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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 package org.altusmetrum.altoslib_11;
  20
  21 import java.util.*;
  22 import java.text.*;
  23 import java.util.concurrent.*;
  24
  25 public class AltosConfigData implements Iterable<String> {
  26
  27         /* Version information */
  28         public String   manufacturer;
  29         public String   product;
  30         public int      serial;
  31         public int      flight;
  32         public int      log_format;
  33         public int      log_space;
  34         public String   version;
  35         public int      altitude_32;
  36
  37         /* Strings returned */
  38         public LinkedList<String>       lines;
  39
  40         /* Config information */
  41         /* HAS_FLIGHT*/
  42         public int      main_deploy;
  43         public int      apogee_delay;
  44         public int      apogee_lockout;
  45
  46         /* HAS_RADIO */
  47         public int      radio_frequency;
  48         public String   callsign;
  49         public int      radio_enable;
  50         public int      radio_calibration;
  51         public int      telemetry_rate;
  52         /* Old HAS_RADIO values */
  53         public int      radio_channel;
  54         public int      radio_setting;
  55
  56         /* HAS_ACCEL */
  57         public int      accel_cal_plus, accel_cal_minus;
  58         public int      pad_orientation;
  59
  60         /* HAS_LOG */
  61         public int      flight_log_max;
  62         public int      log_fixed;
  63
  64         /* HAS_IGNITE */
  65         public int      ignite_mode;
  66
  67         /* HAS_AES */
  68         public String   aes_key;
  69
  70         /* AO_PYRO_NUM */
  71         public AltosPyro[]      pyros;
  72         public int              npyro;
  73         public int              pyro;
  74         public double           pyro_firing_time;
  75
  76         /* HAS_APRS */
  77         public int              aprs_interval;
  78         public int              aprs_ssid;
  79         public int              aprs_format;
  80
  81         /* HAS_BEEP */
  82         public int              beep;
  83
  84         /* Storage info replies */
  85         public int      storage_size;
  86         public int      storage_erase_unit;
  87
  88         /* Log listing replies */
  89         public int      stored_flight;
  90
  91         /* HAS_TRACKER */
  92         public int      tracker_motion;
  93         public int      tracker_interval;
  94
  95         /* HAS_GYRO */
  96         public int      accel_zero_along, accel_zero_across, accel_zero_through;
  97
  98         /* ms5607 data */
  99         public int      ms5607_reserved;
 100         public int      ms5607_sens;
 101         public int      ms5607_off;
 102         public int      ms5607_tcs;
 103         public int      ms5607_tco;
 104         public int      ms5607_tref;
 105         public int      ms5607_tempsens;
 106         public int      ms5607_crc;
 107
 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();
 111
 112                         if (quoted.startsWith("\""))
 113                                 quoted = quoted.substring(1);
 114                         if (quoted.endsWith("\""))
 115                                 quoted = quoted.substring(0,quoted.length()-1);
 116                         return quoted;
 117                 }
 118                 throw new ParseException("mismatch", 0);
 119         }
 120
 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]);
 127                 }
 128                 throw new ParseException("mismatch", 0);
 129         }
 130
 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]);
 139                                 return values;
 140                         }
 141                 }
 142                 throw new ParseException("mismatch", 0);
 143         }
 144
 145         public Iterator<String> iterator() {
 146                 return lines.iterator();
 147         }
 148
 149         public int log_space() {
 150                 if (log_space > 0)
 151                         return log_space;
 152
 153                 if (storage_size > 0) {
 154                         int     space = storage_size;
 155
 156                         if (storage_erase_unit > 0 && use_flash_for_config())
 157                                 space -= storage_erase_unit;
 158
 159                         if (space > 0)
 160                                 return space;
 161                 }
 162                 return 0;
 163         }
 164
 165         public int log_available() {
 166                 switch (log_format) {
 167                 case AltosLib.AO_LOG_FORMAT_TINY:
 168                         if (stored_flight == 0)
 169                                 return 1;
 170                         return 0;
 171                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 172                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 173                         return 1;
 174                 default:
 175                         if (flight_log_max <= 0)
 176                                 return 1;
 177                         int     log_max = flight_log_max * 1024;
 178                         int     log_space = log_space();
 179                         int     log_used;
 180
 181                         if (stored_flight <= 0)
 182                                 log_used = 0;
 183                         else
 184                                 log_used = stored_flight * log_max;
 185                         int     log_avail;
 186
 187                         if (log_used >= log_space)
 188                                 log_avail = 0;
 189                         else
 190                                 log_avail = (log_space - log_used) / log_max;
 191
 192                         return log_avail;
 193                 }
 194         }
 195
 196         public boolean has_monitor_battery() {
 197                 if (product.startsWith("TeleBT"))
 198                         return true;
 199                 return false;
 200         }
 201
 202         int[] parse_version(String v) {
 203                 String[] parts = v.split("\\.");
 204                 int r[] = new int[parts.length];
 205
 206                 for (int i = 0; i < parts.length; i++) {
 207                         try {
 208                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 209                         } catch (NumberFormatException n) {
 210                                 r[i] = 0;
 211                         }
 212                 }
 213
 214                 return r;
 215         }
 216
 217         public int compare_version(String other) {
 218                 int[]   me = parse_version(version);
 219                 int[]   them = parse_version(other);
 220
 221                 int     l = Math.min(me.length, them.length);
 222
 223                 for (int i = 0; i < l; i++) {
 224                         int     d = me[i] - them[i];
 225                         if (d != 0)
 226                                 return d;
 227                 }
 228                 if (me.length > l)
 229                         return 1;
 230                 if (them.length > l)
 231                         return -1;
 232                 return 0;
 233         }
 234
 235         public void reset() {
 236                 lines = new LinkedList<String>();
 237
 238                 manufacturer = "unknown";
 239                 product = "unknown";
 240                 serial = 0;
 241                 flight = 0;
 242                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 243                 log_space = -1;
 244                 version = "unknown";
 245
 246                 main_deploy = -1;
 247                 apogee_delay = -1;
 248                 apogee_lockout = -1;
 249
 250                 radio_frequency = -1;
 251                 callsign = null;
 252                 radio_enable = -1;
 253                 radio_calibration = -1;
 254                 radio_channel = -1;
 255                 radio_setting = -1;
 256                 telemetry_rate = -1;
 257
 258                 accel_cal_plus = -1;
 259                 accel_cal_minus = -1;
 260                 pad_orientation = -1;
 261
 262                 flight_log_max = -1;
 263                 log_fixed = -1;
 264                 ignite_mode = -1;
 265
 266                 aes_key = "";
 267
 268                 pyro = 0;
 269                 npyro = 0;
 270                 pyros = null;
 271                 pyro_firing_time = -1;
 272
 273                 aprs_interval = -1;
 274                 aprs_ssid = -1;
 275                 aprs_format = -1;
 276
 277                 beep = -1;
 278
 279                 tracker_motion = -1;
 280                 tracker_interval = -1;
 281
 282                 storage_size = -1;
 283                 storage_erase_unit = -1;
 284                 stored_flight = 0;
 285
 286                 accel_zero_along = -1;
 287                 accel_zero_across = -1;
 288                 accel_zero_through = -1;
 289         }
 290
 291         public void parse_line(String line) {
 292                 lines.add(line);
 293                 /* Version replies */
 294                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 295                 try { product = get_string(line, "product"); } catch (Exception e) {}
 296                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 297                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 298                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 299                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 300                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 301                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 302
 303                 /* Version also contains MS5607 info, which we ignore here */
 304
 305                 try { ms5607_reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 306                 try { ms5607_sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 307                 try { ms5607_off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 308                 try { ms5607_tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 309                 try { ms5607_tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 310                 try { ms5607_tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 311                 try { ms5607_tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 312                 try { ms5607_crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 313
 314                 /* Config show replies */
 315
 316                 /* HAS_FLIGHT */
 317                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 318                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 319                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 320
 321                 /* HAS_RADIO */
 322                 try {
 323                         radio_frequency = get_int(line, "Frequency:");
 324                         if (radio_frequency < 0)
 325                                 radio_frequency = 434550;
 326                 } catch (Exception e) {}
 327                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 328                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 329                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 330                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 331
 332                 /* Old HAS_RADIO values */
 333                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 334                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 335
 336                 /* HAS_ACCEL */
 337                 try {
 338                         if (line.startsWith("Accel cal")) {
 339                                 String[] bits = line.split("\\s+");
 340                                 if (bits.length >= 6) {
 341                                         accel_cal_plus = Integer.parseInt(bits[3]);
 342                                         accel_cal_minus = Integer.parseInt(bits[5]);
 343                                 }
 344                         }
 345                 } catch (Exception e) {}
 346                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 347
 348                 /* HAS_LOG */
 349                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 350                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 351
 352                 /* HAS_IGNITE */
 353                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 354
 355                 /* HAS_AES */
 356                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 357
 358                 /* AO_PYRO_NUM */
 359                 try {
 360                         npyro = get_int(line, "Pyro-count:");
 361                         pyros = new AltosPyro[npyro];
 362                         pyro = 0;
 363                 } catch (Exception e) {}
 364                 if (npyro > 0) {
 365                         try {
 366                                 AltosPyro p = new AltosPyro(pyro, line);
 367                                 if (pyro < npyro)
 368                                         pyros[pyro++] = p;
 369                         } catch (Exception e) {}
 370                 }
 371                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 372
 373                 /* HAS_APRS */
 374                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 375                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 376                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 377
 378                 /* HAS_BEEP */
 379                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 380
 381                 /* HAS_TRACKER */
 382                 try {
 383                         int[] values = get_values(line, "Tracker setting:");
 384                         tracker_motion = values[0];
 385                         tracker_interval = values[1];
 386                 } catch (Exception e) {}
 387
 388                 /* Storage info replies */
 389                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 390                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 391
 392                 /* Log listing replies */
 393                 try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
 394
 395                 /* HAS_GYRO */
 396                 try {
 397                         if (line.startsWith("IMU call along")) {
 398                                 String[] bits = line.split("\\s+");
 399                                 if (bits.length >= 8) {
 400                                         accel_zero_along = Integer.parseInt(bits[3]);
 401                                         accel_zero_across = Integer.parseInt(bits[5]);
 402                                         accel_zero_through = Integer.parseInt(bits[7]);
 403                                 }
 404                         }
 405                 } catch (Exception e) {}
 406         }
 407
 408         public AltosConfigData() {
 409                 reset();
 410         }
 411
 412         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 413                 for (;;) {
 414                         String line = link.get_reply();
 415                         if (line == null)
 416                                 throw new TimeoutException();
 417                         if (line.contains("Syntax error"))
 418                                 continue;
 419                         this.parse_line(line);
 420
 421                         /* signals the end of the version info */
 422                         if (line.startsWith(finished))
 423                                 break;
 424                 }
 425         }
 426
 427         public boolean has_frequency() {
 428                 return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
 429         }
 430
 431         public boolean has_telemetry_rate() {
 432                 return telemetry_rate >= 0;
 433         }
 434
 435         public void set_frequency(double freq) {
 436                 int     frequency = radio_frequency;
 437                 int     setting = radio_setting;
 438
 439                 if (frequency > 0) {
 440                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 441                         radio_channel = -1;
 442                 } else if (setting > 0) {
 443                         radio_setting =AltosConvert.radio_frequency_to_setting(freq,
 444                                                                                     radio_calibration);
 445                         radio_channel = -1;
 446                 } else {
 447                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 448                 }
 449         }
 450
 451         public double frequency() {
 452                 int     channel = radio_channel;
 453                 int     setting = radio_setting;
 454
 455                 if (radio_frequency < 0 && channel < 0 && setting < 0)
 456                         return -1;
 457
 458                 if (channel < 0)
 459                         channel = 0;
 460                 if (setting < 0)
 461                         setting = 0;
 462
 463                 return AltosConvert.radio_to_frequency(radio_frequency,
 464                                                        setting,
 465                                                        radio_calibration,
 466                                                        channel);
 467         }
 468
 469         boolean use_flash_for_config() {
 470                 if (product.startsWith("TeleMega"))
 471                         return false;
 472                 if (product.startsWith("TeleMetrum-v2"))
 473                         return false;
 474                 if (product.startsWith("EasyMega"))
 475                         return false;
 476                 return true;
 477         }
 478
 479
 480         public boolean mma655x_inverted() throws AltosUnknownProduct {
 481                 if (product.startsWith("EasyMega-v1"))
 482                         return false;
 483                 if (product.startsWith("TeleMetrum-v2"))
 484                         return true;
 485                 if (product.startsWith("TeleMega-v2"))
 486                         return false;
 487                 if (product.startsWith("TeleMega-v1"))
 488                         return false;
 489                 throw new AltosUnknownProduct(product);
 490         }
 491
 492         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 493
 494                 /* HAS_FLIGHT */
 495                 if (main_deploy >= 0)
 496                         main_deploy = source.main_deploy();
 497                 if (apogee_delay >= 0)
 498                         apogee_delay = source.apogee_delay();
 499                 if (apogee_lockout >= 0)
 500                         apogee_lockout = source.apogee_lockout();
 501
 502                 /* HAS_RADIO */
 503                 if (has_frequency())
 504                         set_frequency(source.radio_frequency());
 505                 if (radio_enable >= 0)
 506                         radio_enable = source.radio_enable();
 507                 if (callsign != null)
 508                         callsign = source.callsign();
 509                 if (telemetry_rate >= 0)
 510                         telemetry_rate = source.telemetry_rate();
 511
 512                 /* HAS_ACCEL */
 513                 if (pad_orientation >= 0)
 514                         pad_orientation = source.pad_orientation();
 515
 516                 /* HAS_LOG */
 517                 if (flight_log_max >= 0)
 518                         flight_log_max = source.flight_log_max();
 519
 520                 /* HAS_IGNITE */
 521                 if (ignite_mode >= 0)
 522                         ignite_mode = source.ignite_mode();
 523
 524                 /* AO_PYRO_NUM */
 525                 if (npyro > 0)
 526                         pyros = source.pyros();
 527                 if (pyro_firing_time >= 0)
 528                         pyro_firing_time = source.pyro_firing_time();
 529
 530                 /* HAS_APRS */
 531                 if (aprs_interval >= 0)
 532                         aprs_interval = source.aprs_interval();
 533                 if (aprs_ssid >= 0)
 534                         aprs_ssid = source.aprs_ssid();
 535                 if (aprs_format >= 0)
 536                         aprs_format = source.aprs_format();
 537
 538                 /* HAS_BEEP */
 539                 if (beep >= 0)
 540                         beep = source.beep();
 541                 /* HAS_TRACKER */
 542                 if (tracker_motion >= 0)
 543                         tracker_motion = source.tracker_motion();
 544                 if (tracker_interval >= 0)
 545                         tracker_interval = source.tracker_interval();
 546         }
 547
 548         public void set_values(AltosConfigValues dest) {
 549                 dest.set_serial(serial);
 550                 dest.set_product(product);
 551                 dest.set_version(version);
 552                 dest.set_altitude_32(altitude_32);
 553                 dest.set_main_deploy(main_deploy);
 554                 dest.set_apogee_delay(apogee_delay);
 555                 dest.set_apogee_lockout(apogee_lockout);
 556                 dest.set_radio_calibration(radio_calibration);
 557                 dest.set_radio_frequency(frequency());
 558                 dest.set_telemetry_rate(telemetry_rate);
 559                 boolean max_enabled = true;
 560
 561                 if (log_space() == 0)
 562                         max_enabled = false;
 563
 564                 if (log_fixed > 0)
 565                         max_enabled = false;
 566
 567                 switch (log_format) {
 568                 case AltosLib.AO_LOG_FORMAT_TINY:
 569                         max_enabled = false;
 570                         break;
 571                 default:
 572                         if (stored_flight > 0)
 573                                 max_enabled = false;
 574                         break;
 575                 }
 576
 577                 dest.set_flight_log_max_enabled(max_enabled);
 578                 dest.set_radio_enable(radio_enable);
 579                 dest.set_flight_log_max_limit(log_space() / 1024);
 580                 dest.set_flight_log_max(flight_log_max);
 581                 dest.set_ignite_mode(ignite_mode);
 582                 dest.set_pad_orientation(pad_orientation);
 583                 dest.set_callsign(callsign);
 584                 if (npyro > 0)
 585                         dest.set_pyros(pyros);
 586                 else
 587                         dest.set_pyros(null);
 588                 dest.set_pyro_firing_time(pyro_firing_time);
 589                 dest.set_aprs_interval(aprs_interval);
 590                 dest.set_aprs_ssid(aprs_ssid);
 591                 dest.set_aprs_format(aprs_format);
 592                 dest.set_beep(beep);
 593                 dest.set_tracker_motion(tracker_motion);
 594                 dest.set_tracker_interval(tracker_interval);
 595         }
 596
 597         public boolean log_has_state() {
 598                 switch (log_format) {
 599                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 600                         return false;
 601                 }
 602                 return true;
 603         }
 604
 605         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 606
 607                 /* HAS_FLIGHT */
 608                 if (main_deploy >= 0)
 609                         link.printf("c m %d\n", main_deploy);
 610                 if (apogee_delay >= 0)
 611                         link.printf("c d %d\n", apogee_delay);
 612                 if (apogee_lockout >= 0)
 613                         link.printf("c L %d\n", apogee_lockout);
 614
 615                 /* HAS_RADIO */
 616                 if (has_frequency()) {
 617                         boolean has_frequency = radio_frequency >= 0;
 618                         boolean has_setting = radio_setting > 0;
 619                         double frequency = frequency();
 620                         link.set_radio_frequency(frequency,
 621                                                         has_frequency,
 622                                                         has_setting,
 623                                                         radio_calibration);
 624                         /* When remote, reset the dongle frequency at the same time */
 625                         if (remote) {
 626                                 link.flush_output();
 627                                 link.stop_remote();
 628                                 link.set_radio_frequency(frequency);
 629                                 link.flush_output();
 630                                 link.start_remote();
 631                         }
 632                 }
 633
 634                 if (telemetry_rate >= 0) {
 635                         link.printf("c T %d\n", telemetry_rate);
 636                         if (remote) {
 637                                 link.flush_output();
 638                                 link.stop_remote();
 639                                 link.set_telemetry_rate(telemetry_rate);
 640                                 link.flush_output();
 641                                 link.start_remote();
 642                         }
 643                 }
 644
 645                 if (callsign != null) {
 646                         link.printf("c c %s\n", callsign);
 647                         if (remote) {
 648                                 link.flush_output();
 649                                 link.stop_remote();
 650                                 link.set_callsign(callsign);
 651                                 link.flush_output();
 652                                 link.start_remote();
 653                         }
 654                 }
 655
 656                 if (radio_enable >= 0)
 657                         link.printf("c e %d\n", radio_enable);
 658
 659                 /* HAS_ACCEL */
 660                 /* UI doesn't support accel cal */
 661                 if (pad_orientation >= 0)
 662                         link.printf("c o %d\n", pad_orientation);
 663
 664                 /* HAS_LOG */
 665                 if (flight_log_max != 0)
 666                         link.printf("c l %d\n", flight_log_max);
 667
 668                 /* HAS_IGNITE */
 669                 if (ignite_mode >= 0)
 670                         link.printf("c i %d\n", ignite_mode);
 671
 672                 /* HAS_AES */
 673                 /* UI doesn't support AES key config */
 674
 675                 /* AO_PYRO_NUM */
 676                 if (npyro > 0) {
 677                         for (int p = 0; p < pyros.length; p++) {
 678                                 link.printf("c P %s\n",
 679                                                    pyros[p].toString());
 680                         }
 681                 }
 682                 if (pyro_firing_time >= 0)
 683                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 684
 685                 /* HAS_APRS */
 686                 if (aprs_interval >= 0)
 687                         link.printf("c A %d\n", aprs_interval);
 688                 if (aprs_ssid >= 0)
 689                         link.printf("c S %d\n", aprs_ssid);
 690                 if (aprs_format >= 0)
 691                         link.printf("c C %d\n", aprs_format);
 692
 693                 /* HAS_BEEP */
 694                 if (beep >= 0)
 695                         link.printf("c b %d\n", beep);
 696
 697                 /* HAS_TRACKER */
 698                 if (tracker_motion >= 0 && tracker_interval >= 0)
 699                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 700
 701                 /* HAS_GYRO */
 702                 /* UI doesn't support accel cal */
 703
 704                 link.printf("c w\n");
 705                 link.flush_output();
 706         }
 707
 708         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 709                 reset();
 710                 link.printf("c s\nf\nv\n");
 711                 read_link(link, "software-version");
 712                 switch (log_format) {
 713                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 714                 case AltosLib.AO_LOG_FORMAT_NONE:
 715                         break;
 716                 default:
 717                         link.printf("l\n");
 718                         read_link(link, "done");
 719                         break;
 720                 }
 721         }
 722
 723 }