*/
package altosui;
+import java.lang.*;
+import java.text.*;
-public interface AltosTelemetryRecord {
+public abstract class AltosTelemetryRecord {
- public AltosRecord update_state(AltosRecord previous);
+ long received_time;
+ abstract public AltosRecord update_state(AltosRecord previous);
+
+ static boolean cksum(int[] bytes) {
+ int sum = 0x5a;
+ for (int i = 1; i < bytes.length - 1; i++)
+ sum += bytes[i];
+ sum &= 0xff;
+ return sum == bytes[bytes.length - 1];
+ }
+
+ final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
+ final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
+ final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
+
+ final static int packet_type_TM_sensor = 0x01;
+ final static int packet_type_Tm_sensor = 0x02;
+ final static int packet_type_Tn_sensor = 0x03;
+ final static int packet_type_configuration = 0x04;
+ final static int packet_type_location = 0x05;
+ final static int packet_type_satellite = 0x06;
+ final static int packet_type_companion = 0x07;
+
+ static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ int[] bytes;
+ try {
+ bytes = Altos.hexbytes(hex);
+ } catch (NumberFormatException ne) {
+ throw new ParseException(ne.getMessage(), 0);
+ }
+
+ /* one for length, one for checksum */
+ if (bytes[0] != bytes.length - 2)
+ throw new ParseException(String.format("invalid length %d != %d\n",
+ bytes[0],
+ bytes.length - 2), 0);
+ if (!cksum(bytes))
+ throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+ int rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
+ int status = Altos.uint8(bytes, bytes.length - 2);
+
+ if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi);
+
+ /* length, data ..., rssi, status, checksum -- 4 bytes extra */
+ switch (bytes.length) {
+ case Altos.ao_telemetry_standard_len + 4:
+ int type = Altos.uint8(bytes, 4 + 1);
+ switch (type) {
+ case packet_type_TM_sensor:
+ case packet_type_Tm_sensor:
+ case packet_type_Tn_sensor:
+ r = new AltosTelemetryRecordSensor(bytes, rssi);
+ break;
+ case packet_type_configuration:
+ r = new AltosTelemetryRecordConfiguration(bytes);
+ break;
+ case packet_type_location:
+ r = new AltosTelemetryRecordLocation(bytes);
+ break;
+ case packet_type_satellite:
+ r = new AltosTelemetryRecordSatellite(bytes);
+ break;
+ case packet_type_companion:
+ r = new AltosTelemetryRecordCompanion(bytes);
+ break;
+ default:
+ r = new AltosTelemetryRecordRaw(bytes);
+ break;
+ }
+ break;
+ case Altos.ao_telemetry_0_9_len + 4:
+ r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+ break;
+ case Altos.ao_telemetry_0_8_len + 4:
+ r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+ break;
+ default:
+ throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+ }
+ r.received_time = System.currentTimeMillis();
+ return r;
+ }
+
+ public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ String[] word = line.split("\\s+");
+ int i =0;
+ if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(word[i++], "RSSI");
+ throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+ }
+
+ if (word[i].equals("TELEM"))
+ r = parse_hex(word[i+1]);
+ else
+ r = new AltosTelemetryRecordLegacy(line);
+ return r;
+ }
}