2 * Copyright © 2012 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;
22 import java.util.concurrent.*;
24 public class AltosPyro {
25 public static final int pyro_none = 0x00000000;
27 public static final int pyro_accel_less = 0x00000001;
28 public static final int pyro_accel_greater = 0x00000002;
29 public static final String pyro_accel_less_string = "a<";
30 public static final String pyro_accel_greater_string = "a>";
31 public static final String pyro_accel_less_name = "Acceleration less than (m/s²)";
32 public static final String pyro_accel_greater_name = "Acceleration greater than (m/s²)";
33 public static final double pyro_accel_scale = 16.0;
35 public static final int pyro_speed_less = 0x00000004;
36 public static final int pyro_speed_greater = 0x00000008;
37 public static final String pyro_speed_less_string = "s<";
38 public static final String pyro_speed_greater_string = "s>";
39 public static final String pyro_speed_less_name = "Speed less than (m/s)";
40 public static final String pyro_speed_greater_name = "Speed greater than (m/s)";
41 public static final double pyro_speed_scale = 16.0;
43 public static final int pyro_height_less = 0x00000010;
44 public static final int pyro_height_greater = 0x00000020;
45 public static final String pyro_height_less_string = "h<";
46 public static final String pyro_height_greater_string = "h>";
47 public static final String pyro_height_less_name = "Height less than (m)";
48 public static final String pyro_height_greater_name = "Height greater than (m)";
49 public static final double pyro_height_scale = 1.0;
51 public static final int pyro_orient_less = 0x00000040;
52 public static final int pyro_orient_greater = 0x00000080;
53 public static final String pyro_orient_less_string = "o<";
54 public static final String pyro_orient_greater_string = "o>";
55 public static final String pyro_orient_less_name = "Angle from vertical less than (degrees)";
56 public static final String pyro_orient_greater_name = "Angle from vertical greater than (degrees)";
57 public static final double pyro_orient_scale = 1.0;
59 public static final int pyro_time_less = 0x00000100;
60 public static final int pyro_time_greater = 0x00000200;
61 public static final String pyro_time_less_string = "t<";
62 public static final String pyro_time_greater_string = "t>";
63 public static final String pyro_time_less_name = "Time since boost less than (s)";
64 public static final String pyro_time_greater_name = "Time since boost greater than (s)";
65 public static final double pyro_time_scale = 100.0;
67 public static final int pyro_ascending = 0x00000400;
68 public static final int pyro_descending = 0x00000800;
69 public static final String pyro_ascending_string = "A";
70 public static final String pyro_descending_string = "D";
71 public static final String pyro_ascending_name = "Ascending";
72 public static final String pyro_descending_name = "Descending";
74 public static final int pyro_after_motor = 0x00001000;
75 public static final String pyro_after_motor_string = "m";
76 public static final String pyro_after_motor_name = "After motor number";
77 public static final double pyro_after_motor_scale = 1.0;
79 public static final int pyro_delay = 0x00002000;
80 public static final String pyro_delay_string = "d";
81 public static final String pyro_delay_name = "Delay after other conditions (s)";
82 public static final double pyro_delay_scale = 100.0;
84 public static final int pyro_state_less = 0x00004000;
85 public static final int pyro_state_greater_or_equal = 0x00008000;
86 public static final String pyro_state_less_string = "f<";
87 public static final String pyro_state_greater_or_equal_string = "f>=";
88 public static final String pyro_state_less_name = "Flight state before";
89 public static final String pyro_state_greater_or_equal_name = "Flight state after";
90 public static final double pyro_state_scale = 1.0;
92 public static final int pyro_all = 0x0000ffff;
94 public static final int pyro_no_value = (pyro_ascending |
97 public static final int pyro_state_value = pyro_state_less | pyro_state_greater_or_equal;
99 private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
101 private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
103 private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
105 private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
107 private static void insert_map(int flag, String string, String name, double scale) {
108 string_to_pyro.put(string, flag);
109 pyro_to_string.put(flag, string);
110 pyro_to_name.put(flag, name);
111 pyro_to_scale.put(flag, scale);
114 public static int string_to_pyro(String name) {
115 if (string_to_pyro.containsKey(name))
116 return string_to_pyro.get(name);
120 public static String pyro_to_string(int flag) {
121 if (pyro_to_string.containsKey(flag))
122 return pyro_to_string.get(flag);
126 public static String pyro_to_name(int flag) {
127 if (pyro_to_name.containsKey(flag))
128 return pyro_to_name.get(flag);
132 public static double pyro_to_scale(int flag) {
133 if (pyro_to_scale.containsKey(flag))
134 return pyro_to_scale.get(flag);
138 private static void initialize_maps() {
139 insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, pyro_accel_scale);
140 insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, pyro_accel_scale);
142 insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, pyro_speed_scale);
143 insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, pyro_speed_scale);
145 insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, pyro_height_scale);
146 insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, pyro_height_scale);
148 insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, pyro_orient_scale);
149 insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, pyro_orient_scale);
151 insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, pyro_time_scale);
152 insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, pyro_time_scale);
154 insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, 1.0);
155 insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, 1.0);
157 insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, 1.0);
158 insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, pyro_delay_scale);
160 insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, 1.0);
161 insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, 1.0);
170 public int accel_less, accel_greater;
171 public int speed_less, speed_greater;
172 public int height_less, height_greater;
173 public int orient_less, orient_greater;
174 public int time_less, time_greater;
176 public int state_less, state_greater_or_equal;
179 public AltosPyro(int in_channel) {
180 channel = in_channel;
184 private boolean set_ivalue(int flag, int value) {
186 case pyro_accel_less: accel_less = value; break;
187 case pyro_accel_greater: accel_greater = value; break;
188 case pyro_speed_less: speed_less = value; break;
189 case pyro_speed_greater: speed_greater = value; break;
190 case pyro_height_less: height_less = value; break;
191 case pyro_height_greater: height_greater = value; break;
192 case pyro_orient_less: orient_less = value; break;
193 case pyro_orient_greater: orient_greater = value; break;
194 case pyro_time_less: time_less = value; break;
195 case pyro_time_greater: time_greater = value; break;
196 case pyro_after_motor: motor = value; break;
197 case pyro_delay: delay = value; break;
198 case pyro_state_less: state_less = value; break;
199 case pyro_state_greater_or_equal: state_greater_or_equal = value; break;
206 public boolean set_value(int flag, double dvalue) {
207 return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
210 private int get_ivalue (int flag) {
214 case pyro_accel_less: value = accel_less; break;
215 case pyro_accel_greater: value = accel_greater; break;
216 case pyro_speed_less: value = speed_less; break;
217 case pyro_speed_greater: value = speed_greater; break;
218 case pyro_height_less: value = height_less; break;
219 case pyro_height_greater: value = height_greater; break;
220 case pyro_orient_less: value = orient_less; break;
221 case pyro_orient_greater: value = orient_greater; break;
222 case pyro_time_less: value = time_less; break;
223 case pyro_time_greater: value = time_greater; break;
224 case pyro_after_motor: value = motor; break;
225 case pyro_delay: value = delay; break;
226 case pyro_state_less: value = state_less; break;
227 case pyro_state_greater_or_equal: value = state_greater_or_equal; break;
228 default: value = 0; break;
233 public double get_value(int flag) {
234 return get_ivalue(flag) / pyro_to_scale(flag);
237 public AltosPyro(int in_channel, String line) throws ParseException {
238 String[] tokens = line.split("\\s+");
240 channel = in_channel;
244 if (tokens[i].equals("Pyro"))
247 for (; i < tokens.length; i++) {
249 if (tokens[i].equals("<disabled>"))
252 int flag = string_to_pyro(tokens[i]);
253 if (flag == pyro_none)
254 throw new ParseException(String.format("Invalid pyro token \"%s\"",
258 if ((flag & pyro_no_value) == 0) {
262 value = AltosLib.fromdec(tokens[i]);
263 } catch (NumberFormatException n) {
264 throw new ParseException(String.format("Invalid pyro value \"%s\"",
267 if (!set_ivalue(flag, value))
268 throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
269 tokens[i-1], tokens[i]), i-1);
274 public String toString() {
275 String ret = String.format("%d", channel);
277 for (int flag = 1; flag <= flags; flag <<= 1) {
278 if ((flags & flag) != 0) {
280 if ((flag & pyro_no_value) == 0) {
281 add = String.format(" %s %d",
282 pyro_to_string.get(flag),
285 add = String.format(" %s",
286 pyro_to_string.get(flag));
288 ret = ret.concat(add);