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   1 /*
   2  * Copyright © 2014 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_4;
  19
  20 import java.io.*;
  21 import java.util.*;
  22 import java.text.*;
  23
  24 public class AltosEepromGPS extends AltosEeprom {
  25         public static final int record_length = 32;
  26
  27         public static final int max_sat = 12;
  28
  29         public int record_length() { return record_length; }
  30
  31         /* AO_LOG_FLIGHT elements */
  32         public int flight() { return data16(0); }
  33         public int start_altitude() { return data16(2); }
  34         public int start_latitude() { return data32(4); }
  35         public int start_longitude() { return data32(8); }
  36
  37         /* AO_LOG_GPS_TIME elements */
  38         public int latitude() { return data32(0); }
  39         public int longitude() { return data32(4); }
  40         public int altitude() { return data16(8); }
  41         public int hour() { return data8(10); }
  42         public int minute() { return data8(11); }
  43         public int second() { return data8(12); }
  44         public int flags() { return data8(13); }
  45         public int year() { return data8(14); }
  46         public int month() { return data8(15); }
  47         public int day() { return data8(16); }
  48         public int course() { return data8(17); }
  49         public int ground_speed() { return data16(18); }
  50         public int climb_rate() { return data16(20); }
  51         public int pdop() { return data8(22); }
  52         public int hdop() { return data8(23); }
  53         public int vdop() { return data8(24); }
  54         public int mode() { return data8(25); }
  55         public int state() { return data8(26); }
  56
  57         /* AO_LOG_GPS_SAT elements */
  58         public int nsat() { return data16(0); }
  59         public int svid(int n) { return data8(2 + n * 2); }
  60         public int c_n(int n) { return data8(2 + n * 2 + 1); }
  61
  62         public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
  63                 parse_chunk(chunk, start);
  64         }
  65
  66         public void update_state(AltosState state) {
  67                 super.update_state(state);
  68
  69                 AltosGPS        gps;
  70
  71                 /* Flush any pending GPS changes */
  72                 if (state.gps_pending) {
  73                         switch (cmd) {
  74                         case AltosLib.AO_LOG_GPS_LAT:
  75                         case AltosLib.AO_LOG_GPS_LON:
  76                         case AltosLib.AO_LOG_GPS_ALT:
  77                         case AltosLib.AO_LOG_GPS_SAT:
  78                         case AltosLib.AO_LOG_GPS_DATE:
  79                                 break;
  80                         default:
  81                                 state.set_temp_gps();
  82                                 break;
  83                         }
  84                 }
  85
  86                 switch (cmd) {
  87                 case AltosLib.AO_LOG_FLIGHT:
  88                         state.set_boost_tick(tick);
  89                         state.set_flight(flight());
  90                         /* no place to log start lat/lon yet */
  91                         break;
  92                 case AltosLib.AO_LOG_GPS_TIME:
  93                         state.set_tick(tick);
  94                         state.set_state(state());
  95                         gps = state.make_temp_gps(false);
  96                         gps.lat = latitude() / 1e7;
  97                         gps.lon = longitude() / 1e7;
  98                         gps.alt = altitude();
  99
 100                         gps.hour = hour();
 101                         gps.minute = minute();
 102                         gps.second = second();
 103
 104                         int flags = flags();
 105
 106                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 107                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 108                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 109                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 110
 111                         gps.year = 2000 + year();
 112                         gps.month = month();
 113                         gps.day = day();
 114                         gps.ground_speed = ground_speed() * 1.0e-2;
 115                         gps.course = course() * 2;
 116                         gps.climb_rate = climb_rate() * 1.0e-2;
 117                         gps.hdop = hdop();
 118                         gps.vdop = vdop();
 119                         break;
 120                 case AltosLib.AO_LOG_GPS_SAT:
 121                         state.set_tick(tick);
 122                         gps = state.make_temp_gps(true);
 123
 124                         int n = nsat();
 125                         if (n > max_sat)
 126                                 n = max_sat;
 127                         for (int i = 0; i < n; i++)
 128                                 gps.add_sat(svid(i), c_n(i));
 129                         break;
 130                 }
 131         }
 132
 133         public AltosEepromGPS (String line) {
 134                 parse_string(line);
 135         }
 136
 137         static public LinkedList<AltosEeprom> read(FileInputStream input) {
 138                 LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>();
 139
 140                 for (;;) {
 141                         try {
 142                                 String line = AltosLib.gets(input);
 143                                 if (line == null)
 144                                         break;
 145                                 try {
 146                                         AltosEepromGPS tgps = new AltosEepromGPS(line);
 147                                         if (tgps.cmd != AltosLib.AO_LOG_INVALID)
 148                                                 tgpss.add(tgps);
 149                                 } catch (Exception e) {
 150                                         System.out.printf ("exception\n");
 151                                 }
 152                         } catch (IOException ie) {
 153                                 break;
 154                         }
 155                 }
 156
 157                 return tgpss;
 158         }
 159 }