2 * Copyright © 2011 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_13;
23 import java.util.concurrent.*;
25 /* Don't change the field names in this structure; they're part of all .eeprom files */
26 public class AltosConfigData {
28 /* Version information */
29 public String manufacturer;
30 public String product;
33 public int log_format;
35 public String version;
36 public int altitude_32;
37 public int config_major, config_minor;
39 /* Config information */
41 public int main_deploy;
42 public int apogee_delay;
43 public int apogee_lockout;
46 public int radio_frequency;
47 public String callsign;
48 public int radio_enable;
49 public int radio_calibration;
50 public int telemetry_rate;
51 /* Old HAS_RADIO values */
52 public int radio_channel;
53 public int radio_setting;
56 public int accel_cal_plus, accel_cal_minus;
57 private int accel_cal_plus_cooked, accel_cal_minus_cooked;
58 private boolean accel_cal_adjusted;
59 public int pad_orientation;
62 public int flight_log_max;
66 public int ignite_mode;
69 public String aes_key;
72 public AltosPyro[] pyros;
75 public double pyro_firing_time;
78 public int aprs_interval;
80 public int aprs_format;
85 /* Storage info replies */
86 public int storage_size;
87 public int storage_erase_unit;
89 /* Log listing replies */
90 public int stored_flight;
93 public int tracker_motion;
94 public int tracker_interval;
97 public int accel_zero_along, accel_zero_across, accel_zero_through;
102 public AltosMs5607 ms5607() {
104 ms5607 = new AltosMs5607();
108 public static String get_string(String line, String label) throws ParseException {
109 if (line.startsWith(label)) {
110 String quoted = line.substring(label.length()).trim();
112 if (quoted.startsWith("\""))
113 quoted = quoted.substring(1);
114 if (quoted.endsWith("\""))
115 quoted = quoted.substring(0,quoted.length()-1);
118 throw new ParseException("mismatch", 0);
121 public static int get_int(String line, String label) throws NumberFormatException, ParseException {
122 if (line.startsWith(label)) {
123 String tail = line.substring(label.length()).trim();
124 String[] tokens = tail.split("\\s+");
125 if (tokens.length > 0)
126 return Integer.parseInt(tokens[0]);
128 throw new ParseException("mismatch", 0);
131 public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
132 if (line.startsWith(label)) {
133 String tail = line.substring(label.length()).trim();
134 String[] tokens = tail.split("\\s+");
135 if (tokens.length > 1) {
136 int[] values = new int[2];
137 values[0] = Integer.parseInt(tokens[0]);
138 values[1] = Integer.parseInt(tokens[1]);
142 throw new ParseException("mismatch", 0);
145 public int log_space() {
146 if (log_space != AltosLib.MISSING)
149 if (storage_size != AltosLib.MISSING) {
150 int space = storage_size;
152 if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
153 space -= storage_erase_unit;
155 if (space != AltosLib.MISSING)
161 public int log_available() {
162 switch (log_format) {
163 case AltosLib.AO_LOG_FORMAT_TINY:
164 if (stored_flight == 0)
167 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
168 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
171 if (flight_log_max <= 0)
173 int log_max = flight_log_max * 1024;
174 int log_space = log_space();
177 if (stored_flight <= 0)
180 log_used = stored_flight * log_max;
183 if (log_used >= log_space)
186 log_avail = (log_space - log_used) / log_max;
192 public int invert_accel_value(int value) {
193 if (value == AltosLib.MISSING)
194 return AltosLib.MISSING;
196 switch (log_format) {
197 case AltosLib.AO_LOG_FORMAT_FULL:
198 return 0x7fff - value;
199 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
200 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
201 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
202 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
204 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
207 return AltosLib.MISSING;
211 public boolean has_monitor_battery() {
212 if (product.startsWith("TeleBT"))
217 int[] parse_version(String v) {
218 String[] parts = v.split("\\.");
219 int r[] = new int[parts.length];
221 for (int i = 0; i < parts.length; i++) {
223 r[i] = (int) AltosLib.fromdec(parts[i]);
224 } catch (NumberFormatException n) {
232 public boolean altitude_32() {
233 return altitude_32 == 1;
236 public int compare_version(String other) {
237 int[] me = parse_version(version);
238 int[] them = parse_version(other);
240 int l = Math.min(me.length, them.length);
242 for (int i = 0; i < l; i++) {
243 int d = me[i] - them[i];
254 public void reset() {
257 serial = AltosLib.MISSING;
258 flight = AltosLib.MISSING;
259 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
260 log_space = AltosLib.MISSING;
262 config_major = AltosLib.MISSING;
263 config_minor = AltosLib.MISSING;
265 main_deploy = AltosLib.MISSING;
266 apogee_delay = AltosLib.MISSING;
267 apogee_lockout = AltosLib.MISSING;
269 radio_frequency = AltosLib.MISSING;
271 radio_enable = AltosLib.MISSING;
272 radio_calibration = AltosLib.MISSING;
273 radio_channel = AltosLib.MISSING;
274 radio_setting = AltosLib.MISSING;
275 telemetry_rate = AltosLib.MISSING;
277 accel_cal_plus_cooked = AltosLib.MISSING;
278 accel_cal_minus_cooked = AltosLib.MISSING;
279 accel_cal_plus = AltosLib.MISSING;
280 accel_cal_minus = AltosLib.MISSING;
281 pad_orientation = AltosLib.MISSING;
282 accel_cal_adjusted = false;
284 flight_log_max = AltosLib.MISSING;
285 log_fixed = AltosLib.MISSING;
286 ignite_mode = AltosLib.MISSING;
290 pyro = AltosLib.MISSING;
291 npyro = AltosLib.MISSING;
293 pyro_firing_time = AltosLib.MISSING;
295 aprs_interval = AltosLib.MISSING;
296 aprs_ssid = AltosLib.MISSING;
297 aprs_format = AltosLib.MISSING;
299 beep = AltosLib.MISSING;
301 tracker_motion = AltosLib.MISSING;
302 tracker_interval = AltosLib.MISSING;
304 storage_size = AltosLib.MISSING;
305 storage_erase_unit = AltosLib.MISSING;
306 stored_flight = AltosLib.MISSING;
308 accel_zero_along = AltosLib.MISSING;
309 accel_zero_across = AltosLib.MISSING;
310 accel_zero_through = AltosLib.MISSING;
313 /* Return + accel calibration relative to a specific pad orientation */
314 public int accel_cal_plus(int pad_orientation) {
316 switch (pad_orientation) {
317 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
318 return accel_cal_plus_cooked;
319 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
320 return invert_accel_value(accel_cal_minus_cooked);
322 return AltosLib.MISSING;
326 /* Return - accel calibration relative to a specific pad orientation */
327 public int accel_cal_minus(int pad_orientation) {
329 switch (pad_orientation) {
330 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
331 return accel_cal_minus_cooked;
332 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
333 return invert_accel_value(accel_cal_plus_cooked);
335 return AltosLib.MISSING;
339 /* Once we have all of the values from the config data, compute the
340 * accel cal values relative to Antenna Up orientation.
342 private void adjust_accel_cal() {
343 if (!accel_cal_adjusted &&
344 pad_orientation != AltosLib.MISSING &&
345 accel_cal_plus != AltosLib.MISSING &&
346 accel_cal_minus != AltosLib.MISSING &&
347 log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN)
349 switch (pad_orientation) {
350 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
351 accel_cal_plus_cooked = accel_cal_plus;
352 accel_cal_minus_cooked = accel_cal_minus;
353 accel_cal_adjusted = true;
355 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
356 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
357 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
358 accel_cal_adjusted = true;
366 public void parse_line(String line) {
368 /* Version replies */
369 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
370 try { product = get_string(line, "product"); } catch (Exception e) {}
371 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
372 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
373 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
374 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
375 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
376 try { version = get_string(line, "software-version"); } catch (Exception e) {}
378 /* Version also contains MS5607 info, which we ignore here */
380 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
381 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
382 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
383 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
384 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
385 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
386 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
387 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
389 /* Config show replies */
392 if (line.startsWith("Config version")) {
393 String[] bits = line.split("\\s+");
394 if (bits.length >= 3) {
395 String[] cfg = bits[2].split("\\.");
397 if (cfg.length >= 2) {
398 config_major = Integer.parseInt(cfg[0]);
399 config_minor = Integer.parseInt(cfg[1]);
403 } catch (Exception e) {}
406 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
407 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
408 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
412 radio_frequency = get_int(line, "Frequency:");
413 if (radio_frequency < 0)
414 radio_frequency = 434550;
415 } catch (Exception e) {}
416 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
417 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
418 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
419 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
421 /* Old HAS_RADIO values */
422 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
423 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
427 if (line.startsWith("Accel cal")) {
428 String[] bits = line.split("\\s+");
429 if (bits.length >= 6) {
430 accel_cal_plus = Integer.parseInt(bits[3]);
431 accel_cal_minus = Integer.parseInt(bits[5]);
432 accel_cal_adjusted = false;
435 } catch (Exception e) {}
436 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
439 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
440 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
443 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
446 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
450 npyro = get_int(line, "Pyro-count:");
451 pyros = new AltosPyro[npyro];
453 } catch (Exception e) {}
454 if (npyro != AltosLib.MISSING) {
456 AltosPyro p = new AltosPyro(pyro, line);
459 } catch (Exception e) {}
461 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
464 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
465 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
466 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
469 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
473 int[] values = get_values(line, "Tracker setting:");
474 tracker_motion = values[0];
475 tracker_interval = values[1];
476 } catch (Exception e) {}
478 /* Storage info replies */
479 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
480 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
482 /* Log listing replies */
483 try { get_int(line, "flight"); stored_flight++; } catch (Exception e) {}
487 if (line.startsWith("IMU cal along")) {
488 String[] bits = line.split("\\s+");
489 if (bits.length >= 8) {
490 accel_zero_along = Integer.parseInt(bits[3]);
491 accel_zero_across = Integer.parseInt(bits[5]);
492 accel_zero_through = Integer.parseInt(bits[7]);
495 } catch (Exception e) {}
497 /* Fix accel cal as soon as all of the necessary values appear */
501 public AltosConfigData() {
505 private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
507 String line = link.get_reply();
509 throw new TimeoutException();
510 if (line.contains("Syntax error"))
512 this.parse_line(line);
514 /* signals the end of the version info */
515 if (line.startsWith(finished))
520 public boolean has_frequency() {
521 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
524 public boolean has_telemetry_rate() {
525 return telemetry_rate != AltosLib.MISSING;
528 public void set_frequency(double freq) {
529 int frequency = radio_frequency;
530 int setting = radio_setting;
532 if (frequency != AltosLib.MISSING) {
533 radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
534 radio_channel = AltosLib.MISSING;
535 } else if (setting != AltosLib.MISSING) {
536 radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
537 radio_channel = AltosLib.MISSING;
539 radio_channel = AltosConvert.radio_frequency_to_channel(freq);
543 public double frequency() {
544 int channel = radio_channel;
545 int setting = radio_setting;
547 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
548 return AltosLib.MISSING;
550 if (channel == AltosLib.MISSING)
552 if (setting == AltosLib.MISSING)
555 return AltosConvert.radio_to_frequency(radio_frequency,
561 boolean use_flash_for_config() {
562 if (product.startsWith("TeleMega"))
564 if (product.startsWith("TeleMetrum-v2"))
566 if (product.startsWith("TeleMetrum-v3"))
568 if (product.startsWith("EasyMega"))
574 public boolean mma655x_inverted() throws AltosUnknownProduct {
575 if (product != null) {
576 if (product.startsWith("EasyMega-v1"))
578 if (product.startsWith("TeleMetrum-v2"))
580 if (product.startsWith("TeleMega-v2"))
582 if (product.startsWith("TeleMega-v1"))
585 throw new AltosUnknownProduct(product);
588 public boolean adxl375_inverted() throws AltosUnknownProduct {
589 if (product != null) {
590 if (product.startsWith("EasyMega-v2"))
592 if (product.startsWith("TeleMetrum-v3"))
595 throw new AltosUnknownProduct(product);
598 public int adxl375_axis() throws AltosUnknownProduct {
599 if (product != null) {
600 if (product.startsWith("EasyMega-v2"))
601 return AltosAdxl375.X_AXIS;
602 if (product.startsWith("TeleMetrum-v3"))
603 return AltosAdxl375.X_AXIS;
605 throw new AltosUnknownProduct(product);
608 public void get_values(AltosConfigValues source) throws AltosConfigDataException {
611 if (main_deploy != AltosLib.MISSING)
612 main_deploy = source.main_deploy();
613 if (apogee_delay != AltosLib.MISSING)
614 apogee_delay = source.apogee_delay();
615 if (apogee_lockout != AltosLib.MISSING)
616 apogee_lockout = source.apogee_lockout();
620 set_frequency(source.radio_frequency());
621 if (radio_enable != AltosLib.MISSING)
622 radio_enable = source.radio_enable();
623 if (callsign != null)
624 callsign = source.callsign();
625 if (telemetry_rate != AltosLib.MISSING)
626 telemetry_rate = source.telemetry_rate();
629 if (pad_orientation != AltosLib.MISSING)
630 pad_orientation = source.pad_orientation();
632 if (accel_cal_plus_cooked != AltosLib.MISSING)
633 accel_cal_plus_cooked = source.accel_cal_plus();
635 if (accel_cal_minus_cooked != AltosLib.MISSING)
636 accel_cal_minus_cooked = source.accel_cal_minus();
639 if (flight_log_max != AltosLib.MISSING)
640 flight_log_max = source.flight_log_max();
643 if (ignite_mode != AltosLib.MISSING)
644 ignite_mode = source.ignite_mode();
647 if (npyro != AltosLib.MISSING)
648 pyros = source.pyros();
649 if (pyro_firing_time != AltosLib.MISSING)
650 pyro_firing_time = source.pyro_firing_time();
653 if (aprs_interval != AltosLib.MISSING)
654 aprs_interval = source.aprs_interval();
655 if (aprs_ssid != AltosLib.MISSING)
656 aprs_ssid = source.aprs_ssid();
657 if (aprs_format != AltosLib.MISSING)
658 aprs_format = source.aprs_format();
661 if (beep != AltosLib.MISSING)
662 beep = source.beep();
664 if (tracker_motion != AltosLib.MISSING)
665 tracker_motion = source.tracker_motion();
666 if (tracker_interval != AltosLib.MISSING)
667 tracker_interval = source.tracker_interval();
670 public void set_values(AltosConfigValues dest) {
671 dest.set_serial(serial);
672 dest.set_product(product);
673 dest.set_version(version);
674 dest.set_altitude_32(altitude_32);
675 dest.set_main_deploy(main_deploy);
676 dest.set_apogee_delay(apogee_delay);
677 dest.set_apogee_lockout(apogee_lockout);
678 dest.set_radio_calibration(radio_calibration);
679 dest.set_radio_frequency(frequency());
680 dest.set_telemetry_rate(telemetry_rate);
681 boolean max_enabled = true;
683 if (log_space() == 0)
686 if (log_fixed != AltosLib.MISSING)
689 switch (log_format) {
690 case AltosLib.AO_LOG_FORMAT_TINY:
694 if (stored_flight != AltosLib.MISSING)
699 dest.set_flight_log_max_enabled(max_enabled);
700 dest.set_radio_enable(radio_enable);
701 dest.set_flight_log_max_limit(log_space() / 1024);
702 dest.set_flight_log_max(flight_log_max);
703 dest.set_ignite_mode(ignite_mode);
704 dest.set_pad_orientation(pad_orientation);
705 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
706 accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
707 dest.set_callsign(callsign);
708 if (npyro != AltosLib.MISSING)
709 dest.set_pyros(pyros);
711 dest.set_pyros(null);
712 dest.set_pyro_firing_time(pyro_firing_time);
713 dest.set_aprs_interval(aprs_interval);
714 dest.set_aprs_ssid(aprs_ssid);
715 dest.set_aprs_format(aprs_format);
717 dest.set_tracker_motion(tracker_motion);
718 dest.set_tracker_interval(tracker_interval);
721 public boolean log_has_state() {
722 switch (log_format) {
723 case AltosLib.AO_LOG_FORMAT_TELEGPS:
729 public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
732 if (main_deploy != AltosLib.MISSING)
733 link.printf("c m %d\n", main_deploy);
734 if (apogee_delay != AltosLib.MISSING)
735 link.printf("c d %d\n", apogee_delay);
736 if (apogee_lockout != AltosLib.MISSING)
737 link.printf("c L %d\n", apogee_lockout);
740 if (has_frequency()) {
741 boolean has_frequency = radio_frequency != AltosLib.MISSING;
742 boolean has_setting = radio_setting != AltosLib.MISSING;
743 double frequency = frequency();
744 link.set_radio_frequency(frequency,
748 /* When remote, reset the dongle frequency at the same time */
752 link.set_radio_frequency(frequency);
758 if (telemetry_rate != AltosLib.MISSING) {
759 link.printf("c T %d\n", telemetry_rate);
763 link.set_telemetry_rate(telemetry_rate);
769 if (callsign != null) {
770 link.printf("c c %s\n", callsign);
774 link.set_callsign(callsign);
780 if (radio_enable != AltosLib.MISSING)
781 link.printf("c e %d\n", radio_enable);
784 /* set orientation first so that we know how to set the accel cal */
785 if (pad_orientation != AltosLib.MISSING)
786 link.printf("c o %d\n", pad_orientation);
787 int plus = accel_cal_plus(pad_orientation);
788 int minus = accel_cal_minus(pad_orientation);
789 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
790 link.printf("c a %d %d\n", plus, minus);
793 if (flight_log_max != 0)
794 link.printf("c l %d\n", flight_log_max);
797 if (ignite_mode != AltosLib.MISSING)
798 link.printf("c i %d\n", ignite_mode);
801 /* UI doesn't support AES key config */
804 if (npyro != AltosLib.MISSING) {
805 for (int p = 0; p < pyros.length; p++) {
806 link.printf("c P %s\n",
807 pyros[p].toString());
810 if (pyro_firing_time != AltosLib.MISSING)
811 link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
814 if (aprs_interval != AltosLib.MISSING)
815 link.printf("c A %d\n", aprs_interval);
816 if (aprs_ssid != AltosLib.MISSING)
817 link.printf("c S %d\n", aprs_ssid);
818 if (aprs_format != AltosLib.MISSING)
819 link.printf("c C %d\n", aprs_format);
822 if (beep != AltosLib.MISSING)
823 link.printf("c b %d\n", beep);
826 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
827 link.printf("c t %d %d\n", tracker_motion, tracker_interval);
830 /* UI doesn't support accel cal */
832 link.printf("c w\n");
836 public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
838 link.printf("c s\nf\nv\n");
839 read_link(link, "software-version");
840 switch (log_format) {
841 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
842 case AltosLib.AO_LOG_FORMAT_NONE:
846 read_link(link, "done");