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
  31         LinkedBlockingQueue<AltosLine> telem;
  32
  33         public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  34                 AltosLine l = telem.take();
  35                 if (l.line == null)
  36                         throw new IOException("IO error");
  37                 AltosRecord     next = AltosTelemetry.parse(l.line, previous);
  38                 previous = next;
  39                 return next;
  40         }
  41
  42         public void flush() {
  43                 telem.clear();
  44         }
  45
  46         public void reset() {
  47                 previous = null;
  48                 flush();
  49         }
  50
  51         public void close(boolean interrupted) {
  52                 link.remove_monitor(telem);
  53                 log.close();
  54                 link.close();
  55         }
  56
  57         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  58                 frequency = in_frequency;
  59                 link.set_radio_frequency(frequency);
  60         }
  61
  62         public boolean supports_telemetry(int telemetry) {
  63
  64                 try {
  65                         /* Version 1.0 or later firmware supports all telemetry formats */
  66                         if (link.config_data().compare_version("1.0") >= 0)
  67                                 return true;
  68
  69                         /* Version 0.9 firmware only supports 0.9 telemetry */
  70                         if (link.config_data().compare_version("0.9") >= 0) {
  71                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  72                                         return true;
  73                                 else
  74                                         return false;
  75                         }
  76
  77                         /* Version 0.8 firmware only supports 0.8 telemetry */
  78                         if (telemetry == AltosLib.ao_telemetry_0_8)
  79                                 return true;
  80                         else
  81                                 return false;
  82                 } catch (InterruptedException ie) {
  83                         return true;
  84                 } catch (TimeoutException te) {
  85                         return true;
  86                 }
  87         }
  88
  89         public void save_frequency() {
  90                 AltosPreferences.set_frequency(link.serial, frequency);
  91         }
  92
  93         public void set_telemetry(int in_telemetry) {
  94                 telemetry = in_telemetry;
  95                 link.set_telemetry(telemetry);
  96         }
  97
  98         public void save_telemetry() {
  99                 AltosPreferences.set_telemetry(link.serial, telemetry);
 100         }
 101
 102         public void set_monitor(boolean monitor) {
 103                 link.set_monitor(monitor);
 104         }
 105
 106         public File backing_file() {
 107                 return log.file();
 108         }
 109
 110         public AltosTelemetryReader (AltosLink in_link)
 111                 throws IOException, InterruptedException, TimeoutException {
 112                 link = in_link;
 113                 try {
 114                         log = new AltosLog(link);
 115                         name = link.name;
 116                         previous = null;
 117                         telem = new LinkedBlockingQueue<AltosLine>();
 118                         frequency = AltosPreferences.frequency(link.serial);
 119                         set_frequency(frequency);
 120                         telemetry = AltosPreferences.telemetry(link.serial);
 121                         set_telemetry(telemetry);
 122                         link.add_monitor(telem);
 123                 } catch (TimeoutException e) {
 124                         close(true);
 125                         throw(e);
 126                 } catch (InterruptedException e) {
 127                         close(true);
 128                         throw(e);
 129                 }
 130         }
 131 }