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;
44 static final int idle_sensor_tm = 100;
45 static final int idle_sensor_metrum = 101;
46 static final int idle_sensor_mega = 102;
47 static final int idle_sensor_emini1 = 103;
48 static final int idle_sensor_emini2 = 104;
49 static final int idle_sensor_tmini2 = 105;
50 static final int idle_sensor_tgps1 = 106;
51 static final int idle_sensor_tgps2 = 107;
52 static final int idle_sensor_tgps3 = 108;
53 static final int idle_sensor_tmini3 = 109;
54 static final int idle_sensor_easytimer1 = 110;
55 static final int idle_sensor_easymotor2 = 111;
57 public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, TimeoutException, AltosUnknownProduct {
58 for (int idler : idlers) {
61 AltosGPS.provide_data(listener, link);
63 case idle_imu_tm_v1_v2:
64 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v1_v2);
67 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v3);
70 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v4);
73 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easymega_v1);
76 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easymega_v2);
79 AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easytimer_v1);
82 AltosIMU.provide_data(listener, link, AltosLib.MISSING);
85 AltosMag.provide_data(listener, link);
88 AltosMma655x.provide_data(listener, link);
91 AltosAdxl375.provide_data(listener, link, false, AltosLib.MISSING);
93 case idle_adxl375_easymotor_v2:
94 AltosAdxl375.provide_data(listener, link, true, AltosIMU.imu_type_easymotor_v2);
97 AltosMs5607.provide_data(listener, link);
100 AltosSensorTM.provide_data(listener, link);
102 case idle_sensor_metrum:
103 AltosSensorMetrum.provide_data(listener, link);
105 case idle_sensor_mega:
106 AltosSensorMega.provide_data(listener, link);
108 case idle_sensor_emini1:
109 AltosSensorEMini.provide_data(listener, link, 1);
111 case idle_sensor_emini2:
112 AltosSensorEMini.provide_data(listener, link, 2);
114 case idle_sensor_tmini2:
115 AltosSensorTMini2.provide_data(listener, link);
117 case idle_sensor_tgps1:
118 AltosSensorTGPS1.provide_data(listener, link);
120 case idle_sensor_tgps2:
121 AltosSensorTGPS2.provide_data(listener, link);
123 case idle_sensor_tgps3:
124 AltosSensorTGPS3.provide_data(listener, link);
126 case idle_sensor_tmini3:
127 AltosSensorTMini3.provide_data(listener, link);
129 case idle_sensor_easytimer1:
130 AltosSensorEasyTimer1.provide_data(listener, link);
132 case idle_sensor_easymotor2:
133 AltosSensorEasyMotor2.provide_data(listener, link);
139 public boolean matches(AltosConfigData config_data) {
140 return config_data.product.startsWith(prefix);
143 public AltosIdler(String prefix, int ... idlers) {
144 this.prefix = prefix;
145 this.idlers = idlers;
150 public class AltosIdleFetch implements AltosDataProvider {
152 static final AltosIdler[] idlers = {
154 new AltosIdler("EasyMini-v1",
155 AltosIdler.idle_ms5607,
156 AltosIdler.idle_sensor_emini1),
158 new AltosIdler("EasyMini-v2",
159 AltosIdler.idle_ms5607,
160 AltosIdler.idle_sensor_emini2),
162 new AltosIdler("TeleMini-v1",
163 AltosIdler.idle_sensor_tm),
165 new AltosIdler("TeleMini-v2",
166 AltosIdler.idle_ms5607,
167 AltosIdler.idle_sensor_tmini2),
169 new AltosIdler("TeleMini-v3",
170 AltosIdler.idle_ms5607,
171 AltosIdler.idle_sensor_tmini3),
173 new AltosIdler("TeleMetrum-v1",
175 AltosIdler.idle_sensor_tm),
177 new AltosIdler("TeleMetrum-v2",
179 AltosIdler.idle_mma655x,
180 AltosIdler.idle_ms5607,
181 AltosIdler.idle_sensor_metrum),
183 new AltosIdler("TeleMetrum-v3",
185 AltosIdler.idle_adxl375,
186 AltosIdler.idle_ms5607,
187 AltosIdler.idle_sensor_metrum),
189 new AltosIdler("TeleMetrum-v4",
191 AltosIdler.idle_adxl375,
192 AltosIdler.idle_ms5607,
193 AltosIdler.idle_sensor_metrum),
195 new AltosIdler("TeleMega-v0",
197 AltosIdler.idle_mma655x,
198 AltosIdler.idle_ms5607,
199 AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
200 AltosIdler.idle_sensor_mega),
201 new AltosIdler("TeleMega-v1",
203 AltosIdler.idle_mma655x,
204 AltosIdler.idle_ms5607,
205 AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
206 AltosIdler.idle_sensor_mega),
207 new AltosIdler("TeleMega-v2",
209 AltosIdler.idle_mma655x,
210 AltosIdler.idle_ms5607,
211 AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
212 AltosIdler.idle_sensor_mega),
213 new AltosIdler("TeleMega-v3",
215 AltosIdler.idle_mma655x,
216 AltosIdler.idle_ms5607,
217 AltosIdler.idle_imu_tm_v3,
218 AltosIdler.idle_sensor_mega),
219 new AltosIdler("TeleMega-v4",
221 AltosIdler.idle_adxl375,
222 AltosIdler.idle_ms5607,
223 AltosIdler.idle_imu_tm_v4,
224 AltosIdler.idle_sensor_mega),
225 new AltosIdler("TeleMega-v5",
227 AltosIdler.idle_adxl375,
228 AltosIdler.idle_ms5607,
229 AltosIdler.idle_imu, AltosIdler.idle_mag,
230 AltosIdler.idle_sensor_mega),
231 new AltosIdler("TeleMega-v6",
233 AltosIdler.idle_adxl375,
234 AltosIdler.idle_ms5607,
235 AltosIdler.idle_imu, AltosIdler.idle_mag,
236 AltosIdler.idle_sensor_mega),
237 new AltosIdler("EasyMega-v1",
238 AltosIdler.idle_mma655x,
239 AltosIdler.idle_ms5607,
240 AltosIdler.idle_imu_em_v1, AltosIdler.idle_mag,
241 AltosIdler.idle_sensor_mega),
242 new AltosIdler("EasyMega-v2",
243 AltosIdler.idle_adxl375,
244 AltosIdler.idle_ms5607,
245 AltosIdler.idle_imu_em_v2,
246 AltosIdler.idle_sensor_mega),
247 new AltosIdler("TeleGPS-v1",
249 AltosIdler.idle_sensor_tgps1),
250 new AltosIdler("TeleGPS-v2",
252 AltosIdler.idle_sensor_tgps2),
253 new AltosIdler("TeleGPS-v3",
255 AltosIdler.idle_sensor_tgps3),
256 new AltosIdler("EasyTimer-v1",
257 AltosIdler.idle_imu_et_v1,
258 AltosIdler.idle_sensor_easytimer1),
259 new AltosIdler("EasyMotor-v2",
260 AltosIdler.idle_adxl375_easymotor_v2,
261 AltosIdler.idle_sensor_easymotor2),
266 public void provide_data(AltosDataListener listener) throws InterruptedException, AltosUnknownProduct {
268 boolean matched = false;
269 /* Fetch config data from remote */
270 AltosConfigData config_data = link.config_data();
271 listener.set_state(AltosLib.ao_flight_stateless);
272 for (AltosIdler idler : idlers) {
273 if (idler.matches(config_data)) {
274 idler.provide_data(listener, link);
280 throw new AltosUnknownProduct(config_data.product);
281 listener.set_received_time(System.currentTimeMillis());
282 } catch (TimeoutException te) {
287 public AltosIdleFetch(AltosLink link) {