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_11;
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 /* Added for header fields in eeprom files */
42 public static final int AO_LOG_CONFIG_VERSION = 1000;
43 public static final int AO_LOG_MAIN_DEPLOY = 1001;
44 public static final int AO_LOG_APOGEE_DELAY = 1002;
45 public static final int AO_LOG_RADIO_CHANNEL = 1003;
46 public static final int AO_LOG_CALLSIGN = 1004;
47 public static final int AO_LOG_ACCEL_CAL = 1005;
48 public static final int AO_LOG_RADIO_CAL = 1006;
49 public static final int AO_LOG_MAX_FLIGHT_LOG = 1007;
50 public static final int AO_LOG_MANUFACTURER = 2000;
51 public static final int AO_LOG_PRODUCT = 2001;
52 public static final int AO_LOG_SERIAL_NUMBER = 2002;
53 public static final int AO_LOG_LOG_FORMAT = 2003;
55 public static final int AO_LOG_FREQUENCY = 2004;
56 public static final int AO_LOG_APOGEE_LOCKOUT = 2005;
57 public static final int AO_LOG_RADIO_RATE = 2006;
58 public static final int AO_LOG_IGNITE_MODE = 2007;
59 public static final int AO_LOG_PAD_ORIENTATION = 2008;
60 public static final int AO_LOG_RADIO_ENABLE = 2009;
61 public static final int AO_LOG_AES_KEY = 2010;
62 public static final int AO_LOG_APRS = 2011;
63 public static final int AO_LOG_BEEP_SETTING = 2012;
64 public static final int AO_LOG_TRACKER_SETTING = 2013;
65 public static final int AO_LOG_PYRO_TIME = 2014;
66 public static final int AO_LOG_APRS_ID = 2015;
67 public static final int AO_LOG_ALTITUDE_32 = 2016;
69 /* Added for header fields in telemega files */
70 public static final int AO_LOG_BARO_RESERVED = 3000;
71 public static final int AO_LOG_BARO_SENS = 3001;
72 public static final int AO_LOG_BARO_OFF = 3002;
73 public static final int AO_LOG_BARO_TCS = 3004;
74 public static final int AO_LOG_BARO_TCO = 3005;
75 public static final int AO_LOG_BARO_TREF = 3006;
76 public static final int AO_LOG_BARO_TEMPSENS = 3007;
77 public static final int AO_LOG_BARO_CRC = 3008;
78 public static final int AO_LOG_IMU_CAL = 3009;
80 public static final int AO_LOG_SOFTWARE_VERSION = 9999;
82 public final static int MISSING = 0x7fffffff;
84 /* Added to flag invalid records */
85 public static final int AO_LOG_INVALID = -1;
87 /* Flight state numbers and names */
88 public static final int ao_flight_startup = 0;
89 public static final int ao_flight_idle = 1;
90 public static final int ao_flight_pad = 2;
91 public static final int ao_flight_boost = 3;
92 public static final int ao_flight_fast = 4;
93 public static final int ao_flight_coast = 5;
94 public static final int ao_flight_drogue = 6;
95 public static final int ao_flight_main = 7;
96 public static final int ao_flight_landed = 8;
97 public static final int ao_flight_invalid = 9;
98 public static final int ao_flight_stateless = 10;
100 /* USB product IDs */
101 public final static int vendor_altusmetrum = 0xfffe;
103 public final static int product_altusmetrum = 0x000a;
104 public final static int product_telemetrum = 0x000b;
105 public final static int product_teledongle = 0x000c;
106 public final static int product_teleterra = 0x000d;
107 public final static int product_telebt = 0x000e;
108 public final static int product_telelaunch = 0x000f;
109 public final static int product_telelco = 0x0010;
110 public final static int product_telescience = 0x0011;
111 public final static int product_telepyro =0x0012;
112 public final static int product_telemega = 0x0023;
113 public final static int product_megadongle = 0x0024;
114 public final static int product_telegps = 0x0025;
115 public final static int product_easymini = 0x0026;
116 public final static int product_telemini = 0x0027;
117 public final static int product_easymega = 0x0028;
118 public final static int product_usbtrng = 0x0029;
119 public final static int product_usbrelay = 0x002a;
120 public final static int product_mpusb = 0x002b;
121 public final static int product_altusmetrum_min = 0x000a;
122 public final static int product_altusmetrum_max = 0x002c;
124 public final static int product_any = 0x10000;
125 public final static int product_basestation = 0x10000 + 1;
126 public final static int product_altimeter = 0x10000 + 2;
128 private static class Product {
132 Product (String name, int product) {
134 this.product = product;
138 private static Product[] products = {
139 new Product("telemetrum", product_telemetrum),
140 new Product("teleballoon", product_telemetrum),
141 new Product("teledongle", product_teledongle),
142 new Product("teleterra", product_teledongle),
143 new Product("telebt", product_telebt),
144 new Product("telelaunch", product_telelaunch),
145 new Product("telelco", product_telelco),
146 new Product("telescience", product_telescience),
147 new Product("telepyro", product_telepyro),
148 new Product("telemega", product_telemega),
149 new Product("megadongle", product_megadongle),
150 new Product("telegps", product_telegps),
151 new Product("easymini", product_easymini),
152 new Product("telemini", product_telemini),
153 new Product("easymega", product_easymega)
156 public static int name_to_product(String name) {
157 String low = name.toLowerCase();
159 for (int i = 0; i < products.length; i++)
160 if (low.startsWith(products[i].name))
161 return products[i].product;
165 /* Bluetooth "identifier" (bluetooth sucks) */
166 public final static String bt_product_telebt = "TeleBT";
168 /* "good" voltages */
170 public final static double ao_battery_good = 3.8;
171 public final static double ao_igniter_good = 3.5;
173 /* Telemetry modes */
174 public static final int ao_telemetry_off = 0;
175 public static final int ao_telemetry_min = 1;
176 public static final int ao_telemetry_standard = 1;
177 public static final int ao_telemetry_0_9 = 2;
178 public static final int ao_telemetry_0_8 = 3;
179 public static final int ao_telemetry_max = 3;
181 private static final String[] ao_telemetry_name = {
182 "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
185 public static final int ao_telemetry_rate_38400 = 0;
186 public static final int ao_telemetry_rate_9600 = 1;
187 public static final int ao_telemetry_rate_2400 = 2;
188 public static final int ao_telemetry_rate_max = 2;
190 public static final Integer[] ao_telemetry_rate_values = {
194 public static final int ao_aprs_format_compressed = 0;
195 public static final int ao_aprs_format_uncompressed = 1;
197 public static final String[] ao_aprs_format_name = {
198 "Compressed", "Uncompressed"
201 public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
202 public static final String launch_sites_env = "LAUNCH_SITES";
203 // public static final String launch_sites_url = "file:///home/keithp/misc/text/altusmetrum/AltOS/launch-sites.txt";
205 public static final int ao_telemetry_standard_len = 32;
206 public static final int ao_telemetry_0_9_len = 95;
207 public static final int ao_telemetry_0_8_len = 94;
209 private static final int[] ao_telemetry_len = {
213 private static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
215 private static boolean map_initialized = false;
217 public static void initialize_map()
219 string_to_state.put("startup", ao_flight_startup);
220 string_to_state.put("idle", ao_flight_idle);
221 string_to_state.put("pad", ao_flight_pad);
222 string_to_state.put("boost", ao_flight_boost);
223 string_to_state.put("fast", ao_flight_fast);
224 string_to_state.put("coast", ao_flight_coast);
225 string_to_state.put("drogue", ao_flight_drogue);
226 string_to_state.put("apogee", ao_flight_coast);
227 string_to_state.put("main", ao_flight_main);
228 string_to_state.put("landed", ao_flight_landed);
229 string_to_state.put("invalid", ao_flight_invalid);
230 string_to_state.put("stateless", ao_flight_stateless);
231 map_initialized = true;
234 public static int telemetry_len(int telemetry) {
235 if (telemetry <= ao_telemetry_max)
236 return ao_telemetry_len[telemetry];
237 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
241 public static String telemetry_name(int telemetry) {
242 if (telemetry <= ao_telemetry_max)
243 return ao_telemetry_name[telemetry];
244 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
248 private static int[] split_version(String version) {
249 String[] tokens = version.split("\\.");
250 int[] ret = new int[tokens.length];
251 for (int i = 0; i < tokens.length; i++)
252 ret[i] = Integer.parseInt(tokens[i]);
256 public static int compare_version(String version_a, String version_b) {
257 int[] a = split_version(version_a);
258 int[] b = split_version(version_b);
260 for (int i = 0; i < Math.min(a.length, b.length); i++) {
266 if (a.length < b.length)
268 if (a.length > b.length)
273 private static String[] state_to_string = {
287 private static String[] state_to_string_capital = {
301 public static int state(String state) {
302 if (!map_initialized)
304 if (string_to_state.containsKey(state))
305 return string_to_state.get(state);
306 return ao_flight_invalid;
309 public static String state_name(int state) {
310 if (state < 0 || state_to_string.length <= state)
312 return state_to_string[state];
315 public static String state_name_capital(int state) {
316 if (state < 0 || state_to_string.length <= state)
318 return state_to_string_capital[state];
321 public static final int AO_GPS_VALID = (1 << 4);
322 public static final int AO_GPS_RUNNING = (1 << 5);
323 public static final int AO_GPS_DATE_VALID = (1 << 6);
324 public static final int AO_GPS_NUM_SAT_SHIFT = 0;
325 public static final int AO_GPS_NUM_SAT_MASK = 0xf;
327 public static final int AO_LOG_FORMAT_UNKNOWN = 0;
328 public static final int AO_LOG_FORMAT_FULL = 1;
329 public static final int AO_LOG_FORMAT_TINY = 2;
330 public static final int AO_LOG_FORMAT_TELEMETRY = 3;
331 public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
332 public static final int AO_LOG_FORMAT_TELEMEGA_OLD = 5;
333 public static final int AO_LOG_FORMAT_EASYMINI = 6;
334 public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
335 public static final int AO_LOG_FORMAT_TELEMINI = 8;
336 public static final int AO_LOG_FORMAT_TELEGPS = 9;
337 public static final int AO_LOG_FORMAT_TELEMEGA = 10;
338 public static final int AO_LOG_FORMAT_NONE = 127;
340 public static boolean isspace(int c) {
349 public static final boolean ishex(int c) {
350 if ('0' <= c && c <= '9')
352 if ('a' <= c && c <= 'f')
354 if ('A' <= c && c <= 'F')
359 public static final boolean ishex(String s) {
360 for (int i = 0; i < s.length(); i++)
361 if (!ishex(s.charAt(i)))
366 public static int fromhex(int c) {
367 if ('0' <= c && c <= '9')
369 if ('a' <= c && c <= 'f')
371 if ('A' <= c && c <= 'F')
376 public static int fromhex(String s) throws NumberFormatException {
378 for (int i = 0; i < s.length(); i++) {
382 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
385 v = v * 16 + fromhex(c);
390 public static boolean isdec(int c) {
391 if ('0' <= c && c <= '9')
396 public static boolean isdec(String s) {
397 for (int i = 0; i < s.length(); i++)
398 if (!isdec(s.charAt(i)))
403 public static int fromdec(int c) {
404 if ('0' <= c && c <= '9')
409 public static int int8(int[] bytes, int i) {
410 return (int) (byte) bytes[i];
413 public static int uint8(int[] bytes, int i) {
417 public static int int16(int[] bytes, int i) {
418 return (int) (short) (bytes[i] + (bytes[i+1] << 8));
421 public static int uint16(int[] bytes, int i) {
422 return bytes[i] + (bytes[i+1] << 8);
425 public static int uint32(int[] bytes, int i) {
432 public static int int32(int[] bytes, int i) {
433 return (int) uint32(bytes, i);
436 public static final Charset unicode_set = Charset.forName("UTF-8");
438 public static String string(int[] bytes, int s, int l) {
439 if (s + l > bytes.length) {
440 if (s > bytes.length) {
444 l = bytes.length - s;
449 for (i = l - 1; i >= 0; i--)
454 byte[] b = new byte[l];
456 for (i = 0; i < l; i++)
457 b[i] = (byte) bytes[s+i];
458 String n = new String(b, unicode_set);
462 public static int hexbyte(String s, int i) {
465 if (s.length() < i + 2)
466 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
469 throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
472 throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
473 return fromhex(c0) * 16 + fromhex(c1);
476 public static int[] hexbytes(String s) {
481 if ((s.length() & 1) != 0)
482 throw new NumberFormatException(String.format("invalid line \"%s\"", s));
483 byte[] bytes = s.getBytes(unicode_set);
484 n = bytes.length / 2;
486 for (i = 0; i < n; i++) {
487 int h = fromhex(bytes[(i << 1)]);
488 int l = fromhex(bytes[(i << 1) + 1]);
490 throw new NumberFormatException(String.format("invalid hex \"%c%c\"",
491 bytes[(i<<1)], bytes[(i<<1) + 1]));
497 public static long fromdec(String s) throws NumberFormatException {
501 for (int i = 0; i < s.length(); i++) {
503 if (i == 0 && c == '-') {
505 } else if (!isdec(c)) {
507 throw new NumberFormatException(String.format("invalid number \"%s\"", s));
510 v = v * 10 + fromdec(c);
515 public static String gets(FileInputStream s) throws IOException {
519 while ((c = s.read()) != -1) {
525 line = line + (char) c;
530 public static String replace_extension(String input, String extension) {
531 int dot = input.lastIndexOf(".");
533 input = input.substring(0,dot);
534 return input.concat(extension);
537 public static File replace_extension(File input, String extension) {
538 return new File(replace_extension(input.getPath(), extension));
541 public static String product_name(int product_id) {
542 switch (product_id) {
543 case product_altusmetrum: return "AltusMetrum";
544 case product_telemetrum: return "TeleMetrum";
545 case product_teledongle: return "TeleDongle";
546 case product_teleterra: return "TeleTerra";
547 case product_telebt: return "TeleBT";
548 case product_telelaunch: return "TeleLaunch";
549 case product_telelco: return "TeleLco";
550 case product_telescience: return "Telescience";
551 case product_telepyro: return "TelePyro";
552 case product_telemega: return "TeleMega";
553 case product_megadongle: return "MegaDongle";
554 case product_telegps: return "TeleGPS";
555 case product_easymini: return "EasyMini";
556 case product_telemini: return "TeleMini";
557 default: return "unknown";
561 public static String ignitor_name(int i) {
562 return String.format("Ignitor %c", 'A' + i);