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                 AltosTelemetry  telem = AltosTelemetryLegacy.parse(l.line);
  39                 if (state == null)
  40                         state = new AltosState();
  41                 else
  42                         state = state.clone();
  43                 telem.update_state(state);
  44                 return state;
  45         }
  46
  47         public void flush() {
  48                 telem.clear();
  49         }
  50
  51         public void reset() {
  52                 previous = null;
  53                 flush();
  54         }
  55
  56         public void close(boolean interrupted) {
  57                 link.remove_monitor(telem);
  58                 log.close();
  59                 link.close();
  60         }
  61
  62         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  63                 frequency = in_frequency;
  64                 link.set_radio_frequency(frequency);
  65         }
  66
  67         public boolean supports_telemetry(int telemetry) {
  68
  69                 try {
  70                         /* Version 1.0 or later firmware supports all telemetry formats */
  71                         if (link.config_data().compare_version("1.0") >= 0)
  72                                 return true;
  73
  74                         /* Version 0.9 firmware only supports 0.9 telemetry */
  75                         if (link.config_data().compare_version("0.9") >= 0) {
  76                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  77                                         return true;
  78                                 else
  79                                         return false;
  80                         }
  81
  82                         /* Version 0.8 firmware only supports 0.8 telemetry */
  83                         if (telemetry == AltosLib.ao_telemetry_0_8)
  84                                 return true;
  85                         else
  86                                 return false;
  87                 } catch (InterruptedException ie) {
  88                         return true;
  89                 } catch (TimeoutException te) {
  90                         return true;
  91                 }
  92         }
  93
  94         public void save_frequency() {
  95                 AltosPreferences.set_frequency(link.serial, frequency);
  96         }
  97
  98         public void set_telemetry(int in_telemetry) {
  99                 telemetry = in_telemetry;
 100                 link.set_telemetry(telemetry);
 101         }
 102
 103         public void save_telemetry() {
 104                 AltosPreferences.set_telemetry(link.serial, telemetry);
 105         }
 106
 107         public void set_monitor(boolean monitor) {
 108                 link.set_monitor(monitor);
 109         }
 110
 111         public File backing_file() {
 112                 return log.file();
 113         }
 114
 115         public boolean has_monitor_battery() {
 116                 return link.has_monitor_battery();
 117         }
 118
 119         public double monitor_battery() {
 120                 return link.monitor_battery();
 121         }
 122
 123         public AltosTelemetryReader (AltosLink in_link)
 124                 throws IOException, InterruptedException, TimeoutException {
 125                 link = in_link;
 126                 try {
 127                         log = new AltosLog(link);
 128                         name = link.name;
 129                         previous = null;
 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                 } catch (TimeoutException e) {
 137                         close(true);
 138                         throw(e);
 139                 } catch (InterruptedException e) {
 140                         close(true);
 141                         throw(e);
 142                 }
 143         }
 144 }