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; 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_5;
22 import java.nio.charset.Charset;
24 public class AltosLib {
25 /* EEProm command letters */
26 public static final int AO_LOG_FLIGHT = 'F';
27 public static final int AO_LOG_SENSOR = 'A';
28 public static final int AO_LOG_TEMP_VOLT = 'T';
29 public static final int AO_LOG_DEPLOY = 'D';
30 public static final int AO_LOG_STATE = 'S';
31 public static final int AO_LOG_GPS_POS = 'P';
32 public static final int AO_LOG_GPS_TIME = 'G';
33 public static final int AO_LOG_GPS_LAT = 'N';
34 public static final int AO_LOG_GPS_LON = 'W';
35 public static final int AO_LOG_GPS_ALT = 'H';
36 public static final int AO_LOG_GPS_SAT = 'V';
37 public static final int AO_LOG_GPS_DATE = 'Y';
38 public static final int AO_LOG_PRESSURE = 'P';
40 /* Added for header fields in eeprom files */
41 public static final int AO_LOG_CONFIG_VERSION = 1000;
42 public static final int AO_LOG_MAIN_DEPLOY = 1001;
43 public static final int AO_LOG_APOGEE_DELAY = 1002;
44 public static final int AO_LOG_RADIO_CHANNEL = 1003;
45 public static final int AO_LOG_CALLSIGN = 1004;
46 public static final int AO_LOG_ACCEL_CAL = 1005;
47 public static final int AO_LOG_RADIO_CAL = 1006;
48 public static final int AO_LOG_MAX_FLIGHT_LOG = 1007;
49 public static final int AO_LOG_MANUFACTURER = 2000;
50 public static final int AO_LOG_PRODUCT = 2001;
51 public static final int AO_LOG_SERIAL_NUMBER = 2002;
52 public static final int AO_LOG_LOG_FORMAT = 2003;
54 /* Added for header fields in telemega files */
55 public static final int AO_LOG_BARO_RESERVED = 3000;
56 public static final int AO_LOG_BARO_SENS = 3001;
57 public static final int AO_LOG_BARO_OFF = 3002;
58 public static final int AO_LOG_BARO_TCS = 3004;
59 public static final int AO_LOG_BARO_TCO = 3005;
60 public static final int AO_LOG_BARO_TREF = 3006;
61 public static final int AO_LOG_BARO_TEMPSENS = 3007;
62 public static final int AO_LOG_BARO_CRC = 3008;
64 public static final int AO_LOG_SOFTWARE_VERSION = 9999;
66 public final static int MISSING = 0x7fffffff;
68 /* Added to flag invalid records */
69 public static final int AO_LOG_INVALID = -1;
71 /* Flight state numbers and names */
72 public static final int ao_flight_startup = 0;
73 public static final int ao_flight_idle = 1;
74 public static final int ao_flight_pad = 2;
75 public static final int ao_flight_boost = 3;
76 public static final int ao_flight_fast = 4;
77 public static final int ao_flight_coast = 5;
78 public static final int ao_flight_drogue = 6;
79 public static final int ao_flight_main = 7;
80 public static final int ao_flight_landed = 8;
81 public static final int ao_flight_invalid = 9;
82 public static final int ao_flight_stateless = 10;
85 public final static int vendor_altusmetrum = 0xfffe;
87 public final static int product_altusmetrum = 0x000a;
88 public final static int product_telemetrum = 0x000b;
89 public final static int product_teledongle = 0x000c;
90 public final static int product_teleterra = 0x000d;
91 public final static int product_telebt = 0x000e;
92 public final static int product_telelaunch = 0x000f;
93 public final static int product_telelco = 0x0010;
94 public final static int product_telescience = 0x0011;
95 public final static int product_telepyro =0x0012;
96 public final static int product_telemega = 0x0023;
97 public final static int product_megadongle = 0x0024;
98 public final static int product_telegps = 0x0025;
99 public final static int product_easymini = 0x0026;
100 public final static int product_telemini = 0x0027;
101 public final static int product_altusmetrum_min = 0x000a;
102 public final static int product_altusmetrum_max = 0x002c;
104 public final static int product_any = 0x10000;
105 public final static int product_basestation = 0x10000 + 1;
106 public final static int product_altimeter = 0x10000 + 2;
108 private static class Product {
112 Product (String name, int product) {
114 this.product = product;
118 private static Product[] products = {
119 new Product("telemetrum", product_telemetrum),
120 new Product("teleballoon", product_telemetrum),
121 new Product("teledongle", product_teledongle),
122 new Product("teleterra", product_teledongle),
123 new Product("telebt", product_telebt),
124 new Product("telelaunch", product_telelaunch),
125 new Product("telelco", product_telelco),
126 new Product("telescience", product_telescience),
127 new Product("telepyro", product_telepyro),
128 new Product("telemega", product_telemega),
129 new Product("megadongle", product_megadongle),
130 new Product("telegps", product_telegps),
131 new Product("easymini", product_easymini),
132 new Product("telemini", product_telemini)
135 public static int name_to_product(String name) {
136 String low = name.toLowerCase();
138 for (int i = 0; i < products.length; i++)
139 if (low.startsWith(products[i].name))
140 return products[i].product;
144 /* Bluetooth "identifier" (bluetooth sucks) */
145 public final static String bt_product_telebt = "TeleBT";
147 /* "good" voltages */
149 public final static double ao_battery_good = 3.8;
150 public final static double ao_igniter_good = 3.5;
152 /* Telemetry modes */
153 public static final int ao_telemetry_off = 0;
154 public static final int ao_telemetry_min = 1;
155 public static final int ao_telemetry_standard = 1;
156 public static final int ao_telemetry_0_9 = 2;
157 public static final int ao_telemetry_0_8 = 3;
158 public static final int ao_telemetry_max = 3;
160 private static final String[] ao_telemetry_name = {
161 "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
164 public static final int ao_telemetry_rate_38400 = 0;
165 public static final int ao_telemetry_rate_9600 = 1;
166 public static final int ao_telemetry_rate_2400 = 2;
167 public static final int ao_telemetry_rate_max = 2;
169 public static final Integer[] ao_telemetry_rate_values = {
173 public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
175 public static final int ao_telemetry_standard_len = 32;
176 public static final int ao_telemetry_0_9_len = 95;
177 public static final int ao_telemetry_0_8_len = 94;
179 private static final int[] ao_telemetry_len = {
183 private static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
185 private static boolean map_initialized = false;
187 public static void initialize_map()
189 string_to_state.put("startup", ao_flight_startup);
190 string_to_state.put("idle", ao_flight_idle);
191 string_to_state.put("pad", ao_flight_pad);
192 string_to_state.put("boost", ao_flight_boost);
193 string_to_state.put("fast", ao_flight_fast);
194 string_to_state.put("coast", ao_flight_coast);
195 string_to_state.put("drogue", ao_flight_drogue);
196 string_to_state.put("apogee", ao_flight_coast);
197 string_to_state.put("main", ao_flight_main);
198 string_to_state.put("landed", ao_flight_landed);
199 string_to_state.put("invalid", ao_flight_invalid);
200 string_to_state.put("stateless", ao_flight_stateless);
201 map_initialized = true;
204 public static int telemetry_len(int telemetry) {
205 if (telemetry <= ao_telemetry_max)
206 return ao_telemetry_len[telemetry];
207 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
211 public static String telemetry_name(int telemetry) {
212 if (telemetry <= ao_telemetry_max)
213 return ao_telemetry_name[telemetry];
214 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
218 private static String[] state_to_string = {
232 private static String[] state_to_string_capital = {
246 public static int state(String state) {
247 if (!map_initialized)
249 if (string_to_state.containsKey(state))
250 return string_to_state.get(state);
251 return ao_flight_invalid;
254 public static String state_name(int state) {
255 if (state < 0 || state_to_string.length <= state)
257 return state_to_string[state];
260 public static String state_name_capital(int state) {
261 if (state < 0 || state_to_string.length <= state)
263 return state_to_string_capital[state];
266 public static final int AO_GPS_VALID = (1 << 4);
267 public static final int AO_GPS_RUNNING = (1 << 5);
268 public static final int AO_GPS_DATE_VALID = (1 << 6);
269 public static final int AO_GPS_NUM_SAT_SHIFT = 0;
270 public static final int AO_GPS_NUM_SAT_MASK = 0xf;
272 public static final int AO_LOG_FORMAT_UNKNOWN = 0;
273 public static final int AO_LOG_FORMAT_FULL = 1;
274 public static final int AO_LOG_FORMAT_TINY = 2;
275 public static final int AO_LOG_FORMAT_TELEMETRY = 3;
276 public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
277 public static final int AO_LOG_FORMAT_TELEMEGA = 5;
278 public static final int AO_LOG_FORMAT_EASYMINI = 6;
279 public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
280 public static final int AO_LOG_FORMAT_TELEMINI = 8;
281 public static final int AO_LOG_FORMAT_TELEGPS = 9;
282 public static final int AO_LOG_FORMAT_NONE = 127;
284 public static boolean isspace(int c) {
293 public static boolean ishex(int c) {
294 if ('0' <= c && c <= '9')
296 if ('a' <= c && c <= 'f')
298 if ('A' <= c && c <= 'F')
303 public static boolean ishex(String s) {
304 for (int i = 0; i < s.length(); i++)
305 if (!ishex(s.charAt(i)))
310 public static int fromhex(int c) {
311 if ('0' <= c && c <= '9')
313 if ('a' <= c && c <= 'f')
315 if ('A' <= c && c <= 'F')
320 public static int fromhex(String s) throws NumberFormatException {
322 for (int i = 0; i < s.length(); i++) {
326 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
329 v = v * 16 + fromhex(c);
334 public static boolean isdec(int c) {
335 if ('0' <= c && c <= '9')
340 public static boolean isdec(String s) {
341 for (int i = 0; i < s.length(); i++)
342 if (!isdec(s.charAt(i)))
347 public static int fromdec(int c) {
348 if ('0' <= c && c <= '9')
353 public static int int8(int[] bytes, int i) {
354 return (int) (byte) bytes[i];
357 public static int uint8(int[] bytes, int i) {
361 public static int int16(int[] bytes, int i) {
362 return (int) (short) (bytes[i] + (bytes[i+1] << 8));
365 public static int uint16(int[] bytes, int i) {
366 return bytes[i] + (bytes[i+1] << 8);
369 public static int uint32(int[] bytes, int i) {
376 public static int int32(int[] bytes, int i) {
377 return (int) uint32(bytes, i);
380 public static final Charset unicode_set = Charset.forName("UTF-8");
382 public static String string(int[] bytes, int s, int l) {
383 if (s + l > bytes.length) {
384 if (s > bytes.length) {
388 l = bytes.length - s;
393 for (i = l - 1; i >= 0; i--)
398 byte[] b = new byte[l];
400 for (i = 0; i < l; i++)
401 b[i] = (byte) bytes[s+i];
402 String n = new String(b, unicode_set);
406 public static int hexbyte(String s, int i) {
409 if (s.length() < i + 2)
410 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
413 throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
416 throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
417 return fromhex(c0) * 16 + fromhex(c1);
420 public static int[] hexbytes(String s) {
425 if ((s.length() & 1) != 0)
426 throw new NumberFormatException(String.format("invalid line \"%s\"", s));
429 for (i = 0; i < n; i++)
430 r[i] = hexbyte(s, i * 2);
434 public static int fromdec(String s) throws NumberFormatException {
437 for (int i = 0; i < s.length(); i++) {
439 if (i == 0 && c == '-') {
441 } else if (!isdec(c)) {
443 throw new NumberFormatException(String.format("invalid number \"%s\"", s));
446 v = v * 10 + fromdec(c);
451 public static String gets(FileInputStream s) throws IOException {
455 while ((c = s.read()) != -1) {
461 line = line + (char) c;
466 public static String replace_extension(String input, String extension) {
467 int dot = input.lastIndexOf(".");
469 input = input.substring(0,dot);
470 return input.concat(extension);
473 public static File replace_extension(File input, String extension) {
474 return new File(replace_extension(input.getPath(), extension));
477 public static String product_name(int product_id) {
478 switch (product_id) {
479 case product_altusmetrum: return "AltusMetrum";
480 case product_telemetrum: return "TeleMetrum";
481 case product_teledongle: return "TeleDongle";
482 case product_teleterra: return "TeleTerra";
483 case product_telebt: return "TeleBT";
484 case product_telelaunch: return "TeleLaunch";
485 case product_telelco: return "TeleLco";
486 case product_telescience: return "Telescience";
487 case product_telepyro: return "TelePyro";
488 case product_telemega: return "TeleMega";
489 case product_megadongle: return "MegaDongle";
490 case product_telegps: return "TeleGPS";
491 case product_easymini: return "EasyMini";
492 case product_telemini: return "TeleMini";
493 default: return "unknown";
497 public static String ignitor_name(int i) {
498 return String.format("Ignitor %c", 'A' + i);