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_9;
23 * Telemetry data contents
26 public abstract class AltosTelemetry implements AltosStateUpdate {
28 /* All telemetry packets have these fields */
34 /* Mark when we received the packet */
37 static boolean cksum(int[] bytes) {
39 for (int i = 1; i < bytes.length - 1; i++)
42 return sum == bytes[bytes.length - 1];
45 public void update_state(AltosState state) {
46 state.set_serial(serial);
47 if (state.state() == AltosLib.ao_flight_invalid)
48 state.set_state(AltosLib.ao_flight_startup);
50 state.set_rssi(rssi, status);
51 state.set_received_time(received_time);
54 final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
55 final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
56 final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
58 final static int packet_type_TM_sensor = 0x01;
59 final static int packet_type_Tm_sensor = 0x02;
60 final static int packet_type_Tn_sensor = 0x03;
61 final static int packet_type_configuration = 0x04;
62 final static int packet_type_location = 0x05;
63 final static int packet_type_satellite = 0x06;
64 final static int packet_type_companion = 0x07;
65 final static int packet_type_mega_sensor = 0x08;
66 final static int packet_type_mega_data = 0x09;
67 final static int packet_type_metrum_sensor = 0x0a;
68 final static int packet_type_metrum_data = 0x0b;
69 final static int packet_type_mini = 0x10;
71 static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
72 AltosTelemetry telem = null;
76 bytes = AltosLib.hexbytes(hex);
77 } catch (NumberFormatException ne) {
78 throw new ParseException(ne.getMessage(), 0);
81 /* one for length, one for checksum */
82 if (bytes[0] != bytes.length - 2)
83 throw new ParseException(String.format("invalid length %d != %d\n",
85 bytes.length - 2), 0);
87 throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
89 int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
90 int status = AltosLib.uint8(bytes, bytes.length - 2);
92 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
93 throw new AltosCRCException(rssi);
95 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
96 switch (bytes.length) {
97 case AltosLib.ao_telemetry_standard_len + 4:
98 telem = AltosTelemetryStandard.parse_hex(bytes);
100 case AltosLib.ao_telemetry_0_9_len + 4:
101 telem = new AltosTelemetryLegacy(bytes);
103 case AltosLib.ao_telemetry_0_8_len + 4:
104 telem = new AltosTelemetryLegacy(bytes);
107 throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
110 telem.received_time = System.currentTimeMillis();
112 telem.status = status;
117 public static int extend_height(AltosState state, int height_16) {
118 double compare_height;
119 int height = height_16;
121 if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
122 compare_height = state.gps_height();
124 compare_height = state.height();
127 if (compare_height != AltosLib.MISSING) {
128 int high_bits = (int) Math.floor (compare_height / 65536.0);
130 height = (high_bits << 16) | (height_16 & 0xffff);
132 if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
134 else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
140 public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
141 String[] word = line.split("\\s+");
144 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
146 AltosParse.word(word[i++], "RSSI");
147 throw new AltosCRCException(AltosParse.parse_int(word[i++]));
150 AltosTelemetry telem;
152 if (word[i].equals("TELEM")) {
153 telem = parse_hex(word[i+1]);
155 telem = new AltosTelemetryLegacy(line);