git.gag.com Git - fw/altos/blob - altoslib/AltosIdleRecordTM.java

   1 /*
   2  * Copyright © 2012 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.*;
  22 import java.text.*;
  23 import java.util.prefs.*;
  24 import java.util.concurrent.*;
  25
  26 class AltosADCTM {
  27         int     tick;
  28         int     accel;
  29         int     pres;
  30         int     temp;
  31         int     batt;
  32         int     drogue;
  33         int     main;
  34
  35         public AltosADCTM(AltosLink link) throws InterruptedException, TimeoutException {
  36                 link.printf("a\n");
  37                 for (;;) {
  38                         String line = link.get_reply_no_dialog(5000);
  39                         if (line == null) {
  40                                 throw new TimeoutException();
  41                         }
  42                         if (!line.startsWith("tick:"))
  43                                 continue;
  44                         String[] items = line.split("\\s+");
  45                         for (int i = 0; i < items.length;) {
  46                                 if (items[i].equals("tick:")) {
  47                                         tick = Integer.parseInt(items[i+1]);
  48                                         i += 2;
  49                                         continue;
  50                                 }
  51                                 if (items[i].equals("accel:")) {
  52                                         accel = Integer.parseInt(items[i+1]);
  53                                         i += 2;
  54                                         continue;
  55                                 }
  56                                 if (items[i].equals("pres:")) {
  57                                         pres = Integer.parseInt(items[i+1]);
  58                                         i += 2;
  59                                         continue;
  60                                 }
  61                                 if (items[i].equals("temp:")) {
  62                                         temp = Integer.parseInt(items[i+1]);
  63                                         i += 2;
  64                                         continue;
  65                                 }
  66                                 if (items[i].equals("batt:")) {
  67                                         batt = Integer.parseInt(items[i+1]);
  68                                         i += 2;
  69                                         continue;
  70                                 }
  71                                 if (items[i].equals("drogue:")) {
  72                                         drogue = Integer.parseInt(items[i+1]);
  73                                         i += 2;
  74                                         continue;
  75                                 }
  76                                 if (items[i].equals("main:")) {
  77                                         main = Integer.parseInt(items[i+1]);
  78                                         i += 2;
  79                                         continue;
  80                                 }
  81                                 i++;
  82                         }
  83                         break;
  84                 }
  85         }
  86 }
  87
  88 class AltosGPSQuery extends AltosGPS {
  89         public AltosGPSQuery (AltosLink link, AltosConfigData config_data)
  90                 throws TimeoutException, InterruptedException {
  91                 boolean says_done = config_data.compare_version("1.0") >= 0;
  92                 link.printf("g\n");
  93                 for (;;) {
  94                         String line = link.get_reply_no_dialog(5000);
  95                         if (line == null)
  96                                 throw new TimeoutException();
  97                         String[] bits = line.split("\\s+");
  98                         if (bits.length == 0)
  99                                 continue;
 100                         if (line.startsWith("Date:")) {
 101                                 if (bits.length < 2)
 102                                         continue;
 103                                 String[] d = bits[1].split(":");
 104                                 if (d.length < 3)
 105                                         continue;
 106                                 year = Integer.parseInt(d[0]) + 2000;
 107                                 month = Integer.parseInt(d[1]);
 108                                 day = Integer.parseInt(d[2]);
 109                                 continue;
 110                         }
 111                         if (line.startsWith("Time:")) {
 112                                 if (bits.length < 2)
 113                                         continue;
 114                                 String[] d = bits[1].split("/");
 115                                 if (d.length < 3)
 116                                         continue;
 117                                 hour = Integer.parseInt(d[0]);
 118                                 minute = Integer.parseInt(d[1]);
 119                                 second = Integer.parseInt(d[2]);
 120                                 continue;
 121                         }
 122                         if (line.startsWith("Lat/Lon:")) {
 123                                 if (bits.length < 3)
 124                                         continue;
 125                                 lat = Integer.parseInt(bits[1]) * 1.0e-7;
 126                                 lon = Integer.parseInt(bits[2]) * 1.0e-7;
 127                                 continue;
 128                         }
 129                         if (line.startsWith("Alt:")) {
 130                                 if (bits.length < 2)
 131                                         continue;
 132                                 alt = Integer.parseInt(bits[1]);
 133                                 continue;
 134                         }
 135                         if (line.startsWith("Flags:")) {
 136                                 if (bits.length < 2)
 137                                         continue;
 138                                 int status = Integer.decode(bits[1]);
 139                                 connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
 140                                 locked = (status & AltosLib.AO_GPS_VALID) != 0;
 141                                 if (!says_done)
 142                                         break;
 143                                 continue;
 144                         }
 145                         if (line.startsWith("Sats:")) {
 146                                 if (bits.length < 2)
 147                                         continue;
 148                                 nsat = Integer.parseInt(bits[1]);
 149                                 cc_gps_sat = new AltosGPSSat[nsat];
 150                                 for (int i = 0; i < nsat; i++) {
 151                                         int     svid = Integer.parseInt(bits[2+i*2]);
 152                                         int     cc_n0 = Integer.parseInt(bits[3+i*2]);
 153                                         cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
 154                                 }
 155                         }
 156                         if (line.startsWith("done"))
 157                                 break;
 158                         if (line.startsWith("Syntax error"))
 159                                 break;
 160                 }
 161         }
 162 }
 163
 164 public class AltosIdleMonitor extends Thread {
 165         AltosLink               link;
 166         AltosIdleMonitorListener        listener;
 167         AltosState              state;
 168         boolean                 remote;
 169         double                  frequency;
 170         AltosState              previous_state;
 171         AltosConfigData         config_data;
 172         AltosADC                adc;
 173         AltosGPS                gps;
 174
 175         int AltosRSSI() throws TimeoutException, InterruptedException {
 176                 link.printf("s\n");
 177                 String line = link.get_reply_no_dialog(5000);
 178                 if (line == null)
 179                         throw new TimeoutException();
 180                 String[] items = line.split("\\s+");
 181                 if (items.length < 2)
 182                         return 0;
 183                 if (!items[0].equals("RSSI:"))
 184                         return 0;
 185                 int rssi = Integer.parseInt(items[1]);
 186                 return rssi;
 187         }
 188
 189         void update_state() throws InterruptedException, TimeoutException {
 190                 AltosRecordTM   record = new AltosRecordTM();
 191                 int             rssi;
 192
 193                 try {
 194                         if (remote) {
 195                                 link.set_radio_frequency(frequency);
 196                                 link.start_remote();
 197                         } else
 198                                 link.flush_input();
 199                         config_data = new AltosConfigData(link);
 200                         adc = new AltosADC(link);
 201                         gps = new AltosGPSQuery(link, config_data);
 202                 } finally {
 203                         if (remote) {
 204                                 link.stop_remote();
 205                                 rssi = AltosRSSI();
 206                         } else
 207                                 rssi = 0;
 208                 }
 209
 210                 record.version = 0;
 211                 record.callsign = config_data.callsign;
 212                 record.serial = config_data.serial;
 213                 record.flight = config_data.log_available() > 0 ? 255 : 0;
 214                 record.rssi = rssi;
 215                 record.status = 0;
 216                 record.state = AltosLib.ao_flight_idle;
 217
 218                 record.tick = adc.tick;
 219
 220                 record.accel = adc.accel;
 221                 record.pres = adc.pres;
 222                 record.batt = adc.batt;
 223                 record.temp = adc.temp;
 224                 record.drogue = adc.drogue;
 225                 record.main = adc.main;
 226
 227                 record.ground_accel = record.accel;
 228                 record.ground_pres = record.pres;
 229                 record.accel_plus_g = config_data.accel_cal_plus;
 230                 record.accel_minus_g = config_data.accel_cal_minus;
 231                 record.acceleration = 0;
 232                 record.speed = 0;
 233                 record.height = 0;
 234                 record.gps = gps;
 235                 state = new AltosState (record, state);
 236         }
 237
 238         public void set_frequency(double in_frequency) {
 239                 frequency = in_frequency;
 240         }
 241
 242         public void post_state() {
 243                 listener.update(state);
 244         }
 245
 246         public void run() {
 247                 try {
 248                         for (;;) {
 249                                 try {
 250                                         update_state();
 251                                         post_state();
 252                                 } catch (TimeoutException te) {
 253                                 }
 254                                 Thread.sleep(1000);
 255                         }
 256                 } catch (InterruptedException ie) {
 257                         link.close();
 258                 }
 259         }
 260
 261         public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
 262                 throws FileNotFoundException, InterruptedException, TimeoutException {
 263                 listener = in_listener;
 264                 link = in_link;
 265                 remote = in_remote;
 266                 state = null;
 267         }
 268 }