import java.io.*;
import java.util.concurrent.*;
-class AltosSensorTM extends AltosRecordTM {
-
- public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
- super();
- link.printf("a\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("tick:"))
- continue;
- String[] items = line.split("\\s+");
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("accel:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("pres:")) {
- pres = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("temp:")) {
- temp = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("batt:")) {
- batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("drogue:")) {
- drogue = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("main:")) {
- main = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
- }
- break;
- }
- ground_accel = config_data.accel_cal_plus;
- ground_pres = pres;
- accel_plus_g = config_data.accel_cal_plus;
- accel_minus_g = config_data.accel_cal_minus;
- }
-}
-
-class AltosSensorMM {
- int tick;
- int sense[];
- int v_batt;
- int v_pyro;
- int accel;
- int accel_ref;
-
- public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("a\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("tick:"))
- continue;
- String[] items = line.split("\\s+");
- sense = new int[6];
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("0:")) {
- sense[0] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("1:")) {
- sense[1] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("2:")) {
- sense[2] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("3:")) {
- sense[3] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("4:")) {
- sense[4] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("5:")) {
- sense[5] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("6:")) {
- v_batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("7:")) {
- v_pyro = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("8:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("9:")) {
- accel_ref = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
- }
- break;
- }
- }
-}
-
-class AltosIMUQuery extends AltosIMU {
-
- public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("I\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("Accel:"))
- continue;
- String[] items = line.split("\\s+");
- if (items.length >= 8) {
- accel_x = Integer.parseInt(items[1]);
- accel_y = Integer.parseInt(items[2]);
- accel_z = Integer.parseInt(items[3]);
- gyro_x = Integer.parseInt(items[5]);
- gyro_y = Integer.parseInt(items[6]);
- gyro_z = Integer.parseInt(items[7]);
- }
- break;
- }
- }
-}
-
-class AltosMs5607Query extends AltosMs5607 {
- public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("v\nB\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- String[] items = line.split("\\s+");
- if (line.startsWith("Pressure:")) {
- if (items.length >= 2)
- raw_pres = Integer.parseInt(items[1]);
- } else if (line.startsWith("Temperature:")) {
- if (items.length >= 2)
- raw_temp = Integer.parseInt(items[1]);
- } else if (line.startsWith("ms5607 reserved:")) {
- if (items.length >= 3)
- reserved = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 sens:")) {
- if (items.length >= 3)
- sens = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 off:")) {
- if (items.length >= 3)
- off = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tcs:")) {
- if (items.length >= 3)
- tcs = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tco:")) {
- if (items.length >= 3)
- tco = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tref:")) {
- if (items.length >= 3)
- tref = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tempsens:")) {
- if (items.length >= 3)
- tempsens = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 crc:")) {
- if (items.length >= 3)
- crc = Integer.parseInt(items[2]);
- } else if (line.startsWith("Altitude"))
- break;
- }
- convert();
- }
-}
public class AltosIdleMonitor extends Thread {
AltosLink link;
return rssi;
}
+ boolean has_sensor_tm(AltosConfigData config_data) {
+ return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMini");
+ }
+
+ boolean has_sensor_mm(AltosConfigData config_data) {
+ return config_data.product.startsWith("MegaMetrum");
+ }
+
+ boolean has_gps(AltosConfigData config_data) {
+ return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("MegaMetrum");
+ }
+
+ AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
+ AltosRecordMM record_mm = new AltosRecordMM();
+ AltosSensorMM sensor = new AltosSensorMM(link);
+ AltosMs5607 ms5607 = new AltosMs5607Query(link);
+ AltosIMU imu = new AltosIMUQuery(link);
+
+ record_mm.accel_plus_g = config_data.accel_cal_plus;
+ record_mm.accel_minus_g = config_data.accel_cal_minus;
+
+ record_mm.ground_accel = sensor.accel;
+ record_mm.accel = sensor.accel;
+ record_mm.ground_pres = ms5607.pa;
+ record_mm.pres = ms5607.pa;
+ record_mm.temp = ms5607.cc;
+
+ record_mm.v_batt = sensor.v_batt;
+ record_mm.v_pyro = sensor.v_pyro;
+ record_mm.sense = sensor.sense;
+
+ record_mm.imu = imu;
+
+ return record_mm;
+ }
+
void update_state() throws InterruptedException, TimeoutException {
AltosRecord record = null;
} else
link.flush_input();
config_data = new AltosConfigData(link);
- if (config_data.product.startsWith("TeleMetrum")) {
- record = new AltosSensorTM(link, config_data);
- } else if (config_data.product.startsWith("MegaMetrum")) {
- AltosRecordMM record_mm = new AltosRecordMM();
- AltosSensorMM sensor = new AltosSensorMM(link);
- AltosMs5607 ms5607 = new AltosMs5607Query(link);
- AltosIMU imu = new AltosIMUQuery(link);
-
- record_mm.accel_plus_g = config_data.accel_cal_plus;
- record_mm.accel_minus_g = config_data.accel_cal_minus;
-
- record_mm.ground_accel = sensor.accel;
- record_mm.accel = sensor.accel;
- record_mm.ground_pres = ms5607.pa;
- record_mm.pres = ms5607.pa;
- record_mm.temp = ms5607.cc;
-
- record_mm.v_batt = sensor.v_batt;
- record_mm.v_pyro = sensor.v_pyro;
- record_mm.sense = sensor.sense;
- record_mm.imu = imu;
-
- record = record_mm;
- } else
+ if (has_sensor_tm(config_data))
+ record = new AltosSensorTM(link, config_data);
+ else if (has_sensor_mm(config_data))
+ record = sensor_mm(config_data);
+ else
record = new AltosRecord();
- gps = new AltosGPSQuery(link, config_data);
+ if (has_gps(config_data))
+ gps = new AltosGPSQuery(link, config_data);
record.version = 0;
record.callsign = config_data.callsign;