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 public static final int AO_LOG_FREQUENCY = 2004;
55 public static final int AO_LOG_APOGEE_LOCKOUT = 2005;
56 public static final int AO_LOG_RADIO_RATE = 2006;
57 public static final int AO_LOG_IGNITE_MODE = 2007;
58 public static final int AO_LOG_PAD_ORIENTATION = 2008;
59 public static final int AO_LOG_RADIO_ENABLE = 2009;
60 public static final int AO_LOG_AES_KEY = 2010;
61 public static final int AO_LOG_APRS = 2011;
62 public static final int AO_LOG_BEEP_SETTING = 2012;
63 public static final int AO_LOG_TRACKER_SETTING = 2013;
64 public static final int AO_LOG_PYRO_TIME = 2014;
65 public static final int AO_LOG_APRS_ID = 2015;
66 public static final int AO_LOG_ALTITUDE_32 = 2016;
68 /* Added for header fields in telemega files */
69 public static final int AO_LOG_BARO_RESERVED = 3000;
70 public static final int AO_LOG_BARO_SENS = 3001;
71 public static final int AO_LOG_BARO_OFF = 3002;
72 public static final int AO_LOG_BARO_TCS = 3004;
73 public static final int AO_LOG_BARO_TCO = 3005;
74 public static final int AO_LOG_BARO_TREF = 3006;
75 public static final int AO_LOG_BARO_TEMPSENS = 3007;
76 public static final int AO_LOG_BARO_CRC = 3008;
78 public static final int AO_LOG_SOFTWARE_VERSION = 9999;
80 public final static int MISSING = 0x7fffffff;
82 /* Added to flag invalid records */
83 public static final int AO_LOG_INVALID = -1;
85 /* Flight state numbers and names */
86 public static final int ao_flight_startup = 0;
87 public static final int ao_flight_idle = 1;
88 public static final int ao_flight_pad = 2;
89 public static final int ao_flight_boost = 3;
90 public static final int ao_flight_fast = 4;
91 public static final int ao_flight_coast = 5;
92 public static final int ao_flight_drogue = 6;
93 public static final int ao_flight_main = 7;
94 public static final int ao_flight_landed = 8;
95 public static final int ao_flight_invalid = 9;
96 public static final int ao_flight_stateless = 10;
99 public final static int vendor_altusmetrum = 0xfffe;
101 public final static int product_altusmetrum = 0x000a;
102 public final static int product_telemetrum = 0x000b;
103 public final static int product_teledongle = 0x000c;
104 public final static int product_teleterra = 0x000d;
105 public final static int product_telebt = 0x000e;
106 public final static int product_telelaunch = 0x000f;
107 public final static int product_telelco = 0x0010;
108 public final static int product_telescience = 0x0011;
109 public final static int product_telepyro =0x0012;
110 public final static int product_telemega = 0x0023;
111 public final static int product_megadongle = 0x0024;
112 public final static int product_telegps = 0x0025;
113 public final static int product_easymini = 0x0026;
114 public final static int product_telemini = 0x0027;
115 public final static int product_altusmetrum_min = 0x000a;
116 public final static int product_altusmetrum_max = 0x002c;
118 public final static int product_any = 0x10000;
119 public final static int product_basestation = 0x10000 + 1;
120 public final static int product_altimeter = 0x10000 + 2;
122 private static class Product {
126 Product (String name, int product) {
128 this.product = product;
132 private static Product[] products = {
133 new Product("telemetrum", product_telemetrum),
134 new Product("teleballoon", product_telemetrum),
135 new Product("teledongle", product_teledongle),
136 new Product("teleterra", product_teledongle),
137 new Product("telebt", product_telebt),
138 new Product("telelaunch", product_telelaunch),
139 new Product("telelco", product_telelco),
140 new Product("telescience", product_telescience),
141 new Product("telepyro", product_telepyro),
142 new Product("telemega", product_telemega),
143 new Product("megadongle", product_megadongle),
144 new Product("telegps", product_telegps),
145 new Product("easymini", product_easymini),
146 new Product("telemini", product_telemini)
149 public static int name_to_product(String name) {
150 String low = name.toLowerCase();
152 for (int i = 0; i < products.length; i++)
153 if (low.startsWith(products[i].name))
154 return products[i].product;
158 /* Bluetooth "identifier" (bluetooth sucks) */
159 public final static String bt_product_telebt = "TeleBT";
161 /* "good" voltages */
163 public final static double ao_battery_good = 3.8;
164 public final static double ao_igniter_good = 3.5;
166 /* Telemetry modes */
167 public static final int ao_telemetry_off = 0;
168 public static final int ao_telemetry_min = 1;
169 public static final int ao_telemetry_standard = 1;
170 public static final int ao_telemetry_0_9 = 2;
171 public static final int ao_telemetry_0_8 = 3;
172 public static final int ao_telemetry_max = 3;
174 private static final String[] ao_telemetry_name = {
175 "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
178 public static final int ao_telemetry_rate_38400 = 0;
179 public static final int ao_telemetry_rate_9600 = 1;
180 public static final int ao_telemetry_rate_2400 = 2;
181 public static final int ao_telemetry_rate_max = 2;
183 public static final Integer[] ao_telemetry_rate_values = {
187 public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
189 public static final int ao_telemetry_standard_len = 32;
190 public static final int ao_telemetry_0_9_len = 95;
191 public static final int ao_telemetry_0_8_len = 94;
193 private static final int[] ao_telemetry_len = {
197 private static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
199 private static boolean map_initialized = false;
201 public static void initialize_map()
203 string_to_state.put("startup", ao_flight_startup);
204 string_to_state.put("idle", ao_flight_idle);
205 string_to_state.put("pad", ao_flight_pad);
206 string_to_state.put("boost", ao_flight_boost);
207 string_to_state.put("fast", ao_flight_fast);
208 string_to_state.put("coast", ao_flight_coast);
209 string_to_state.put("drogue", ao_flight_drogue);
210 string_to_state.put("apogee", ao_flight_coast);
211 string_to_state.put("main", ao_flight_main);
212 string_to_state.put("landed", ao_flight_landed);
213 string_to_state.put("invalid", ao_flight_invalid);
214 string_to_state.put("stateless", ao_flight_stateless);
215 map_initialized = true;
218 public static int telemetry_len(int telemetry) {
219 if (telemetry <= ao_telemetry_max)
220 return ao_telemetry_len[telemetry];
221 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
225 public static String telemetry_name(int telemetry) {
226 if (telemetry <= ao_telemetry_max)
227 return ao_telemetry_name[telemetry];
228 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
232 private static int[] split_version(String version) {
233 String[] tokens = version.split("\\.");
234 int[] ret = new int[tokens.length];
235 for (int i = 0; i < tokens.length; i++)
236 ret[i] = Integer.parseInt(tokens[i]);
240 public static int compare_version(String version_a, String version_b) {
241 int[] a = split_version(version_a);
242 int[] b = split_version(version_b);
244 for (int i = 0; i < Math.min(a.length, b.length); i++) {
250 if (a.length < b.length)
252 if (a.length > b.length)
257 private static String[] state_to_string = {
271 private static String[] state_to_string_capital = {
285 public static int state(String state) {
286 if (!map_initialized)
288 if (string_to_state.containsKey(state))
289 return string_to_state.get(state);
290 return ao_flight_invalid;
293 public static String state_name(int state) {
294 if (state < 0 || state_to_string.length <= state)
296 return state_to_string[state];
299 public static String state_name_capital(int state) {
300 if (state < 0 || state_to_string.length <= state)
302 return state_to_string_capital[state];
305 public static final int AO_GPS_VALID = (1 << 4);
306 public static final int AO_GPS_RUNNING = (1 << 5);
307 public static final int AO_GPS_DATE_VALID = (1 << 6);
308 public static final int AO_GPS_NUM_SAT_SHIFT = 0;
309 public static final int AO_GPS_NUM_SAT_MASK = 0xf;
311 public static final int AO_LOG_FORMAT_UNKNOWN = 0;
312 public static final int AO_LOG_FORMAT_FULL = 1;
313 public static final int AO_LOG_FORMAT_TINY = 2;
314 public static final int AO_LOG_FORMAT_TELEMETRY = 3;
315 public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
316 public static final int AO_LOG_FORMAT_TELEMEGA = 5;
317 public static final int AO_LOG_FORMAT_EASYMINI = 6;
318 public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
319 public static final int AO_LOG_FORMAT_TELEMINI = 8;
320 public static final int AO_LOG_FORMAT_TELEGPS = 9;
321 public static final int AO_LOG_FORMAT_NONE = 127;
323 public static boolean isspace(int c) {
332 public static final boolean ishex(int c) {
333 if ('0' <= c && c <= '9')
335 if ('a' <= c && c <= 'f')
337 if ('A' <= c && c <= 'F')
342 public static final boolean ishex(String s) {
343 for (int i = 0; i < s.length(); i++)
344 if (!ishex(s.charAt(i)))
349 public static int fromhex(int c) {
350 if ('0' <= c && c <= '9')
352 if ('a' <= c && c <= 'f')
354 if ('A' <= c && c <= 'F')
359 public static int fromhex(String s) throws NumberFormatException {
361 for (int i = 0; i < s.length(); i++) {
365 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
368 v = v * 16 + fromhex(c);
373 public static boolean isdec(int c) {
374 if ('0' <= c && c <= '9')
379 public static boolean isdec(String s) {
380 for (int i = 0; i < s.length(); i++)
381 if (!isdec(s.charAt(i)))
386 public static int fromdec(int c) {
387 if ('0' <= c && c <= '9')
392 public static int int8(int[] bytes, int i) {
393 return (int) (byte) bytes[i];
396 public static int uint8(int[] bytes, int i) {
400 public static int int16(int[] bytes, int i) {
401 return (int) (short) (bytes[i] + (bytes[i+1] << 8));
404 public static int uint16(int[] bytes, int i) {
405 return bytes[i] + (bytes[i+1] << 8);
408 public static int uint32(int[] bytes, int i) {
415 public static int int32(int[] bytes, int i) {
416 return (int) uint32(bytes, i);
419 public static final Charset unicode_set = Charset.forName("UTF-8");
421 public static String string(int[] bytes, int s, int l) {
422 if (s + l > bytes.length) {
423 if (s > bytes.length) {
427 l = bytes.length - s;
432 for (i = l - 1; i >= 0; i--)
437 byte[] b = new byte[l];
439 for (i = 0; i < l; i++)
440 b[i] = (byte) bytes[s+i];
441 String n = new String(b, unicode_set);
445 public static int hexbyte(String s, int i) {
448 if (s.length() < i + 2)
449 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
452 throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
455 throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
456 return fromhex(c0) * 16 + fromhex(c1);
459 public static int[] hexbytes(String s) {
464 if ((s.length() & 1) != 0)
465 throw new NumberFormatException(String.format("invalid line \"%s\"", s));
466 byte[] bytes = s.getBytes(unicode_set);
467 n = bytes.length / 2;
469 for (i = 0; i < n; i++) {
470 int h = fromhex(bytes[(i << 1)]);
471 int l = fromhex(bytes[(i << 1) + 1]);
473 throw new NumberFormatException(String.format("invalid hex \"%c%c\"",
474 bytes[(i<<1)], bytes[(i<<1) + 1]));
480 public static int fromdec(String s) throws NumberFormatException {
483 for (int i = 0; i < s.length(); i++) {
485 if (i == 0 && c == '-') {
487 } else if (!isdec(c)) {
489 throw new NumberFormatException(String.format("invalid number \"%s\"", s));
492 v = v * 10 + fromdec(c);
497 public static String gets(FileInputStream s) throws IOException {
501 while ((c = s.read()) != -1) {
507 line = line + (char) c;
512 public static String replace_extension(String input, String extension) {
513 int dot = input.lastIndexOf(".");
515 input = input.substring(0,dot);
516 return input.concat(extension);
519 public static File replace_extension(File input, String extension) {
520 return new File(replace_extension(input.getPath(), extension));
523 public static String product_name(int product_id) {
524 switch (product_id) {
525 case product_altusmetrum: return "AltusMetrum";
526 case product_telemetrum: return "TeleMetrum";
527 case product_teledongle: return "TeleDongle";
528 case product_teleterra: return "TeleTerra";
529 case product_telebt: return "TeleBT";
530 case product_telelaunch: return "TeleLaunch";
531 case product_telelco: return "TeleLco";
532 case product_telescience: return "Telescience";
533 case product_telepyro: return "TelePyro";
534 case product_telemega: return "TeleMega";
535 case product_megadongle: return "MegaDongle";
536 case product_telegps: return "TeleGPS";
537 case product_easymini: return "EasyMini";
538 case product_telemini: return "TeleMini";
539 default: return "unknown";
543 public static String ignitor_name(int i) {
544 return String.format("Ignitor %c", 'A' + i);