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   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
  23 public class AltosGPS {
  24
  25         public final static int MISSING = AltosRecord.MISSING;
  26
  27         public int      nsat;
  28         public boolean  locked;
  29         public boolean  connected;
  30         public double   lat;            /* degrees (+N -S) */
  31         public double   lon;            /* degrees (+E -W) */
  32         public int      alt;            /* m */
  33         public int      year;
  34         public int      month;
  35         public int      day;
  36         public int      hour;
  37         public int      minute;
  38         public int      second;
  39
  40         public double   ground_speed;   /* m/s */
  41         public int      course;         /* degrees */
  42         public double   climb_rate;     /* m/s */
  43         public double   hdop;           /* unitless */
  44         public double   vdop;           /* unitless */
  45         public int      h_error;        /* m */
  46         public int      v_error;        /* m */
  47
  48         public AltosGPSSat[] cc_gps_sat;        /* tracking data */
  49
  50         public void ParseGPSDate(String date) throws ParseException {
  51                 String[] ymd = date.split("-");
  52                 if (ymd.length != 3)
  53                         throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
  54                 year = AltosParse.parse_int(ymd[0]);
  55                 month = AltosParse.parse_int(ymd[1]);
  56                 day = AltosParse.parse_int(ymd[2]);
  57         }
  58
  59         public void ParseGPSTime(String time) throws ParseException {
  60                 String[] hms = time.split(":");
  61                 if (hms.length != 3)
  62                         throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
  63                 hour = AltosParse.parse_int(hms[0]);
  64                 minute = AltosParse.parse_int(hms[1]);
  65                 second = AltosParse.parse_int(hms[2]);
  66         }
  67
  68         public void ClearGPSTime() {
  69                 year = month = day = 0;
  70                 hour = minute = second = 0;
  71         }
  72
  73         public AltosGPS(AltosTelemetryMap map) throws ParseException {
  74                 String  state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
  75                                                AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
  76
  77                 nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
  78                 if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
  79                         connected = true;
  80                         locked = true;
  81                         lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
  82                         lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
  83                         alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
  84                         year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
  85                         if (year != MISSING)
  86                                 year += 2000;
  87                         month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
  88                         day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
  89
  90                         hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
  91                         minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
  92                         second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
  93
  94                         ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
  95                                                       AltosRecord.MISSING, 1/100.0);
  96                         course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
  97                                              AltosRecord.MISSING);
  98                         hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
  99                         vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
 100                         h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
 101                         v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
 102                 } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
 103                         connected = true;
 104                         locked = false;
 105                 } else {
 106                         connected = false;
 107                         locked = false;
 108                 }
 109         }
 110
 111         public AltosGPS(String[] words, int i, int version) throws ParseException {
 112                 AltosParse.word(words[i++], "GPS");
 113                 nsat = AltosParse.parse_int(words[i++]);
 114                 AltosParse.word(words[i++], "sat");
 115
 116                 connected = false;
 117                 locked = false;
 118                 lat = lon = 0;
 119                 alt = 0;
 120                 ClearGPSTime();
 121                 if ((words[i]).equals("unlocked")) {
 122                         connected = true;
 123                         i++;
 124                 } else if ((words[i]).equals("not-connected")) {
 125                         i++;
 126                 } else if (words.length >= 40) {
 127                         locked = true;
 128                         connected = true;
 129
 130                         if (version > 1)
 131                                 ParseGPSDate(words[i++]);
 132                         else
 133                                 year = month = day = 0;
 134                         ParseGPSTime(words[i++]);
 135                         lat = AltosParse.parse_coord(words[i++]);
 136                         lon = AltosParse.parse_coord(words[i++]);
 137                         alt = AltosParse.parse_int(words[i++]);
 138                         if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
 139                                 ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
 140                                 course = AltosParse.parse_int(words[i++]);
 141                                 climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
 142                                 hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
 143                                 h_error = AltosParse.parse_int(words[i++]);
 144                                 v_error = AltosParse.parse_int(words[i++]);
 145                         }
 146                 } else {
 147                         i++;
 148                 }
 149                 if (i < words.length) {
 150                         AltosParse.word(words[i++], "SAT");
 151                         int tracking_channels = 0;
 152                         if (words[i].equals("not-connected"))
 153                                 tracking_channels = 0;
 154                         else
 155                                 tracking_channels = AltosParse.parse_int(words[i]);
 156                         i++;
 157                         cc_gps_sat = new AltosGPSSat[tracking_channels];
 158                         for (int chan = 0; chan < tracking_channels; chan++) {
 159                                 cc_gps_sat[chan] = new AltosGPSSat();
 160                                 cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
 161                                 /* Older versions included SiRF status bits */
 162                                 if (version < 2)
 163                                         i++;
 164                                 cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
 165                         }
 166                 } else
 167                         cc_gps_sat = new AltosGPSSat[0];
 168         }
 169
 170         public void set_latitude(int in_lat) {
 171                 lat = in_lat / 10.0e7;
 172         }
 173
 174         public void set_longitude(int in_lon) {
 175                 lon = in_lon / 10.0e7;
 176         }
 177
 178         public void set_time(int hour, int minute, int second) {
 179                 hour = hour;
 180                 minute = minute;
 181                 second = second;
 182         }
 183
 184         public void set_date(int year, int month, int day) {
 185                 year = year;
 186                 month = month;
 187                 day = day;
 188         }
 189
 190         public void set_flags(int flags) {
 191                 flags = flags;
 192         }
 193
 194         public void set_altitude(int altitude) {
 195                 altitude = altitude;
 196         }
 197
 198         public void add_sat(int svid, int c_n0) {
 199                 if (cc_gps_sat == null) {
 200                         cc_gps_sat = new AltosGPSSat[1];
 201                 } else {
 202                         AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
 203                         for (int i = 0; i < cc_gps_sat.length; i++)
 204                                 new_gps_sat[i] = cc_gps_sat[i];
 205                         cc_gps_sat = new_gps_sat;
 206                 }
 207                 AltosGPSSat     sat = new AltosGPSSat();
 208                 sat.svid = svid;
 209                 sat.c_n0 = c_n0;
 210                 cc_gps_sat[cc_gps_sat.length - 1] = sat;
 211         }
 212
 213         public AltosGPS() {
 214                 ClearGPSTime();
 215                 cc_gps_sat = null;
 216         }
 217
 218         public AltosGPS(AltosGPS old) {
 219                 nsat = old.nsat;
 220                 locked = old.locked;
 221                 connected = old.connected;
 222                 lat = old.lat;          /* degrees (+N -S) */
 223                 lon = old.lon;          /* degrees (+E -W) */
 224                 alt = old.alt;          /* m */
 225                 year = old.year;
 226                 month = old.month;
 227                 day = old.day;
 228                 hour = old.hour;
 229                 minute = old.minute;
 230                 second = old.second;
 231
 232                 ground_speed = old.ground_speed;        /* m/s */
 233                 course = old.course;            /* degrees */
 234                 climb_rate = old.climb_rate;    /* m/s */
 235                 hdop = old.hdop;                /* unitless? */
 236                 h_error = old.h_error;  /* m */
 237                 v_error = old.v_error;  /* m */
 238
 239                 if (old.cc_gps_sat != null) {
 240                         cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
 241                         for (int i = 0; i < old.cc_gps_sat.length; i++) {
 242                                 cc_gps_sat[i] = new AltosGPSSat();
 243                                 cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
 244                                 cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
 245                         }
 246                 }
 247         }
 248 }