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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_11;
  20
  21 import java.text.*;
  22 import java.io.*;
  23 import java.util.concurrent.*;
  24
  25 public class AltosTelemetryReader extends AltosFlightReader {
  26         AltosLink       link;
  27         AltosLog        log;
  28         double          frequency;
  29         int             telemetry;
  30         int             telemetry_rate;
  31         AltosState      state = null;
  32
  33         LinkedBlockingQueue<AltosLine> telem;
  34
  35         public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  36                 AltosLine l;
  37                 do {
  38                         l = telem.take();
  39                         if (l.line == null)
  40                                 throw new IOException("IO error");
  41                 } while (!link.get_monitor());
  42                 AltosTelemetry  telem = AltosTelemetry.parse(l.line);
  43                 if (state == null)
  44                         state = new AltosState();
  45                 else
  46                         state = state.clone();
  47                 telem.update_state(state);
  48                 return state;
  49         }
  50
  51         public void flush() {
  52                 telem.clear();
  53         }
  54
  55         public void reset() {
  56                 flush();
  57                 state = null;
  58         }
  59
  60         public void close(boolean interrupted) {
  61
  62                 link.remove_monitor(telem);
  63                 log.close();
  64                 try {
  65                         link.close();
  66                 } catch (InterruptedException ie) {
  67                 }
  68         }
  69
  70         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  71                 frequency = in_frequency;
  72                 link.set_radio_frequency(frequency);
  73         }
  74
  75         public boolean supports_telemetry(int telemetry) {
  76
  77                 try {
  78                         /* Version 1.0 or later firmware supports all telemetry formats */
  79                         if (link.config_data().compare_version("1.0") >= 0)
  80                                 return true;
  81
  82                         /* Version 0.9 firmware only supports 0.9 telemetry */
  83                         if (link.config_data().compare_version("0.9") >= 0) {
  84                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  85                                         return true;
  86                                 else
  87                                         return false;
  88                         }
  89
  90                         /* Version 0.8 firmware only supports 0.8 telemetry */
  91                         if (telemetry == AltosLib.ao_telemetry_0_8)
  92                                 return true;
  93                         else
  94                                 return false;
  95                 } catch (InterruptedException ie) {
  96                         return false;
  97                 } catch (TimeoutException te) {
  98                         return true;
  99                 }
 100         }
 101
 102         public boolean supports_telemetry_rate(int telemetry_rate) {
 103                 try {
 104                         /* Version 1.4.1.1 supports all rates, older versions don't */
 105                         if (link.config_data().compare_version("1.4.1.1") >= 0)
 106                                 return true;
 107
 108                         if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
 109                                 return true;
 110                         else
 111                                 return false;
 112                 } catch (InterruptedException ie) {
 113                         return false;
 114                 } catch (TimeoutException te) {
 115                         return true;
 116                 }
 117         }
 118
 119         public void save_frequency() {
 120                 AltosPreferences.set_frequency(link.serial, frequency);
 121         }
 122
 123         public void set_telemetry(int in_telemetry) {
 124                 telemetry = in_telemetry;
 125                 link.set_telemetry(telemetry);
 126         }
 127
 128         public void save_telemetry() {
 129                 AltosPreferences.set_telemetry(link.serial, telemetry);
 130         }
 131
 132         public void set_telemetry_rate(int in_telemetry_rate) {
 133                 telemetry_rate = in_telemetry_rate;
 134                 link.set_telemetry_rate(telemetry_rate);
 135         }
 136
 137         public void save_telemetry_rate() {
 138                 AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
 139         }
 140
 141         public void set_monitor(boolean monitor) {
 142                 link.set_monitor(monitor);
 143         }
 144
 145         public File backing_file() {
 146                 return log.file();
 147         }
 148
 149         public boolean has_monitor_battery() {
 150                 return link.has_monitor_battery();
 151         }
 152
 153         public double monitor_battery() throws InterruptedException {
 154                 return link.monitor_battery();
 155         }
 156
 157         public AltosTelemetryReader (AltosLink in_link)
 158                 throws IOException, InterruptedException, TimeoutException {
 159                 link = in_link;
 160                 boolean success = false;
 161                 try {
 162                         log = new AltosLog(link);
 163                         name = link.name;
 164                         telem = new LinkedBlockingQueue<AltosLine>();
 165                         frequency = AltosPreferences.frequency(link.serial);
 166                         set_frequency(frequency);
 167                         telemetry = AltosPreferences.telemetry(link.serial);
 168                         set_telemetry(telemetry);
 169                         telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
 170                         set_telemetry_rate(telemetry_rate);
 171                         link.add_monitor(telem);
 172                         success = true;
 173                 } finally {
 174                         if (!success)
 175                                 close(true);
 176                 }
 177         }
 178 }