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;
  19
  20 import java.lang.*;
  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         AltosRecord     previous;
  29         double          frequency;
  30         int             telemetry;
  31
  32         LinkedBlockingQueue<AltosLine> telem;
  33
  34         public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
  35                 AltosLine l = telem.take();
  36                 if (l.line == null)
  37                         throw new IOException("IO error");
  38                 AltosRecord     next = AltosTelemetry.parse(l.line, previous);
  39                 previous = next;
  40                 return next;
  41         }
  42
  43         public void flush() {
  44                 telem.clear();
  45         }
  46
  47         public void close(boolean interrupted) {
  48                 link.remove_monitor(telem);
  49                 log.close();
  50                 link.close();
  51         }
  52
  53         public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
  54                 frequency = in_frequency;
  55                 link.set_radio_frequency(frequency);
  56         }
  57
  58         public boolean supports_telemetry(int telemetry) {
  59
  60                 try {
  61                         /* Version 1.0 or later firmware supports all telemetry formats */
  62                         if (link.config_data().compare_version("1.0") >= 0)
  63                                 return true;
  64
  65                         /* Version 0.9 firmware only supports 0.9 telemetry */
  66                         if (link.config_data().compare_version("0.9") >= 0) {
  67                                 if (telemetry == AltosLib.ao_telemetry_0_9)
  68                                         return true;
  69                                 else
  70                                         return false;
  71                         }
  72
  73                         /* Version 0.8 firmware only supports 0.8 telemetry */
  74                         if (telemetry == AltosLib.ao_telemetry_0_8)
  75                                 return true;
  76                         else
  77                                 return false;
  78                 } catch (InterruptedException ie) {
  79                         return true;
  80                 } catch (TimeoutException te) {
  81                         return true;
  82                 }
  83         }
  84
  85         public void save_frequency() {
  86                 AltosPreferences.set_frequency(link.serial, frequency);
  87         }
  88
  89         public void set_telemetry(int in_telemetry) {
  90                 telemetry = in_telemetry;
  91                 link.set_telemetry(telemetry);
  92         }
  93
  94         public void save_telemetry() {
  95                 AltosPreferences.set_telemetry(link.serial, telemetry);
  96         }
  97
  98         public void set_monitor(boolean monitor) {
  99                 link.set_monitor(monitor);
 100         }
 101
 102         public File backing_file() {
 103                 return log.file();
 104         }
 105
 106         public AltosTelemetryReader (AltosLink in_link)
 107                 throws IOException, InterruptedException, TimeoutException {
 108                 link = in_link;
 109                 try {
 110                         log = new AltosLog(link);
 111                         name = link.name;
 112                         previous = null;
 113                         telem = new LinkedBlockingQueue<AltosLine>();
 114                         frequency = AltosPreferences.frequency(link.serial);
 115                         set_frequency(frequency);
 116                         telemetry = AltosPreferences.telemetry(link.serial);
 117                         set_telemetry(telemetry);
 118                         link.add_monitor(telem);
 119                 } catch (TimeoutException e) {
 120                         close(true);
 121                         throw(e);
 122                 } catch (InterruptedException e) {
 123                         close(true);
 124                         throw(e);
 125                 }
 126         }
 127 }