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_1;
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;
45 final static int packet_type_MM_sensor = 0x08;
46 final static int packet_type_MM_data = 0x09;
48 static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
49 AltosTelemetryRecord r;
53 bytes = AltosLib.hexbytes(hex);
54 } catch (NumberFormatException ne) {
55 throw new ParseException(ne.getMessage(), 0);
58 /* one for length, one for checksum */
59 if (bytes[0] != bytes.length - 2)
60 throw new ParseException(String.format("invalid length %d != %d\n",
62 bytes.length - 2), 0);
64 throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
66 int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
67 int status = AltosLib.uint8(bytes, bytes.length - 2);
69 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
70 throw new AltosCRCException(rssi);
72 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
73 switch (bytes.length) {
74 case AltosLib.ao_telemetry_standard_len + 4:
75 int type = AltosLib.uint8(bytes, 4 + 1);
77 case packet_type_TM_sensor:
78 case packet_type_Tm_sensor:
79 case packet_type_Tn_sensor:
80 r = new AltosTelemetryRecordSensor(bytes, rssi);
82 case packet_type_configuration:
83 r = new AltosTelemetryRecordConfiguration(bytes, rssi);
85 case packet_type_location:
86 r = new AltosTelemetryRecordLocation(bytes, rssi);
88 case packet_type_satellite:
89 r = new AltosTelemetryRecordSatellite(bytes, rssi);
91 case packet_type_companion:
92 r = new AltosTelemetryRecordCompanion(bytes, rssi);
94 case packet_type_MM_sensor:
95 r = new AltosTelemetryRecordMegaSensor(bytes, rssi);
97 case packet_type_MM_data:
98 r = new AltosTelemetryRecordMegaData(bytes, rssi);
101 r = new AltosTelemetryRecordRaw(bytes, rssi);
105 case AltosLib.ao_telemetry_0_9_len + 4:
106 r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
108 case AltosLib.ao_telemetry_0_8_len + 4:
109 r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
112 throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
114 r.received_time = System.currentTimeMillis();
118 public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
119 AltosTelemetryRecord r;
121 String[] word = line.split("\\s+");
123 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
125 AltosParse.word(word[i++], "RSSI");
126 throw new AltosCRCException(AltosParse.parse_int(word[i++]));
129 if (word[i].equals("TELEM"))
130 r = parse_hex(word[i+1]);
132 r = new AltosTelemetryRecordLegacy(line);