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