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_1;
  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         String                  callsign;
  31         AltosState              previous_state;
  32         AltosListenerState      listener_state;
  33         AltosConfigData         config_data;
  34         AltosGPS                gps;
  35
  36         int AltosRSSI() throws TimeoutException, InterruptedException {
  37                 link.printf("s\n");
  38                 String line = link.get_reply_no_dialog(5000);
  39                 if (line == null)
  40                         throw new TimeoutException();
  41                 String[] items = line.split("\\s+");
  42                 if (items.length < 2)
  43                         return 0;
  44                 if (!items[0].equals("RSSI:"))
  45                         return 0;
  46                 int rssi = Integer.parseInt(items[1]);
  47                 return rssi;
  48         }
  49
  50         boolean has_sensor_tm(AltosConfigData config_data) {
  51                 return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMini");
  52         }
  53
  54         boolean has_sensor_mm(AltosConfigData config_data) {
  55                 return config_data.product.startsWith("MegaMetrum");
  56         }
  57
  58         boolean has_gps(AltosConfigData config_data) {
  59                 return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("MegaMetrum");
  60         }
  61
  62         AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
  63                 AltosRecordMM record_mm = new AltosRecordMM();
  64                 AltosSensorMM sensor = new AltosSensorMM(link);
  65                 AltosMs5607 ms5607 = new AltosMs5607Query(link);
  66                 AltosIMU imu = new AltosIMUQuery(link);
  67
  68                 record_mm.accel_plus_g = config_data.accel_cal_plus;
  69                 record_mm.accel_minus_g = config_data.accel_cal_minus;
  70
  71                 record_mm.ground_accel = sensor.accel;
  72                 record_mm.accel = sensor.accel;
  73                 record_mm.ground_pres = ms5607.pa;
  74                 record_mm.pres = ms5607.pa;
  75                 record_mm.temp = ms5607.cc;
  76
  77                 record_mm.v_batt = sensor.v_batt;
  78                 record_mm.v_pyro = sensor.v_pyro;
  79                 record_mm.sense = sensor.sense;
  80
  81                 record_mm.imu = imu;
  82
  83                 return record_mm;
  84         }
  85
  86         void update_state() throws InterruptedException, TimeoutException {
  87                 AltosRecord     record = null;
  88
  89                 try {
  90                         if (remote) {
  91                                 link.set_radio_frequency(frequency);
  92                                 link.set_callsign(callsign);
  93                                 link.start_remote();
  94                         } else
  95                                 link.flush_input();
  96                         config_data = new AltosConfigData(link);
  97
  98                         if (has_sensor_tm(config_data))
  99                                 record = new AltosSensorTM(link, config_data);
 100                         else if (has_sensor_mm(config_data))
 101                                 record = sensor_mm(config_data);
 102                         else
 103                                 record = new AltosRecordNone();
 104
 105                         if (has_gps(config_data))
 106                                 gps = new AltosGPSQuery(link, config_data);
 107
 108                         record.version = 0;
 109                         record.callsign = config_data.callsign;
 110                         record.serial = config_data.serial;
 111                         record.flight = config_data.log_available() > 0 ? 255 : 0;
 112                         record.status = 0;
 113                         record.state = AltosLib.ao_flight_idle;
 114                         record.gps = gps;
 115                         record.new_gps = true;
 116                         state = new AltosState (record, state);
 117                 } finally {
 118                         if (remote) {
 119                                 link.stop_remote();
 120                                 if (record != null) {
 121                                         record.rssi = link.rssi();
 122                                         listener_state.battery = link.monitor_battery();
 123                                 }
 124                         } else {
 125                                 if (record != null)
 126                                         record.rssi = 0;
 127                         }
 128                 }
 129
 130         }
 131
 132         public void set_frequency(double in_frequency) {
 133                 frequency = in_frequency;
 134                 link.abort_reply();
 135         }
 136
 137         public void set_callsign(String in_callsign) {
 138                 callsign = in_callsign;
 139                 link.abort_reply();
 140         }
 141
 142         public void post_state() {
 143                 listener.update(state, listener_state);
 144         }
 145
 146         public void abort() {
 147                 if (isAlive()) {
 148                         interrupt();
 149                         link.abort_reply();
 150                         try {
 151                                 join();
 152                         } catch (InterruptedException ie) {
 153                         }
 154                 }
 155         }
 156
 157         public void run() {
 158                 try {
 159                         for (;;) {
 160                                 try {
 161                                         update_state();
 162                                         post_state();
 163                                 } catch (TimeoutException te) {
 164                                 }
 165                                 Thread.sleep(1000);
 166                         }
 167                 } catch (InterruptedException ie) {
 168                         link.close();
 169                 }
 170         }
 171
 172         public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
 173                 throws FileNotFoundException, InterruptedException, TimeoutException {
 174                 listener = in_listener;
 175                 link = in_link;
 176                 remote = in_remote;
 177                 state = null;
 178                 listener_state = new AltosListenerState();
 179         }
 180 }