2 * Copyright © 2013 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_14;
24 import java.util.concurrent.*;
30 static final int idle_gps = 0;
31 static final int idle_imu_tm_v1_v2 = 1;
32 static final int idle_imu_tm_v3 = 2;
33 static final int idle_imu_tm_v4 = 3;
34 static final int idle_imu_em_v1 = 4;
35 static final int idle_imu_em_v2 = 5;
36 static final int idle_imu_et_v1 = 6;
37 static final int idle_mag = 7;
38 static final int idle_mma655x = 8;
39 static final int idle_ms5607 = 9;
40 static final int idle_adxl375 = 10;
41 static final int idle_adxl375_easymotor_v2 = 11;
42 static final int idle_imu = 12;
43 static final int idle_imu_et_v2 = 13;
45 static final int idle_sensor_tm = 100;
46 static final int idle_sensor_metrum = 101;
47 static final int idle_sensor_mega = 102;
48 static final int idle_sensor_emini1 = 103;
49 static final int idle_sensor_emini2 = 104;
50 static final int idle_sensor_tmini2 = 105;
51 static final int idle_sensor_tgps1 = 106;
52 static final int idle_sensor_tgps2 = 107;
53 static final int idle_sensor_tgps3 = 108;
54 static final int idle_sensor_tmini3 = 109;
55 static final int idle_sensor_easytimer1 = 110;
56 static final int idle_sensor_easymotor2 = 111;
57 static final int idle_sensor_emini3 = 112;
58 static final int idle_sensor_etimer2 = 113;
60 public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, TimeoutException, AltosUnknownProduct {
61 for (int idler : idlers) {
64 AltosGPS.provide_data(listener, link);
66 case idle_imu_tm_v1_v2:
67 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v1_v2);
70 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v3);
73 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v4);
76 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easymega_v1);
79 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easymega_v2);
82 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easytimer_v1);
85 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easytimer_v2);
88 AltosIMU.provide_data(listener, link, AltosLib.MISSING);
91 AltosMag.provide_data(listener, link);
94 AltosMma655x.provide_data(listener, link);
97 AltosAdxl375.provide_data(listener, link, false, AltosLib.MISSING);
99 case idle_adxl375_easymotor_v2:
100 AltosAdxl375.provide_data(listener, link, true, AltosIMU.imu_type_easymotor_v2);
103 AltosMs5607.provide_data(listener, link);
106 AltosSensorTM.provide_data(listener, link);
108 case idle_sensor_metrum:
109 AltosSensorMetrum.provide_data(listener, link);
111 case idle_sensor_mega:
112 AltosSensorMega.provide_data(listener, link);
114 case idle_sensor_emini1:
115 AltosSensorEMini.provide_data(listener, link, 1);
117 case idle_sensor_emini2:
118 AltosSensorEMini.provide_data(listener, link, 2);
120 case idle_sensor_emini3:
121 AltosSensorEMini.provide_data(listener, link, 3);
123 case idle_sensor_tmini2:
124 AltosSensorTMini2.provide_data(listener, link);
126 case idle_sensor_tgps1:
127 AltosSensorTGPS1.provide_data(listener, link);
129 case idle_sensor_tgps2:
130 AltosSensorTGPS2.provide_data(listener, link);
132 case idle_sensor_tgps3:
133 AltosSensorTGPS3.provide_data(listener, link);
135 case idle_sensor_tmini3:
136 AltosSensorTMini3.provide_data(listener, link);
138 case idle_sensor_easytimer1:
139 AltosSensorEasyTimer1.provide_data(listener, link);
141 case idle_sensor_easymotor2:
142 AltosSensorEasyMotor2.provide_data(listener, link);
148 public boolean matches(AltosConfigData config_data) {
149 return config_data.product.startsWith(prefix);
152 public AltosIdler(String prefix, int ... idlers) {
153 this.prefix = prefix;
154 this.idlers = idlers;
159 public class AltosIdleFetch implements AltosDataProvider {
161 static final AltosIdler[] idlers = {
163 new AltosIdler("EasyMini-v1",
164 AltosIdler.idle_ms5607,
165 AltosIdler.idle_sensor_emini1),
167 new AltosIdler("EasyMini-v2",
168 AltosIdler.idle_ms5607,
169 AltosIdler.idle_sensor_emini2),
171 new AltosIdler("EasyMini-v3",
172 AltosIdler.idle_ms5607,
173 AltosIdler.idle_sensor_emini3),
175 new AltosIdler("TeleMini-v1",
176 AltosIdler.idle_sensor_tm),
178 new AltosIdler("TeleMini-v2",
179 AltosIdler.idle_ms5607,
180 AltosIdler.idle_sensor_tmini2),
182 new AltosIdler("TeleMini-v3",
183 AltosIdler.idle_ms5607,
184 AltosIdler.idle_sensor_tmini3),
186 new AltosIdler("TeleMetrum-v1",
188 AltosIdler.idle_sensor_tm),
190 new AltosIdler("TeleMetrum-v2",
192 AltosIdler.idle_mma655x,
193 AltosIdler.idle_ms5607,
194 AltosIdler.idle_sensor_metrum),
196 new AltosIdler("TeleMetrum-v3",
198 AltosIdler.idle_adxl375,
199 AltosIdler.idle_ms5607,
200 AltosIdler.idle_sensor_metrum),
202 new AltosIdler("TeleMetrum-v4",
204 AltosIdler.idle_adxl375,
205 AltosIdler.idle_ms5607,
206 AltosIdler.idle_sensor_metrum),
208 new AltosIdler("TeleMega-v0",
210 AltosIdler.idle_mma655x,
211 AltosIdler.idle_ms5607,
212 AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
213 AltosIdler.idle_sensor_mega),
214 new AltosIdler("TeleMega-v1",
216 AltosIdler.idle_mma655x,
217 AltosIdler.idle_ms5607,
218 AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
219 AltosIdler.idle_sensor_mega),
220 new AltosIdler("TeleMega-v2",
222 AltosIdler.idle_mma655x,
223 AltosIdler.idle_ms5607,
224 AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
225 AltosIdler.idle_sensor_mega),
226 new AltosIdler("TeleMega-v3",
228 AltosIdler.idle_mma655x,
229 AltosIdler.idle_ms5607,
230 AltosIdler.idle_imu_tm_v3,
231 AltosIdler.idle_sensor_mega),
232 new AltosIdler("TeleMega-v4",
234 AltosIdler.idle_adxl375,
235 AltosIdler.idle_ms5607,
236 AltosIdler.idle_imu_tm_v4,
237 AltosIdler.idle_sensor_mega),
238 new AltosIdler("TeleMega-v5",
240 AltosIdler.idle_adxl375,
241 AltosIdler.idle_ms5607,
242 AltosIdler.idle_imu, AltosIdler.idle_mag,
243 AltosIdler.idle_sensor_mega),
244 new AltosIdler("TeleMega-v6",
246 AltosIdler.idle_adxl375,
247 AltosIdler.idle_ms5607,
248 AltosIdler.idle_imu, AltosIdler.idle_mag,
249 AltosIdler.idle_sensor_mega),
250 new AltosIdler("EasyMega-v1",
251 AltosIdler.idle_mma655x,
252 AltosIdler.idle_ms5607,
253 AltosIdler.idle_imu_em_v1, AltosIdler.idle_mag,
254 AltosIdler.idle_sensor_mega),
255 new AltosIdler("EasyMega-v2",
256 AltosIdler.idle_adxl375,
257 AltosIdler.idle_ms5607,
258 AltosIdler.idle_imu_em_v2,
259 AltosIdler.idle_sensor_mega),
260 new AltosIdler("TeleGPS-v1",
262 AltosIdler.idle_sensor_tgps1),
263 new AltosIdler("TeleGPS-v2",
265 AltosIdler.idle_sensor_tgps2),
266 new AltosIdler("TeleGPS-v3",
268 AltosIdler.idle_sensor_tgps3),
269 new AltosIdler("EasyTimer-v1",
270 AltosIdler.idle_imu_et_v1,
271 AltosIdler.idle_sensor_easytimer1),
272 new AltosIdler("EasyMotor-v2",
273 AltosIdler.idle_adxl375_easymotor_v2,
274 AltosIdler.idle_sensor_easymotor2),
275 new AltosIdler("EasyTimer-v2",
276 AltosIdler.idle_imu_et_v2,
277 AltosIdler.idle_sensor_easymotor2),
282 public void provide_data(AltosDataListener listener) throws InterruptedException, AltosUnknownProduct {
284 boolean matched = false;
285 /* Fetch config data from remote */
286 AltosConfigData config_data = link.config_data();
287 listener.set_state(AltosLib.ao_flight_stateless);
288 for (AltosIdler idler : idlers) {
289 if (idler.matches(config_data)) {
290 idler.provide_data(listener, link);
296 throw new AltosUnknownProduct(config_data.product);
297 listener.set_received_time(System.currentTimeMillis());
298 } catch (TimeoutException te) {
303 public AltosIdleFetch(AltosLink link) {