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.
23 public class AltosGPS {
24 public class AltosGPSSat {
29 final static int MISSING = AltosRecord.MISSING;
34 double lat; /* degrees (+N -S) */
35 double lon; /* degrees (+E -W) */
44 double ground_speed; /* m/s */
45 int course; /* degrees */
46 double climb_rate; /* m/s */
47 double hdop; /* unitless */
48 double vdop; /* unitless */
52 AltosGPSSat[] cc_gps_sat; /* tracking data */
54 void ParseGPSDate(String date) throws ParseException {
55 String[] ymd = date.split("-");
57 throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
58 year = AltosParse.parse_int(ymd[0]);
59 month = AltosParse.parse_int(ymd[1]);
60 day = AltosParse.parse_int(ymd[2]);
63 void ParseGPSTime(String time) throws ParseException {
64 String[] hms = time.split(":");
66 throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
67 hour = AltosParse.parse_int(hms[0]);
68 minute = AltosParse.parse_int(hms[1]);
69 second = AltosParse.parse_int(hms[2]);
73 year = month = day = 0;
74 hour = minute = second = 0;
77 public AltosGPS(AltosTelemetryMap map) throws ParseException {
78 String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
79 AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
81 nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
82 if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
85 lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
86 lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
87 alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
88 year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
91 month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
92 day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
94 hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
95 minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
96 second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
98 ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
99 AltosRecord.MISSING, 1/100.0);
100 course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
101 AltosRecord.MISSING);
102 hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
103 vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
104 h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
105 v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
106 } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
115 public AltosGPS(String[] words, int i, int version) throws ParseException {
116 AltosParse.word(words[i++], "GPS");
117 nsat = AltosParse.parse_int(words[i++]);
118 AltosParse.word(words[i++], "sat");
125 if ((words[i]).equals("unlocked")) {
128 } else if ((words[i]).equals("not-connected")) {
130 } else if (words.length >= 40) {
135 ParseGPSDate(words[i++]);
137 year = month = day = 0;
138 ParseGPSTime(words[i++]);
139 lat = AltosParse.parse_coord(words[i++]);
140 lon = AltosParse.parse_coord(words[i++]);
141 alt = AltosParse.parse_int(words[i++]);
142 if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
143 ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
144 course = AltosParse.parse_int(words[i++]);
145 climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
146 hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
147 h_error = AltosParse.parse_int(words[i++]);
148 v_error = AltosParse.parse_int(words[i++]);
153 if (i < words.length) {
154 AltosParse.word(words[i++], "SAT");
155 int tracking_channels = 0;
156 if (words[i].equals("not-connected"))
157 tracking_channels = 0;
159 tracking_channels = AltosParse.parse_int(words[i]);
161 cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
162 for (int chan = 0; chan < tracking_channels; chan++) {
163 cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
164 cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
165 /* Older versions included SiRF status bits */
168 cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
171 cc_gps_sat = new AltosGPS.AltosGPSSat[0];
174 public void set_latitude(int in_lat) {
175 lat = in_lat / 10.0e7;
178 public void set_longitude(int in_lon) {
179 lon = in_lon / 10.0e7;
182 public void set_time(int hour, int minute, int second) {
188 public void set_date(int year, int month, int day) {
194 public void set_flags(int flags) {
198 public void set_altitude(int altitude) {
202 public void add_sat(int svid, int c_n0) {
203 if (cc_gps_sat == null) {
204 cc_gps_sat = new AltosGPS.AltosGPSSat[1];
206 AltosGPSSat[] new_gps_sat = new AltosGPS.AltosGPSSat[cc_gps_sat.length + 1];
207 for (int i = 0; i < cc_gps_sat.length; i++)
208 new_gps_sat[i] = cc_gps_sat[i];
209 cc_gps_sat = new_gps_sat;
211 AltosGPS.AltosGPSSat sat = new AltosGPS.AltosGPSSat();
214 cc_gps_sat[cc_gps_sat.length - 1] = sat;
222 public AltosGPS(AltosGPS old) {
225 connected = old.connected;
226 lat = old.lat; /* degrees (+N -S) */
227 lon = old.lon; /* degrees (+E -W) */
228 alt = old.alt; /* m */
236 ground_speed = old.ground_speed; /* m/s */
237 course = old.course; /* degrees */
238 climb_rate = old.climb_rate; /* m/s */
239 hdop = old.hdop; /* unitless? */
240 h_error = old.h_error; /* m */
241 v_error = old.v_error; /* m */
243 if (old.cc_gps_sat != null) {
244 cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
245 for (int i = 0; i < old.cc_gps_sat.length; i++) {
246 cc_gps_sat[i] = new AltosGPSSat();
247 cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
248 cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;