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   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.util.*;
  21 import java.text.*;
  22 import java.util.concurrent.*;
  23
  24 public class AltosPyro {
  25         public static final int pyro_none                       = 0x00000000;
  26
  27         public static final int pyro_accel_less                 = 0x00000001;
  28         public static final int pyro_accel_greater              = 0x00000002;
  29         public static final String pyro_accel_less_string       = "a<";
  30         public static final String pyro_accel_greater_string    = "a>";
  31         public static final String pyro_accel_less_name         = "Acceleration less than (m/s²)";
  32         public static final String pyro_accel_greater_name      = "Acceleration greater than (m/s²)";
  33         public static final double pyro_accel_scale             = 16.0;
  34
  35         public static final int pyro_speed_less                 = 0x00000004;
  36         public static final int pyro_speed_greater              = 0x00000008;
  37         public static final String pyro_speed_less_string       = "s<";
  38         public static final String pyro_speed_greater_string    = "s>";
  39         public static final String pyro_speed_less_name         = "Speed less than (m/s)";
  40         public static final String pyro_speed_greater_name      = "Speed greater than (m/s)";
  41         public static final double pyro_speed_scale             = 16.0;
  42
  43         public static final int pyro_height_less                = 0x00000010;
  44         public static final int pyro_height_greater             = 0x00000020;
  45         public static final String pyro_height_less_string      = "h<";
  46         public static final String pyro_height_greater_string   = "h>";
  47         public static final String pyro_height_less_name        = "Height less than (m)";
  48         public static final String pyro_height_greater_name     = "Height greater than (m)";
  49         public static final double pyro_height_scale            = 1.0;
  50
  51         public static final int pyro_orient_less                = 0x00000040;
  52         public static final int pyro_orient_greater             = 0x00000080;
  53         public static final String pyro_orient_less_string      = "o<";
  54         public static final String pyro_orient_greater_string   = "o>";
  55         public static final String pyro_orient_less_name        = "Angle from vertical less than (degrees)";
  56         public static final String pyro_orient_greater_name     = "Angle from vertical greater than (degrees)";
  57         public static final double pyro_orient_scale            = 1.0;
  58
  59         public static final int pyro_time_less                  = 0x00000100;
  60         public static final int pyro_time_greater               = 0x00000200;
  61         public static final String pyro_time_less_string        = "t<";
  62         public static final String pyro_time_greater_string     = "t>";
  63         public static final String pyro_time_less_name          = "Time since boost less than (s)";
  64         public static final String pyro_time_greater_name       = "Time since boost greater than (s)";
  65         public static final double pyro_time_scale              = 100.0;
  66
  67         public static final int pyro_ascending                  = 0x00000400;
  68         public static final int pyro_descending                 = 0x00000800;
  69         public static final String pyro_ascending_string        = "A";
  70         public static final String pyro_descending_string       = "D";
  71         public static final String pyro_ascending_name          = "Ascending";
  72         public static final String pyro_descending_name         = "Descending";
  73
  74         public static final int pyro_after_motor                = 0x00001000;
  75         public static final String pyro_after_motor_string      = "m";
  76         public static final String pyro_after_motor_name        = "After motor number";
  77         public static final double pyro_after_motor_scale       = 1.0;
  78
  79         public static final int pyro_delay                      = 0x00002000;
  80         public static final String pyro_delay_string            = "d";
  81         public static final String pyro_delay_name              = "Delay after other conditions (s)";
  82         public static final double pyro_delay_scale             = 100.0;
  83
  84         public static final int pyro_state_less                 = 0x00004000;
  85         public static final int pyro_state_greater_or_equal     = 0x00008000;
  86         public static final String pyro_state_less_string       = "f<";
  87         public static final String pyro_state_greater_or_equal_string   = "f>=";
  88         public static final String pyro_state_less_name         = "Flight state before";
  89         public static final String pyro_state_greater_or_equal_name     = "Flight state after";
  90         public static final double pyro_state_scale             = 1.0;
  91
  92         public static final int pyro_all                        = 0x0000ffff;
  93
  94         public static final int pyro_no_value                   = (pyro_ascending |
  95                                                                    pyro_descending);
  96
  97         public static final int pyro_state_value                = pyro_state_less | pyro_state_greater_or_equal;
  98
  99         private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
 100
 101         private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
 102
 103         private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
 104
 105         private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
 106
 107         private static void insert_map(int flag, String string, String name, double scale) {
 108                 string_to_pyro.put(string, flag);
 109                 pyro_to_string.put(flag, string);
 110                 pyro_to_name.put(flag, name);
 111                 pyro_to_scale.put(flag, scale);
 112         }
 113
 114         public static int string_to_pyro(String name) {
 115                 if (string_to_pyro.containsKey(name))
 116                         return string_to_pyro.get(name);
 117                 return pyro_none;
 118         }
 119
 120         public static String pyro_to_string(int flag) {
 121                 if (pyro_to_string.containsKey(flag))
 122                         return pyro_to_string.get(flag);
 123                 return null;
 124         }
 125
 126         public static String pyro_to_name(int flag) {
 127                 if (pyro_to_name.containsKey(flag))
 128                         return pyro_to_name.get(flag);
 129                 return null;
 130         }
 131
 132         public static double pyro_to_scale(int flag) {
 133                 if (pyro_to_scale.containsKey(flag))
 134                         return pyro_to_scale.get(flag);
 135                 return 1.0;
 136         }
 137
 138         private static void initialize_maps() {
 139                 insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, pyro_accel_scale);
 140                 insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, pyro_accel_scale);
 141
 142                 insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, pyro_speed_scale);
 143                 insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, pyro_speed_scale);
 144
 145                 insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, pyro_height_scale);
 146                 insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, pyro_height_scale);
 147
 148                 insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, pyro_orient_scale);
 149                 insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, pyro_orient_scale);
 150
 151                 insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, pyro_time_scale);
 152                 insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, pyro_time_scale);
 153
 154                 insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, 1.0);
 155                 insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, 1.0);
 156
 157                 insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, 1.0);
 158                 insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, pyro_delay_scale);
 159
 160                 insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, 1.0);
 161                 insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, 1.0);
 162         }
 163
 164         {
 165                 initialize_maps();
 166         }
 167
 168         public int      channel;
 169         public int      flags;
 170         public int      accel_less, accel_greater;
 171         public int      speed_less, speed_greater;
 172         public int      height_less, height_greater;
 173         public int      orient_less, orient_greater;
 174         public int      time_less, time_greater;
 175         public int      delay;
 176         public int      state_less, state_greater_or_equal;
 177         public int      motor;
 178
 179         public AltosPyro(int in_channel) {
 180                 channel = in_channel;
 181                 flags = 0;
 182         }
 183
 184         private boolean set_ivalue(int flag, int value) {
 185                 switch (flag) {
 186                 case pyro_accel_less:                   accel_less = value; break;
 187                 case pyro_accel_greater:                accel_greater = value; break;
 188                 case pyro_speed_less:                   speed_less = value; break;
 189                 case pyro_speed_greater:                speed_greater = value; break;
 190                 case pyro_height_less:                  height_less = value; break;
 191                 case pyro_height_greater:               height_greater = value; break;
 192                 case pyro_orient_less:                  orient_less = value; break;
 193                 case pyro_orient_greater:               orient_greater = value; break;
 194                 case pyro_time_less:                    time_less = value; break;
 195                 case pyro_time_greater:                 time_greater = value; break;
 196                 case pyro_after_motor:                  motor = value; break;
 197                 case pyro_delay:                        delay = value; break;
 198                 case pyro_state_less:                   state_less = value; break;
 199                 case pyro_state_greater_or_equal:       state_greater_or_equal = value; break;
 200                 default:
 201                         return false;
 202                 }
 203                 return true;
 204         }
 205
 206         public boolean set_value(int flag, double dvalue) {
 207                 return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
 208         }
 209
 210         private int get_ivalue (int flag) {
 211                 int     value;
 212
 213                 switch (flag) {
 214                 case pyro_accel_less:                   value = accel_less; break;
 215                 case pyro_accel_greater:                value = accel_greater; break;
 216                 case pyro_speed_less:                   value = speed_less; break;
 217                 case pyro_speed_greater:                value = speed_greater; break;
 218                 case pyro_height_less:                  value = height_less; break;
 219                 case pyro_height_greater:               value = height_greater; break;
 220                 case pyro_orient_less:                  value = orient_less; break;
 221                 case pyro_orient_greater:               value = orient_greater; break;
 222                 case pyro_time_less:                    value = time_less; break;
 223                 case pyro_time_greater:                 value = time_greater; break;
 224                 case pyro_after_motor:                  value = motor; break;
 225                 case pyro_delay:                        value = delay; break;
 226                 case pyro_state_less:                   value = state_less; break;
 227                 case pyro_state_greater_or_equal:       value = state_greater_or_equal; break;
 228                 default:                                value = 0; break;
 229                 }
 230                 return value;
 231         }
 232
 233         public double get_value(int flag) {
 234                 return get_ivalue(flag) / pyro_to_scale(flag);
 235         }
 236
 237         public AltosPyro(int in_channel, String line) throws ParseException {
 238                 String[] tokens = line.split("\\s+");
 239
 240                 channel = in_channel;
 241                 flags = 0;
 242
 243                 int i = 0;
 244                 if (tokens[i].equals("Pyro"))
 245                         i += 2;
 246
 247                 for (; i < tokens.length; i++) {
 248
 249                         if (tokens[i].equals("<disabled>"))
 250                                 break;
 251
 252                         int     flag = string_to_pyro(tokens[i]);
 253                         if (flag == pyro_none)
 254                                 throw new ParseException(String.format("Invalid pyro token \"%s\"",
 255                                                                        tokens[i]), i);
 256                         flags |= flag;
 257
 258                         if ((flag & pyro_no_value) == 0) {
 259                                 int     value = 0;
 260                                 ++i;
 261                                 try {
 262                                         value = AltosLib.fromdec(tokens[i]);
 263                                 } catch (NumberFormatException n) {
 264                                         throw new ParseException(String.format("Invalid pyro value \"%s\"",
 265                                                                                tokens[i]), i);
 266                                 }
 267                                 if (!set_ivalue(flag, value))
 268                                         throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
 269                                                                                tokens[i-1], tokens[i]), i-1);
 270                         }
 271                 }
 272         }
 273
 274         public String toString() {
 275                 String  ret = String.format("%d", channel);
 276
 277                 for (int flag = 1; flag <= flags; flag <<= 1) {
 278                         if ((flags & flag) != 0) {
 279                                 String  add;
 280                                 if ((flag & pyro_no_value) == 0) {
 281                                         add = String.format(" %s %d",
 282                                                             pyro_to_string.get(flag),
 283                                                             get_ivalue(flag));
 284                                 } else {
 285                                         add = String.format(" %s",
 286                                                             pyro_to_string.get(flag));
 287                                 }
 288                                 ret = ret.concat(add);
 289                         }
 290                 }
 291                 return ret;
 292         }
 293 }