git.gag.com Git - fw/altos/blob - altoslib/AltosConfigData.java

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.altoslib_5;
  19
  20 import java.util.*;
  21 import java.text.*;
  22 import java.util.concurrent.*;
  23
  24 public class AltosConfigData implements Iterable<String> {
  25
  26         /* Version information */
  27         public String   manufacturer;
  28         public String   product;
  29         public int      serial;
  30         public int      flight;
  31         public int      log_format;
  32         public int      log_space;
  33         public String   version;
  34         public int      altitude_32;
  35
  36         /* Strings returned */
  37         public LinkedList<String>       lines;
  38
  39         /* Config information */
  40         /* HAS_FLIGHT*/
  41         public int      main_deploy;
  42         public int      apogee_delay;
  43         public int      apogee_lockout;
  44
  45         /* HAS_RADIO */
  46         public int      radio_frequency;
  47         public String   callsign;
  48         public int      radio_enable;
  49         public int      radio_calibration;
  50         public int      telemetry_rate;
  51         /* Old HAS_RADIO values */
  52         public int      radio_channel;
  53         public int      radio_setting;
  54
  55         /* HAS_ACCEL */
  56         public int      accel_cal_plus, accel_cal_minus;
  57         public int      pad_orientation;
  58
  59         /* HAS_LOG */
  60         public int      flight_log_max;
  61         public int      log_fixed;
  62
  63         /* HAS_IGNITE */
  64         public int      ignite_mode;
  65
  66         /* HAS_AES */
  67         public String   aes_key;
  68
  69         /* AO_PYRO_NUM */
  70         public AltosPyro[]      pyros;
  71         public int              npyro;
  72         public int              pyro;
  73         public double           pyro_firing_time;
  74
  75         /* HAS_APRS */
  76         public int              aprs_interval;
  77         public int              aprs_ssid;
  78
  79         /* HAS_BEEP */
  80         public int              beep;
  81
  82         /* Storage info replies */
  83         public int      storage_size;
  84         public int      storage_erase_unit;
  85
  86         /* Log listing replies */
  87         public int      stored_flight;
  88
  89         /* HAS_TRACKER */
  90         public int      tracker_motion;
  91         public int      tracker_interval;
  92
  93         /* HAS_GYRO */
  94         public int      accel_zero_along, accel_zero_across, accel_zero_through;
  95
  96         public static String get_string(String line, String label) throws  ParseException {
  97                 if (line.startsWith(label)) {
  98                         String  quoted = line.substring(label.length()).trim();
  99
 100                         if (quoted.startsWith("\""))
 101                                 quoted = quoted.substring(1);
 102                         if (quoted.endsWith("\""))
 103                                 quoted = quoted.substring(0,quoted.length()-1);
 104                         return quoted;
 105                 }
 106                 throw new ParseException("mismatch", 0);
 107         }
 108
 109         public static int get_int(String line, String label) throws NumberFormatException, ParseException {
 110                 if (line.startsWith(label)) {
 111                         String tail = line.substring(label.length()).trim();
 112                         String[] tokens = tail.split("\\s+");
 113                         if (tokens.length > 0)
 114                                 return  Integer.parseInt(tokens[0]);
 115                 }
 116                 throw new ParseException("mismatch", 0);
 117         }
 118
 119         public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
 120                 if (line.startsWith(label)) {
 121                         String tail = line.substring(label.length()).trim();
 122                         String[] tokens = tail.split("\\s+");
 123                         if (tokens.length > 1) {
 124                                 int[]   values = new int[2];
 125                                 values[0] = Integer.parseInt(tokens[0]);
 126                                 values[1] = Integer.parseInt(tokens[1]);
 127                                 return values;
 128                         }
 129                 }
 130                 throw new ParseException("mismatch", 0);
 131         }
 132
 133         public Iterator<String> iterator() {
 134                 return lines.iterator();
 135         }
 136
 137         public int log_space() {
 138                 if (log_space > 0)
 139                         return log_space;
 140
 141                 if (storage_size > 0) {
 142                         int     space = storage_size;
 143
 144                         if (storage_erase_unit > 0 && use_flash_for_config())
 145                                 space -= storage_erase_unit;
 146
 147                         if (space > 0)
 148                                 return space;
 149                 }
 150                 return 0;
 151         }
 152
 153         public int log_available() {
 154                 switch (log_format) {
 155                 case AltosLib.AO_LOG_FORMAT_TINY:
 156                         if (stored_flight == 0)
 157                                 return 1;
 158                         return 0;
 159                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 160                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 161                         return 1;
 162                 default:
 163                         if (flight_log_max <= 0)
 164                                 return 1;
 165                         int     log_max = flight_log_max * 1024;
 166                         int     log_space = log_space();
 167                         int     log_used;
 168
 169                         if (stored_flight <= 0)
 170                                 log_used = 0;
 171                         else
 172                                 log_used = stored_flight * log_max;
 173                         int     log_avail;
 174
 175                         if (log_used >= log_space)
 176                                 log_avail = 0;
 177                         else
 178                                 log_avail = (log_space - log_used) / log_max;
 179
 180                         return log_avail;
 181                 }
 182         }
 183
 184         public boolean has_monitor_battery() {
 185                 if (product.startsWith("TeleBT"))
 186                         return true;
 187                 return false;
 188         }
 189
 190         int[] parse_version(String v) {
 191                 String[] parts = v.split("\\.");
 192                 int r[] = new int[parts.length];
 193
 194                 for (int i = 0; i < parts.length; i++) {
 195                         try {
 196                                 r[i] = AltosLib.fromdec(parts[i]);
 197                         } catch (NumberFormatException n) {
 198                                 r[i] = 0;
 199                         }
 200                 }
 201
 202                 return r;
 203         }
 204
 205         public int compare_version(String other) {
 206                 int[]   me = parse_version(version);
 207                 int[]   them = parse_version(other);
 208
 209                 int     l = Math.min(me.length, them.length);
 210
 211                 for (int i = 0; i < l; i++) {
 212                         int     d = me[i] - them[i];
 213                         if (d != 0)
 214                                 return d;
 215                 }
 216                 if (me.length > l)
 217                         return 1;
 218                 if (them.length > l)
 219                         return -1;
 220                 return 0;
 221         }
 222
 223         public void reset() {
 224                 lines = new LinkedList<String>();
 225
 226                 manufacturer = "unknown";
 227                 product = "unknown";
 228                 serial = 0;
 229                 flight = 0;
 230                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 231                 log_space = -1;
 232                 version = "unknown";
 233
 234                 main_deploy = -1;
 235                 apogee_delay = -1;
 236                 apogee_lockout = -1;
 237
 238                 radio_frequency = -1;
 239                 callsign = null;
 240                 radio_enable = -1;
 241                 radio_calibration = -1;
 242                 radio_channel = -1;
 243                 radio_setting = -1;
 244                 telemetry_rate = -1;
 245
 246                 accel_cal_plus = -1;
 247                 accel_cal_minus = -1;
 248                 pad_orientation = -1;
 249
 250                 flight_log_max = -1;
 251                 log_fixed = -1;
 252                 ignite_mode = -1;
 253
 254                 aes_key = "";
 255
 256                 pyro = 0;
 257                 npyro = 0;
 258                 pyros = null;
 259                 pyro_firing_time = -1;
 260
 261                 aprs_interval = -1;
 262                 aprs_ssid = -1;
 263
 264                 beep = -1;
 265
 266                 tracker_motion = -1;
 267                 tracker_interval = -1;
 268
 269                 storage_size = -1;
 270                 storage_erase_unit = -1;
 271                 stored_flight = 0;
 272
 273                 accel_zero_along = -1;
 274                 accel_zero_across = -1;
 275                 accel_zero_through = -1;
 276         }
 277
 278         public void parse_line(String line) {
 279                 lines.add(line);
 280                 /* Version replies */
 281                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 282                 try { product = get_string(line, "product"); } catch (Exception e) {}
 283                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 284                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 285                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 286                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 287                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 288                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 289
 290                 /* Version also contains MS5607 info, which we ignore here */
 291
 292                 /* Config show replies */
 293
 294                 /* HAS_FLIGHT */
 295                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 296                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 297                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 298
 299                 /* HAS_RADIO */
 300                 try {
 301                         radio_frequency = get_int(line, "Frequency:");
 302                         if (radio_frequency < 0)
 303                                 radio_frequency = 434550;
 304                 } catch (Exception e) {}
 305                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 306                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 307                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 308                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 309
 310                 /* Old HAS_RADIO values */
 311                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 312                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 313
 314                 /* HAS_ACCEL */
 315                 try {
 316                         if (line.startsWith("Accel cal")) {
 317                                 String[] bits = line.split("\\s+");
 318                                 if (bits.length >= 6) {
 319                                         accel_cal_plus = Integer.parseInt(bits[3]);
 320                                         accel_cal_minus = Integer.parseInt(bits[5]);
 321                                 }
 322                         }
 323                 } catch (Exception e) {}
 324                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 325
 326                 /* HAS_LOG */
 327                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 328                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 329
 330                 /* HAS_IGNITE */
 331                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 332
 333                 /* HAS_AES */
 334                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 335
 336                 /* AO_PYRO_NUM */
 337                 try {
 338                         npyro = get_int(line, "Pyro-count:");
 339                         pyros = new AltosPyro[npyro];
 340                         pyro = 0;
 341                 } catch (Exception e) {}
 342                 if (npyro > 0) {
 343                         try {
 344                                 AltosPyro p = new AltosPyro(pyro, line);
 345                                 if (pyro < npyro)
 346                                         pyros[pyro++] = p;
 347                         } catch (Exception e) {}
 348                 }
 349                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 350
 351                 /* HAS_APRS */
 352                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 353                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 354
 355                 /* HAS_BEEP */
 356                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 357
 358                 /* HAS_TRACKER */
 359                 try {
 360                         int[] values = get_values(line, "Tracker setting:");
 361                         tracker_motion = values[0];
 362                         tracker_interval = values[1];
 363                 } catch (Exception e) {}
 364
 365                 /* Storage info replies */
 366                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 367                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 368
 369                 /* Log listing replies */
 370                 try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
 371
 372                 /* HAS_GYRO */
 373                 try {
 374                         if (line.startsWith("IMU call along")) {
 375                                 String[] bits = line.split("\\s+");
 376                                 if (bits.length >= 8) {
 377                                         accel_zero_along = Integer.parseInt(bits[3]);
 378                                         accel_zero_across = Integer.parseInt(bits[5]);
 379                                         accel_zero_through = Integer.parseInt(bits[7]);
 380                                 }
 381                         }
 382                 } catch (Exception e) {}
 383         }
 384
 385         public AltosConfigData() {
 386                 reset();
 387         }
 388
 389         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 390                 for (;;) {
 391                         String line = link.get_reply();
 392                         if (line == null)
 393                                 throw new TimeoutException();
 394                         if (line.contains("Syntax error"))
 395                                 continue;
 396                         this.parse_line(line);
 397
 398                         /* signals the end of the version info */
 399                         if (line.startsWith(finished))
 400                                 break;
 401                 }
 402         }
 403
 404         public boolean has_frequency() {
 405                 return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
 406         }
 407
 408         public boolean has_telemetry_rate() {
 409                 return telemetry_rate >= 0;
 410         }
 411
 412         public void set_frequency(double freq) {
 413                 int     frequency = radio_frequency;
 414                 int     setting = radio_setting;
 415
 416                 if (frequency > 0) {
 417                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 418                         radio_channel = -1;
 419                 } else if (setting > 0) {
 420                         radio_setting =AltosConvert.radio_frequency_to_setting(freq,
 421                                                                                     radio_calibration);
 422                         radio_channel = -1;
 423                 } else {
 424                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 425                 }
 426         }
 427
 428         public double frequency() {
 429                 int     channel = radio_channel;
 430                 int     setting = radio_setting;
 431
 432                 if (radio_frequency < 0 && channel < 0 && setting < 0)
 433                         return -1;
 434
 435                 if (channel < 0)
 436                         channel = 0;
 437                 if (setting < 0)
 438                         setting = 0;
 439
 440                 return AltosConvert.radio_to_frequency(radio_frequency,
 441                                                        setting,
 442                                                        radio_calibration,
 443                                                        channel);
 444         }
 445
 446         boolean use_flash_for_config() {
 447                 if (product.startsWith("TeleMega"))
 448                         return false;
 449                 if (product.startsWith("TeleMetrum-v2"))
 450                         return false;
 451                 if (product.startsWith("EasyMega"))
 452                         return false;
 453                 return true;
 454         }
 455
 456
 457         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 458
 459                 /* HAS_FLIGHT */
 460                 if (main_deploy >= 0)
 461                         main_deploy = source.main_deploy();
 462                 if (apogee_delay >= 0)
 463                         apogee_delay = source.apogee_delay();
 464                 if (apogee_lockout >= 0)
 465                         apogee_lockout = source.apogee_lockout();
 466
 467                 /* HAS_RADIO */
 468                 if (has_frequency())
 469                         set_frequency(source.radio_frequency());
 470                 if (radio_enable >= 0)
 471                         radio_enable = source.radio_enable();
 472                 if (callsign != null)
 473                         callsign = source.callsign();
 474                 if (radio_calibration >= 0)
 475                         radio_calibration = source.radio_calibration();
 476                 if (telemetry_rate >= 0)
 477                         telemetry_rate = source.telemetry_rate();
 478
 479                 /* HAS_ACCEL */
 480                 if (pad_orientation >= 0)
 481                         pad_orientation = source.pad_orientation();
 482
 483                 /* HAS_LOG */
 484                 if (flight_log_max >= 0)
 485                         flight_log_max = source.flight_log_max();
 486
 487                 /* HAS_IGNITE */
 488                 if (ignite_mode >= 0)
 489                         ignite_mode = source.ignite_mode();
 490
 491                 /* AO_PYRO_NUM */
 492                 if (npyro > 0)
 493                         pyros = source.pyros();
 494                 if (pyro_firing_time >= 0)
 495                         pyro_firing_time = source.pyro_firing_time();
 496
 497                 /* HAS_APRS */
 498                 if (aprs_interval >= 0)
 499                         aprs_interval = source.aprs_interval();
 500                 if (aprs_ssid >= 0)
 501                         aprs_ssid = source.aprs_ssid();
 502
 503                 /* HAS_BEEP */
 504                 if (beep >= 0)
 505                         beep = source.beep();
 506                 /* HAS_TRACKER */
 507                 if (tracker_motion >= 0)
 508                         tracker_motion = source.tracker_motion();
 509                 if (tracker_interval >= 0)
 510                         tracker_interval = source.tracker_interval();
 511         }
 512
 513         public void set_values(AltosConfigValues dest) {
 514                 dest.set_serial(serial);
 515                 dest.set_product(product);
 516                 dest.set_version(version);
 517                 dest.set_altitude_32(altitude_32);
 518                 dest.set_main_deploy(main_deploy);
 519                 dest.set_apogee_delay(apogee_delay);
 520                 dest.set_apogee_lockout(apogee_lockout);
 521                 dest.set_radio_calibration(radio_calibration);
 522                 dest.set_radio_frequency(frequency());
 523                 dest.set_telemetry_rate(telemetry_rate);
 524                 boolean max_enabled = true;
 525
 526                 if (log_space() == 0)
 527                         max_enabled = false;
 528
 529                 if (log_fixed > 0)
 530                         max_enabled = false;
 531
 532                 switch (log_format) {
 533                 case AltosLib.AO_LOG_FORMAT_TINY:
 534                         max_enabled = false;
 535                         break;
 536                 default:
 537                         if (stored_flight > 0)
 538                                 max_enabled = false;
 539                         break;
 540                 }
 541
 542                 dest.set_flight_log_max_enabled(max_enabled);
 543                 dest.set_radio_enable(radio_enable);
 544                 dest.set_flight_log_max_limit(log_space() / 1024);
 545                 dest.set_flight_log_max(flight_log_max);
 546                 dest.set_ignite_mode(ignite_mode);
 547                 dest.set_pad_orientation(pad_orientation);
 548                 dest.set_callsign(callsign);
 549                 if (npyro > 0)
 550                         dest.set_pyros(pyros);
 551                 else
 552                         dest.set_pyros(null);
 553                 dest.set_pyro_firing_time(pyro_firing_time);
 554                 dest.set_aprs_interval(aprs_interval);
 555                 dest.set_aprs_ssid(aprs_ssid);
 556                 dest.set_beep(beep);
 557                 dest.set_tracker_motion(tracker_motion);
 558                 dest.set_tracker_interval(tracker_interval);
 559         }
 560
 561         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 562
 563                 /* HAS_FLIGHT */
 564                 if (main_deploy >= 0)
 565                         link.printf("c m %d\n", main_deploy);
 566                 if (apogee_delay >= 0)
 567                         link.printf("c d %d\n", apogee_delay);
 568                 if (apogee_lockout >= 0)
 569                         link.printf("c L %d\n", apogee_lockout);
 570
 571                 /* Don't mess with radio calibration when remote */
 572                 if (radio_calibration > 0 && !remote)
 573                         link.printf("c f %d\n", radio_calibration);
 574
 575                 /* HAS_RADIO */
 576                 if (has_frequency()) {
 577                         boolean has_frequency = radio_frequency >= 0;
 578                         boolean has_setting = radio_setting > 0;
 579                         double frequency = frequency();
 580                         link.set_radio_frequency(frequency,
 581                                                         has_frequency,
 582                                                         has_setting,
 583                                                         radio_calibration);
 584                         /* When remote, reset the dongle frequency at the same time */
 585                         if (remote) {
 586                                 link.flush_output();
 587                                 link.stop_remote();
 588                                 link.set_radio_frequency(frequency);
 589                                 link.flush_output();
 590                                 link.start_remote();
 591                         }
 592                 }
 593
 594                 if (telemetry_rate >= 0) {
 595                         link.printf("c T %d\n", telemetry_rate);
 596                         if (remote) {
 597                                 link.flush_output();
 598                                 link.stop_remote();
 599                                 link.set_telemetry_rate(telemetry_rate);
 600                                 link.flush_output();
 601                                 link.start_remote();
 602                         }
 603                 }
 604
 605                 if (callsign != null) {
 606                         link.printf("c c %s\n", callsign);
 607                         if (remote) {
 608                                 link.flush_output();
 609                                 link.stop_remote();
 610                                 link.set_callsign(callsign);
 611                                 link.flush_output();
 612                                 link.start_remote();
 613                         }
 614                 }
 615
 616                 if (radio_enable >= 0)
 617                         link.printf("c e %d\n", radio_enable);
 618
 619                 /* HAS_ACCEL */
 620                 /* UI doesn't support accel cal */
 621                 if (pad_orientation >= 0)
 622                         link.printf("c o %d\n", pad_orientation);
 623
 624                 /* HAS_LOG */
 625                 if (flight_log_max != 0)
 626                         link.printf("c l %d\n", flight_log_max);
 627
 628                 /* HAS_IGNITE */
 629                 if (ignite_mode >= 0)
 630                         link.printf("c i %d\n", ignite_mode);
 631
 632                 /* HAS_AES */
 633                 /* UI doesn't support AES key config */
 634
 635                 /* AO_PYRO_NUM */
 636                 if (npyro > 0) {
 637                         for (int p = 0; p < pyros.length; p++) {
 638                                 link.printf("c P %s\n",
 639                                                    pyros[p].toString());
 640                         }
 641                 }
 642                 if (pyro_firing_time >= 0)
 643                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 644
 645                 /* HAS_APRS */
 646                 if (aprs_interval >= 0)
 647                         link.printf("c A %d\n", aprs_interval);
 648                 if (aprs_ssid >= 0)
 649                         link.printf("c S %d\n", aprs_ssid);
 650
 651                 /* HAS_BEEP */
 652                 if (beep >= 0)
 653                         link.printf("c b %d\n", beep);
 654
 655                 /* HAS_TRACKER */
 656                 if (tracker_motion >= 0 && tracker_interval >= 0)
 657                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 658
 659                 /* HAS_GYRO */
 660                 /* UI doesn't support accel cal */
 661
 662                 link.printf("c w\n");
 663                 link.flush_output();
 664         }
 665
 666         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 667                 reset();
 668                 link.printf("c s\nf\nv\n");
 669                 read_link(link, "software-version");
 670                 switch (log_format) {
 671                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 672                 case AltosLib.AO_LOG_FORMAT_NONE:
 673                         break;
 674                 default:
 675                         link.printf("l\n");
 676                         read_link(link, "done");
 677                         break;
 678                 }
 679         }
 680
 681 }