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; 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;
25 public class AltosEepromGPS extends AltosEeprom {
26 public static final int record_length = 32;
28 public static final int max_sat = 12;
30 public int record_length() { return record_length; }
32 /* AO_LOG_FLIGHT elements */
33 public int flight() { return data16(0); }
34 public int start_altitude() { return data16(2); }
35 public int start_latitude() { return data32(4); }
36 public int start_longitude() { return data32(8); }
38 /* AO_LOG_GPS_TIME elements */
39 public int latitude() { return data32(0); }
40 public int longitude() { return data32(4); }
41 public int altitude_low() { return data16(8); }
42 public int hour() { return data8(10); }
43 public int minute() { return data8(11); }
44 public int second() { return data8(12); }
45 public int flags() { return data8(13); }
46 public int year() { return data8(14); }
47 public int month() { return data8(15); }
48 public int day() { return data8(16); }
49 public int course() { return data8(17); }
50 public int ground_speed() { return data16(18); }
51 public int climb_rate() { return data16(20); }
52 public int pdop() { return data8(22); }
53 public int hdop() { return data8(23); }
54 public int vdop() { return data8(24); }
55 public int mode() { return data8(25); }
56 public int altitude_high() { return data16(26); }
58 public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; }
60 public int seconds() {
62 case AltosLib.AO_LOG_GPS_TIME:
63 return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month())));
69 public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
70 parse_chunk(chunk, start);
73 public void update_state(AltosState state) {
74 super.update_state(state);
78 /* Flush any pending GPS changes */
79 if (state.gps_pending) {
81 case AltosLib.AO_LOG_GPS_LAT:
82 case AltosLib.AO_LOG_GPS_LON:
83 case AltosLib.AO_LOG_GPS_ALT:
84 case AltosLib.AO_LOG_GPS_SAT:
85 case AltosLib.AO_LOG_GPS_DATE:
94 case AltosLib.AO_LOG_FLIGHT:
95 if (state.flight == AltosLib.MISSING) {
96 state.set_boost_tick(tick);
97 state.set_flight(flight());
99 /* no place to log start lat/lon yet */
101 case AltosLib.AO_LOG_GPS_TIME:
102 state.set_tick(tick);
103 gps = state.make_temp_gps(false);
104 gps.lat = latitude() / 1e7;
105 gps.lon = longitude() / 1e7;
106 if (state.altitude_32())
107 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
109 gps.alt = altitude_low();
112 gps.minute = minute();
113 gps.second = second();
117 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
118 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
119 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
120 AltosLib.AO_GPS_NUM_SAT_SHIFT;
122 gps.year = 2000 + year();
125 gps.ground_speed = ground_speed() * 1.0e-2;
126 gps.course = course() * 2;
127 gps.climb_rate = climb_rate() * 1.0e-2;
128 if (state.compare_version("1.4.9") >= 0) {
129 gps.pdop = pdop() / 10.0;
130 gps.hdop = hdop() / 10.0;
131 gps.vdop = vdop() / 10.0;
133 gps.pdop = pdop() / 100.0;
136 gps.hdop = hdop() / 100.0;
139 gps.vdop = vdop() / 100.0;
147 public AltosEepromGPS (String line) {
151 static public LinkedList<AltosEeprom> read(FileInputStream input) {
152 LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>();
156 String line = AltosLib.gets(input);
160 AltosEepromGPS tgps = new AltosEepromGPS(line);
161 if (tgps.cmd != AltosLib.AO_LOG_INVALID)
163 } catch (Exception e) {
164 System.out.printf ("exception\n");
166 } catch (IOException ie) {