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

   1 /*
   2  * Copyright © 2010 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_1;
  19
  20 import java.io.*;
  21 import java.util.*;
  22 import java.text.*;
  23
  24 public class AltosEepromTM extends AltosEeprom {
  25         public int      cmd;
  26         public int      tick;
  27         public int      a;
  28         public int      b;
  29         public boolean  tick_valid;
  30
  31         public static final int record_length = 8;
  32
  33         public void write(PrintStream out) {
  34                 out.printf("%c %4x %4x %4x\n", cmd, tick, a, b);
  35         }
  36
  37         public int record_length() { return record_length; }
  38
  39         public String string() {
  40                 return String.format("%c %4x %4x %4x\n", cmd, tick, a, b);
  41         }
  42
  43         public void update_state(AltosState state) {
  44                 AltosGPS        gps;
  45
  46                 /* Flush any pending GPS changes */
  47                 if (state.gps_pending) {
  48                         switch (cmd) {
  49                         case AltosLib.AO_LOG_GPS_LAT:
  50                         case AltosLib.AO_LOG_GPS_LON:
  51                         case AltosLib.AO_LOG_GPS_ALT:
  52                         case AltosLib.AO_LOG_GPS_SAT:
  53                         case AltosLib.AO_LOG_GPS_DATE:
  54                                 break;
  55                         default:
  56                                 state.set_temp_gps();
  57                                 break;
  58                         }
  59                 }
  60
  61                 switch (cmd) {
  62                 case AltosLib.AO_LOG_FLIGHT:
  63                         state.set_state(AltosLib.ao_flight_pad);
  64                         state.set_ground_accel(a);
  65                         state.set_flight(b);
  66                         state.set_boost_tick(tick);
  67                         break;
  68                 case AltosLib.AO_LOG_SENSOR:
  69                         state.set_tick(tick);
  70                         state.set_accel(a);
  71                         double pressure = AltosConvert.barometer_to_pressure(b);
  72                         state.set_pressure(pressure);
  73                         break;
  74                 case AltosLib.AO_LOG_PRESSURE:
  75                         state.set_tick(tick);
  76                         state.set_pressure(AltosConvert.barometer_to_pressure(b));
  77                         break;
  78                 case AltosLib.AO_LOG_TEMP_VOLT:
  79                         state.set_tick(tick);
  80                         state.set_temperature(AltosConvert.thermometer_to_temperature(a));
  81                         state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(b));
  82                         break;
  83                 case AltosLib.AO_LOG_DEPLOY:
  84                         state.set_tick(tick);
  85                         state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(a));
  86                         state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(b));
  87                         break;
  88                 case AltosLib.AO_LOG_STATE:
  89                         state.set_tick(tick);
  90                         state.set_state(a);
  91                         break;
  92                 case AltosLib.AO_LOG_GPS_TIME:
  93                         gps = state.make_temp_gps();
  94
  95                         gps.hour = (a & 0xff);
  96                         gps.minute = (a >> 8);
  97                         gps.second = (b & 0xff);
  98
  99                         int flags = (b >> 8);
 100
 101                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 102                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 103                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 104                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 105                         break;
 106                 case AltosLib.AO_LOG_GPS_LAT:
 107                         gps = state.make_temp_gps();
 108
 109                         int lat32 = a | (b << 16);
 110                         gps.lat = (double) lat32 / 1e7;
 111                         break;
 112                 case AltosLib.AO_LOG_GPS_LON:
 113                         gps = state.make_temp_gps();
 114
 115                         int lon32 = a | (b << 16);
 116                         gps.lon = (double) lon32 / 1e7;
 117                         break;
 118                 case AltosLib.AO_LOG_GPS_ALT:
 119                         gps = state.make_temp_gps();
 120                         gps.alt = a;
 121                         break;
 122                 case AltosLib.AO_LOG_GPS_SAT:
 123                         gps = state.make_temp_gps();
 124                         int svid = a;
 125                         int c_n0 = b >> 8;
 126                         gps.add_sat(svid, c_n0);
 127                         break;
 128                 case AltosLib.AO_LOG_GPS_DATE:
 129                         gps = state.make_temp_gps();
 130                         gps.year = (a & 0xff) + 2000;
 131                         gps.month = a >> 8;
 132                         gps.day = b & 0xff;
 133                         break;
 134                 }
 135         }
 136
 137         public AltosEepromTM (AltosEepromChunk chunk, int start) throws ParseException {
 138
 139                 cmd = chunk.data(start);
 140                 tick_valid = true;
 141
 142                 tick_valid = !chunk.erased(start, record_length);
 143                 if (tick_valid) {
 144                         if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
 145                                 throw new ParseException(String.format("invalid checksum at 0x%x",
 146                                                                        chunk.address + start), 0);
 147                 } else {
 148                         cmd = AltosLib.AO_LOG_INVALID;
 149                 }
 150
 151                 tick = chunk.data16(start + 2);
 152                 a = chunk.data16(start + 4);
 153                 b = chunk.data16(start + 6);
 154         }
 155
 156         public AltosEepromTM (String line) {
 157                 tick_valid = false;
 158                 tick = 0;
 159                 a = 0;
 160                 b = 0;
 161                 if (line == null) {
 162                         cmd = AltosLib.AO_LOG_INVALID;
 163                 } else {
 164                         try {
 165                                 String[] tokens = line.split("\\s+");
 166
 167                                 if (tokens[0].length() == 1) {
 168                                         if (tokens.length != 4) {
 169                                                 cmd = AltosLib.AO_LOG_INVALID;
 170                                         } else {
 171                                                 cmd = tokens[0].codePointAt(0);
 172                                                 tick = Integer.parseInt(tokens[1],16);
 173                                                 tick_valid = true;
 174                                                 a = Integer.parseInt(tokens[2],16);
 175                                                 b = Integer.parseInt(tokens[3],16);
 176                                         }
 177                                 } else {
 178                                         cmd = AltosLib.AO_LOG_INVALID;
 179                                 }
 180                         } catch (NumberFormatException ne) {
 181                                 cmd = AltosLib.AO_LOG_INVALID;
 182                         }
 183                 }
 184         }
 185
 186         public AltosEepromTM(int in_cmd, int in_tick, int in_a, int in_b) {
 187                 tick_valid = true;
 188                 cmd = in_cmd;
 189                 tick = in_tick;
 190                 a = in_a;
 191                 b = in_b;
 192         }
 193
 194         static public LinkedList<AltosEeprom> read(FileInputStream input) {
 195                 LinkedList<AltosEeprom> tms = new LinkedList<AltosEeprom>();
 196
 197                 for (;;) {
 198                         try {
 199                                 String line = AltosLib.gets(input);
 200                                 if (line == null)
 201                                         break;
 202                                 AltosEepromTM tm = new AltosEepromTM(line);
 203                                 tms.add(tm);
 204                         } catch (IOException ie) {
 205                                 break;
 206                         }
 207                 }
 208
 209                 return tms;
 210         }
 211
 212 }