
102 case AltosLib.ao_telemetry_0_8_len + 4:
103 telem = new AltosTelemetryLegacy(bytes);
106 throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
111 public static int extend_height(AltosState state, int height_16) {
112 double compare_height;
113 int height = height_16;
115 if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
116 compare_height = state.gps_height();
118 compare_height = state.height();
121 if (compare_height != AltosLib.MISSING) {
122 int high_bits = (int) Math.floor (compare_height / 65536.0);
124 height = (high_bits << 16) | (height_16 & 0xffff);
126 if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
128 else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
134 public AltosTelemetry() {
135 this.received_time = System.currentTimeMillis();
138 public AltosTelemetry(int[] bytes) throws AltosCRCException {
141 if ((status() & PKT_APPEND_STATUS_1_CRC_OK) == 0)
142 throw new AltosCRCException(rssi());
145 public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
146 String[] word = line.split("\\s+");
149 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
151 AltosParse.word(word[i++], "RSSI");
152 throw new AltosCRCException(AltosParse.parse_int(word[i++]));
155 AltosTelemetry telem = null;
157 if (word[i].equals("TELEM")) {
158 telem = parse_hex(word[i+1]);
160 telem = new AltosTelemetryLegacy(line);