589f57f25f6ac5e200d1f2cc81f892d33c18945e
[fw/altos] / 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         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                 boolean success = false;
128                 try {
129                         log = new AltosLog(link);
130                         name = link.name;
131                         telem = new LinkedBlockingQueue<AltosLine>();
132                         frequency = AltosPreferences.frequency(link.serial);
133                         set_frequency(frequency);
134                         telemetry = AltosPreferences.telemetry(link.serial);
135                         set_telemetry(telemetry);
136                         link.add_monitor(telem);
137                         success = true;
138                 } finally {
139                         if (!success)
140                                 close(true);
141                 }
142         }
143 }