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_1;
  19
  20 public 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 int      gps_sequence;
  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 double   accel_plus_g, accel_minus_g;
  60         public double   ground_accel;
  61         public double   accel;
  62
  63         public AltosRecordCompanion companion;
  64
  65         /* Telemetry sources have these values recorded from the flight computer */
  66         public double   kalman_height;
  67         public double   kalman_speed;
  68         public double   kalman_acceleration;
  69
  70         /*
  71          * Abstract methods that convert record data
  72          * to standard units:
  73          *
  74          *      pressure:       Pa
  75          *      voltage:        V
  76          *      acceleration:   m/s²
  77          *      speed:          m/s
  78          *      height:         m
  79          *      temperature:    °C
  80          */
  81
  82         public double pressure() { return MISSING; }
  83         public double ground_pressure() { return MISSING; }
  84         public double acceleration() { return MISSING; }
  85
  86         public double altitude() {
  87                 double  p = pressure();
  88
  89                 if (p == MISSING)
  90                         return MISSING;
  91                 return AltosConvert.pressure_to_altitude(p);
  92         }
  93
  94         public double ground_altitude() {
  95                 double  p = ground_pressure();
  96
  97                 if (p == MISSING)
  98                         return MISSING;
  99                 return AltosConvert.pressure_to_altitude(p);
 100         }
 101
 102         public double height() {
 103                 double  g = ground_altitude();
 104                 double  a = altitude();
 105
 106                 if (g == MISSING)
 107                         return MISSING;
 108                 if (a == MISSING)
 109                         return MISSING;
 110                 return a - g;
 111         }
 112
 113         public double battery_voltage() { return MISSING; }
 114
 115         public double main_voltage() { return MISSING; }
 116
 117         public double drogue_voltage() { return MISSING; }
 118
 119         public double temperature() { return MISSING; }
 120
 121         public AltosIMU imu() { return null; }
 122
 123         public AltosMag mag() { return null; }
 124
 125         public String state() {
 126                 return AltosLib.state_name(state);
 127         }
 128
 129         public int compareTo(AltosRecord o) {
 130                 return tick - o.tick;
 131         }
 132
 133         public AltosRecord clone() {
 134                 AltosRecord n = new AltosRecord();
 135                 n.copy(this);
 136                 return n;
 137         }
 138
 139         public void copy(AltosRecord old) {
 140                 seen = old.seen;
 141                 version = old.version;
 142                 callsign = old.callsign;
 143                 serial = old.serial;
 144                 flight = old.flight;
 145                 rssi = old.rssi;
 146                 status = old.status;
 147                 state = old.state;
 148                 tick = old.tick;
 149                 gps = new AltosGPS(old.gps);
 150                 gps_sequence = old.gps_sequence;
 151                 companion = old.companion;
 152                 kalman_acceleration = old.kalman_acceleration;
 153                 kalman_speed = old.kalman_speed;
 154                 kalman_height = old.kalman_height;
 155         }
 156
 157         public AltosRecord() {
 158                 seen = 0;
 159                 version = 0;
 160                 callsign = "N0CALL";
 161                 serial = MISSING;
 162                 flight = MISSING;
 163                 rssi = 0;
 164                 status = 0;
 165                 state = AltosLib.ao_flight_startup;
 166                 tick = 0;
 167                 gps = null;
 168                 gps_sequence = 0;
 169                 companion = null;
 170
 171                 kalman_acceleration = MISSING;
 172                 kalman_speed = MISSING;
 173                 kalman_height = MISSING;
 174
 175                 accel_plus_g = MISSING;
 176                 accel_minus_g = MISSING;
 177
 178         }
 179 }