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;
24 * Telemetry data contents
27 public abstract class AltosTelemetry implements AltosStateUpdate {
29 /* All telemetry packets have these fields */
35 /* Mark when we received the packet */
38 static boolean cksum(int[] bytes) {
40 for (int i = 1; i < bytes.length - 1; i++)
43 return sum == bytes[bytes.length - 1];
46 public void update_state(AltosState state) {
47 state.set_serial(serial);
48 if (state.state() == AltosLib.ao_flight_invalid)
49 state.set_state(AltosLib.ao_flight_startup);
51 state.set_rssi(rssi, status);
52 state.set_received_time(received_time);
55 final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
56 final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
57 final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
59 final static int packet_type_TM_sensor = 0x01;
60 final static int packet_type_Tm_sensor = 0x02;
61 final static int packet_type_Tn_sensor = 0x03;
62 final static int packet_type_configuration = 0x04;
63 final static int packet_type_location = 0x05;
64 final static int packet_type_satellite = 0x06;
65 final static int packet_type_companion = 0x07;
66 final static int packet_type_mega_sensor = 0x08;
67 final static int packet_type_mega_data = 0x09;
68 final static int packet_type_metrum_sensor = 0x0a;
69 final static int packet_type_metrum_data = 0x0b;
70 final static int packet_type_mini = 0x10;
72 static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
73 AltosTelemetry telem = null;
77 bytes = AltosLib.hexbytes(hex);
78 } catch (NumberFormatException ne) {
79 throw new ParseException(ne.getMessage(), 0);
82 /* one for length, one for checksum */
83 if (bytes[0] != bytes.length - 2)
84 throw new ParseException(String.format("invalid length %d != %d\n",
86 bytes.length - 2), 0);
88 throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
90 int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
91 int status = AltosLib.uint8(bytes, bytes.length - 2);
93 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
94 throw new AltosCRCException(rssi);
96 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
97 switch (bytes.length) {
98 case AltosLib.ao_telemetry_standard_len + 4:
99 telem = AltosTelemetryStandard.parse_hex(bytes);
101 case AltosLib.ao_telemetry_0_9_len + 4:
102 telem = new AltosTelemetryLegacy(bytes);
104 case AltosLib.ao_telemetry_0_8_len + 4:
105 telem = new AltosTelemetryLegacy(bytes);
108 throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
111 telem.received_time = System.currentTimeMillis();
113 telem.status = status;
118 public static int extend_height(AltosState state, int height_16) {
119 double compare_height;
120 int height = height_16;
122 if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
123 compare_height = state.gps_height();
125 compare_height = state.height();
128 if (compare_height != AltosLib.MISSING) {
129 int high_bits = (int) Math.floor (compare_height / 65536.0);
131 height = (high_bits << 16) | (height_16 & 0xffff);
133 if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
135 else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
141 public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
142 String[] word = line.split("\\s+");
145 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
147 AltosParse.word(word[i++], "RSSI");
148 throw new AltosCRCException(AltosParse.parse_int(word[i++]));
151 AltosTelemetry telem;
153 if (word[i].equals("TELEM")) {
154 telem = parse_hex(word[i+1]);
156 telem = new AltosTelemetryLegacy(line);