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         public AltosState       state = null;
  32         public AltosCalData     cal_data = null;
  33
  34         LinkedBlockingQueue<AltosLine> telem;
  35
  36         public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  37                 AltosLine l;
  38                 do {
  39                         l = telem.take();
  40                         if (l.line == null)
  41                                 throw new IOException("IO error");
  42                 } while (!link.get_monitor());
  43                 AltosTelemetry  telem = AltosTelemetry.parse(l.line);
  44                 if (cal_data == null)
  45                         cal_data = new AltosCalData();
  46                 if (state == null)
  47                         state = new AltosState(cal_data);
  48                 telem.provide_data(state, cal_data);
  49                 return state;
  50         }
  51
  52         public void flush() {
  53                 telem.clear();
  54         }
  55
  56         public void reset() {
  57                 flush();
  58                 state = null;
  59                 cal_data = null;
  60         }
  61
  62         public void close(boolean interrupted) {
  63
  64                 link.remove_monitor(telem);
  65                 log.close();
  66                 try {
  67                         link.close();
  68                 } catch (InterruptedException ie) {
  69                 }
  70         }
  71
  72         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  73                 frequency = in_frequency;
  74                 link.set_radio_frequency(frequency);
  75         }
  76
  77         public boolean supports_telemetry(int telemetry) {
  78
  79                 try {
  80                         /* Version 1.0 or later firmware supports all telemetry formats */
  81                         if (link.config_data().compare_version("1.0") >= 0)
  82                                 return true;
  83
  84                         /* Version 0.9 firmware only supports 0.9 telemetry */
  85                         if (link.config_data().compare_version("0.9") >= 0) {
  86                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  87                                         return true;
  88                                 else
  89                                         return false;
  90                         }
  91
  92                         /* Version 0.8 firmware only supports 0.8 telemetry */
  93                         if (telemetry == AltosLib.ao_telemetry_0_8)
  94                                 return true;
  95                         else
  96                                 return false;
  97                 } catch (InterruptedException ie) {
  98                         return false;
  99                 } catch (TimeoutException te) {
 100                         return true;
 101                 }
 102         }
 103
 104         public boolean supports_telemetry_rate(int telemetry_rate) {
 105                 try {
 106                         /* Version 1.4.1.1 supports all rates, older versions don't */
 107                         if (link.config_data().compare_version("1.4.1.1") >= 0)
 108                                 return true;
 109
 110                         if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
 111                                 return true;
 112                         else
 113                                 return false;
 114                 } catch (InterruptedException ie) {
 115                         return false;
 116                 } catch (TimeoutException te) {
 117                         return true;
 118                 }
 119         }
 120
 121         public void save_frequency() {
 122                 AltosPreferences.set_frequency(link.serial, frequency);
 123         }
 124
 125         public void set_telemetry(int in_telemetry) {
 126                 telemetry = in_telemetry;
 127                 link.set_telemetry(telemetry);
 128         }
 129
 130         public void save_telemetry() {
 131                 AltosPreferences.set_telemetry(link.serial, telemetry);
 132         }
 133
 134         public void set_telemetry_rate(int in_telemetry_rate) {
 135                 telemetry_rate = in_telemetry_rate;
 136                 link.set_telemetry_rate(telemetry_rate);
 137         }
 138
 139         public void save_telemetry_rate() {
 140                 AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
 141         }
 142
 143         public void set_monitor(boolean monitor) {
 144                 link.set_monitor(monitor);
 145         }
 146
 147         public File backing_file() {
 148                 return log.file();
 149         }
 150
 151         public boolean has_monitor_battery() {
 152                 return link.has_monitor_battery();
 153         }
 154
 155         public double monitor_battery() throws InterruptedException {
 156                 return link.monitor_battery();
 157         }
 158
 159         public AltosTelemetryReader (AltosLink in_link)
 160                 throws IOException, InterruptedException, TimeoutException {
 161                 link = in_link;
 162                 boolean success = false;
 163                 try {
 164                         log = new AltosLog(link);
 165                         name = link.name;
 166                         telem = new LinkedBlockingQueue<AltosLine>();
 167                         frequency = AltosPreferences.frequency(link.serial);
 168                         set_frequency(frequency);
 169                         telemetry = AltosPreferences.telemetry(link.serial);
 170                         set_telemetry(telemetry);
 171                         telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
 172                         set_telemetry_rate(telemetry_rate);
 173                         link.add_monitor(telem);
 174                         success = true;
 175                 } finally {
 176                         if (!success)
 177                                 close(true);
 178                 }
 179         }
 180 }