git.gag.com Git - fw/altos/blob - altoslib/AltosTelemetryIterable.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 import java.io.*;
  21 import java.util.*;
  22 import java.text.*;
  23
  24 public class AltosTelemetryIterable extends AltosRecordIterable {
  25         TreeSet<AltosRecord>    records;
  26
  27         public Iterator<AltosRecord> iterator () {
  28                 return records.iterator();
  29         }
  30
  31         boolean has_gps = false;
  32         boolean has_accel = false;
  33         boolean has_ignite = false;
  34         public boolean has_gps() { return has_gps; }
  35         public boolean has_accel() { return has_accel; }
  36         public boolean has_ignite() { return has_ignite; };
  37
  38         public AltosTelemetryIterable (FileInputStream input) {
  39                 boolean saw_boost = false;
  40                 int     current_tick = 0;
  41                 int     boost_tick = 0;
  42
  43                 AltosRecord     previous = null;
  44                 records = new TreeSet<AltosRecord> ();
  45
  46                 try {
  47                         for (;;) {
  48                                 String line = AltosRecord.gets(input);
  49                                 if (line == null) {
  50                                         break;
  51                                 }
  52                                 try {
  53                                         AltosRecord record = AltosTelemetry.parse(line, previous);
  54                                         if (record == null)
  55                                                 break;
  56                                         if (records.isEmpty()) {
  57                                                 current_tick = record.tick;
  58                                         } else {
  59                                                 int tick = record.tick;
  60                                                 while (tick < current_tick - 0x1000)
  61                                                         tick += 0x10000;
  62                                                 current_tick = tick;
  63                                                 record.tick = current_tick;
  64                                         }
  65                                         if (!saw_boost && record.state >= AltosLib.ao_flight_boost)
  66                                         {
  67                                                 saw_boost = true;
  68                                                 boost_tick = record.tick;
  69                                         }
  70                                         if (record.accel != AltosRecord.MISSING)
  71                                                 has_accel = true;
  72                                         if (record.gps != null)
  73                                                 has_gps = true;
  74                                         if (record.main != AltosRecord.MISSING)
  75                                                 has_ignite = true;
  76                                         if (previous != null && previous.tick != record.tick)
  77                                                 records.add(previous);
  78                                         previous = record;
  79                                 } catch (ParseException pe) {
  80                                         System.out.printf("parse exception %s\n", pe.getMessage());
  81                                 } catch (AltosCRCException ce) {
  82                                 }
  83                         }
  84                 } catch (IOException io) {
  85                         System.out.printf("io exception\n");
  86                 }
  87
  88                 if (previous != null)
  89                         records.add(previous);
  90
  91                 /* Adjust all tick counts to match expected eeprom values,
  92                  * which starts with a 16-bit tick count 16 samples before boost
  93                  */
  94
  95                 int tick_adjust = (boost_tick - 16) & 0xffff0000;
  96                 for (AltosRecord r : this)
  97                         r.tick -= tick_adjust;
  98                 boost_tick -= tick_adjust;
  99
 100                 /* adjust all tick counts to be relative to boost time */
 101                 for (AltosRecord r : this)
 102                         r.time = (r.tick - boost_tick) / 100.0;
 103
 104                 try {
 105                         input.close();
 106                 } catch (IOException ie) {
 107                 }
 108         }
 109 }