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_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         int             telemetry_rate;
  30         AltosState      state = null;
  31
  32         LinkedBlockingQueue<AltosLine> telem;
  33
  34         public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  35                 AltosLine l;
  36                 do {
  37                         l = telem.take();
  38                         if (l.line == null)
  39                                 throw new IOException("IO error");
  40                 } while (!link.get_monitor());
  41                 AltosTelemetry  telem = AltosTelemetry.parse(l.line);
  42                 if (state == null)
  43                         state = new AltosState();
  44                 else
  45                         state = state.clone();
  46                 telem.update_state(state);
  47                 return state;
  48         }
  49
  50         public void flush() {
  51                 telem.clear();
  52         }
  53
  54         public void reset() {
  55                 flush();
  56         }
  57
  58         public void close(boolean interrupted) {
  59
  60                 link.remove_monitor(telem);
  61                 log.close();
  62                 try {
  63                         link.close();
  64                 } catch (InterruptedException ie) {
  65                 }
  66         }
  67
  68         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  69                 frequency = in_frequency;
  70                 link.set_radio_frequency(frequency);
  71         }
  72
  73         public boolean supports_telemetry(int telemetry) {
  74
  75                 try {
  76                         /* Version 1.0 or later firmware supports all telemetry formats */
  77                         if (link.config_data().compare_version("1.0") >= 0)
  78                                 return true;
  79
  80                         /* Version 0.9 firmware only supports 0.9 telemetry */
  81                         if (link.config_data().compare_version("0.9") >= 0) {
  82                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  83                                         return true;
  84                                 else
  85                                         return false;
  86                         }
  87
  88                         /* Version 0.8 firmware only supports 0.8 telemetry */
  89                         if (telemetry == AltosLib.ao_telemetry_0_8)
  90                                 return true;
  91                         else
  92                                 return false;
  93                 } catch (InterruptedException ie) {
  94                         return false;
  95                 } catch (TimeoutException te) {
  96                         return true;
  97                 }
  98         }
  99
 100         public boolean supports_telemetry_rate(int telemetry_rate) {
 101                 try {
 102                         /* Version 1.4.1.1 supports all rates, older versions don't */
 103                         if (link.config_data().compare_version("1.4.1.1") >= 0)
 104                                 return true;
 105
 106                         if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
 107                                 return true;
 108                         else
 109                                 return false;
 110                 } catch (InterruptedException ie) {
 111                         return false;
 112                 } catch (TimeoutException te) {
 113                         return true;
 114                 }
 115         }
 116
 117         public void save_frequency() {
 118                 AltosPreferences.set_frequency(link.serial, frequency);
 119         }
 120
 121         public void set_telemetry(int in_telemetry) {
 122                 telemetry = in_telemetry;
 123                 link.set_telemetry(telemetry);
 124         }
 125
 126         public void save_telemetry() {
 127                 AltosPreferences.set_telemetry(link.serial, telemetry);
 128         }
 129
 130         public void set_telemetry_rate(int in_telemetry_rate) {
 131                 telemetry_rate = in_telemetry_rate;
 132                 link.set_telemetry_rate(telemetry_rate);
 133         }
 134
 135         public void save_telemetry_rate() {
 136                 AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
 137         }
 138
 139         public void set_monitor(boolean monitor) {
 140                 link.set_monitor(monitor);
 141         }
 142
 143         public File backing_file() {
 144                 return log.file();
 145         }
 146
 147         public boolean has_monitor_battery() {
 148                 return link.has_monitor_battery();
 149         }
 150
 151         public double monitor_battery() throws InterruptedException {
 152                 return link.monitor_battery();
 153         }
 154
 155         public AltosTelemetryReader (AltosLink in_link)
 156                 throws IOException, InterruptedException, TimeoutException {
 157                 link = in_link;
 158                 boolean success = false;
 159                 try {
 160                         log = new AltosLog(link);
 161                         name = link.name;
 162                         telem = new LinkedBlockingQueue<AltosLine>();
 163                         frequency = AltosPreferences.frequency(link.serial);
 164                         set_frequency(frequency);
 165                         telemetry = AltosPreferences.telemetry(link.serial);
 166                         set_telemetry(telemetry);
 167                         telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
 168                         set_telemetry_rate(telemetry_rate);
 169                         link.add_monitor(telem);
 170                         success = true;
 171                 } finally {
 172                         if (!success)
 173                                 close(true);
 174                 }
 175         }
 176 }