X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosTelemetryRecordLegacy.java;fp=altoslib%2FAltosTelemetryRecordLegacy.java;h=0000000000000000000000000000000000000000;hb=3325df306933f080619f13ba1db45de484613d5a;hp=5f86d6713ca4a4f764c7cf2e461ec48286ec80f8;hpb=e9e9c6592c49109288a4e02e780b130fadb97db7;p=fw%2Faltos diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java deleted file mode 100644 index 5f86d671..00000000 --- a/altoslib/AltosTelemetryRecordLegacy.java +++ /dev/null @@ -1,521 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * 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_2; - -import java.text.*; - -/* - * Telemetry data contents - */ - - -/* - * The packet format is a simple hex dump of the raw telemetry frame. - * It starts with 'TELEM', then contains hex digits with a checksum as the last - * byte on the line. - * - * Version 4 is a replacement with consistent syntax. Each telemetry line - * contains a sequence of space-separated names and values, the values are - * either integers or strings. The names are all unique. All values are - * optional - * - * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944 - * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764 - * a_s 0 a_b 26439 g_s u g_n 0 s_n 0 - * - * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788 - * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0 - * - * General header fields - * - * Name Value - * - * VERSION Telemetry version number (4 or more). Must be first. - * c Callsign (string, no spaces allowed) - * n Flight unit serial number (integer) - * f Flight number (integer) - * r Packet RSSI value (integer) - * s Flight computer state (string, no spaces allowed) - * t Flight computer clock (integer in centiseconds) - * - * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports - * in 1/2dB increments while this protocol provides only integers. So, - * the syntax didn't change just the interpretation of the RSSI - * values. - * - * Version 2 of the telemetry data stream is a bit of a mess, with no - * consistent formatting. In particular, the GPS data is formatted for - * viewing instead of parsing. However, the key feature is that every - * telemetry line contains all of the information necessary to - * describe the current rocket state, including the calibration values - * for accelerometer and barometer. - * - * GPS unlocked: - * - * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \ - * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \ - * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30 - * - * GPS locked: - * - * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \ - * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \ - * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \ - * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \ - * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \ - * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26 - * - */ - -public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { - /* - * General header fields - * - * Name Value - * - * VERSION Telemetry version number (4 or more). Must be first. - * c Callsign (string, no spaces allowed) - * n Flight unit serial number (integer) - * f Flight number (integer) - * r Packet RSSI value (integer) - * s Flight computer state (string, no spaces allowed) - * t Flight computer clock (integer in centiseconds) - */ - - final static String AO_TELEM_VERSION = "VERSION"; - final static String AO_TELEM_CALL = "c"; - final static String AO_TELEM_SERIAL = "n"; - final static String AO_TELEM_FLIGHT = "f"; - final static String AO_TELEM_RSSI = "r"; - final static String AO_TELEM_STATE = "s"; - final static String AO_TELEM_TICK = "t"; - - /* - * Raw sensor values - * - * Name Value - * r_a Accelerometer reading (integer) - * r_b Barometer reading (integer) - * r_t Thermometer reading (integer) - * r_v Battery reading (integer) - * r_d Drogue continuity (integer) - * r_m Main continuity (integer) - */ - - final static String AO_TELEM_RAW_ACCEL = "r_a"; - final static String AO_TELEM_RAW_BARO = "r_b"; - final static String AO_TELEM_RAW_THERMO = "r_t"; - final static String AO_TELEM_RAW_BATT = "r_v"; - final static String AO_TELEM_RAW_DROGUE = "r_d"; - final static String AO_TELEM_RAW_MAIN = "r_m"; - - /* - * Sensor calibration values - * - * Name Value - * c_a Ground accelerometer reading (integer) - * c_b Ground barometer reading (integer) - * c_p Accelerometer reading for +1g - * c_m Accelerometer reading for -1g - */ - - final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a"; - final static String AO_TELEM_CAL_BARO_GROUND = "c_b"; - final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p"; - final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m"; - - /* - * Kalman state values - * - * Name Value - * k_h Height above pad (integer, meters) - * k_s Vertical speeed (integer, m/s * 16) - * k_a Vertical acceleration (integer, m/s² * 16) - */ - - final static String AO_TELEM_KALMAN_HEIGHT = "k_h"; - final static String AO_TELEM_KALMAN_SPEED = "k_s"; - final static String AO_TELEM_KALMAN_ACCEL = "k_a"; - - /* - * Ad-hoc flight values - * - * Name Value - * a_a Acceleration (integer, sensor units) - * a_s Speed (integer, integrated acceleration value) - * a_b Barometer reading (integer, sensor units) - */ - - final static String AO_TELEM_ADHOC_ACCEL = "a_a"; - final static String AO_TELEM_ADHOC_SPEED = "a_s"; - final static String AO_TELEM_ADHOC_BARO = "a_b"; - - /* - * GPS values - * - * Name Value - * g_s GPS state (string): - * l locked - * u unlocked - * e error (missing or broken) - * g_n Number of sats used in solution - * g_ns Latitude (degrees * 10e7) - * g_ew Longitude (degrees * 10e7) - * g_a Altitude (integer meters) - * g_Y GPS year (integer) - * g_M GPS month (integer - 1-12) - * g_D GPS day (integer - 1-31) - * g_h GPS hour (integer - 0-23) - * g_m GPS minute (integer - 0-59) - * g_s GPS second (integer - 0-59) - * g_v GPS vertical speed (integer, cm/sec) - * g_s GPS horizontal speed (integer, cm/sec) - * g_c GPS course (integer, 0-359) - * g_hd GPS hdop (integer * 10) - * g_vd GPS vdop (integer * 10) - * g_he GPS h error (integer) - * g_ve GPS v error (integer) - */ - - final static String AO_TELEM_GPS_STATE = "g"; - final static String AO_TELEM_GPS_STATE_LOCKED = "l"; - final static String AO_TELEM_GPS_STATE_UNLOCKED = "u"; - final static String AO_TELEM_GPS_STATE_ERROR = "e"; - final static String AO_TELEM_GPS_NUM_SAT = "g_n"; - final static String AO_TELEM_GPS_LATITUDE = "g_ns"; - final static String AO_TELEM_GPS_LONGITUDE = "g_ew"; - final static String AO_TELEM_GPS_ALTITUDE = "g_a"; - final static String AO_TELEM_GPS_YEAR = "g_Y"; - final static String AO_TELEM_GPS_MONTH = "g_M"; - final static String AO_TELEM_GPS_DAY = "g_D"; - final static String AO_TELEM_GPS_HOUR = "g_h"; - final static String AO_TELEM_GPS_MINUTE = "g_m"; - final static String AO_TELEM_GPS_SECOND = "g_s"; - final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v"; - final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g"; - final static String AO_TELEM_GPS_COURSE = "g_c"; - final static String AO_TELEM_GPS_HDOP = "g_hd"; - final static String AO_TELEM_GPS_VDOP = "g_vd"; - final static String AO_TELEM_GPS_HERROR = "g_he"; - final static String AO_TELEM_GPS_VERROR = "g_ve"; - - /* - * GPS satellite values - * - * Name Value - * s_n Number of satellites reported (integer) - * s_v0 Space vehicle ID (integer) for report 0 - * s_c0 C/N0 number (integer) for report 0 - * s_v1 Space vehicle ID (integer) for report 1 - * s_c1 C/N0 number (integer) for report 1 - * ... - */ - - final static String AO_TELEM_SAT_NUM = "s_n"; - final static String AO_TELEM_SAT_SVID = "s_v"; - final static String AO_TELEM_SAT_C_N_0 = "s_c"; - - AltosRecordTM record; - - private void parse_v4(String[] words, int i) throws ParseException { - AltosTelemetryMap map = new AltosTelemetryMap(words, i); - - record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL"); - record.serial = map.get_int(AO_TELEM_SERIAL, AltosLib.MISSING); - record.flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING); - record.rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING); - record.state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid")); - record.tick = map.get_int(AO_TELEM_TICK, 0); - - /* raw sensor values */ - record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING); - record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING); - record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING); - record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING); - record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING); - record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING); - - /* sensor calibration information */ - record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING); - record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING); - record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING); - record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING); - - /* flight computer values */ - record.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0); - record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0); - record.kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING); - - record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING); - record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING); - record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING); - - if (map.has(AO_TELEM_GPS_STATE)) { - record.gps = new AltosGPS(map); - record.gps_sequence++; - } - else - record.gps = null; - } - - private void parse_legacy(String[] words, int i) throws ParseException { - - AltosParse.word (words[i++], "CALL"); - record.callsign = words[i++]; - - AltosParse.word (words[i++], "SERIAL"); - record.serial = AltosParse.parse_int(words[i++]); - - if (record.version >= 2) { - AltosParse.word (words[i++], "FLIGHT"); - record.flight = AltosParse.parse_int(words[i++]); - } else - record.flight = 0; - - AltosParse.word(words[i++], "RSSI"); - record.rssi = AltosParse.parse_int(words[i++]); - - /* Older telemetry data had mis-computed RSSI value */ - if (record.version <= 2) - record.rssi = (record.rssi + 74) / 2 - 74; - - AltosParse.word(words[i++], "STATUS"); - record.status = AltosParse.parse_hex(words[i++]); - - AltosParse.word(words[i++], "STATE"); - record.state = AltosLib.state(words[i++]); - - record.tick = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "a:"); - record.accel = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "p:"); - record.pres = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "t:"); - record.temp = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "v:"); - record.batt = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "d:"); - record.drogue = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "m:"); - record.main = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "fa:"); - record.flight_accel = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "ga:"); - record.ground_accel = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "fv:"); - record.flight_vel = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "fp:"); - record.flight_pres = AltosParse.parse_int(words[i++]); - - /* Old TeleDongle code with kalman-reporting TeleMetrum code */ - if ((record.flight_vel & 0xffff0000) == 0x80000000) { - record.kalman_speed = ((short) record.flight_vel) / 16.0; - record.kalman_acceleration = record.flight_accel / 16.0; - record.kalman_height = record.flight_pres; - record.flight_vel = AltosLib.MISSING; - record.flight_pres = AltosLib.MISSING; - record.flight_accel = AltosLib.MISSING; - } - - AltosParse.word(words[i++], "gp:"); - record.ground_pres = AltosParse.parse_int(words[i++]); - - if (record.version >= 1) { - AltosParse.word(words[i++], "a+:"); - record.accel_plus_g = AltosParse.parse_int(words[i++]); - - AltosParse.word(words[i++], "a-:"); - record.accel_minus_g = AltosParse.parse_int(words[i++]); - } else { - record.accel_plus_g = record.ground_accel; - record.accel_minus_g = record.ground_accel + 530; - } - - record.gps = new AltosGPS(words, i, record.version); - record.gps_sequence++; - } - - public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException { - String[] words = line.split("\\s+"); - int i = 0; - - record = new AltosRecordTM(); - - if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { - i += 2; - AltosParse.word(words[i++], "RSSI"); - record.rssi = AltosParse.parse_int(words[i++]); - throw new AltosCRCException(record.rssi); - } - if (words[i].equals("CALL")) { - record.version = 0; - } else { - AltosParse.word (words[i++], "VERSION"); - record.version = AltosParse.parse_int(words[i++]); - } - - if (record.version < 4) - parse_legacy(words, i); - else - parse_v4(words, i); - } - - /* - * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that - */ - - int[] bytes; - int adjust; - - /* - private int int8(int i) { - return AltosLib.int8(bytes, i + 1 + adjust); - } - */ - private int uint8(int i) { - return AltosLib.uint8(bytes, i + 1 + adjust); - } - private int int16(int i) { - return AltosLib.int16(bytes, i + 1 + adjust); - } - private int uint16(int i) { - return AltosLib.uint16(bytes, i + 1 + adjust); - } - private int uint32(int i) { - return AltosLib.uint32(bytes, i + 1 + adjust); - } - private String string(int i, int l) { - return AltosLib.string(bytes, i + 1 + adjust, l); - } - - static final int AO_GPS_NUM_SAT_MASK = (0xf << 0); - static final int AO_GPS_NUM_SAT_SHIFT = (0); - - static final int AO_GPS_VALID = (1 << 4); - static final int AO_GPS_RUNNING = (1 << 5); - static final int AO_GPS_DATE_VALID = (1 << 6); - static final int AO_GPS_COURSE_VALID = (1 << 7); - - public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) { - record = new AltosRecordTM(); - - bytes = in_bytes; - record.version = 4; - adjust = 0; - - if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) { - record.serial = uint8(0); - adjust = -1; - } else - record.serial = uint16(0); - - record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy; - - record.callsign = string(62, 8); - record.flight = uint16(2); - record.rssi = in_rssi; - record.status = in_status; - record.state = uint8(4); - record.tick = uint16(21); - record.accel = int16(23); - record.pres = int16(25); - record.temp = int16(27); - record.batt = int16(29); - record.drogue = int16(31); - record.main = int16(33); - - record.ground_accel = int16(7); - record.ground_pres = int16(15); - record.accel_plus_g = int16(17); - record.accel_minus_g = int16(19); - - if (uint16(11) == 0x8000) { - record.kalman_acceleration = int16(5); - record.kalman_speed = int16(9); - record.kalman_height = int16(13); - record.flight_accel = AltosLib.MISSING; - record.flight_vel = AltosLib.MISSING; - record.flight_pres = AltosLib.MISSING; - } else { - record.flight_accel = int16(5); - record.flight_vel = uint32(9); - record.flight_pres = int16(13); - record.kalman_acceleration = AltosLib.MISSING; - record.kalman_speed = AltosLib.MISSING; - record.kalman_height = AltosLib.MISSING; - } - - record.gps = null; - - int gps_flags = uint8(41); - - if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) { - record.gps = new AltosGPS(); - record.gps_sequence++; - - record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon; - record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK); - record.gps.locked = (gps_flags & AO_GPS_VALID) != 0; - record.gps.connected = true; - record.gps.lat = uint32(42) / 1.0e7; - record.gps.lon = uint32(46) / 1.0e7; - record.gps.alt = int16(50); - record.gps.ground_speed = uint16(52) / 100.0; - record.gps.course = uint8(54) * 2; - record.gps.hdop = uint8(55) / 5.0; - record.gps.h_error = uint16(58); - record.gps.v_error = uint16(60); - - int n_tracking_reported = uint8(70); - if (n_tracking_reported > 12) - n_tracking_reported = 12; - int n_tracking_actual = 0; - for (int i = 0; i < n_tracking_reported; i++) { - if (uint8(71 + i*2) != 0) - n_tracking_actual++; - } - if (n_tracking_actual > 0) { - record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual]; - - n_tracking_actual = 0; - for (int i = 0; i < n_tracking_reported; i++) { - int svid = uint8(71 + i*2); - int c_n0 = uint8(72 + i*2); - if (svid != 0) - record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0); - } - } - } - - record.time = 0.0; - } - - public AltosRecord update_state(AltosRecord previous) { - return record; - } -}