2 * Copyright © 2010 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_12;
23 import java.nio.charset.Charset;
25 public class AltosLib {
26 /* EEProm command letters */
27 public static final int AO_LOG_FLIGHT = 'F';
28 public static final int AO_LOG_SENSOR = 'A';
29 public static final int AO_LOG_TEMP_VOLT = 'T';
30 public static final int AO_LOG_DEPLOY = 'D';
31 public static final int AO_LOG_STATE = 'S';
32 public static final int AO_LOG_GPS_POS = 'P';
33 public static final int AO_LOG_GPS_TIME = 'G';
34 public static final int AO_LOG_GPS_LAT = 'N';
35 public static final int AO_LOG_GPS_LON = 'W';
36 public static final int AO_LOG_GPS_ALT = 'H';
37 public static final int AO_LOG_GPS_SAT = 'V';
38 public static final int AO_LOG_GPS_DATE = 'Y';
39 public static final int AO_LOG_PRESSURE = 'P';
41 public static boolean is_gps_cmd(int cmd) {
43 case AltosLib.AO_LOG_GPS_POS:
44 case AltosLib.AO_LOG_GPS_TIME:
45 case AltosLib.AO_LOG_GPS_LAT:
46 case AltosLib.AO_LOG_GPS_LON:
47 case AltosLib.AO_LOG_GPS_ALT:
48 case AltosLib.AO_LOG_GPS_SAT:
49 case AltosLib.AO_LOG_GPS_DATE:
55 /* Added for header fields in eeprom files */
56 public static final int AO_LOG_CONFIG_VERSION = 1000;
57 public static final int AO_LOG_MAIN_DEPLOY = 1001;
58 public static final int AO_LOG_APOGEE_DELAY = 1002;
59 public static final int AO_LOG_RADIO_CHANNEL = 1003;
60 public static final int AO_LOG_CALLSIGN = 1004;
61 public static final int AO_LOG_ACCEL_CAL = 1005;
62 public static final int AO_LOG_RADIO_CAL = 1006;
63 public static final int AO_LOG_MAX_FLIGHT_LOG = 1007;
64 public static final int AO_LOG_MANUFACTURER = 2000;
65 public static final int AO_LOG_PRODUCT = 2001;
66 public static final int AO_LOG_SERIAL_NUMBER = 2002;
67 public static final int AO_LOG_LOG_FORMAT = 2003;
69 public static final int AO_LOG_FREQUENCY = 2004;
70 public static final int AO_LOG_APOGEE_LOCKOUT = 2005;
71 public static final int AO_LOG_RADIO_RATE = 2006;
72 public static final int AO_LOG_IGNITE_MODE = 2007;
73 public static final int AO_LOG_PAD_ORIENTATION = 2008;
74 public static final int AO_LOG_RADIO_ENABLE = 2009;
75 public static final int AO_LOG_AES_KEY = 2010;
76 public static final int AO_LOG_APRS = 2011;
77 public static final int AO_LOG_BEEP_SETTING = 2012;
78 public static final int AO_LOG_TRACKER_SETTING = 2013;
79 public static final int AO_LOG_PYRO_TIME = 2014;
80 public static final int AO_LOG_APRS_ID = 2015;
81 public static final int AO_LOG_ALTITUDE_32 = 2016;
83 /* Added for header fields in telemega files */
84 public static final int AO_LOG_BARO_RESERVED = 3000;
85 public static final int AO_LOG_BARO_SENS = 3001;
86 public static final int AO_LOG_BARO_OFF = 3002;
87 public static final int AO_LOG_BARO_TCS = 3004;
88 public static final int AO_LOG_BARO_TCO = 3005;
89 public static final int AO_LOG_BARO_TREF = 3006;
90 public static final int AO_LOG_BARO_TEMPSENS = 3007;
91 public static final int AO_LOG_BARO_CRC = 3008;
92 public static final int AO_LOG_IMU_CAL = 3009;
94 public static final int AO_LOG_SOFTWARE_VERSION = 9999;
96 public final static int MISSING = 0x7fffffff;
98 /* Added to flag invalid records */
99 public static final int AO_LOG_INVALID = -1;
101 /* Flight state numbers and names */
102 public static final int ao_flight_startup = 0;
103 public static final int ao_flight_idle = 1;
104 public static final int ao_flight_pad = 2;
105 public static final int ao_flight_boost = 3;
106 public static final int ao_flight_fast = 4;
107 public static final int ao_flight_coast = 5;
108 public static final int ao_flight_drogue = 6;
109 public static final int ao_flight_main = 7;
110 public static final int ao_flight_landed = 8;
111 public static final int ao_flight_invalid = 9;
112 public static final int ao_flight_stateless = 10;
114 /* USB product IDs */
115 public final static int vendor_altusmetrum = 0xfffe;
117 public final static int product_altusmetrum = 0x000a;
118 public final static int product_telemetrum = 0x000b;
119 public final static int product_teledongle = 0x000c;
120 public final static int product_teleterra = 0x000d;
121 public final static int product_telebt = 0x000e;
122 public final static int product_telelaunch = 0x000f;
123 public final static int product_telelco = 0x0010;
124 public final static int product_telescience = 0x0011;
125 public final static int product_telepyro =0x0012;
126 public final static int product_telemega = 0x0023;
127 public final static int product_megadongle = 0x0024;
128 public final static int product_telegps = 0x0025;
129 public final static int product_easymini = 0x0026;
130 public final static int product_telemini = 0x0027;
131 public final static int product_easymega = 0x0028;
132 public final static int product_usbtrng = 0x0029;
133 public final static int product_usbrelay = 0x002a;
134 public final static int product_mpusb = 0x002b;
135 public final static int product_altusmetrum_min = 0x000a;
136 public final static int product_altusmetrum_max = 0x002c;
138 public final static int product_any = 0x10000;
139 public final static int product_basestation = 0x10000 + 1;
140 public final static int product_altimeter = 0x10000 + 2;
142 private static class Product {
146 Product (String name, int product) {
148 this.product = product;
152 private static Product[] products = {
153 new Product("telemetrum", product_telemetrum),
154 new Product("teleballoon", product_telemetrum),
155 new Product("teledongle", product_teledongle),
156 new Product("teleterra", product_teledongle),
157 new Product("telebt", product_telebt),
158 new Product("telelaunch", product_telelaunch),
159 new Product("telelco", product_telelco),
160 new Product("telescience", product_telescience),
161 new Product("telepyro", product_telepyro),
162 new Product("telemega", product_telemega),
163 new Product("megadongle", product_megadongle),
164 new Product("telegps", product_telegps),
165 new Product("easymini", product_easymini),
166 new Product("telemini", product_telemini),
167 new Product("easymega", product_easymega)
170 public static int name_to_product(String name) {
171 String low = name.toLowerCase();
173 for (int i = 0; i < products.length; i++)
174 if (low.startsWith(products[i].name))
175 return products[i].product;
179 public static boolean has_9dof(int device_type) {
180 return device_type == product_telemega || device_type == product_easymega;
183 public static boolean has_gps(int device_type) {
184 return device_type == product_telemetrum ||
185 device_type == product_telemega ||
186 device_type == product_telegps;
189 /* Bluetooth "identifier" (bluetooth sucks) */
190 public final static String bt_product_telebt = "TeleBT";
192 /* "good" voltages */
194 public final static double ao_battery_good = 3.8;
195 public final static double ao_igniter_good = 3.5;
197 /* Telemetry modes */
198 public static final int ao_telemetry_off = 0;
199 public static final int ao_telemetry_min = 1;
200 public static final int ao_telemetry_standard = 1;
201 public static final int ao_telemetry_0_9 = 2;
202 public static final int ao_telemetry_0_8 = 3;
203 public static final int ao_telemetry_max = 3;
205 private static final String[] ao_telemetry_name = {
206 "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
209 public static final int ao_telemetry_rate_38400 = 0;
210 public static final int ao_telemetry_rate_9600 = 1;
211 public static final int ao_telemetry_rate_2400 = 2;
212 public static final int ao_telemetry_rate_max = 2;
214 public static final Integer[] ao_telemetry_rate_values = {
218 public static final int ao_aprs_format_compressed = 0;
219 public static final int ao_aprs_format_uncompressed = 1;
221 public static final String[] ao_aprs_format_name = {
222 "Compressed", "Uncompressed"
225 public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
226 public static final String launch_sites_env = "LAUNCH_SITES";
227 // public static final String launch_sites_url = "file:///home/keithp/misc/text/altusmetrum/AltOS/launch-sites.txt";
229 public static final int ao_telemetry_standard_len = 32;
230 public static final int ao_telemetry_0_9_len = 95;
231 public static final int ao_telemetry_0_8_len = 94;
233 private static final int[] ao_telemetry_len = {
237 private static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
239 private static boolean map_initialized = false;
241 public static void initialize_map()
243 string_to_state.put("startup", ao_flight_startup);
244 string_to_state.put("idle", ao_flight_idle);
245 string_to_state.put("pad", ao_flight_pad);
246 string_to_state.put("boost", ao_flight_boost);
247 string_to_state.put("fast", ao_flight_fast);
248 string_to_state.put("coast", ao_flight_coast);
249 string_to_state.put("drogue", ao_flight_drogue);
250 string_to_state.put("apogee", ao_flight_coast);
251 string_to_state.put("main", ao_flight_main);
252 string_to_state.put("landed", ao_flight_landed);
253 string_to_state.put("invalid", ao_flight_invalid);
254 string_to_state.put("stateless", ao_flight_stateless);
255 map_initialized = true;
258 public static int telemetry_len(int telemetry) {
259 if (telemetry <= ao_telemetry_max)
260 return ao_telemetry_len[telemetry];
261 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
265 public static String telemetry_name(int telemetry) {
266 if (telemetry <= ao_telemetry_max)
267 return ao_telemetry_name[telemetry];
268 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
272 private static int[] split_version(String version) {
273 String[] tokens = version.split("\\.");
274 int[] ret = new int[tokens.length];
275 for (int i = 0; i < tokens.length; i++)
276 ret[i] = Integer.parseInt(tokens[i]);
280 public static int compare_version(String version_a, String version_b) {
281 int[] a = split_version(version_a);
282 int[] b = split_version(version_b);
284 for (int i = 0; i < Math.min(a.length, b.length); i++) {
290 if (a.length < b.length)
292 if (a.length > b.length)
297 private static String[] state_to_string = {
311 private static String[] state_to_string_capital = {
325 public static int state(String state) {
326 if (!map_initialized)
328 if (string_to_state.containsKey(state))
329 return string_to_state.get(state);
330 return ao_flight_invalid;
333 public static String state_name(int state) {
334 if (state < 0 || state_to_string.length <= state)
336 return state_to_string[state];
339 public static String state_name_capital(int state) {
340 if (state < 0 || state_to_string.length <= state)
342 return state_to_string_capital[state];
345 public static final int AO_GPS_VALID = (1 << 4);
346 public static final int AO_GPS_RUNNING = (1 << 5);
347 public static final int AO_GPS_DATE_VALID = (1 << 6);
348 public static final int AO_GPS_NUM_SAT_SHIFT = 0;
349 public static final int AO_GPS_NUM_SAT_MASK = 0xf;
351 public static final int AO_LOG_FORMAT_UNKNOWN = 0;
352 public static final int AO_LOG_FORMAT_FULL = 1;
353 public static final int AO_LOG_FORMAT_TINY = 2;
354 public static final int AO_LOG_FORMAT_TELEMETRY = 3;
355 public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
356 public static final int AO_LOG_FORMAT_TELEMEGA_OLD = 5;
357 public static final int AO_LOG_FORMAT_EASYMINI1 = 6;
358 public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
359 public static final int AO_LOG_FORMAT_TELEMINI2 = 8;
360 public static final int AO_LOG_FORMAT_TELEGPS = 9;
361 public static final int AO_LOG_FORMAT_TELEMEGA = 10;
362 public static final int AO_LOG_FORMAT_DETHERM = 11;
363 public static final int AO_LOG_FORMAT_TELEMINI3 = 12;
364 public static final int AO_LOG_FORMAT_TELEFIRETWO = 13;
365 public static final int AO_LOG_FORMAT_EASYMINI2 = 14;
366 public static final int AO_LOG_FORMAT_TELEMEGA_3 = 15;
367 public static final int AO_LOG_FORMAT_NONE = 127;
369 public static boolean isspace(int c) {
378 public static final boolean ishex(int c) {
379 if ('0' <= c && c <= '9')
381 if ('a' <= c && c <= 'f')
383 if ('A' <= c && c <= 'F')
388 public static final boolean ishex(String s) {
389 for (int i = 0; i < s.length(); i++)
390 if (!ishex(s.charAt(i)))
395 public static int fromhex(int c) {
396 if ('0' <= c && c <= '9')
398 if ('a' <= c && c <= 'f')
400 if ('A' <= c && c <= 'F')
405 public static int fromhex(String s) throws NumberFormatException {
407 for (int i = 0; i < s.length(); i++) {
411 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
414 v = v * 16 + fromhex(c);
419 public static boolean isdec(int c) {
420 if ('0' <= c && c <= '9')
425 public static boolean isdec(String s) {
426 for (int i = 0; i < s.length(); i++)
427 if (!isdec(s.charAt(i)))
432 public static int fromdec(int c) {
433 if ('0' <= c && c <= '9')
438 public static int int8(int[] bytes, int i) {
439 return (int) (byte) bytes[i];
442 public static int uint8(int[] bytes, int i) {
446 public static int int16(int[] bytes, int i) {
447 return (int) (short) (bytes[i] + (bytes[i+1] << 8));
450 public static int uint16(int[] bytes, int i) {
451 return bytes[i] + (bytes[i+1] << 8);
454 public static int uint32(int[] bytes, int i) {
461 public static int int32(int[] bytes, int i) {
462 return (int) uint32(bytes, i);
465 public static final Charset unicode_set = Charset.forName("UTF-8");
467 public static String string(int[] bytes, int s, int l) {
468 if (s + l > bytes.length) {
469 if (s > bytes.length) {
473 l = bytes.length - s;
478 for (i = l - 1; i >= 0; i--)
483 byte[] b = new byte[l];
485 for (i = 0; i < l; i++)
486 b[i] = (byte) bytes[s+i];
487 String n = new String(b, unicode_set);
491 public static int hexbyte(String s, int i) {
494 if (s.length() < i + 2)
495 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
498 throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
501 throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
502 return fromhex(c0) * 16 + fromhex(c1);
505 public static int[] hexbytes(String s) {
510 if ((s.length() & 1) != 0)
511 throw new NumberFormatException(String.format("invalid line \"%s\"", s));
512 byte[] bytes = s.getBytes(unicode_set);
513 n = bytes.length / 2;
515 for (i = 0; i < n; i++) {
516 int h = fromhex(bytes[(i << 1)]);
517 int l = fromhex(bytes[(i << 1) + 1]);
519 throw new NumberFormatException(String.format("invalid hex \"%c%c\"",
520 bytes[(i<<1)], bytes[(i<<1) + 1]));
526 public static long fromdec(String s) throws NumberFormatException {
530 for (int i = 0; i < s.length(); i++) {
532 if (i == 0 && c == '-') {
534 } else if (!isdec(c)) {
536 throw new NumberFormatException(String.format("invalid number \"%s\"", s));
539 v = v * 10 + fromdec(c);
544 public static String gets(FileInputStream s) throws IOException {
548 while ((c = s.read()) != -1) {
554 line = line + (char) c;
559 public static String replace_extension(String input, String extension) {
560 int dot = input.lastIndexOf(".");
562 input = input.substring(0,dot);
563 return input.concat(extension);
566 public static File replace_extension(File input, String extension) {
567 return new File(replace_extension(input.getPath(), extension));
570 public static String product_name(int product_id) {
571 switch (product_id) {
572 case product_altusmetrum: return "AltusMetrum";
573 case product_telemetrum: return "TeleMetrum";
574 case product_teledongle: return "TeleDongle";
575 case product_teleterra: return "TeleTerra";
576 case product_telebt: return "TeleBT";
577 case product_telelaunch: return "TeleLaunch";
578 case product_telelco: return "TeleLco";
579 case product_telescience: return "Telescience";
580 case product_telepyro: return "TelePyro";
581 case product_telemega: return "TeleMega";
582 case product_megadongle: return "MegaDongle";
583 case product_telegps: return "TeleGPS";
584 case product_easymini: return "EasyMini";
585 case product_telemini: return "TeleMini";
586 default: return "unknown";
590 public static String igniter_name(int i) {
591 return String.format("Igniter %c", 'A' + i);
594 public static String igniter_short_name(int i) {
595 return String.format("igniter_%c", 'a' + i);
598 public static AltosRecordSet record_set(File file) throws FileNotFoundException, IOException {
600 in = new FileInputStream(file);
601 if (file.getName().endsWith("telem")) {
602 return new AltosTelemetryFile(in);
603 } else if (file.getName().endsWith("eeprom")) {
604 return new AltosEepromFile(in);
606 String name = file.getName();
607 int dot = name.lastIndexOf('.');
611 throw new IOException(String.format("%s (Missing extension)", file.toString()));
613 extension = name.substring(dot);
614 throw new IOException(String.format("%s (Invalid extension '%s')",