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   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; 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_13;
  20
  21 import java.text.*;
  22
  23 /*
  24  * Telemetry data contents
  25  */
  26
  27 public abstract class AltosTelemetry implements AltosDataProvider {
  28         int[]   bytes;
  29
  30         /* All telemetry packets have these fields */
  31         static public int rssi(int[] bytes) { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
  32         static public int status(int[] bytes) { return AltosLib.uint8(bytes, bytes.length - 2); }
  33
  34         public int rssi() { return rssi(bytes); }
  35         public int status() { return status(bytes); }
  36
  37         /* All telemetry packets report these fields in some form */
  38         public abstract int serial();
  39         public abstract int tick();
  40
  41         /* Mark when we received the packet */
  42         long            received_time;
  43
  44         /* Mark frequency packet was received on */
  45         public double           frequency = AltosLib.MISSING;
  46
  47         static boolean cksum(int[] bytes) {
  48                 int     sum = 0x5a;
  49                 for (int i = 1; i < bytes.length - 1; i++)
  50                         sum += bytes[i];
  51                 sum &= 0xff;
  52                 return sum == bytes[bytes.length - 1];
  53         }
  54
  55         public void provide_data(AltosDataListener listener) {
  56                 listener.set_serial(serial());
  57                 if (listener.state() == AltosLib.ao_flight_invalid)
  58                         listener.set_state(AltosLib.ao_flight_startup);
  59                 if (frequency != AltosLib.MISSING)
  60                         listener.set_frequency(frequency);
  61                 listener.set_tick(tick());
  62                 listener.set_rssi(rssi(), status());
  63                 listener.set_received_time(received_time);
  64         }
  65
  66         final static int PKT_APPEND_STATUS_1_CRC_OK             = (1 << 7);
  67         final static int PKT_APPEND_STATUS_1_LQI_MASK           = (0x7f);
  68         final static int PKT_APPEND_STATUS_1_LQI_SHIFT          = 0;
  69
  70         final static int packet_type_TM_sensor = 0x01;
  71         final static int packet_type_Tm_sensor = 0x02;
  72         final static int packet_type_Tn_sensor = 0x03;
  73         final static int packet_type_configuration = 0x04;
  74         final static int packet_type_location = 0x05;
  75         final static int packet_type_satellite = 0x06;
  76         final static int packet_type_companion = 0x07;
  77         final static int packet_type_mega_sensor_mpu = 0x08;
  78         final static int packet_type_mega_data = 0x09;
  79         final static int packet_type_metrum_sensor = 0x0a;
  80         final static int packet_type_metrum_data = 0x0b;
  81         final static int packet_type_mini2 = 0x10;
  82         final static int packet_type_mini3 = 0x11;
  83         final static int packet_type_mega_sensor_bmx160 = 0x12;
  84
  85         static AltosTelemetry parse_hex(String hex)  throws ParseException, AltosCRCException {
  86                 AltosTelemetry  telem = null;
  87
  88                 int[] bytes;
  89                 try {
  90                         bytes = AltosLib.hexbytes(hex);
  91                 } catch (NumberFormatException ne) {
  92                         throw new ParseException(ne.getMessage(), 0);
  93                 }
  94
  95                 /* one for length, one for checksum */
  96                 if (bytes[0] != bytes.length - 2)
  97                         throw new ParseException(String.format("invalid length %d != %d\n",
  98                                                                bytes[0],
  99                                                                bytes.length - 2), 0);
 100                 if (!cksum(bytes))
 101                         throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
 102
 103                 if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
 104                         throw new AltosCRCException(rssi(bytes));
 105
 106                 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
 107                 switch (bytes.length) {
 108                 case AltosLib.ao_telemetry_standard_len + 4:
 109                         telem = AltosTelemetryStandard.parse_hex(bytes);
 110                         break;
 111                 case AltosLib.ao_telemetry_0_9_len + 4:
 112                         telem = new AltosTelemetryLegacy(bytes);
 113                         break;
 114                 case AltosLib.ao_telemetry_0_8_len + 4:
 115                         telem = new AltosTelemetryLegacy(bytes);
 116                         break;
 117                 default:
 118                         throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
 119                 }
 120                 return telem;
 121         }
 122
 123         public void set_frequency(double frequency) {
 124                 this.frequency = frequency;
 125         }
 126
 127         public AltosTelemetry() {
 128                 this.received_time = System.currentTimeMillis();
 129         }
 130
 131         public AltosTelemetry(int[] bytes) throws AltosCRCException {
 132                 this();
 133                 this.bytes = bytes;
 134                 if ((status() & PKT_APPEND_STATUS_1_CRC_OK) == 0)
 135                         throw new AltosCRCException(rssi());
 136         }
 137
 138         public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
 139                 String[] word = line.split("\\s+");
 140                 int i =0;
 141
 142                 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
 143                         i += 2;
 144                         AltosParse.word(word[i++], "RSSI");
 145                         throw new AltosCRCException(AltosParse.parse_int(word[i++]));
 146                 }
 147
 148                 AltosTelemetry telem = null;
 149
 150                 if (word[i].equals("TELEM")) {
 151                         telem = parse_hex(word[i+1]);
 152                 } else {
 153                         telem = new AltosTelemetryLegacy(line);
 154                 }
 155                 return telem;
 156         }
 157 }