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_1;
  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         AltosRecord     previous;
  28         double          frequency;
  29         int             telemetry;
  30         AltosState      state = null;
  31
  32         LinkedBlockingQueue<AltosLine> telem;
  33
  34         public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  35                 AltosLine l = telem.take();
  36                 if (l.line == null)
  37                         throw new IOException("IO error");
  38                 AltosRecord     next = AltosTelemetry.parse(l.line, previous);
  39                 previous = next;
  40                 state = new AltosState (next, state);
  41                 return state;
  42         }
  43
  44         public void flush() {
  45                 telem.clear();
  46         }
  47
  48         public void reset() {
  49                 previous = null;
  50                 flush();
  51         }
  52
  53         public void close(boolean interrupted) {
  54                 link.remove_monitor(telem);
  55                 log.close();
  56                 link.close();
  57         }
  58
  59         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  60                 frequency = in_frequency;
  61                 link.set_radio_frequency(frequency);
  62         }
  63
  64         public boolean supports_telemetry(int telemetry) {
  65
  66                 try {
  67                         /* Version 1.0 or later firmware supports all telemetry formats */
  68                         if (link.config_data().compare_version("1.0") >= 0)
  69                                 return true;
  70
  71                         /* Version 0.9 firmware only supports 0.9 telemetry */
  72                         if (link.config_data().compare_version("0.9") >= 0) {
  73                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  74                                         return true;
  75                                 else
  76                                         return false;
  77                         }
  78
  79                         /* Version 0.8 firmware only supports 0.8 telemetry */
  80                         if (telemetry == AltosLib.ao_telemetry_0_8)
  81                                 return true;
  82                         else
  83                                 return false;
  84                 } catch (InterruptedException ie) {
  85                         return true;
  86                 } catch (TimeoutException te) {
  87                         return true;
  88                 }
  89         }
  90
  91         public void save_frequency() {
  92                 AltosPreferences.set_frequency(link.serial, frequency);
  93         }
  94
  95         public void set_telemetry(int in_telemetry) {
  96                 telemetry = in_telemetry;
  97                 link.set_telemetry(telemetry);
  98         }
  99
 100         public void save_telemetry() {
 101                 AltosPreferences.set_telemetry(link.serial, telemetry);
 102         }
 103
 104         public void set_monitor(boolean monitor) {
 105                 link.set_monitor(monitor);
 106         }
 107
 108         public File backing_file() {
 109                 return log.file();
 110         }
 111
 112         public boolean has_monitor_battery() {
 113                 return link.has_monitor_battery();
 114         }
 115
 116         public double monitor_battery() {
 117                 return link.monitor_battery();
 118         }
 119
 120         public AltosTelemetryReader (AltosLink in_link)
 121                 throws IOException, InterruptedException, TimeoutException {
 122                 link = in_link;
 123                 try {
 124                         log = new AltosLog(link);
 125                         name = link.name;
 126                         previous = null;
 127                         telem = new LinkedBlockingQueue<AltosLine>();
 128                         frequency = AltosPreferences.frequency(link.serial);
 129                         set_frequency(frequency);
 130                         telemetry = AltosPreferences.telemetry(link.serial);
 131                         set_telemetry(telemetry);
 132                         link.add_monitor(telem);
 133                 } catch (TimeoutException e) {
 134                         close(true);
 135                         throw(e);
 136                 } catch (InterruptedException e) {
 137                         close(true);
 138                         throw(e);
 139                 }
 140         }
 141 }