git.gag.com Git - fw/altos/blob - altoslib/AltosTelemetryRecord.java

   1 /*
   2  * Copyright © 2011 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 import java.text.*;
  20
  21 public abstract class AltosTelemetryRecord {
  22
  23         long    received_time;
  24         abstract public AltosRecord update_state(AltosRecord previous);
  25
  26         static boolean cksum(int[] bytes) {
  27                 int     sum = 0x5a;
  28                 for (int i = 1; i < bytes.length - 1; i++)
  29                         sum += bytes[i];
  30                 sum &= 0xff;
  31                 return sum == bytes[bytes.length - 1];
  32         }
  33
  34         final static int PKT_APPEND_STATUS_1_CRC_OK             = (1 << 7);
  35         final static int PKT_APPEND_STATUS_1_LQI_MASK           = (0x7f);
  36         final static int PKT_APPEND_STATUS_1_LQI_SHIFT          = 0;
  37
  38         final static int packet_type_TM_sensor = 0x01;
  39         final static int packet_type_Tm_sensor = 0x02;
  40         final static int packet_type_Tn_sensor = 0x03;
  41         final static int packet_type_configuration = 0x04;
  42         final static int packet_type_location = 0x05;
  43         final static int packet_type_satellite = 0x06;
  44         final static int packet_type_companion = 0x07;
  45         final static int packet_type_MM_sensor = 0x08;
  46         final static int packet_type_MM_data = 0x09;
  47         final static int packet_type_Mini = 0x10;
  48
  49         static AltosTelemetryRecord parse_hex(String hex)  throws ParseException, AltosCRCException {
  50                 AltosTelemetryRecord    r;
  51
  52                 int[] bytes;
  53                 try {
  54                         bytes = AltosLib.hexbytes(hex);
  55                 } catch (NumberFormatException ne) {
  56                         throw new ParseException(ne.getMessage(), 0);
  57                 }
  58
  59                 /* one for length, one for checksum */
  60                 if (bytes[0] != bytes.length - 2)
  61                         throw new ParseException(String.format("invalid length %d != %d\n",
  62                                                                bytes[0],
  63                                                                bytes.length - 2), 0);
  64                 if (!cksum(bytes))
  65                         throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
  66
  67                 int     rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
  68                 int     status = AltosLib.uint8(bytes, bytes.length - 2);
  69
  70                 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
  71                         throw new AltosCRCException(rssi);
  72
  73                 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
  74                 switch (bytes.length) {
  75                 case AltosLib.ao_telemetry_standard_len + 4:
  76                         int     type = AltosLib.uint8(bytes, 4 + 1);
  77                         switch (type) {
  78                         case packet_type_TM_sensor:
  79                         case packet_type_Tm_sensor:
  80                         case packet_type_Tn_sensor:
  81                                 r = new AltosTelemetryRecordSensor(bytes, rssi);
  82                                 break;
  83                         case packet_type_configuration:
  84                                 r = new AltosTelemetryRecordConfiguration(bytes, rssi);
  85                                 break;
  86                         case packet_type_location:
  87                                 r = new AltosTelemetryRecordLocation(bytes, rssi);
  88                                 break;
  89                         case packet_type_satellite:
  90                                 r = new AltosTelemetryRecordSatellite(bytes, rssi);
  91                                 break;
  92                         case packet_type_companion:
  93                                 r = new AltosTelemetryRecordCompanion(bytes, rssi);
  94                                 break;
  95                         case packet_type_MM_sensor:
  96                                 r = new AltosTelemetryRecordMegaSensor(bytes, rssi);
  97                                 break;
  98                         case packet_type_MM_data:
  99                                 r = new AltosTelemetryRecordMegaData(bytes, rssi);
 100                                 break;
 101                         default:
 102                                 r = new AltosTelemetryRecordRaw(bytes, rssi);
 103                                 break;
 104                         }
 105                         break;
 106                 case AltosLib.ao_telemetry_0_9_len + 4:
 107                         r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
 108                         break;
 109                 case AltosLib.ao_telemetry_0_8_len + 4:
 110                         r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
 111                         break;
 112                 default:
 113                         throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
 114                 }
 115                 r.received_time = System.currentTimeMillis();
 116                 return r;
 117         }
 118
 119         public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
 120                 AltosTelemetryRecord    r;
 121
 122                 String[] word = line.split("\\s+");
 123                 int i =0;
 124                 if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
 125                         i += 2;
 126                         AltosParse.word(word[i++], "RSSI");
 127                         throw new AltosCRCException(AltosParse.parse_int(word[i++]));
 128                 }
 129
 130                 if (word[i].equals("TELEM"))
 131                         r = parse_hex(word[i+1]);
 132                 else
 133                         r = new AltosTelemetryRecordLegacy(line);
 134                 return r;
 135         }
 136 }