git.gag.com Git - fw/altos/blob - altoslib/AltosIdleMonitor.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;
  19
  20 import java.io.*;
  21 import java.util.concurrent.*;
  22
  23
  24 public class AltosIdleMonitor extends Thread {
  25         AltosLink               link;
  26         AltosIdleMonitorListener        listener;
  27         AltosState              state;
  28         boolean                 remote;
  29         double                  frequency;
  30         AltosState              previous_state;
  31         AltosConfigData         config_data;
  32         AltosGPS                gps;
  33
  34         int AltosRSSI() throws TimeoutException, InterruptedException {
  35                 link.printf("s\n");
  36                 String line = link.get_reply_no_dialog(5000);
  37                 if (line == null)
  38                         throw new TimeoutException();
  39                 String[] items = line.split("\\s+");
  40                 if (items.length < 2)
  41                         return 0;
  42                 if (!items[0].equals("RSSI:"))
  43                         return 0;
  44                 int rssi = Integer.parseInt(items[1]);
  45                 return rssi;
  46         }
  47
  48         boolean has_sensor_tm(AltosConfigData config_data) {
  49                 return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMini");
  50         }
  51
  52         boolean has_sensor_mm(AltosConfigData config_data) {
  53                 return config_data.product.startsWith("MegaMetrum");
  54         }
  55
  56         boolean has_gps(AltosConfigData config_data) {
  57                 return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("MegaMetrum");
  58         }
  59
  60         AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
  61                 AltosRecordMM record_mm = new AltosRecordMM();
  62                 AltosSensorMM sensor = new AltosSensorMM(link);
  63                 AltosMs5607 ms5607 = new AltosMs5607Query(link);
  64                 AltosIMU imu = new AltosIMUQuery(link);
  65
  66                 record_mm.accel_plus_g = config_data.accel_cal_plus;
  67                 record_mm.accel_minus_g = config_data.accel_cal_minus;
  68
  69                 record_mm.ground_accel = sensor.accel;
  70                 record_mm.accel = sensor.accel;
  71                 record_mm.ground_pres = ms5607.pa;
  72                 record_mm.pres = ms5607.pa;
  73                 record_mm.temp = ms5607.cc;
  74
  75                 record_mm.v_batt = sensor.v_batt;
  76                 record_mm.v_pyro = sensor.v_pyro;
  77                 record_mm.sense = sensor.sense;
  78
  79                 record_mm.imu = imu;
  80
  81                 return record_mm;
  82         }
  83
  84         void update_state() throws InterruptedException, TimeoutException {
  85                 AltosRecord     record = null;
  86
  87                 try {
  88                         if (remote) {
  89                                 link.set_radio_frequency(frequency);
  90                                 link.start_remote();
  91                         } else
  92                                 link.flush_input();
  93                         config_data = new AltosConfigData(link);
  94
  95                         if (has_sensor_tm(config_data))
  96                                 record = new AltosSensorTM(link, config_data);
  97                         else if (has_sensor_mm(config_data))
  98                                 record = sensor_mm(config_data);
  99                         else
 100                                 record = new AltosRecordNone();
 101
 102                         if (has_gps(config_data))
 103                                 gps = new AltosGPSQuery(link, config_data);
 104
 105                         record.version = 0;
 106                         record.callsign = config_data.callsign;
 107                         record.serial = config_data.serial;
 108                         record.flight = config_data.log_available() > 0 ? 255 : 0;
 109                         record.status = 0;
 110                         record.state = AltosLib.ao_flight_idle;
 111                         record.gps = gps;
 112                         record.new_gps = true;
 113                         state = new AltosState (record, state);
 114                 } finally {
 115                         if (remote) {
 116                                 link.stop_remote();
 117                                 if (record != null)
 118                                         record.rssi = AltosRSSI();
 119                         } else {
 120                                 if (record != null)
 121                                         record.rssi = 0;
 122                         }
 123                 }
 124
 125         }
 126
 127         public void set_frequency(double in_frequency) {
 128                 frequency = in_frequency;
 129         }
 130
 131         public void post_state() {
 132                 listener.update(state);
 133         }
 134
 135         public void run() {
 136                 try {
 137                         for (;;) {
 138                                 try {
 139                                         update_state();
 140                                         post_state();
 141                                 } catch (TimeoutException te) {
 142                                 }
 143                                 Thread.sleep(1000);
 144                         }
 145                 } catch (InterruptedException ie) {
 146                         link.close();
 147                 }
 148         }
 149
 150         public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
 151                 throws FileNotFoundException, InterruptedException, TimeoutException {
 152                 listener = in_listener;
 153                 link = in_link;
 154                 remote = in_remote;
 155                 state = null;
 156         }
 157 }