* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_12;
import java.text.*;
* Telemetry data contents
*/
-public abstract class AltosTelemetry implements AltosStateUpdate {
+public abstract class AltosTelemetry implements AltosDataProvider {
int[] bytes;
/* All telemetry packets have these fields */
- public int rssi() { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
- public int status() { return AltosLib.uint8(bytes, bytes.length - 2); }
+ static public int rssi(int[] bytes) { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
+ static public int status(int[] bytes) { return AltosLib.uint8(bytes, bytes.length - 2); }
+
+ public int rssi() { return rssi(bytes); }
+ public int status() { return status(bytes); }
/* All telemetry packets report these fields in some form */
public abstract int serial();
/* Mark when we received the packet */
long received_time;
+ /* Mark frequency packet was received on */
+ public double frequency = AltosLib.MISSING;
+
static boolean cksum(int[] bytes) {
int sum = 0x5a;
for (int i = 1; i < bytes.length - 1; i++)
return sum == bytes[bytes.length - 1];
}
- public void update_state(AltosState state) {
- state.set_serial(serial());
- if (state.state() == AltosLib.ao_flight_invalid)
- state.set_state(AltosLib.ao_flight_startup);
- state.set_tick(tick());
- state.set_rssi(rssi(), status());
- state.set_received_time(received_time);
+ public void provide_data(AltosDataListener listener) {
+ listener.set_serial(serial());
+ if (listener.state() == AltosLib.ao_flight_invalid)
+ listener.set_state(AltosLib.ao_flight_startup);
+ if (frequency != AltosLib.MISSING)
+ listener.set_frequency(frequency);
+ listener.set_tick(tick());
+ listener.set_rssi(rssi(), status());
+ listener.set_received_time(received_time);
}
final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
if (!cksum(bytes))
throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+ if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi(bytes));
+
/* length, data ..., rssi, status, checksum -- 4 bytes extra */
switch (bytes.length) {
case AltosLib.ao_telemetry_standard_len + 4:
return telem;
}
- public static int extend_height(AltosState state, int height_16) {
- double compare_height;
- int height = height_16;
-
- if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
- compare_height = state.gps_height();
- } else {
- compare_height = state.height();
- }
-
- if (compare_height != AltosLib.MISSING) {
- int high_bits = (int) Math.floor (compare_height / 65536.0);
-
- height = (high_bits << 16) | (height_16 & 0xffff);
-
- if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
- height += 65536;
- else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
- height -= 65536;
- }
- return height;
+ public void set_frequency(double frequency) {
+ this.frequency = frequency;
}
public AltosTelemetry() {