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_2;
  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         AltosState      state = null;
  30
  31         LinkedBlockingQueue<AltosLine> telem;
  32
  33         public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  34                 AltosLine l = telem.take();
  35                 if (l.line == null)
  36                         throw new IOException("IO error");
  37                 AltosTelemetry  telem = AltosTelemetry.parse(l.line);
  38                 if (state == null)
  39                         state = new AltosState();
  40                 else
  41                         state = state.clone();
  42                 telem.update_state(state);
  43                 return state;
  44         }
  45
  46         public void flush() {
  47                 telem.clear();
  48         }
  49
  50         public void reset() {
  51                 flush();
  52         }
  53
  54         public void close(boolean interrupted) {
  55                 link.remove_monitor(telem);
  56                 log.close();
  57                 try {
  58                         link.close();
  59                 } catch (InterruptedException ie) {
  60                 }
  61         }
  62
  63         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  64                 frequency = in_frequency;
  65                 link.set_radio_frequency(frequency);
  66         }
  67
  68         public boolean supports_telemetry(int telemetry) {
  69
  70                 try {
  71                         /* Version 1.0 or later firmware supports all telemetry formats */
  72                         if (link.config_data().compare_version("1.0") >= 0)
  73                                 return true;
  74
  75                         /* Version 0.9 firmware only supports 0.9 telemetry */
  76                         if (link.config_data().compare_version("0.9") >= 0) {
  77                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  78                                         return true;
  79                                 else
  80                                         return false;
  81                         }
  82
  83                         /* Version 0.8 firmware only supports 0.8 telemetry */
  84                         if (telemetry == AltosLib.ao_telemetry_0_8)
  85                                 return true;
  86                         else
  87                                 return false;
  88                 } catch (InterruptedException ie) {
  89                         return false;
  90                 } catch (TimeoutException te) {
  91                         return true;
  92                 }
  93         }
  94
  95         public void save_frequency() {
  96                 AltosPreferences.set_frequency(link.serial, frequency);
  97         }
  98
  99         public void set_telemetry(int in_telemetry) {
 100                 telemetry = in_telemetry;
 101                 link.set_telemetry(telemetry);
 102         }
 103
 104         public void save_telemetry() {
 105                 AltosPreferences.set_telemetry(link.serial, telemetry);
 106         }
 107
 108         public void set_monitor(boolean monitor) {
 109                 link.set_monitor(monitor);
 110         }
 111
 112         public File backing_file() {
 113                 return log.file();
 114         }
 115
 116         public boolean has_monitor_battery() {
 117                 return link.has_monitor_battery();
 118         }
 119
 120         public double monitor_battery() throws InterruptedException {
 121                 return link.monitor_battery();
 122         }
 123
 124         public AltosTelemetryReader (AltosLink in_link)
 125                 throws IOException, InterruptedException, TimeoutException {
 126                 link = in_link;
 127                 try {
 128                         log = new AltosLog(link);
 129                         name = link.name;
 130                         telem = new LinkedBlockingQueue<AltosLine>();
 131                         frequency = AltosPreferences.frequency(link.serial);
 132                         set_frequency(frequency);
 133                         telemetry = AltosPreferences.telemetry(link.serial);
 134                         set_telemetry(telemetry);
 135                         link.add_monitor(telem);
 136                 } finally {
 137                         close(true);
 138                 }
 139         }
 140 }