--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.util.*;
+import java.text.*;
+import java.util.concurrent.*;
+
+public class AltosPyro {
+ public static final int pyro_none = 0x00000000;
+
+ public static final int pyro_accel_less = 0x00000001;
+ public static final int pyro_accel_greater = 0x00000002;
+ public static final String pyro_accel_less_string = "a<";
+ public static final String pyro_accel_greater_string = "a>";
+ public static final String pyro_accel_less_name = "Acceleration less than (m/s²)";
+ public static final String pyro_accel_greater_name = "Acceleration greater than (m/s²)";
+ public static final double pyro_accel_scale = 16.0;
+
+ public static final int pyro_speed_less = 0x00000004;
+ public static final int pyro_speed_greater = 0x00000008;
+ public static final String pyro_speed_less_string = "s<";
+ public static final String pyro_speed_greater_string = "s>";
+ public static final String pyro_speed_less_name = "Speed less than (m/s)";
+ public static final String pyro_speed_greater_name = "Speed greater than (m/s)";
+ public static final double pyro_speed_scale = 16.0;
+
+ public static final int pyro_height_less = 0x00000010;
+ public static final int pyro_height_greater = 0x00000020;
+ public static final String pyro_height_less_string = "h<";
+ public static final String pyro_height_greater_string = "h>";
+ public static final String pyro_height_less_name = "Height less than (m)";
+ public static final String pyro_height_greater_name = "Height greater than (m)";
+ public static final double pyro_height_scale = 1.0;
+
+ public static final int pyro_orient_less = 0x00000040;
+ public static final int pyro_orient_greater = 0x00000080;
+ public static final String pyro_orient_less_string = "o<";
+ public static final String pyro_orient_greater_string = "o>";
+ public static final String pyro_orient_less_name = "Angle from vertical less than (degrees)";
+ public static final String pyro_orient_greater_name = "Angle from vertical greater than (degrees)";
+ public static final double pyro_orient_scale = 1.0;
+
+ public static final int pyro_time_less = 0x00000100;
+ public static final int pyro_time_greater = 0x00000200;
+ public static final String pyro_time_less_string = "t<";
+ public static final String pyro_time_greater_string = "t>";
+ public static final String pyro_time_less_name = "Time since boost less than (s)";
+ public static final String pyro_time_greater_name = "Time since boost greater than (s)";
+ public static final double pyro_time_scale = 100.0;
+
+ public static final int pyro_ascending = 0x00000400;
+ public static final int pyro_descending = 0x00000800;
+ public static final String pyro_ascending_string = "A";
+ public static final String pyro_descending_string = "D";
+ public static final String pyro_ascending_name = "Ascending";
+ public static final String pyro_descending_name = "Descending";
+
+ public static final int pyro_after_motor = 0x00001000;
+ public static final String pyro_after_motor_string = "m";
+ public static final String pyro_after_motor_name = "After motor number";
+ public static final double pyro_after_motor_scale = 1.0;
+
+ public static final int pyro_delay = 0x00002000;
+ public static final String pyro_delay_string = "d";
+ public static final String pyro_delay_name = "Delay after other conditions (s)";
+ public static final double pyro_delay_scale = 100.0;
+
+ public static final int pyro_state_less = 0x00004000;
+ public static final int pyro_state_greater_or_equal = 0x00008000;
+ public static final String pyro_state_less_string = "f<";
+ public static final String pyro_state_greater_or_equal_string = "f>=";
+ public static final String pyro_state_less_name = "Flight state before";
+ public static final String pyro_state_greater_or_equal_name = "Flight state after";
+ public static final double pyro_state_scale = 1.0;
+
+ public static final int pyro_all = 0x0000ffff;
+
+ public static final int pyro_no_value = (pyro_ascending |
+ pyro_descending);
+
+ public static final int pyro_state_value = pyro_state_less | pyro_state_greater_or_equal;
+
+ private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
+
+ private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
+
+ private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
+
+ private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
+
+ private static void insert_map(int flag, String string, String name, double scale) {
+ string_to_pyro.put(string, flag);
+ pyro_to_string.put(flag, string);
+ pyro_to_name.put(flag, name);
+ pyro_to_scale.put(flag, scale);
+ }
+
+ public static int string_to_pyro(String name) {
+ if (string_to_pyro.containsKey(name))
+ return string_to_pyro.get(name);
+ return pyro_none;
+ }
+
+ public static String pyro_to_string(int flag) {
+ if (pyro_to_string.containsKey(flag))
+ return pyro_to_string.get(flag);
+ return null;
+ }
+
+ public static String pyro_to_name(int flag) {
+ if (pyro_to_name.containsKey(flag))
+ return pyro_to_name.get(flag);
+ return null;
+ }
+
+ public static double pyro_to_scale(int flag) {
+ if (pyro_to_scale.containsKey(flag))
+ return pyro_to_scale.get(flag);
+ return 1.0;
+ }
+
+ private static void initialize_maps() {
+ insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, pyro_accel_scale);
+ insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, pyro_accel_scale);
+
+ insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, pyro_speed_scale);
+ insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, pyro_speed_scale);
+
+ insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, pyro_height_scale);
+ insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, pyro_height_scale);
+
+ insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, pyro_orient_scale);
+ insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, pyro_orient_scale);
+
+ insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, pyro_time_scale);
+ insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, pyro_time_scale);
+
+ insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, 1.0);
+ insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, 1.0);
+
+ insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, 1.0);
+ insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, pyro_delay_scale);
+
+ insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, 1.0);
+ insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, 1.0);
+ }
+
+ {
+ initialize_maps();
+ }
+
+ public int channel;
+ public int flags;
+ public int accel_less, accel_greater;
+ public int speed_less, speed_greater;
+ public int height_less, height_greater;
+ public int orient_less, orient_greater;
+ public int time_less, time_greater;
+ public int delay;
+ public int state_less, state_greater_or_equal;
+ public int motor;
+
+ public AltosPyro(int in_channel) {
+ channel = in_channel;
+ flags = 0;
+ }
+
+ private boolean set_ivalue(int flag, int value) {
+ switch (flag) {
+ case pyro_accel_less: accel_less = value; break;
+ case pyro_accel_greater: accel_greater = value; break;
+ case pyro_speed_less: speed_less = value; break;
+ case pyro_speed_greater: speed_greater = value; break;
+ case pyro_height_less: height_less = value; break;
+ case pyro_height_greater: height_greater = value; break;
+ case pyro_orient_less: orient_less = value; break;
+ case pyro_orient_greater: orient_greater = value; break;
+ case pyro_time_less: time_less = value; break;
+ case pyro_time_greater: time_greater = value; break;
+ case pyro_after_motor: motor = value; break;
+ case pyro_delay: delay = value; break;
+ case pyro_state_less: state_less = value; break;
+ case pyro_state_greater_or_equal: state_greater_or_equal = value; break;
+ default:
+ return false;
+ }
+ return true;
+ }
+
+ public boolean set_value(int flag, double dvalue) {
+ return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
+ }
+
+ private int get_ivalue (int flag) {
+ int value;
+
+ switch (flag) {
+ case pyro_accel_less: value = accel_less; break;
+ case pyro_accel_greater: value = accel_greater; break;
+ case pyro_speed_less: value = speed_less; break;
+ case pyro_speed_greater: value = speed_greater; break;
+ case pyro_height_less: value = height_less; break;
+ case pyro_height_greater: value = height_greater; break;
+ case pyro_orient_less: value = orient_less; break;
+ case pyro_orient_greater: value = orient_greater; break;
+ case pyro_time_less: value = time_less; break;
+ case pyro_time_greater: value = time_greater; break;
+ case pyro_after_motor: value = motor; break;
+ case pyro_delay: value = delay; break;
+ case pyro_state_less: value = state_less; break;
+ case pyro_state_greater_or_equal: value = state_greater_or_equal; break;
+ default: value = 0; break;
+ }
+ return value;
+ }
+
+ public double get_value(int flag) {
+ return get_ivalue(flag) / pyro_to_scale(flag);
+ }
+
+ public AltosPyro(int in_channel, String line) throws ParseException {
+ String[] tokens = line.split("\\s+");
+
+ channel = in_channel;
+ flags = 0;
+
+ int i = 0;
+ if (tokens[i].equals("Pyro"))
+ i += 2;
+
+ for (; i < tokens.length; i++) {
+
+ if (tokens[i].equals("<disabled>"))
+ break;
+
+ int flag = string_to_pyro(tokens[i]);
+ if (flag == pyro_none)
+ throw new ParseException(String.format("Invalid pyro token \"%s\"",
+ tokens[i]), i);
+ flags |= flag;
+
+ if ((flag & pyro_no_value) == 0) {
+ int value = 0;
+ ++i;
+ try {
+ value = AltosLib.fromdec(tokens[i]);
+ } catch (NumberFormatException n) {
+ throw new ParseException(String.format("Invalid pyro value \"%s\"",
+ tokens[i]), i);
+ }
+ if (!set_ivalue(flag, value))
+ throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
+ tokens[i-1], tokens[i]), i-1);
+ }
+ }
+ }
+
+ public String toString() {
+ String ret = String.format("%d", channel);
+
+ for (int flag = 1; flag <= flags; flag <<= 1) {
+ if ((flags & flag) != 0) {
+ String add;
+ if ((flag & pyro_no_value) == 0) {
+ add = String.format(" %s %d",
+ pyro_to_string.get(flag),
+ get_ivalue(flag));
+ } else {
+ add = String.format(" %s",
+ pyro_to_string.get(flag));
+ }
+ ret = ret.concat(add);
+ }
+ }
+ return ret;
+ }
+}
projects / fw / altos / blobdiff