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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_5;
  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_low() { 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 altitude_high() { return data16(26); }
  56
  57         public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; }
  58
  59         public int seconds() {
  60                 switch (cmd) {
  61                 case AltosLib.AO_LOG_GPS_TIME:
  62                         return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month())));
  63                 default:
  64                         return 0;
  65                 }
  66         }
  67
  68         public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
  69                 parse_chunk(chunk, start);
  70         }
  71
  72         public void update_state(AltosState state) {
  73                 super.update_state(state);
  74
  75                 AltosGPS        gps;
  76
  77                 /* Flush any pending GPS changes */
  78                 if (state.gps_pending) {
  79                         switch (cmd) {
  80                         case AltosLib.AO_LOG_GPS_LAT:
  81                         case AltosLib.AO_LOG_GPS_LON:
  82                         case AltosLib.AO_LOG_GPS_ALT:
  83                         case AltosLib.AO_LOG_GPS_SAT:
  84                         case AltosLib.AO_LOG_GPS_DATE:
  85                                 break;
  86                         default:
  87                                 state.set_temp_gps();
  88                                 break;
  89                         }
  90                 }
  91
  92                 switch (cmd) {
  93                 case AltosLib.AO_LOG_FLIGHT:
  94                         state.set_boost_tick(tick);
  95                         state.set_flight(flight());
  96                         /* no place to log start lat/lon yet */
  97                         break;
  98                 case AltosLib.AO_LOG_GPS_TIME:
  99                         state.set_tick(tick);
 100                         gps = state.make_temp_gps(false);
 101                         gps.lat = latitude() / 1e7;
 102                         gps.lon = longitude() / 1e7;
 103                         if (state.altitude_32())
 104                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 105                         else
 106                                 gps.alt = altitude_low();
 107
 108                         gps.hour = hour();
 109                         gps.minute = minute();
 110                         gps.second = second();
 111
 112                         int flags = flags();
 113
 114                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 115                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 116                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 117                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 118
 119                         gps.year = 2000 + year();
 120                         gps.month = month();
 121                         gps.day = day();
 122                         gps.ground_speed = ground_speed() * 1.0e-2;
 123                         gps.course = course() * 2;
 124                         gps.climb_rate = climb_rate() * 1.0e-2;
 125                         if (state.compare_version("1.4.9") >= 0) {
 126                                 gps.pdop = pdop() / 10.0;
 127                                 gps.hdop = hdop() / 10.0;
 128                                 gps.vdop = vdop() / 10.0;
 129                         } else {
 130                                 gps.pdop = pdop() / 100.0;
 131                                 if (gps.pdop < 0.8)
 132                                         gps.pdop += 2.56;
 133                                 gps.hdop = hdop() / 100.0;
 134                                 if (gps.hdop < 0.8)
 135                                         gps.hdop += 2.56;
 136                                 gps.vdop = vdop() / 100.0;
 137                                 if (gps.vdop < 0.8)
 138                                         gps.vdop += 2.56;
 139                         }
 140                         break;
 141                 }
 142         }
 143
 144         public AltosEepromGPS (String line) {
 145                 parse_string(line);
 146         }
 147
 148         static public LinkedList<AltosEeprom> read(FileInputStream input) {
 149                 LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>();
 150
 151                 for (;;) {
 152                         try {
 153                                 String line = AltosLib.gets(input);
 154                                 if (line == null)
 155                                         break;
 156                                 try {
 157                                         AltosEepromGPS tgps = new AltosEepromGPS(line);
 158                                         if (tgps.cmd != AltosLib.AO_LOG_INVALID)
 159                                                 tgpss.add(tgps);
 160                                 } catch (Exception e) {
 161                                         System.out.printf ("exception\n");
 162                                 }
 163                         } catch (IOException ie) {
 164                                 break;
 165                         }
 166                 }
 167
 168                 return tgpss;
 169         }
 170 }