2 * Copyright © 2011 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;
21 public abstract class AltosTelemetryRecord {
24 abstract public AltosRecord update_state(AltosRecord previous);
26 static boolean cksum(int[] bytes) {
28 for (int i = 1; i < bytes.length - 1; i++)
31 return sum == bytes[bytes.length - 1];
34 final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
35 final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
36 final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
38 final static int packet_type_TM_sensor = 0x01;
39 final static int packet_type_Tm_sensor = 0x02;
40 final static int packet_type_Tn_sensor = 0x03;
41 final static int packet_type_configuration = 0x04;
42 final static int packet_type_location = 0x05;
43 final static int packet_type_satellite = 0x06;
44 final static int packet_type_companion = 0x07;
46 static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
47 AltosTelemetryRecord r;
51 bytes = AltosLib.hexbytes(hex);
52 } catch (NumberFormatException ne) {
53 throw new ParseException(ne.getMessage(), 0);
56 /* one for length, one for checksum */
57 if (bytes[0] != bytes.length - 2)
58 throw new ParseException(String.format("invalid length %d != %d\n",
60 bytes.length - 2), 0);
62 throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
64 int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
65 int status = AltosLib.uint8(bytes, bytes.length - 2);
67 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
68 throw new AltosCRCException(rssi);
70 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
71 switch (bytes.length) {
72 case AltosLib.ao_telemetry_standard_len + 4:
73 int type = AltosLib.uint8(bytes, 4 + 1);
75 case packet_type_TM_sensor:
76 case packet_type_Tm_sensor:
77 case packet_type_Tn_sensor:
78 r = new AltosTelemetryRecordSensor(bytes, rssi);
80 case packet_type_configuration:
81 r = new AltosTelemetryRecordConfiguration(bytes);
83 case packet_type_location:
84 r = new AltosTelemetryRecordLocation(bytes);
86 case packet_type_satellite:
87 r = new AltosTelemetryRecordSatellite(bytes);
89 case packet_type_companion:
90 r = new AltosTelemetryRecordCompanion(bytes);
93 r = new AltosTelemetryRecordRaw(bytes);
97 case AltosLib.ao_telemetry_0_9_len + 4:
98 r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
100 case AltosLib.ao_telemetry_0_8_len + 4:
101 r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
104 throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
106 r.received_time = System.currentTimeMillis();
110 public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
111 AltosTelemetryRecord r;
113 String[] word = line.split("\\s+");
115 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
117 AltosParse.word(word[i++], "RSSI");
118 throw new AltosCRCException(AltosParse.parse_int(word[i++]));
121 if (word[i].equals("TELEM"))
122 r = parse_hex(word[i+1]);
124 r = new AltosTelemetryRecordLegacy(line);