git.gag.com Git - fw/altos/blob - altoslib/AltosPyro.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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_11;
  20
  21 import java.util.*;
  22 import java.text.*;
  23 import java.util.concurrent.*;
  24
  25 public class AltosPyro {
  26         public static final int pyro_none                       = 0x00000000;
  27
  28         public static final int pyro_accel_less                 = 0x00000001;
  29         public static final int pyro_accel_greater              = 0x00000002;
  30         public static final String pyro_accel_less_string       = "a<";
  31         public static final String pyro_accel_greater_string    = "a>";
  32         public static final String pyro_accel_less_name         = "Acceleration less than";
  33         public static final String pyro_accel_greater_name      = "Acceleration greater than";
  34         public static final double pyro_accel_scale             = 16.0;
  35
  36         public static final int pyro_speed_less                 = 0x00000004;
  37         public static final int pyro_speed_greater              = 0x00000008;
  38         public static final String pyro_speed_less_string       = "s<";
  39         public static final String pyro_speed_greater_string    = "s>";
  40         public static final String pyro_speed_less_name         = "Speed less than";
  41         public static final String pyro_speed_greater_name      = "Speed greater than";
  42         public static final double pyro_speed_scale             = 16.0;
  43
  44         public static final int pyro_height_less                = 0x00000010;
  45         public static final int pyro_height_greater             = 0x00000020;
  46         public static final String pyro_height_less_string      = "h<";
  47         public static final String pyro_height_greater_string   = "h>";
  48         public static final String pyro_height_less_name        = "Height less than";
  49         public static final String pyro_height_greater_name     = "Height greater than";
  50         public static final double pyro_height_scale            = 1.0;
  51
  52         public static final int pyro_orient_less                = 0x00000040;
  53         public static final int pyro_orient_greater             = 0x00000080;
  54         public static final String pyro_orient_less_string      = "o<";
  55         public static final String pyro_orient_greater_string   = "o>";
  56         public static final String pyro_orient_less_name        = "Angle from vertical less than (degrees)";
  57         public static final String pyro_orient_greater_name     = "Angle from vertical greater than (degrees)";
  58         public static final double pyro_orient_scale            = 1.0;
  59
  60         public static final int pyro_time_less                  = 0x00000100;
  61         public static final int pyro_time_greater               = 0x00000200;
  62         public static final String pyro_time_less_string        = "t<";
  63         public static final String pyro_time_greater_string     = "t>";
  64         public static final String pyro_time_less_name          = "Time since boost less than (s)";
  65         public static final String pyro_time_greater_name       = "Time since boost greater than (s)";
  66         public static final double pyro_time_scale              = 100.0;
  67
  68         public static final int pyro_ascending                  = 0x00000400;
  69         public static final int pyro_descending                 = 0x00000800;
  70         public static final String pyro_ascending_string        = "A";
  71         public static final String pyro_descending_string       = "D";
  72         public static final String pyro_ascending_name          = "Ascending";
  73         public static final String pyro_descending_name         = "Descending";
  74
  75         public static final int pyro_after_motor                = 0x00001000;
  76         public static final String pyro_after_motor_string      = "m";
  77         public static final String pyro_after_motor_name        = "After motor number";
  78         public static final double pyro_after_motor_scale       = 1.0;
  79
  80         public static final int pyro_delay                      = 0x00002000;
  81         public static final String pyro_delay_string            = "d";
  82         public static final String pyro_delay_name              = "Delay after other conditions (s)";
  83         public static final double pyro_delay_scale             = 100.0;
  84
  85         public static final int pyro_state_less                 = 0x00004000;
  86         public static final int pyro_state_greater_or_equal     = 0x00008000;
  87         public static final String pyro_state_less_string       = "f<";
  88         public static final String pyro_state_greater_or_equal_string   = "f>=";
  89         public static final String pyro_state_less_name         = "Flight state before";
  90         public static final String pyro_state_greater_or_equal_name     = "Flight state after";
  91         public static final double pyro_state_scale             = 1.0;
  92
  93         public static final int pyro_all                        = 0x0000ffff;
  94
  95         public static final int pyro_no_value                   = (pyro_ascending |
  96                                                                    pyro_descending);
  97
  98         public static final int pyro_state_value                = pyro_state_less | pyro_state_greater_or_equal;
  99
 100         private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
 101
 102         private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
 103
 104         private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
 105
 106         private static HashMap<Integer,AltosUnits> pyro_to_units = new HashMap<Integer,AltosUnits>();
 107
 108         private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
 109
 110         private static void insert_map(int flag, String string, String name, AltosUnits units, double scale) {
 111                 string_to_pyro.put(string, flag);
 112                 pyro_to_string.put(flag, string);
 113                 pyro_to_name.put(flag, name);
 114                 if (units != null)
 115                         pyro_to_units.put(flag, units);
 116                 pyro_to_scale.put(flag, scale);
 117         }
 118
 119         public static int string_to_pyro(String name) {
 120                 if (string_to_pyro.containsKey(name))
 121                         return string_to_pyro.get(name);
 122                 return pyro_none;
 123         }
 124
 125         public static String pyro_to_string(int flag) {
 126                 if (pyro_to_string.containsKey(flag))
 127                         return pyro_to_string.get(flag);
 128                 return null;
 129         }
 130
 131         public static String pyro_to_name(int flag) {
 132                 String          name;
 133                 AltosUnits      units = null;
 134                 if (!pyro_to_name.containsKey(flag))
 135                         return null;
 136
 137                 name = pyro_to_name.get(flag);
 138                 if (pyro_to_units.containsKey(flag))
 139                         units = pyro_to_units.get(flag);
 140                 if (units == null)
 141                         return name;
 142                 return String.format ("%s (%s)", name, units.parse_units());
 143         }
 144
 145         public static AltosUnits pyro_to_units(int flag) {
 146                 if (pyro_to_units.containsKey(flag))
 147                         return pyro_to_units.get(flag);
 148                 return null;
 149         }
 150
 151         public static double pyro_to_scale(int flag) {
 152                 if (pyro_to_scale.containsKey(flag))
 153                         return pyro_to_scale.get(flag);
 154                 return 1.0;
 155         }
 156
 157         private static void initialize_maps() {
 158                 insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, AltosConvert.accel, pyro_accel_scale);
 159                 insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, AltosConvert.accel, pyro_accel_scale);
 160
 161                 insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, AltosConvert.speed, pyro_speed_scale);
 162                 insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, AltosConvert.speed, pyro_speed_scale);
 163
 164                 insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, AltosConvert.height, pyro_height_scale);
 165                 insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, AltosConvert.height, pyro_height_scale);
 166
 167                 insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, null, pyro_orient_scale);
 168                 insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, null, pyro_orient_scale);
 169
 170                 insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, null, pyro_time_scale);
 171                 insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, null, pyro_time_scale);
 172
 173                 insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, null, 1.0);
 174                 insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, null, 1.0);
 175
 176                 insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, null, 1.0);
 177                 insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, null, pyro_delay_scale);
 178
 179                 insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, null, 1.0);
 180                 insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, null, 1.0);
 181         }
 182
 183         {
 184                 initialize_maps();
 185         }
 186
 187         public int      channel;
 188         public int      flags;
 189         public int      accel_less, accel_greater;
 190         public int      speed_less, speed_greater;
 191         public int      height_less, height_greater;
 192         public int      orient_less, orient_greater;
 193         public int      time_less, time_greater;
 194         public int      delay;
 195         public int      state_less, state_greater_or_equal;
 196         public int      motor;
 197
 198         public AltosPyro(int in_channel) {
 199                 channel = in_channel;
 200                 flags = 0;
 201         }
 202
 203         private boolean set_ivalue(int flag, int value) {
 204                 switch (flag) {
 205                 case pyro_accel_less:                   accel_less = value; break;
 206                 case pyro_accel_greater:                accel_greater = value; break;
 207                 case pyro_speed_less:                   speed_less = value; break;
 208                 case pyro_speed_greater:                speed_greater = value; break;
 209                 case pyro_height_less:                  height_less = value; break;
 210                 case pyro_height_greater:               height_greater = value; break;
 211                 case pyro_orient_less:                  orient_less = value; break;
 212                 case pyro_orient_greater:               orient_greater = value; break;
 213                 case pyro_time_less:                    time_less = value; break;
 214                 case pyro_time_greater:                 time_greater = value; break;
 215                 case pyro_after_motor:                  motor = value; break;
 216                 case pyro_delay:                        delay = value; break;
 217                 case pyro_state_less:                   state_less = value; break;
 218                 case pyro_state_greater_or_equal:       state_greater_or_equal = value; break;
 219                 default:
 220                         return false;
 221                 }
 222                 return true;
 223         }
 224
 225         public boolean set_value(int flag, double dvalue) {
 226                 return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
 227         }
 228
 229         private int get_ivalue (int flag) {
 230                 int     value;
 231
 232                 switch (flag) {
 233                 case pyro_accel_less:                   value = accel_less; break;
 234                 case pyro_accel_greater:                value = accel_greater; break;
 235                 case pyro_speed_less:                   value = speed_less; break;
 236                 case pyro_speed_greater:                value = speed_greater; break;
 237                 case pyro_height_less:                  value = height_less; break;
 238                 case pyro_height_greater:               value = height_greater; break;
 239                 case pyro_orient_less:                  value = orient_less; break;
 240                 case pyro_orient_greater:               value = orient_greater; break;
 241                 case pyro_time_less:                    value = time_less; break;
 242                 case pyro_time_greater:                 value = time_greater; break;
 243                 case pyro_after_motor:                  value = motor; break;
 244                 case pyro_delay:                        value = delay; break;
 245                 case pyro_state_less:                   value = state_less; break;
 246                 case pyro_state_greater_or_equal:       value = state_greater_or_equal; break;
 247                 default:                                value = 0; break;
 248                 }
 249                 return value;
 250         }
 251
 252         public double get_value(int flag) {
 253                 return get_ivalue(flag) / pyro_to_scale(flag);
 254         }
 255
 256         public AltosPyro(int in_channel, String line) throws ParseException {
 257                 String[] tokens = line.split("\\s+");
 258
 259                 channel = in_channel;
 260                 flags = 0;
 261
 262                 int i = 0;
 263                 if (tokens[i].equals("Pyro"))
 264                         i += 2;
 265
 266                 for (; i < tokens.length; i++) {
 267
 268                         if (tokens[i].equals("<disabled>"))
 269                                 break;
 270
 271                         int     flag = string_to_pyro(tokens[i]);
 272                         if (flag == pyro_none)
 273                                 throw new ParseException(String.format("Invalid pyro token \"%s\"",
 274                                                                        tokens[i]), i);
 275                         flags |= flag;
 276
 277                         if ((flag & pyro_no_value) == 0) {
 278                                 int     value = 0;
 279                                 ++i;
 280                                 try {
 281                                         value = (int) AltosLib.fromdec(tokens[i]);
 282                                 } catch (NumberFormatException n) {
 283                                         throw new ParseException(String.format("Invalid pyro value \"%s\"",
 284                                                                                tokens[i]), i);
 285                                 }
 286                                 if (!set_ivalue(flag, value))
 287                                         throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
 288                                                                                tokens[i-1], tokens[i]), i-1);
 289                         }
 290                 }
 291         }
 292
 293         public String toString() {
 294                 String  ret = String.format("%d", channel);
 295
 296                 for (int flag = 1; flag <= flags; flag <<= 1) {
 297                         if ((flags & flag) != 0) {
 298                                 String  add;
 299                                 if ((flag & pyro_no_value) == 0) {
 300                                         add = String.format(" %s %d",
 301                                                             pyro_to_string.get(flag),
 302                                                             get_ivalue(flag));
 303                                 } else {
 304                                         add = String.format(" %s",
 305                                                             pyro_to_string.get(flag));
 306                                 }
 307                                 ret = ret.concat(add);
 308                         }
 309                 }
 310                 return ret;
 311         }
 312 }