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   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_4;
  19
  20 import java.text.*;
  21 import java.util.concurrent.*;
  22
  23 public class AltosGPS implements Cloneable {
  24
  25         public final static int MISSING = AltosLib.MISSING;
  26
  27         public int      nsat;
  28         public boolean  locked;
  29         public boolean  connected;
  30         public double   lat;            /* degrees (+N -S) */
  31         public double   lon;            /* degrees (+E -W) */
  32         public double   alt;            /* m */
  33         public int      year;
  34         public int      month;
  35         public int      day;
  36         public int      hour;
  37         public int      minute;
  38         public int      second;
  39
  40         public double   ground_speed;   /* m/s */
  41         public int      course;         /* degrees */
  42         public double   climb_rate;     /* m/s */
  43         public double   hdop;           /* unitless */
  44         public double   vdop;           /* unitless */
  45         public int      h_error;        /* m */
  46         public int      v_error;        /* m */
  47
  48         public int      state;          /* for TeleGPS */
  49
  50         static final int AO_GPS_STATE_VALID = 0x80;
  51
  52         public AltosGPSSat[] cc_gps_sat;        /* tracking data */
  53
  54         public void ParseGPSDate(String date) throws ParseException {
  55                 String[] ymd = date.split("-");
  56                 if (ymd.length != 3)
  57                         throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
  58                 year = AltosParse.parse_int(ymd[0]);
  59                 month = AltosParse.parse_int(ymd[1]);
  60                 day = AltosParse.parse_int(ymd[2]);
  61         }
  62
  63         public void ParseGPSTime(String time) throws ParseException {
  64                 String[] hms = time.split(":");
  65                 if (hms.length != 3)
  66                         throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
  67                 hour = AltosParse.parse_int(hms[0]);
  68                 minute = AltosParse.parse_int(hms[1]);
  69                 second = AltosParse.parse_int(hms[2]);
  70         }
  71
  72         public void ClearGPSTime() {
  73                 year = month = day = AltosLib.MISSING;
  74                 hour = minute = second = AltosLib.MISSING;
  75         }
  76
  77         public AltosGPS(AltosTelemetryMap map) throws ParseException {
  78                 String  state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
  79                                                AltosTelemetryLegacy.AO_TELEM_GPS_STATE_ERROR);
  80
  81                 nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0);
  82                 if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_LOCKED)) {
  83                         connected = true;
  84                         locked = true;
  85                         lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
  86                         lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
  87                         alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING);
  88                         year = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_YEAR, MISSING);
  89                         if (year != MISSING)
  90                                 year += 2000;
  91                         month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING);
  92                         day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING);
  93
  94                         hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0);
  95                         minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0);
  96                         second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
  97
  98                         ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
  99                                                       AltosLib.MISSING, 1/100.0);
 100                         course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
 101                                              AltosLib.MISSING);
 102                         hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
 103                         vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
 104                         h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
 105                         v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING);
 106                 } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) {
 107                         connected = true;
 108                         locked = false;
 109                 } else {
 110                         connected = false;
 111                         locked = false;
 112                 }
 113         }
 114
 115         public boolean parse_string (String line, boolean says_done) {
 116                 String[] bits = line.split("\\s+");
 117                 if (bits.length == 0)
 118                         return false;
 119                 if (line.startsWith("Date:")) {
 120                         if (bits.length < 2)
 121                                 return false;
 122                         String[] d = bits[1].split("/");
 123                         if (d.length < 3)
 124                                 return false;
 125                         year = Integer.parseInt(d[0]) + 2000;
 126                         month = Integer.parseInt(d[1]);
 127                         day = Integer.parseInt(d[2]);
 128                 } else if (line.startsWith("Time:")) {
 129                         if (bits.length < 2)
 130                                 return false;
 131                         String[] d = bits[1].split(":");
 132                         if (d.length < 3)
 133                                 return false;
 134                         hour = Integer.parseInt(d[0]);
 135                         minute = Integer.parseInt(d[1]);
 136                         second = Integer.parseInt(d[2]);
 137                 } else if (line.startsWith("Lat/Lon:")) {
 138                         if (bits.length < 3)
 139                                 return false;
 140                         lat = Integer.parseInt(bits[1]) * 1.0e-7;
 141                         lon = Integer.parseInt(bits[2]) * 1.0e-7;
 142                 } else if (line.startsWith("Alt:")) {
 143                         if (bits.length < 2)
 144                                 return false;
 145                         alt = Integer.parseInt(bits[1]);
 146                 } else if (line.startsWith("Flags:")) {
 147                         if (bits.length < 2)
 148                                 return false;
 149                         int status = Integer.decode(bits[1]);
 150                         connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
 151                         locked = (status & AltosLib.AO_GPS_VALID) != 0;
 152                         if (!says_done)
 153                                 return false;
 154                 } else if (line.startsWith("Sats:")) {
 155                         if (bits.length < 2)
 156                                 return false;
 157                         nsat = Integer.parseInt(bits[1]);
 158                         cc_gps_sat = new AltosGPSSat[nsat];
 159                         for (int i = 0; i < nsat; i++) {
 160                                 int     svid = Integer.parseInt(bits[2+i*2]);
 161                                 int     cc_n0 = Integer.parseInt(bits[3+i*2]);
 162                                 cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
 163                         }
 164                 } else if (line.startsWith("done")) {
 165                         return false;
 166                 } else
 167                         return false;
 168                 return true;
 169         }
 170
 171         public AltosGPS(String[] words, int i, int version) throws ParseException {
 172                 AltosParse.word(words[i++], "GPS");
 173                 nsat = AltosParse.parse_int(words[i++]);
 174                 AltosParse.word(words[i++], "sat");
 175
 176                 connected = false;
 177                 locked = false;
 178                 lat = lon = 0;
 179                 alt = 0;
 180                 ClearGPSTime();
 181                 if ((words[i]).equals("unlocked")) {
 182                         connected = true;
 183                         i++;
 184                 } else if ((words[i]).equals("not-connected")) {
 185                         i++;
 186                 } else if (words.length >= 40) {
 187                         locked = true;
 188                         connected = true;
 189
 190                         if (version > 1)
 191                                 ParseGPSDate(words[i++]);
 192                         else
 193                                 year = month = day = 0;
 194                         ParseGPSTime(words[i++]);
 195                         lat = AltosParse.parse_coord(words[i++]);
 196                         lon = AltosParse.parse_coord(words[i++]);
 197                         alt = AltosParse.parse_int(words[i++]);
 198                         if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
 199                                 ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
 200                                 course = AltosParse.parse_int(words[i++]);
 201                                 climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
 202                                 hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
 203                                 h_error = AltosParse.parse_int(words[i++]);
 204                                 v_error = AltosParse.parse_int(words[i++]);
 205                         }
 206                 } else {
 207                         i++;
 208                 }
 209                 if (i < words.length) {
 210                         AltosParse.word(words[i++], "SAT");
 211                         int tracking_channels = 0;
 212                         if (words[i].equals("not-connected"))
 213                                 tracking_channels = 0;
 214                         else
 215                                 tracking_channels = AltosParse.parse_int(words[i]);
 216                         i++;
 217                         cc_gps_sat = new AltosGPSSat[tracking_channels];
 218                         for (int chan = 0; chan < tracking_channels; chan++) {
 219                                 cc_gps_sat[chan] = new AltosGPSSat();
 220                                 cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
 221                                 /* Older versions included SiRF status bits */
 222                                 if (version < 2)
 223                                         i++;
 224                                 cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
 225                         }
 226                 } else
 227                         cc_gps_sat = new AltosGPSSat[0];
 228         }
 229
 230         public void set_latitude(int in_lat) {
 231                 lat = in_lat / 10.0e7;
 232         }
 233
 234         public void set_longitude(int in_lon) {
 235                 lon = in_lon / 10.0e7;
 236         }
 237
 238         public void set_time(int in_hour, int in_minute, int in_second) {
 239                 hour = in_hour;
 240                 minute = in_minute;
 241                 second = in_second;
 242         }
 243
 244         public void set_date(int in_year, int in_month, int in_day) {
 245                 year = in_year;
 246                 month = in_month;
 247                 day = in_day;
 248         }
 249
 250         /*
 251         public void set_flags(int in_flags) {
 252                 flags = in_flags;
 253         }
 254         */
 255
 256         public void set_altitude(int in_altitude) {
 257                 alt = in_altitude;
 258         }
 259
 260         public void add_sat(int svid, int c_n0) {
 261                 if (cc_gps_sat == null) {
 262                         cc_gps_sat = new AltosGPSSat[1];
 263                 } else {
 264                         AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
 265                         for (int i = 0; i < cc_gps_sat.length; i++)
 266                                 new_gps_sat[i] = cc_gps_sat[i];
 267                         cc_gps_sat = new_gps_sat;
 268                 }
 269                 AltosGPSSat     sat = new AltosGPSSat();
 270                 sat.svid = svid;
 271                 sat.c_n0 = c_n0;
 272                 cc_gps_sat[cc_gps_sat.length - 1] = sat;
 273         }
 274
 275         public AltosGPS() {
 276                 lat = AltosLib.MISSING;
 277                 lon = AltosLib.MISSING;
 278                 alt = AltosLib.MISSING;
 279                 ClearGPSTime();
 280                 cc_gps_sat = null;
 281         }
 282
 283         public AltosGPS clone() {
 284                 AltosGPS        g = new AltosGPS();
 285
 286                 g.nsat = nsat;
 287                 g.locked = locked;
 288                 g.connected = connected;
 289                 g.lat = lat;            /* degrees (+N -S) */
 290                 g.lon = lon;            /* degrees (+E -W) */
 291                 g.alt = alt;            /* m */
 292                 g.year = year;
 293                 g.month = month;
 294                 g.day = day;
 295                 g.hour = hour;
 296                 g.minute = minute;
 297                 g.second = second;
 298
 299                 g.ground_speed = ground_speed;  /* m/s */
 300                 g.course = course;              /* degrees */
 301                 g.climb_rate = climb_rate;      /* m/s */
 302                 g.hdop = hdop;          /* unitless? */
 303                 g.h_error = h_error;    /* m */
 304                 g.v_error = v_error;    /* m */
 305                 g.state = state;
 306
 307                 if (cc_gps_sat != null) {
 308                         g.cc_gps_sat = new AltosGPSSat[cc_gps_sat.length];
 309                         for (int i = 0; i < cc_gps_sat.length; i++) {
 310                                 g.cc_gps_sat[i] = new AltosGPSSat(cc_gps_sat[i].svid,
 311                                                                   cc_gps_sat[i].c_n0);
 312                         }
 313                 }
 314                 return g;
 315         }
 316
 317         public AltosGPS(AltosGPS old) {
 318                 if (old != null) {
 319                         nsat = old.nsat;
 320                         locked = old.locked;
 321                         connected = old.connected;
 322                         lat = old.lat;          /* degrees (+N -S) */
 323                         lon = old.lon;          /* degrees (+E -W) */
 324                         alt = old.alt;          /* m */
 325                         year = old.year;
 326                         month = old.month;
 327                         day = old.day;
 328                         hour = old.hour;
 329                         minute = old.minute;
 330                         second = old.second;
 331
 332                         ground_speed = old.ground_speed;        /* m/s */
 333                         course = old.course;            /* degrees */
 334                         climb_rate = old.climb_rate;    /* m/s */
 335                         hdop = old.hdop;                /* unitless? */
 336                         h_error = old.h_error;  /* m */
 337                         v_error = old.v_error;  /* m */
 338                         state = old.state;
 339
 340                         if (old.cc_gps_sat != null) {
 341                                 cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
 342                                 for (int i = 0; i < old.cc_gps_sat.length; i++) {
 343                                         cc_gps_sat[i] = new AltosGPSSat();
 344                                         cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
 345                                         cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
 346                                 }
 347                         }
 348                 } else {
 349                         lat = AltosLib.MISSING;
 350                         lon = AltosLib.MISSING;
 351                         alt = AltosLib.MISSING;
 352                         ClearGPSTime();
 353                         cc_gps_sat = null;
 354                         state = 0;
 355                 }
 356         }
 357
 358         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
 359                 try {
 360                         AltosGPS        gps = new AltosGPS(link, config_data);
 361
 362                         if (gps != null) {
 363                                 state.set_gps(gps, state.gps_sequence++);
 364                                 return;
 365                         }
 366                 } catch (TimeoutException te) {
 367                 }
 368                 state.set_gps(null, 0);
 369         }
 370
 371         public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
 372                 boolean says_done = config_data.compare_version("1.0") >= 0;
 373                 link.printf("g\n");
 374                 for (;;) {
 375                         String line = link.get_reply_no_dialog(5000);
 376                         if (line == null)
 377                                 throw new TimeoutException();
 378                         if (!parse_string(line, says_done))
 379                                 break;
 380                 }
 381         }
 382 }