git.gag.com Git - fw/altos/blob - altoslib/AltosTelemetryReader.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_5;
  19
  20 import java.text.*;
  21 import java.io.*;
  22 import java.util.concurrent.*;
  23
  24 public class AltosTelemetryReader extends AltosFlightReader {
  25         AltosLink       link;
  26         AltosLog        log;
  27         double          frequency;
  28         int             telemetry;
  29         int             telemetry_rate;
  30         AltosState      state = null;
  31         AltosFlightReader       stacked;
  32
  33         LinkedBlockingQueue<AltosLine> telem;
  34
  35         public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  36                 if (stacked != null) {
  37                         state = stacked.read();
  38                         if (state != null)
  39                                 return state;
  40                         stacked = null;
  41                 }
  42                 AltosLine l = telem.take();
  43                 if (l.line == null)
  44                         throw new IOException("IO error");
  45                 AltosTelemetry  telem = AltosTelemetry.parse(l.line);
  46                 if (state == null)
  47                         state = new AltosState();
  48                 else
  49                         state = state.clone();
  50                 telem.update_state(state);
  51                 return state;
  52         }
  53
  54         public void flush() {
  55                 telem.clear();
  56         }
  57
  58         public void reset() {
  59                 flush();
  60         }
  61
  62         public void close(boolean interrupted) {
  63
  64                 if (stacked != null) {
  65                         stacked.close(interrupted);
  66                         stacked = null;
  67                 }
  68
  69                 link.remove_monitor(telem);
  70                 log.close();
  71                 try {
  72                         link.close();
  73                 } catch (InterruptedException ie) {
  74                 }
  75         }
  76
  77         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  78                 frequency = in_frequency;
  79                 link.set_radio_frequency(frequency);
  80         }
  81
  82         public boolean supports_telemetry(int telemetry) {
  83
  84                 try {
  85                         /* Version 1.0 or later firmware supports all telemetry formats */
  86                         if (link.config_data().compare_version("1.0") >= 0)
  87                                 return true;
  88
  89                         /* Version 0.9 firmware only supports 0.9 telemetry */
  90                         if (link.config_data().compare_version("0.9") >= 0) {
  91                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  92                                         return true;
  93                                 else
  94                                         return false;
  95                         }
  96
  97                         /* Version 0.8 firmware only supports 0.8 telemetry */
  98                         if (telemetry == AltosLib.ao_telemetry_0_8)
  99                                 return true;
 100                         else
 101                                 return false;
 102                 } catch (InterruptedException ie) {
 103                         return false;
 104                 } catch (TimeoutException te) {
 105                         return true;
 106                 }
 107         }
 108
 109         public boolean supports_telemetry_rate(int telemetry_rate) {
 110                 try {
 111                         /* Version 1.4.1.1 supports all rates, older versions don't */
 112                         if (link.config_data().compare_version("1.4.1.1") >= 0)
 113                                 return true;
 114
 115                         if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
 116                                 return true;
 117                         else
 118                                 return false;
 119                 } catch (InterruptedException ie) {
 120                         return false;
 121                 } catch (TimeoutException te) {
 122                         return true;
 123                 }
 124         }
 125
 126         public void save_frequency() {
 127                 AltosPreferences.set_frequency(link.serial, frequency);
 128         }
 129
 130         public void set_telemetry(int in_telemetry) {
 131                 telemetry = in_telemetry;
 132                 link.set_telemetry(telemetry);
 133         }
 134
 135         public void save_telemetry() {
 136                 AltosPreferences.set_telemetry(link.serial, telemetry);
 137         }
 138
 139         public void set_telemetry_rate(int in_telemetry_rate) {
 140                 telemetry_rate = in_telemetry_rate;
 141                 link.set_telemetry_rate(telemetry_rate);
 142         }
 143
 144         public void save_telemetry_rate() {
 145                 AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
 146         }
 147
 148         public void set_monitor(boolean monitor) {
 149                 link.set_monitor(monitor);
 150         }
 151
 152         public File backing_file() {
 153                 return log.file();
 154         }
 155
 156         public boolean has_monitor_battery() {
 157                 return link.has_monitor_battery();
 158         }
 159
 160         public double monitor_battery() throws InterruptedException {
 161                 return link.monitor_battery();
 162         }
 163
 164         public AltosTelemetryReader (AltosLink in_link, AltosFlightReader in_stacked)
 165                 throws IOException, InterruptedException, TimeoutException {
 166                 link = in_link;
 167                 stacked = in_stacked;
 168                 boolean success = false;
 169                 try {
 170                         log = new AltosLog(link);
 171                         name = link.name;
 172                         telem = new LinkedBlockingQueue<AltosLine>();
 173                         frequency = AltosPreferences.frequency(link.serial);
 174                         set_frequency(frequency);
 175                         telemetry = AltosPreferences.telemetry(link.serial);
 176                         set_telemetry(telemetry);
 177                         telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
 178                         set_telemetry_rate(telemetry_rate);
 179                         link.add_monitor(telem);
 180                         success = true;
 181                 } finally {
 182                         if (!success)
 183                                 close(true);
 184                 }
 185         }
 186
 187         private static AltosFlightReader existing_data(AltosLink link) {
 188                 if (link == null)
 189                         return null;
 190
 191                 File    file = AltosPreferences.logfile(link.serial);
 192                 if (file != null) {
 193                         AltosStateIterable      iterable = AltosStateIterable.iterable(file);
 194                         if (iterable != null)
 195                                 return new AltosReplayReader(iterable.iterator(), file, false);
 196                 }
 197                 return null;
 198         }
 199
 200         public AltosTelemetryReader(AltosLink link)
 201                 throws IOException, InterruptedException, TimeoutException {
 202                 this(link, null);
 203         }
 204 }