git.gag.com Git - fw/altos/blob - altoslib/AltosGPS.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_10;
  19
  20 import java.text.*;
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  24 public class AltosGPS implements Cloneable, Serializable {
  25
  26         public final static int MISSING = AltosLib.MISSING;
  27
  28         public int      nsat;
  29         public boolean  locked;
  30         public boolean  connected;
  31         public double   lat;            /* degrees (+N -S) */
  32         public double   lon;            /* degrees (+E -W) */
  33         public double   alt;            /* m */
  34         public int      year;
  35         public int      month;
  36         public int      day;
  37         public int      hour;
  38         public int      minute;
  39         public int      second;
  40
  41         public double   ground_speed;   /* m/s */
  42         public int      course;         /* degrees */
  43         public double   climb_rate;     /* m/s */
  44         public double   pdop;           /* unitless */
  45         public double   hdop;           /* unitless */
  46         public double   vdop;           /* unitless */
  47         public double   h_error;        /* m */
  48         public double   v_error;        /* m */
  49
  50         public AltosGPSSat[] cc_gps_sat;        /* tracking data */
  51
  52         public void ParseGPSDate(String date) throws ParseException {
  53                 String[] ymd = date.split("-");
  54                 if (ymd.length != 3)
  55                         throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
  56                 year = AltosParse.parse_int(ymd[0]);
  57                 month = AltosParse.parse_int(ymd[1]);
  58                 day = AltosParse.parse_int(ymd[2]);
  59         }
  60
  61         public void ParseGPSTime(String time) throws ParseException {
  62                 String[] hms = time.split(":");
  63                 if (hms.length != 3)
  64                         throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
  65                 hour = AltosParse.parse_int(hms[0]);
  66                 minute = AltosParse.parse_int(hms[1]);
  67                 second = AltosParse.parse_int(hms[2]);
  68         }
  69
  70         public void ClearGPSTime() {
  71                 year = month = day = AltosLib.MISSING;
  72                 hour = minute = second = AltosLib.MISSING;
  73         }
  74
  75         public AltosGPS(AltosTelemetryMap map) throws ParseException {
  76                 String  state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
  77                                                AltosTelemetryLegacy.AO_TELEM_GPS_STATE_ERROR);
  78
  79                 nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0);
  80                 if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_LOCKED)) {
  81                         connected = true;
  82                         locked = true;
  83                         lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
  84                         lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
  85                         alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING);
  86                         year = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_YEAR, MISSING);
  87                         if (year != MISSING)
  88                                 year += 2000;
  89                         month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING);
  90                         day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING);
  91
  92                         hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0);
  93                         minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0);
  94                         second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
  95
  96                         ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
  97                                                       AltosLib.MISSING, 1/100.0);
  98                         course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
  99                                              AltosLib.MISSING);
 100                         pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0);
 101                         hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
 102                         vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
 103                         h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
 104                         v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING);
 105                 } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) {
 106                         connected = true;
 107                         locked = false;
 108                 } else {
 109                         connected = false;
 110                         locked = false;
 111                 }
 112         }
 113
 114         public boolean parse_string (String line, boolean says_done) {
 115                 String[] bits = line.split("\\s+");
 116                 if (bits.length == 0)
 117                         return false;
 118                 if (line.startsWith("Date:")) {
 119                         if (bits.length < 2)
 120                                 return false;
 121                         String[] d = bits[1].split("/");
 122                         if (d.length < 3)
 123                                 return false;
 124                         year = Integer.parseInt(d[0]) + 2000;
 125                         month = Integer.parseInt(d[1]);
 126                         day = Integer.parseInt(d[2]);
 127                 } else if (line.startsWith("Time:")) {
 128                         if (bits.length < 2)
 129                                 return false;
 130                         String[] d = bits[1].split(":");
 131                         if (d.length < 3)
 132                                 return false;
 133                         hour = Integer.parseInt(d[0]);
 134                         minute = Integer.parseInt(d[1]);
 135                         second = Integer.parseInt(d[2]);
 136                 } else if (line.startsWith("Lat/Lon:")) {
 137                         if (bits.length < 3)
 138                                 return false;
 139                         lat = Integer.parseInt(bits[1]) * 1.0e-7;
 140                         lon = Integer.parseInt(bits[2]) * 1.0e-7;
 141                 } else if (line.startsWith("Alt:")) {
 142                         if (bits.length < 2)
 143                                 return false;
 144                         alt = Integer.parseInt(bits[1]);
 145                 } else if (line.startsWith("Flags:")) {
 146                         if (bits.length < 2)
 147                                 return false;
 148                         int status = Integer.decode(bits[1]);
 149                         connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
 150                         locked = (status & AltosLib.AO_GPS_VALID) != 0;
 151                         if (!says_done)
 152                                 return false;
 153                 } else if (line.startsWith("Sats:")) {
 154                         if (bits.length < 2)
 155                                 return false;
 156                         nsat = Integer.parseInt(bits[1]);
 157                         cc_gps_sat = new AltosGPSSat[nsat];
 158                         for (int i = 0; i < nsat; i++) {
 159                                 int     svid = Integer.parseInt(bits[2+i*2]);
 160                                 int     cc_n0 = Integer.parseInt(bits[3+i*2]);
 161                                 cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
 162                         }
 163                 } else if (line.startsWith("done")) {
 164                         return false;
 165                 } else
 166                         return false;
 167                 return true;
 168         }
 169
 170         public AltosGPS(String[] words, int i, int version) throws ParseException {
 171                 AltosParse.word(words[i++], "GPS");
 172                 nsat = AltosParse.parse_int(words[i++]);
 173                 AltosParse.word(words[i++], "sat");
 174
 175                 connected = false;
 176                 locked = false;
 177                 lat = lon = 0;
 178                 alt = 0;
 179                 ClearGPSTime();
 180                 if ((words[i]).equals("unlocked")) {
 181                         connected = true;
 182                         i++;
 183                 } else if ((words[i]).equals("not-connected")) {
 184                         i++;
 185                 } else if (words.length >= 40) {
 186                         locked = true;
 187                         connected = true;
 188
 189                         if (version > 1)
 190                                 ParseGPSDate(words[i++]);
 191                         else
 192                                 year = month = day = 0;
 193                         ParseGPSTime(words[i++]);
 194                         lat = AltosParse.parse_coord(words[i++]);
 195                         lon = AltosParse.parse_coord(words[i++]);
 196                         alt = AltosParse.parse_int(words[i++]);
 197                         if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
 198                                 ground_speed = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "m/s(H)"));
 199                                 course = AltosParse.parse_int(words[i++]);
 200                                 climb_rate = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "m/s(V)"));
 201                                 hdop = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "(hdop)"));
 202                                 h_error = AltosParse.parse_int(words[i++]);
 203                                 v_error = AltosParse.parse_int(words[i++]);
 204                         }
 205                 } else {
 206                         i++;
 207                 }
 208                 if (i < words.length) {
 209                         AltosParse.word(words[i++], "SAT");
 210                         int tracking_channels = 0;
 211                         if (words[i].equals("not-connected"))
 212                                 tracking_channels = 0;
 213                         else
 214                                 tracking_channels = AltosParse.parse_int(words[i]);
 215                         i++;
 216                         cc_gps_sat = new AltosGPSSat[tracking_channels];
 217                         for (int chan = 0; chan < tracking_channels; chan++) {
 218                                 cc_gps_sat[chan] = new AltosGPSSat();
 219                                 cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
 220                                 /* Older versions included SiRF status bits */
 221                                 if (version < 2)
 222                                         i++;
 223                                 cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
 224                         }
 225                 } else
 226                         cc_gps_sat = new AltosGPSSat[0];
 227         }
 228
 229         public void set_latitude(int in_lat) {
 230                 lat = in_lat / 10.0e7;
 231         }
 232
 233         public void set_longitude(int in_lon) {
 234                 lon = in_lon / 10.0e7;
 235         }
 236
 237         public void set_time(int in_hour, int in_minute, int in_second) {
 238                 hour = in_hour;
 239                 minute = in_minute;
 240                 second = in_second;
 241         }
 242
 243         public void set_date(int in_year, int in_month, int in_day) {
 244                 year = in_year;
 245                 month = in_month;
 246                 day = in_day;
 247         }
 248
 249         /*
 250         public void set_flags(int in_flags) {
 251                 flags = in_flags;
 252         }
 253         */
 254
 255         public void set_altitude(int in_altitude) {
 256                 alt = in_altitude;
 257         }
 258
 259         public void add_sat(int svid, int c_n0) {
 260                 if (cc_gps_sat == null) {
 261                         cc_gps_sat = new AltosGPSSat[1];
 262                 } else {
 263                         AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
 264                         for (int i = 0; i < cc_gps_sat.length; i++)
 265                                 new_gps_sat[i] = cc_gps_sat[i];
 266                         cc_gps_sat = new_gps_sat;
 267                 }
 268                 AltosGPSSat     sat = new AltosGPSSat();
 269                 sat.svid = svid;
 270                 sat.c_n0 = c_n0;
 271                 cc_gps_sat[cc_gps_sat.length - 1] = sat;
 272         }
 273
 274         private void init() {
 275                 lat = AltosLib.MISSING;
 276                 lon = AltosLib.MISSING;
 277                 alt = AltosLib.MISSING;
 278                 ground_speed = AltosLib.MISSING;
 279                 course = AltosLib.MISSING;
 280                 climb_rate = AltosLib.MISSING;
 281                 pdop = AltosLib.MISSING;
 282                 hdop = AltosLib.MISSING;
 283                 vdop = AltosLib.MISSING;
 284                 h_error = AltosLib.MISSING;
 285                 v_error = AltosLib.MISSING;
 286                 ClearGPSTime();
 287                 cc_gps_sat = null;
 288         }
 289
 290         public AltosGPS() {
 291                 init();
 292         }
 293
 294         public AltosGPS clone() {
 295                 AltosGPS        g = new AltosGPS();
 296
 297                 g.nsat = nsat;
 298                 g.locked = locked;
 299                 g.connected = connected;
 300                 g.lat = lat;            /* degrees (+N -S) */
 301                 g.lon = lon;            /* degrees (+E -W) */
 302                 g.alt = alt;            /* m */
 303                 g.year = year;
 304                 g.month = month;
 305                 g.day = day;
 306                 g.hour = hour;
 307                 g.minute = minute;
 308                 g.second = second;
 309
 310                 g.ground_speed = ground_speed;  /* m/s */
 311                 g.course = course;              /* degrees */
 312                 g.climb_rate = climb_rate;      /* m/s */
 313                 g.pdop = pdop;          /* unitless */
 314                 g.hdop = hdop;          /* unitless */
 315                 g.vdop = vdop;          /* unitless */
 316                 g.h_error = h_error;    /* m */
 317                 g.v_error = v_error;    /* m */
 318
 319                 if (cc_gps_sat != null) {
 320                         g.cc_gps_sat = new AltosGPSSat[cc_gps_sat.length];
 321                         for (int i = 0; i < cc_gps_sat.length; i++) {
 322                                 g.cc_gps_sat[i] = new AltosGPSSat(cc_gps_sat[i].svid,
 323                                                                   cc_gps_sat[i].c_n0);
 324                         }
 325                 }
 326                 return g;
 327         }
 328
 329         public AltosGPS(AltosGPS old) {
 330                 if (old != null) {
 331                         nsat = old.nsat;
 332                         locked = old.locked;
 333                         connected = old.connected;
 334                         lat = old.lat;          /* degrees (+N -S) */
 335                         lon = old.lon;          /* degrees (+E -W) */
 336                         alt = old.alt;          /* m */
 337                         year = old.year;
 338                         month = old.month;
 339                         day = old.day;
 340                         hour = old.hour;
 341                         minute = old.minute;
 342                         second = old.second;
 343
 344                         ground_speed = old.ground_speed;        /* m/s */
 345                         course = old.course;            /* degrees */
 346                         climb_rate = old.climb_rate;    /* m/s */
 347                         pdop = old.pdop;                /* unitless? */
 348                         hdop = old.hdop;                /* unitless? */
 349                         vdop = old.vdop;                /* unitless? */
 350                         h_error = old.h_error;          /* m */
 351                         v_error = old.v_error;          /* m */
 352
 353                         if (old.cc_gps_sat != null) {
 354                                 cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
 355                                 for (int i = 0; i < old.cc_gps_sat.length; i++) {
 356                                         cc_gps_sat[i] = new AltosGPSSat();
 357                                         cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
 358                                         cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
 359                                 }
 360                         }
 361                 } else {
 362                         init();
 363                 }
 364         }
 365
 366         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
 367                 try {
 368                         AltosGPS        gps = new AltosGPS(link, config_data);
 369
 370                         if (gps != null) {
 371                                 state.set_gps(gps, state.gps_sequence++);
 372                                 return;
 373                         }
 374                 } catch (TimeoutException te) {
 375                 }
 376                 state.set_gps(null, 0);
 377         }
 378
 379         public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
 380                 boolean says_done = config_data.compare_version("1.0") >= 0;
 381                 init();
 382                 link.printf("g\n");
 383                 for (;;) {
 384                         String line = link.get_reply_no_dialog(5000);
 385                         if (line == null)
 386                                 throw new TimeoutException();
 387                         if (!parse_string(line, says_done))
 388                                 break;
 389                 }
 390         }
 391 }