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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 = 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
  84         static AltosTelemetry parse_hex(String hex)  throws ParseException, AltosCRCException {
  85                 AltosTelemetry  telem = null;
  86
  87                 int[] bytes;
  88                 try {
  89                         bytes = AltosLib.hexbytes(hex);
  90                 } catch (NumberFormatException ne) {
  91                         throw new ParseException(ne.getMessage(), 0);
  92                 }
  93
  94                 /* one for length, one for checksum */
  95                 if (bytes[0] != bytes.length - 2)
  96                         throw new ParseException(String.format("invalid length %d != %d\n",
  97                                                                bytes[0],
  98                                                                bytes.length - 2), 0);
  99                 if (!cksum(bytes))
 100                         throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
 101
 102                 if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
 103                         throw new AltosCRCException(rssi(bytes));
 104
 105                 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
 106                 switch (bytes.length) {
 107                 case AltosLib.ao_telemetry_standard_len + 4:
 108                         telem = AltosTelemetryStandard.parse_hex(bytes);
 109                         break;
 110                 case AltosLib.ao_telemetry_0_9_len + 4:
 111                         telem = new AltosTelemetryLegacy(bytes);
 112                         break;
 113                 case AltosLib.ao_telemetry_0_8_len + 4:
 114                         telem = new AltosTelemetryLegacy(bytes);
 115                         break;
 116                 default:
 117                         throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
 118                 }
 119                 return telem;
 120         }
 121
 122         public void set_frequency(double frequency) {
 123                 this.frequency = frequency;
 124         }
 125
 126         public AltosTelemetry() {
 127                 this.received_time = System.currentTimeMillis();
 128         }
 129
 130         public AltosTelemetry(int[] bytes) throws AltosCRCException {
 131                 this();
 132                 this.bytes = bytes;
 133                 if ((status() & PKT_APPEND_STATUS_1_CRC_OK) == 0)
 134                         throw new AltosCRCException(rssi());
 135         }
 136
 137         public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
 138                 String[] word = line.split("\\s+");
 139                 int i =0;
 140
 141                 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
 142                         i += 2;
 143                         AltosParse.word(word[i++], "RSSI");
 144                         throw new AltosCRCException(AltosParse.parse_int(word[i++]));
 145                 }
 146
 147                 AltosTelemetry telem = null;
 148
 149                 if (word[i].equals("TELEM")) {
 150                         telem = parse_hex(word[i+1]);
 151                 } else {
 152                         telem = new AltosTelemetryLegacy(line);
 153                 }
 154                 return telem;
 155         }
 156 }