git.gag.com Git - fw/altos/blob - altoslib/AltosRecord.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;
  19
  20 public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable {
  21
  22         public static final int seen_flight = 1;
  23         public static final int seen_sensor = 2;
  24         public static final int seen_temp_volt = 4;
  25         public static final int seen_deploy = 8;
  26         public static final int seen_gps_time = 16;
  27         public static final int seen_gps_lat = 32;
  28         public static final int seen_gps_lon = 64;
  29         public static final int seen_companion = 128;
  30
  31         public int      seen;
  32
  33         public final static int MISSING = 0x7fffffff;
  34
  35         /* Every AltosRecord implementation provides these fields */
  36
  37         public int      version;
  38         public String   callsign;
  39         public int      serial;
  40         public int      flight;
  41         public int      rssi;
  42         public int      status;
  43         public int      state;
  44         public int      tick;
  45
  46         public AltosGPS gps;
  47         public boolean  new_gps;
  48
  49         public double   time;   /* seconds since boost */
  50
  51         public int      device_type;
  52         public int      config_major;
  53         public int      config_minor;
  54         public int      apogee_delay;
  55         public int      main_deploy;
  56         public int      flight_log_max;
  57         public String   firmware_version;
  58
  59         public AltosRecordCompanion companion;
  60
  61         /* Telemetry sources have these values recorded from the flight computer */
  62         public double   kalman_height;
  63         public double   kalman_speed;
  64         public double   kalman_acceleration;
  65
  66         /*
  67          * Abstract methods that convert record data
  68          * to standard units:
  69          *
  70          *      pressure:       Pa
  71          *      voltage:        V
  72          *      acceleration:   m/s²
  73          *      speed:          m/s
  74          *      height:         m
  75          *      temperature:    °C
  76          */
  77
  78         abstract public double pressure();
  79         abstract public double ground_pressure();
  80         abstract public double acceleration();
  81
  82         public double altitude() {
  83                 double  p = pressure();
  84
  85                 if (p == MISSING)
  86                         return MISSING;
  87                 return AltosConvert.pressure_to_altitude(p);
  88         }
  89
  90         public double ground_altitude() {
  91                 double  p = ground_pressure();
  92
  93                 if (p == MISSING)
  94                         return MISSING;
  95                 return AltosConvert.pressure_to_altitude(p);
  96         }
  97
  98         public double height() {
  99                 double  g = ground_altitude();
 100                 double  a = altitude();
 101
 102                 if (g == MISSING)
 103                         return MISSING;
 104                 if (a == MISSING)
 105                         return MISSING;
 106                 return a - g;
 107         }
 108
 109         public double battery_voltage() { return MISSING; }
 110
 111         public double main_voltage() { return MISSING; }
 112
 113         public double drogue_voltage() { return MISSING; }
 114
 115         public double temperature() { return MISSING; }
 116
 117         public AltosIMU imu() { return null; }
 118
 119         public AltosMag mag() { return null; }
 120
 121         public String state() {
 122                 return AltosLib.state_name(state);
 123         }
 124
 125         public int compareTo(AltosRecord o) {
 126                 return tick - o.tick;
 127         }
 128
 129         public void copy(AltosRecord old) {
 130                 seen = old.seen;
 131                 version = old.version;
 132                 callsign = old.callsign;
 133                 serial = old.serial;
 134                 flight = old.flight;
 135                 rssi = old.rssi;
 136                 status = old.status;
 137                 state = old.state;
 138                 tick = old.tick;
 139                 gps = new AltosGPS(old.gps);
 140                 new_gps = old.new_gps;
 141                 companion = old.companion;
 142                 kalman_acceleration = old.kalman_acceleration;
 143                 kalman_speed = old.kalman_speed;
 144                 kalman_height = old.kalman_height;
 145         }
 146
 147         public AltosRecord clone() {
 148                 try {
 149                         AltosRecord n = (AltosRecord) super.clone();
 150                         n.copy(this);
 151                         return n;
 152                 } catch (CloneNotSupportedException e) {
 153                         return null;
 154                 }
 155         }
 156
 157         public AltosRecord() {
 158                 seen = 0;
 159                 version = 0;
 160                 callsign = "N0CALL";
 161                 serial = 0;
 162                 flight = 0;
 163                 rssi = 0;
 164                 status = 0;
 165                 state = AltosLib.ao_flight_startup;
 166                 tick = 0;
 167                 gps = new AltosGPS();
 168                 new_gps = false;
 169                 companion = null;
 170
 171                 kalman_acceleration = MISSING;
 172                 kalman_speed = MISSING;
 173                 kalman_height = MISSING;
 174         }
 175 }