2 * Copyright © 2014 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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_4;
24 public class AltosEepromGPS extends AltosEeprom {
25 public static final int record_length = 32;
27 public static final int max_sat = 12;
29 public int record_length() { return record_length; }
31 /* AO_LOG_FLIGHT elements */
32 public int flight() { return data16(0); }
33 public int start_altitude() { return data16(2); }
34 public int start_latitude() { return data32(4); }
35 public int start_longitude() { return data32(8); }
37 /* AO_LOG_GPS_TIME elements */
38 public int latitude() { return data32(0); }
39 public int longitude() { return data32(4); }
40 public int altitude() { return data16(8); }
41 public int hour() { return data8(10); }
42 public int minute() { return data8(11); }
43 public int second() { return data8(12); }
44 public int flags() { return data8(13); }
45 public int year() { return data8(14); }
46 public int month() { return data8(15); }
47 public int day() { return data8(16); }
48 public int course() { return data8(17); }
49 public int ground_speed() { return data16(18); }
50 public int climb_rate() { return data16(20); }
51 public int pdop() { return data8(22); }
52 public int hdop() { return data8(23); }
53 public int vdop() { return data8(24); }
54 public int mode() { return data8(25); }
55 public int state() { return data8(26); }
57 /* AO_LOG_GPS_SAT elements */
58 public int nsat() { return data16(0); }
59 public int svid(int n) { return data8(2 + n * 2); }
60 public int c_n(int n) { return data8(2 + n * 2 + 1); }
62 public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
63 parse_chunk(chunk, start);
66 public void update_state(AltosState state) {
67 super.update_state(state);
71 /* Flush any pending GPS changes */
72 if (state.gps_pending) {
74 case AltosLib.AO_LOG_GPS_LAT:
75 case AltosLib.AO_LOG_GPS_LON:
76 case AltosLib.AO_LOG_GPS_ALT:
77 case AltosLib.AO_LOG_GPS_SAT:
78 case AltosLib.AO_LOG_GPS_DATE:
87 case AltosLib.AO_LOG_FLIGHT:
88 state.set_boost_tick(tick);
89 state.set_flight(flight());
90 /* no place to log start lat/lon yet */
92 case AltosLib.AO_LOG_GPS_TIME:
94 state.set_state(state());
95 gps = state.make_temp_gps(false);
96 gps.lat = latitude() / 1e7;
97 gps.lon = longitude() / 1e7;
101 gps.minute = minute();
102 gps.second = second();
106 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
107 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
108 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
109 AltosLib.AO_GPS_NUM_SAT_SHIFT;
111 gps.year = 2000 + year();
114 gps.ground_speed = ground_speed() * 1.0e-2;
115 gps.course = course() * 2;
116 gps.climb_rate = climb_rate() * 1.0e-2;
120 case AltosLib.AO_LOG_GPS_SAT:
121 state.set_tick(tick);
122 gps = state.make_temp_gps(true);
127 for (int i = 0; i < n; i++)
128 gps.add_sat(svid(i), c_n(i));
133 public AltosEepromGPS (String line) {
137 static public LinkedList<AltosEeprom> read(FileInputStream input) {
138 LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>();
142 String line = AltosLib.gets(input);
146 AltosEepromGPS tgps = new AltosEepromGPS(line);
147 if (tgps.cmd != AltosLib.AO_LOG_INVALID)
149 } catch (Exception e) {
150 System.out.printf ("exception\n");
152 } catch (IOException ie) {