-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;
-
- }
-
-}