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_14;
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_easytimer = 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_easymotor = 0x002c;
136 public final static int product_altusmetrum_min = 0x000a;
137 public final static int product_altusmetrum_max = 0x002c;
139 public final static int product_any = 0x10000;
140 public final static int product_basestation = 0x10000 + 1;
141 public final static int product_altimeter = 0x10000 + 2;
143 public final static int gps_builtin = 0;
144 public final static int gps_mosaic = 1;
146 public final static String[] gps_receiver_names = {
147 "Builtin", "Mosaic-X5"
150 private static class Product {
154 Product (String name, int product) {
156 this.product = product;
160 private static Product[] products = {
161 new Product("telemetrum", product_telemetrum),
162 new Product("teleballoon", product_telemetrum),
163 new Product("teledongle", product_teledongle),
164 new Product("easytimer", product_easytimer),
165 new Product("telebt", product_telebt),
166 new Product("telelaunch", product_telelaunch),
167 new Product("telelco", product_telelco),
168 new Product("telescience", product_telescience),
169 new Product("telepyro", product_telepyro),
170 new Product("telemega", product_telemega),
171 new Product("megadongle", product_megadongle),
172 new Product("telegps", product_telegps),
173 new Product("easymini", product_easymini),
174 new Product("telemini", product_telemini),
175 new Product("easymega", product_easymega),
176 new Product("easymotor", product_easymotor)
179 public static int name_to_product(String name) {
180 String low = name.toLowerCase();
182 for (int i = 0; i < products.length; i++)
183 if (low.startsWith(products[i].name))
184 return products[i].product;
188 public static boolean has_9dof(int device_type) {
189 return device_type == product_telemega || device_type == product_easymega;
192 public static boolean has_radio(int device_type) {
193 return device_type != product_easymini && device_type != product_easymega;
196 public static boolean has_gps(int device_type) {
197 return device_type == product_telemetrum ||
198 device_type == product_telemega ||
199 device_type == product_telegps;
202 /* Bluetooth "identifier" (bluetooth sucks) */
203 public final static String bt_product_telebt = "TeleBT";
205 /* "good" voltages */
207 public final static double ao_battery_good = 3.8;
208 public final static double ao_igniter_good = 3.5;
210 /* Telemetry modes */
211 public static final int ao_telemetry_off = 0;
212 public static final int ao_telemetry_min = 1;
213 public static final int ao_telemetry_standard = 1;
214 public static final int ao_telemetry_0_9 = 2;
215 public static final int ao_telemetry_0_8 = 3;
216 public static final int ao_telemetry_max = 3;
218 private static final String[] ao_telemetry_name = {
219 "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
222 public static final int ao_telemetry_rate_38400 = 0;
223 public static final int ao_telemetry_rate_9600 = 1;
224 public static final int ao_telemetry_rate_2400 = 2;
225 public static final int ao_telemetry_rate_max = 2;
227 public static final Integer[] ao_telemetry_rate_values = {
231 public static final int ao_aprs_format_compressed = 0;
232 public static final int ao_aprs_format_uncompressed = 1;
234 public static final String[] ao_aprs_format_name = {
235 "Compressed", "Uncompressed"
238 public static final String launch_sites_url = "https://maps.altusmetrum.org/launch-sites.txt";
239 public static final String launch_sites_env = "LAUNCH_SITES";
240 // public static final String launch_sites_url = "file:///home/keithp/misc/text/altusmetrum/AltOS/launch-sites.txt";
242 public static final String unit_info_url = "https://altusmetrum.org/cgi-bin/unitinfo.cgi?sn=%d";
243 public static final String unit_info_env = "UNIT_INFO";
245 public static final int ao_telemetry_standard_len = 32;
246 public static final int ao_telemetry_0_9_len = 95;
247 public static final int ao_telemetry_0_8_len = 94;
249 private static final int[] ao_telemetry_len = {
253 private static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
255 private static boolean map_initialized = false;
257 public static void initialize_map()
259 string_to_state.put("startup", ao_flight_startup);
260 string_to_state.put("idle", ao_flight_idle);
261 string_to_state.put("pad", ao_flight_pad);
262 string_to_state.put("boost", ao_flight_boost);
263 string_to_state.put("fast", ao_flight_fast);
264 string_to_state.put("coast", ao_flight_coast);
265 string_to_state.put("drogue", ao_flight_drogue);
266 string_to_state.put("apogee", ao_flight_coast);
267 string_to_state.put("main", ao_flight_main);
268 string_to_state.put("landed", ao_flight_landed);
269 string_to_state.put("invalid", ao_flight_invalid);
270 string_to_state.put("stateless", ao_flight_stateless);
271 map_initialized = true;
274 public static int telemetry_len(int telemetry) {
275 if (telemetry <= ao_telemetry_max)
276 return ao_telemetry_len[telemetry];
277 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
281 public static String telemetry_name(int telemetry) {
282 if (telemetry <= ao_telemetry_max)
283 return ao_telemetry_name[telemetry];
284 throw new IllegalArgumentException(String.format("Invalid telemetry %d",
288 private static int[] split_version(String version) {
289 String[] tokens = version.split("\\.");
290 int[] ret = new int[tokens.length];
291 for (int i = 0; i < tokens.length; i++)
292 ret[i] = Integer.parseInt(tokens[i]);
296 public static int compare_version(String version_a, String version_b) {
297 int[] a = split_version(version_a);
298 int[] b = split_version(version_b);
300 for (int i = 0; i < Math.min(a.length, b.length); i++) {
306 if (a.length < b.length)
308 if (a.length > b.length)
313 private static String[] state_to_string = {
327 private static String[] state_to_string_capital = {
341 public static int state(String state) {
342 if (!map_initialized)
344 if (string_to_state.containsKey(state))
345 return string_to_state.get(state);
346 return ao_flight_invalid;
349 public static String state_name(int state) {
350 if (state < 0 || state_to_string.length <= state)
352 return state_to_string[state];
355 public static String state_name_capital(int state) {
356 if (state < 0 || state_to_string.length <= state)
358 return state_to_string_capital[state];
361 public static final int AO_GPS_VALID = (1 << 4);
362 public static final int AO_GPS_RUNNING = (1 << 5);
363 public static final int AO_GPS_DATE_VALID = (1 << 6);
364 public static final int AO_GPS_NUM_SAT_SHIFT = 0;
365 public static final int AO_GPS_NUM_SAT_MASK = 0xf;
367 public static final int AO_PAD_ORIENTATION_ANTENNA_UP = 0;
368 public static final int AO_PAD_ORIENTATION_ANTENNA_DOWN = 1;
369 public static final int AO_PAD_ORIENTATION_WORDS_UPRIGHT = 2;
370 public static final int AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN = 3;
371 public static final int AO_PAD_ORIENTATION_BIG_PARTS_UP = 4;
372 public static final int AO_PAD_ORIENTATION_BIG_PARTS_DOWN = 5;
374 public static final int AO_LOG_FORMAT_UNKNOWN = 0;
375 public static final int AO_LOG_FORMAT_FULL = 1;
376 public static final int AO_LOG_FORMAT_TINY = 2;
377 public static final int AO_LOG_FORMAT_TELEMETRY = 3;
378 public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
379 public static final int AO_LOG_FORMAT_TELEMEGA_OLD = 5;
380 public static final int AO_LOG_FORMAT_EASYMINI1 = 6;
381 public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
382 public static final int AO_LOG_FORMAT_TELEMINI2 = 8;
383 public static final int AO_LOG_FORMAT_TELEGPS = 9;
384 public static final int AO_LOG_FORMAT_TELEMEGA = 10;
385 public static final int AO_LOG_FORMAT_DETHERM = 11;
386 public static final int AO_LOG_FORMAT_TELEMINI3 = 12;
387 public static final int AO_LOG_FORMAT_TELEFIRETWO = 13;
388 public static final int AO_LOG_FORMAT_EASYMINI2 = 14;
389 public static final int AO_LOG_FORMAT_TELEMEGA_3 = 15;
390 public static final int AO_LOG_FORMAT_EASYMEGA_2 = 16;
391 public static final int AO_LOG_FORMAT_TELESTATIC = 17;
392 public static final int AO_LOG_FORMAT_MICROPEAK2 = 18;
393 public static final int AO_LOG_FORMAT_TELEMEGA_4 = 19;
394 public static final int AO_LOG_FORMAT_EASYMOTOR = 20;
395 public static final int AO_LOG_FORMAT_TELEMEGA_5 = 21;
396 public static final int AO_LOG_FORMAT_TELEMEGA_6 = 22;
397 public static final int AO_LOG_FORMAT_EASYTIMER_2 = 23;
398 public static final int AO_LOG_FORMAT_EASYMEGA_3 = 24;
399 public static final int AO_LOG_FORMAT_NONE = 127;
401 public static final int model_mpu6000 = 0;
402 public static final int model_mpu9250 = 1;
403 public static final int model_adxl375 = 2;
404 public static final int model_bmx160 = 3;
405 public static final int model_hmc5883 = 4;
406 public static final int model_mmc5983 = 5;
407 public static final int model_bmi088 = 6;
409 public static boolean isspace(int c) {
418 public static final boolean ishex(int c) {
419 if ('0' <= c && c <= '9')
421 if ('a' <= c && c <= 'f')
423 if ('A' <= c && c <= 'F')
428 public static final boolean ishex(String s) {
429 for (int i = 0; i < s.length(); i++)
430 if (!ishex(s.charAt(i)))
435 public static int fromhex(int c) {
436 if ('0' <= c && c <= '9')
438 if ('a' <= c && c <= 'f')
440 if ('A' <= c && c <= 'F')
445 public static int fromhex(String s) throws NumberFormatException {
447 for (int i = 0; i < s.length(); i++) {
451 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
454 v = v * 16 + fromhex(c);
459 public static boolean isdec(int c) {
460 if ('0' <= c && c <= '9')
465 public static boolean isdec(String s) {
466 for (int i = 0; i < s.length(); i++)
467 if (!isdec(s.charAt(i)))
472 public static int fromdec(int c) {
473 if ('0' <= c && c <= '9')
478 public static int int8(int[] bytes, int i) {
479 return (int) (byte) bytes[i];
482 public static int uint8(int[] bytes, int i) {
486 public static int int16(int[] bytes, int i) {
487 return (int) (short) (bytes[i] + (bytes[i+1] << 8));
490 public static int uint16(int[] bytes, int i) {
491 return bytes[i] + (bytes[i+1] << 8);
494 public static int uint32(int[] bytes, int i) {
501 public static int int32(int[] bytes, int i) {
502 return (int) uint32(bytes, i);
505 public static final Charset unicode_set = Charset.forName("UTF-8");
507 public static String string(int[] bytes, int s, int l) {
508 if (s + l > bytes.length) {
509 if (s > bytes.length) {
513 l = bytes.length - s;
518 for (i = l - 1; i >= 0; i--)
523 byte[] b = new byte[l];
525 for (i = 0; i < l; i++)
526 b[i] = (byte) bytes[s+i];
527 String n = new String(b, unicode_set);
531 public static int hexbyte(String s, int i) {
534 if (s.length() < i + 2)
535 throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
538 throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
541 throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
542 return fromhex(c0) * 16 + fromhex(c1);
545 public static int[] hexbytes(String s) {
550 if ((s.length() & 1) != 0)
551 throw new NumberFormatException(String.format("invalid line \"%s\"", s));
552 byte[] bytes = s.getBytes(unicode_set);
553 n = bytes.length / 2;
555 for (i = 0; i < n; i++) {
556 int h = fromhex(bytes[(i << 1)]);
557 int l = fromhex(bytes[(i << 1) + 1]);
559 throw new NumberFormatException(String.format("invalid hex \"%c%c\"",
560 bytes[(i<<1)], bytes[(i<<1) + 1]));
566 public static long fromdec(String s) throws NumberFormatException {
570 for (int i = 0; i < s.length(); i++) {
572 if (i == 0 && c == '-') {
574 } else if (!isdec(c)) {
576 throw new NumberFormatException(String.format("invalid number \"%s\"", s));
579 v = v * 10 + fromdec(c);
584 public static String gets(FileInputStream s) throws IOException {
588 while ((c = s.read()) != -1) {
594 line = line + (char) c;
599 public static String replace_extension(String input, String extension) {
600 int dot = input.lastIndexOf(".");
602 input = input.substring(0,dot);
603 return input.concat(extension);
606 public static File replace_extension(File input, String extension) {
607 return new File(replace_extension(input.getPath(), extension));
610 public static String product_name(int product_id) {
611 switch (product_id) {
612 case product_altusmetrum: return "AltusMetrum";
613 case product_telemetrum: return "TeleMetrum";
614 case product_teledongle: return "TeleDongle";
615 case product_easytimer: return "EasyTimer";
616 case product_telebt: return "TeleBT";
617 case product_telelaunch: return "TeleLaunch";
618 case product_telelco: return "TeleLco";
619 case product_telescience: return "Telescience";
620 case product_telepyro: return "TelePyro";
621 case product_telemega: return "TeleMega";
622 case product_megadongle: return "MegaDongle";
623 case product_telegps: return "TeleGPS";
624 case product_easymini: return "EasyMini";
625 case product_telemini: return "TeleMini";
626 case product_easymega: return "EasyMega";
627 case product_easymotor: return "EasyMotor";
628 default: return "unknown";
632 public static int product_id_from_log_format(int log_format) {
634 case AO_LOG_FORMAT_UNKNOWN:
635 return product_altusmetrum;
636 case AO_LOG_FORMAT_FULL:
637 return product_telemetrum;
638 case AO_LOG_FORMAT_TINY:
639 return product_telemini;
640 case AO_LOG_FORMAT_TELEMETRY:
641 return product_altusmetrum;
642 case AO_LOG_FORMAT_TELESCIENCE:
643 return product_telescience;
644 case AO_LOG_FORMAT_TELEMEGA_OLD:
645 return product_telemega;
646 case AO_LOG_FORMAT_EASYMINI1:
647 return product_easymini;
648 case AO_LOG_FORMAT_TELEMETRUM:
649 return product_telemetrum;
650 case AO_LOG_FORMAT_TELEMINI2:
651 return product_telemini;
652 case AO_LOG_FORMAT_TELEGPS:
653 return product_telegps;
654 case AO_LOG_FORMAT_TELEMEGA:
655 return product_telemega;
656 case AO_LOG_FORMAT_DETHERM:
657 return product_altusmetrum;
658 case AO_LOG_FORMAT_TELEMINI3:
659 return product_telemini;
660 case AO_LOG_FORMAT_TELEFIRETWO:
661 return product_altusmetrum;
662 case AO_LOG_FORMAT_EASYMINI2:
663 return product_easymini;
664 case AO_LOG_FORMAT_TELEMEGA_3:
665 return product_telemega;
666 case AO_LOG_FORMAT_EASYMEGA_2:
667 case AO_LOG_FORMAT_EASYMEGA_3:
668 return product_easymega;
669 case AO_LOG_FORMAT_TELESTATIC:
670 return product_altusmetrum;
671 case AO_LOG_FORMAT_MICROPEAK2:
672 return product_altusmetrum;
673 case AO_LOG_FORMAT_TELEMEGA_4:
674 return product_telemega;
675 case AO_LOG_FORMAT_EASYMOTOR:
676 return product_easymotor;
677 case AO_LOG_FORMAT_TELEMEGA_5:
678 return product_telemega;
679 case AO_LOG_FORMAT_TELEMEGA_6:
680 return product_telemega;
681 case AO_LOG_FORMAT_NONE:
682 return product_altusmetrum;
684 return product_altusmetrum;
688 public static String igniter_name(int i) {
689 return String.format("Igniter %c", 'A' + i);
692 public static String igniter_short_name(int i) {
693 return String.format("igniter_%c", 'a' + i);
696 public static AltosRecordSet record_set(File file) throws FileNotFoundException, IOException {
698 in = new FileInputStream(file);
699 if (file.getName().endsWith("telem")) {
700 return new AltosTelemetryFile(in);
701 } else if (file.getName().endsWith("eeprom")) {
702 return new AltosEepromFile(in);
704 String name = file.getName();
705 int dot = name.lastIndexOf('.');
709 throw new IOException(String.format("%s (Missing extension)", file.toString()));
711 extension = name.substring(dot);
712 throw new IOException(String.format("%s (Invalid extension '%s')",