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; 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.util.concurrent.*;
25 public class AltosPyro {
26 public static final int pyro_none = 0x00000000;
28 public static final int pyro_accel_less = 0x00000001;
29 public static final int pyro_accel_greater = 0x00000002;
30 public static final String pyro_accel_less_string = "a<";
31 public static final String pyro_accel_greater_string = "a>";
32 public static final String pyro_accel_less_name = "Vertical acceleration less than";
33 public static final String pyro_accel_greater_name = "Vertical acceleration greater than";
34 public static final double pyro_accel_scale = 16.0;
36 public static final int pyro_speed_less = 0x00000004;
37 public static final int pyro_speed_greater = 0x00000008;
38 public static final String pyro_speed_less_string = "s<";
39 public static final String pyro_speed_greater_string = "s>";
40 public static final String pyro_speed_less_name = "Ascent rate less than";
41 public static final String pyro_speed_greater_name = "Ascent rate greater than";
42 public static final double pyro_speed_scale = 16.0;
44 public static final int pyro_height_less = 0x00000010;
45 public static final int pyro_height_greater = 0x00000020;
46 public static final String pyro_height_less_string = "h<";
47 public static final String pyro_height_greater_string = "h>";
48 public static final String pyro_height_less_name = "Height above pad less than";
49 public static final String pyro_height_greater_name = "Height above pad greater than";
50 public static final double pyro_height_scale = 1.0;
52 public static final int pyro_orient_less = 0x00000040;
53 public static final int pyro_orient_greater = 0x00000080;
54 public static final String pyro_orient_less_string = "o<";
55 public static final String pyro_orient_greater_string = "o>";
56 public static final String pyro_orient_less_name = "Angle from vertical less than (degrees)";
57 public static final String pyro_orient_greater_name = "Angle from vertical greater than (degrees)";
58 public static final double pyro_orient_scale = 1.0;
60 public static final int pyro_time_less = 0x00000100;
61 public static final int pyro_time_greater = 0x00000200;
62 public static final String pyro_time_less_string = "t<";
63 public static final String pyro_time_greater_string = "t>";
64 public static final String pyro_time_less_name = "Time since launch less than (s)";
65 public static final String pyro_time_greater_name = "Time since launch greater than (s)";
66 public static final double pyro_time_scale = 100.0;
68 public static final int pyro_ascending = 0x00000400;
69 public static final int pyro_descending = 0x00000800;
70 public static final String pyro_ascending_string = "A";
71 public static final String pyro_descending_string = "D";
72 public static final String pyro_ascending_name = "Ascending";
73 public static final String pyro_descending_name = "Descending";
75 public static final int pyro_after_motor = 0x00001000;
76 public static final String pyro_after_motor_string = "m";
77 public static final String pyro_after_motor_name = "After motor number";
78 public static final double pyro_after_motor_scale = 1.0;
80 public static final int pyro_delay = 0x00002000;
81 public static final String pyro_delay_string = "d";
82 public static final String pyro_delay_name = "Delay after other conditions (s)";
83 public static final double pyro_delay_scale = 100.0;
85 public static final int pyro_state_less = 0x00004000;
86 public static final int pyro_state_greater_or_equal = 0x00008000;
87 public static final String pyro_state_less_string = "f<";
88 public static final String pyro_state_greater_or_equal_string = "f>=";
89 public static final String pyro_state_less_name = "Flight state before";
90 public static final String pyro_state_greater_or_equal_name = "Flight state after";
91 public static final double pyro_state_scale = 1.0;
93 public static final int pyro_deprecate = pyro_ascending | pyro_descending;
95 public static final int pyro_all = 0x0000ffff;
96 public static final int pyro_all_useful = pyro_all ^ pyro_deprecate;
98 public static final int pyro_no_value = (pyro_ascending |
101 public static final int pyro_state_value = pyro_state_less | pyro_state_greater_or_equal;
103 private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
105 private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
107 private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
109 private static HashMap<Integer,AltosUnits> pyro_to_units = new HashMap<Integer,AltosUnits>();
111 private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
113 private static void insert_map(int flag, String string, String name, AltosUnits units, double scale) {
114 string_to_pyro.put(string, flag);
115 pyro_to_string.put(flag, string);
116 pyro_to_name.put(flag, name);
118 pyro_to_units.put(flag, units);
119 pyro_to_scale.put(flag, scale);
122 public static int string_to_pyro(String name) {
123 if (string_to_pyro.containsKey(name))
124 return string_to_pyro.get(name);
128 public static String pyro_to_string(int flag) {
129 if (pyro_to_string.containsKey(flag))
130 return pyro_to_string.get(flag);
134 public static String pyro_to_name(int flag) {
136 AltosUnits units = null;
137 if (!pyro_to_name.containsKey(flag))
140 name = pyro_to_name.get(flag);
141 if (pyro_to_units.containsKey(flag))
142 units = pyro_to_units.get(flag);
145 return String.format ("%s (%s)", name, units.parse_units());
148 public static AltosUnits pyro_to_units(int flag) {
149 if (pyro_to_units.containsKey(flag))
150 return pyro_to_units.get(flag);
154 public static double pyro_to_scale(int flag) {
155 if (pyro_to_scale.containsKey(flag))
156 return pyro_to_scale.get(flag);
160 private static void initialize_maps() {
161 insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, AltosConvert.accel, pyro_accel_scale);
162 insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, AltosConvert.accel, pyro_accel_scale);
164 insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, AltosConvert.speed, pyro_speed_scale);
165 insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, AltosConvert.speed, pyro_speed_scale);
167 insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, AltosConvert.height, pyro_height_scale);
168 insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, AltosConvert.height, pyro_height_scale);
170 insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, null, pyro_orient_scale);
171 insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, null, pyro_orient_scale);
173 insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, null, pyro_time_scale);
174 insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, null, pyro_time_scale);
176 insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, null, 1.0);
177 insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, null, 1.0);
179 insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, null, 1.0);
180 insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, null, pyro_delay_scale);
182 insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, null, 1.0);
183 insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, null, 1.0);
192 public int accel_less, accel_greater;
193 public int speed_less, speed_greater;
194 public int height_less, height_greater;
195 public int orient_less, orient_greater;
196 public int time_less, time_greater;
198 public int state_less, state_greater_or_equal;
201 public AltosPyro(int in_channel) {
202 channel = in_channel;
206 private boolean set_ivalue(int flag, int value) {
208 case pyro_accel_less: accel_less = value; break;
209 case pyro_accel_greater: accel_greater = value; break;
210 case pyro_speed_less: speed_less = value; break;
211 case pyro_speed_greater: speed_greater = value; break;
212 case pyro_height_less: height_less = value; break;
213 case pyro_height_greater: height_greater = value; break;
214 case pyro_orient_less: orient_less = value; break;
215 case pyro_orient_greater: orient_greater = value; break;
216 case pyro_time_less: time_less = value; break;
217 case pyro_time_greater: time_greater = value; break;
218 case pyro_after_motor: motor = value; break;
219 case pyro_delay: delay = value; break;
220 case pyro_state_less: state_less = value; break;
221 case pyro_state_greater_or_equal: state_greater_or_equal = value; break;
228 public boolean set_value(int flag, double dvalue) {
229 return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
232 private int get_ivalue (int flag) {
236 case pyro_accel_less: value = accel_less; break;
237 case pyro_accel_greater: value = accel_greater; break;
238 case pyro_speed_less: value = speed_less; break;
239 case pyro_speed_greater: value = speed_greater; break;
240 case pyro_height_less: value = height_less; break;
241 case pyro_height_greater: value = height_greater; break;
242 case pyro_orient_less: value = orient_less; break;
243 case pyro_orient_greater: value = orient_greater; break;
244 case pyro_time_less: value = time_less; break;
245 case pyro_time_greater: value = time_greater; break;
246 case pyro_after_motor: value = motor; break;
247 case pyro_delay: value = delay; break;
248 case pyro_state_less: value = state_less; break;
249 case pyro_state_greater_or_equal: value = state_greater_or_equal; break;
250 default: value = 0; break;
255 public double get_value(int flag) {
256 return get_ivalue(flag) / pyro_to_scale(flag);
259 public AltosPyro(int in_channel, String line) throws ParseException {
260 String[] tokens = line.split("\\s+");
262 channel = in_channel;
266 if (tokens[i].equals("Pyro"))
269 for (; i < tokens.length; i++) {
271 if (tokens[i].equals("<disabled>"))
274 int flag = string_to_pyro(tokens[i]);
275 if (flag == pyro_none)
276 throw new ParseException(String.format("Invalid pyro token \"%s\"",
280 if ((flag & pyro_no_value) == 0) {
284 value = (int) AltosLib.fromdec(tokens[i]);
285 } catch (NumberFormatException n) {
286 throw new ParseException(String.format("Invalid pyro value \"%s\"",
289 if (!set_ivalue(flag, value))
290 throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
291 tokens[i-1], tokens[i]), i-1);
300 public String toString() {
301 String ret = String.format("%d", channel);
303 for (int flag = 1; flag <= flags; flag <<= 1) {
304 if ((flags & flag) != 0) {
306 if ((flag & pyro_no_value) == 0) {
307 add = String.format(" %s %d",
308 pyro_to_string.get(flag),
311 add = String.format(" %s",
312 pyro_to_string.get(flag));
314 ret = ret.concat(add);