--- /dev/null
+package altimeter;
+
+import gnu.io.CommPortIdentifier;
+import gnu.io.PortInUseException;
+import gnu.io.SerialPort;
+import gnu.io.UnsupportedCommOperationException;
+
+import java.io.FileNotFoundException;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.io.PrintStream;
+import java.nio.charset.Charset;
+import java.text.DateFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.Enumeration;
+import java.util.TimeZone;
+
+/**
+ * Class to interface the PerfectFlite Alt15K/WD altimeter.
+ *
+ * Also includes a main method that retrieves all flight profiles and saves them to files.
+ *
+ * @author Sampo Niskanen <sampo.niskanen@iki.fi>
+ */
+
+public class Alt15K {
+ public static final int TIMEOUT = 500;
+ public static final int RWDELAY = 5;
+
+ private static final boolean DEBUG = false;
+
+ private static final Charset CHARSET = Charset.forName("ISO-8859-1");
+
+ private final CommPortIdentifier portID;
+ private SerialPort port = null;
+ private InputStream is = null;
+ private OutputStream os = null;
+
+
+
+ @SuppressWarnings("unchecked")
+ public static String[] getNames() {
+ ArrayList<String> list = new ArrayList<String>();;
+
+ Enumeration pids = CommPortIdentifier.getPortIdentifiers();
+
+ while (pids.hasMoreElements()) {
+ CommPortIdentifier pid = (CommPortIdentifier) pids.nextElement();
+
+ if (pid.getPortType() == CommPortIdentifier.PORT_SERIAL)
+ list.add(pid.getName());
+ }
+ return list.toArray(new String[0]);
+ }
+
+
+
+ @SuppressWarnings("unchecked")
+ public Alt15K(String name) throws IOException {
+ CommPortIdentifier pID = null;
+
+ Enumeration portIdentifiers = CommPortIdentifier.getPortIdentifiers();
+ while (portIdentifiers.hasMoreElements()) {
+ CommPortIdentifier pid = (CommPortIdentifier) portIdentifiers.nextElement();
+
+ if(pid.getPortType() == CommPortIdentifier.PORT_SERIAL &&
+ pid.getName().equals(name)) {
+ pID = pid;
+ break;
+ }
+ }
+
+ if (pID==null) {
+ throw new IOException("Port '"+name+"' not found.");
+ }
+ this.portID = pID;
+ }
+
+
+ /**
+ * Get altimeter flight data. The flight profile is chosen by the parameter n,
+ * 0 = latest flight, 1 = second latest, etc.
+ *
+ * @param n Which flight profile to use (0=newest, 1=second newest, etc)
+ * @return The altimeter flight data
+ * @throws IOException in case of IOException
+ * @throws PortInUseException in case of PortInUseException
+ */
+ public AltData getData(int n) throws IOException, PortInUseException {
+ AltData alt = new AltData();
+ ArrayList<Integer> data = new ArrayList<Integer>();
+ byte[] buf;
+ byte[] buf2 = new byte[0];
+ boolean identical = false; // Whether identical lines have been read
+
+ if (DEBUG)
+ System.out.println(" Retrieving altimeter data n="+n);
+
+ try {
+ open();
+
+ // Get version and position data
+ byte[] ver = getVersionData();
+ alt.setVersion(new byte[] { ver[0],ver[1] });
+
+ // Calculate the position requested
+ if (n > 2)
+ n = 2;
+ int position = ver[2] - n;
+ while (position < 0)
+ position += 3;
+
+ if (DEBUG)
+ System.out.println(" Requesting data from position "+position);
+
+ // Request the data
+ write("D");
+ write((byte)position);
+ write("PS");
+
+ sleep();
+
+ // Read preliminary data
+ buf = read(4);
+ int msl_level = combine(buf[0],buf[1]);
+ int datacount = combine(buf[2],buf[3]);
+
+ if (DEBUG)
+ System.out.println(" Preliminary data msl="+msl_level+" count="+datacount);
+
+ alt.setMslLevel(msl_level-6000);
+ alt.setDataSamples(datacount);
+
+ if (DEBUG)
+ System.out.println(" Retrieving "+datacount+" samples");
+
+ long t = System.currentTimeMillis();
+
+ int count = 0;
+ while (count < datacount) {
+ sleep();
+ write("G");
+ sleep();
+ buf = read(17);
+
+ if (buf.length == 17) {
+ // Checksum = sum of all bytes + 1
+ // (signedness does not change the result)
+ byte checksum = 1;
+ for (int i=0; i<16; i++)
+ checksum += buf[i];
+ if (checksum != buf[16]) {
+ printBytes("ERROR: Checksum fail on data (computed="+checksum+
+ " orig="+buf[16]+")",buf);
+ System.out.println("Ignoring error");
+ }
+ } else {
+ System.err.println("ERROR: Only "+buf.length+" bytes read, should be 17");
+ }
+
+ for (int i=0; i<buf.length-1; i+=2) {
+ data.add(combine(buf[i],buf[i+1]));
+ count++;
+ }
+
+ /*
+ * Check whether the data is identical to the previous data batch. If reading
+ * too fast, the data seems to become duplicated in the transfer. We need to check
+ * whether this has happened by attempting to read more data than is normally
+ * available.
+ */
+ int c, l=Math.min(buf.length, buf2.length);
+ for (c=0; c<l; c++) {
+ if (buf[c] != buf2[c])
+ break;
+ }
+ if (c==l && buf.length == buf2.length)
+ identical = true;
+ buf2 = buf.clone();
+ }
+
+ if (DEBUG)
+ System.out.println(" Retrieved "+data.size()+" samples in "+
+ (System.currentTimeMillis()-t)+" ms");
+
+
+ // In case of identical lines, check for more data. This would mean that the
+ // transfer was corrupted.
+ if (identical) {
+ System.err.println("WARNING: Duplicate data detected, possible error");
+ }
+
+ // Test for more data
+ if (DEBUG)
+ System.out.println(" Testing for more data");
+ sleep();
+ write("G");
+ sleep();
+ buf = read(17);
+ if (buf.length > 0) {
+ System.err.println("ERROR: Data available after transfer! (length="+buf.length+")");
+ }
+
+
+
+
+
+
+ // Create an int[] array and set it
+ int[] d = new int[data.size()];
+ for (int i=0; i<d.length; i++)
+ d[i] = data.get(i);
+ alt.setData(d);
+
+ // Catch all exceptions, close the port and re-throw the exception
+ } catch (PortInUseException e) {
+ close();
+ throw e;
+ } catch (IOException e) {
+ close();
+ throw e;
+ } catch (UnsupportedCommOperationException e) {
+ close();
+ throw new RuntimeException("Required function of RxTx library not supported",e);
+ } catch (RuntimeException e) {
+ // Catch-all for all other types of exceptions
+ close();
+ throw e;
+ }
+
+ close();
+ return alt;
+ }
+
+
+
+
+ private byte[] getVersionData() throws PortInUseException, IOException,
+ UnsupportedCommOperationException {
+ byte[] ver = new byte[3];
+ byte[] buf;
+
+ if (DEBUG)
+ System.out.println(" Retrieving altimeter version information");
+
+ // Signal to altimeter we are here
+ write((byte)0);
+ sleep(15); // Sleep for 15ms, data is incoming at 10 samples/sec
+
+ // Get altimeter version, skip zeros
+ write("PV");
+ sleep();
+ buf = readSkipZero(2);
+ sleep();
+ if (buf.length != 2) {
+ close();
+ throw new IOException("Communication with altimeter failed.");
+ }
+ ver[0] = buf[0];
+ ver[1] = buf[1];
+
+ // Get position of newest data
+ write("M");
+ sleep();
+ buf = read(1);
+ if (buf.length != 1) {
+ close();
+ throw new IOException("Communication with altimeter failed.");
+ }
+ ver[2] = buf[0];
+
+ if (DEBUG)
+ System.out.println(" Received version info "+ver[0]+"."+ver[1]+", position "+ver[2]);
+
+ return ver;
+ }
+
+
+ /**
+ * Delay the communication by a small delay (RWDELAY ms).
+ */
+ private void sleep() {
+ sleep(RWDELAY);
+ }
+
+ /**
+ * Sleep for the given amount of milliseconds.
+ */
+ private void sleep(int n) {
+ try {
+ Thread.sleep(n);
+ } catch (InterruptedException ignore) { }
+ }
+
+
+ private void open()
+ throws PortInUseException, IOException, UnsupportedCommOperationException {
+ if (port != null) {
+ System.err.println("ERROR: open() called with port="+port);
+ Thread.dumpStack();
+ close();
+ }
+
+ if (DEBUG) {
+ System.out.println(" Opening port...");
+ }
+
+ port = (SerialPort)portID.open("OpenRocket",1000);
+
+ port.setSerialPortParams(9600, SerialPort.DATABITS_8, SerialPort.STOPBITS_1,
+ SerialPort.PARITY_NONE);
+
+ port.setInputBufferSize(1);
+ port.setOutputBufferSize(1);
+
+ port.enableReceiveTimeout(TIMEOUT);
+
+ is = port.getInputStream();
+ os = port.getOutputStream();
+ }
+
+
+ private byte[] readSkipZero(int n) throws IOException, UnsupportedCommOperationException {
+ long t = System.currentTimeMillis() + TIMEOUT*2;
+
+ if (DEBUG) {
+ System.out.println(" readSkipZero "+n+" bytes");
+ }
+
+ while (System.currentTimeMillis() < t) {
+ byte[] buf = read(n);
+ if (DEBUG)
+ printBytes(" Received",buf);
+
+ if (buf.length == 0) // No data available
+ return buf;
+
+ // Skip zeros
+ int i;
+ for (i=0; i<buf.length; i++)
+ if (buf[i] != 0)
+ break;
+
+ if (i==0) // No zeros to skip
+ return buf;
+
+ if (i < buf.length) {
+ // Partially read
+ int count = buf.length-i; // No. of data bytes
+ byte[] array = new byte[n];
+ System.arraycopy(buf, i, array, 0, count);
+ buf = read(n-count);
+ if (DEBUG)
+ printBytes(" Received (partial)",buf);
+ System.arraycopy(buf, 0, array, count, buf.length);
+
+ if (DEBUG)
+ printBytes(" Returning",array);
+ return array;
+ }
+ }
+
+ if (DEBUG)
+ System.out.println(" No data read, returning empty");
+ return new byte[0]; // no data, only zeros
+ }
+
+
+ private byte[] read(int n) throws IOException, UnsupportedCommOperationException {
+ byte[] bytes = new byte[n];
+
+ port.enableReceiveThreshold(n);
+
+ long t = System.currentTimeMillis() + TIMEOUT;
+ int count = 0;
+
+ if (DEBUG)
+ System.out.println(" Reading "+n+" bytes");
+
+ while (count < n && System.currentTimeMillis() < t) {
+ byte[] buf = new byte[n-count];
+ int c = is.read(buf);
+ System.arraycopy(buf, 0, bytes, count, c);
+ count += c;
+ }
+
+ byte[] array = new byte[count];
+ System.arraycopy(bytes, 0, array, 0, count);
+
+ if (DEBUG)
+ printBytes(" Returning",array);
+
+ return array;
+ }
+
+ private void write(String s) throws IOException {
+ write(s.getBytes(CHARSET));
+ }
+
+ private void write(byte ... bytes) throws IOException {
+ if (DEBUG)
+ printBytes(" Writing",bytes);
+ os.write(bytes);
+ }
+
+ private void close() {
+ if (DEBUG)
+ System.out.println(" Closing port");
+
+ SerialPort p = port;
+ port = null;
+ is = null;
+ os = null;
+ if (p != null)
+ p.close();
+ }
+
+
+
+
+
+ public static void main(String[] arg) {
+
+ if (arg.length != 1) {
+ System.err.println("Usage: java Alt15K <basename>");
+ System.err.println("Files will be saved <basename>-old.log, -med and -new");
+ return;
+ }
+
+
+ String device = null;
+ String[] devices = Alt15K.getNames();
+ for (int i=0; i<devices.length; i++) {
+ if (devices[i].matches(".*USB.*")) {
+ device = devices[i];
+ break;
+ }
+ }
+ if (device == null) {
+ System.out.println("Device not found.");
+ return;
+ }
+
+
+ System.out.println("Selected device "+device);
+
+ AltData alt = null;
+ String file;
+ try {
+ Alt15K p = new Alt15K(device);
+
+ System.out.println("Retrieving newest data...");
+ alt = p.getData(0);
+ System.out.println("Apogee at "+alt.getApogee()+" feet");
+
+ file = arg[0]+"-new.log";
+ System.out.println("Saving data to "+file+"...");
+ savefile(file,alt);
+
+
+ System.out.println("Retrieving medium data...");
+ alt = p.getData(1);
+ System.out.println("Apogee at "+alt.getApogee()+" feet");
+
+ file = arg[0]+"-med.log";
+ System.out.println("Saving data to "+file+"...");
+ savefile(file,alt);
+
+
+ System.out.println("Retrieving oldest data...");
+ alt = p.getData(2);
+ System.out.println("Apogee at "+alt.getApogee()+" feet");
+
+ file = arg[0]+"-old.log";
+ System.out.println("Saving data to "+file+"...");
+ savefile(file,alt);
+
+ } catch (IOException e) {
+ e.printStackTrace();
+ } catch (PortInUseException e) {
+ e.printStackTrace();
+ }
+
+// System.out.println(alt);
+// alt.printData();
+
+ }
+
+
+ static private void savefile(String file, AltData data) throws FileNotFoundException {
+
+ PrintStream output = new PrintStream(file);
+
+ // WTF is this so difficult?!?
+ DateFormat fmt = DateFormat.getDateTimeInstance(DateFormat.MEDIUM, DateFormat.MEDIUM);
+ TimeZone tz=TimeZone.getTimeZone("GMT+3");
+ fmt.setTimeZone(tz);
+
+ output.println("# Alt15K data, file "+file);
+ output.println("# Data retrieved at: "+fmt.format(new Date()));
+ output.println("# Values are in feet above launch level");
+ output.println("# ");
+ output.println("# Apogee = "+data.getApogee());
+ output.println("# MSL level = "+data.getMslLevel());
+ output.println("# Data count = "+data.getDataSamples());
+
+ byte[] b = data.getVersion();
+ String s="";
+ for (int i=0; i<b.length; i++) {
+ if (s.equals(""))
+ s = ""+((int)b[i]);
+ else
+ s = s+"."+((int)b[i]);
+ }
+ output.println("# Altimeter version = " + s);
+
+ int[] values = data.getData();
+ for (int i=0; i < values.length; i++) {
+ output.println(""+values[i]);
+ }
+
+ output.close();
+ }
+
+
+ static private void printBytes(String str, byte[] b) {
+ printBytes(str, b,b.length);
+ }
+
+ static private void printBytes(String str, byte[] b, int n) {
+ String s;
+ s = str+" "+n+" bytes:";
+ for (int i=0; i<n; i++) {
+ s += " "+unsign(b[i]);
+ }
+ System.out.println(s);
+ }
+
+ static private int unsign(byte b) {
+ if (b >= 0)
+ return b;
+ else
+ return 256 + b;
+ }
+
+ @SuppressWarnings("unused")
+ static private int combine(int a, int b) {
+ return 256*a + b;
+ }
+
+ static private int combine(byte a, byte b) {
+ int val = 256*unsign(a)+unsign(b);
+ if (val <= 32767)
+ return val;
+ else
+ return val-65536;
+
+ }
+
+}
projects / debian / openrocket / blobdiff