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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 altosui;
  19
  20 import java.lang.*;
  21 import java.text.*;
  22
  23 public class AltosGPS {
  24         public class AltosGPSSat {
  25                 int     svid;
  26                 int     c_n0;
  27         }
  28
  29         final static int MISSING = AltosRecord.MISSING;
  30
  31         int     nsat;
  32         boolean locked;
  33         boolean connected;
  34         double  lat;            /* degrees (+N -S) */
  35         double  lon;            /* degrees (+E -W) */
  36         int     alt;            /* m */
  37         int     year;
  38         int     month;
  39         int     day;
  40         int     hour;
  41         int     minute;
  42         int     second;
  43
  44         double  ground_speed;   /* m/s */
  45         int     course;         /* degrees */
  46         double  climb_rate;     /* m/s */
  47         double  hdop;           /* unitless */
  48         double  vdop;           /* unitless */
  49         int     h_error;        /* m */
  50         int     v_error;        /* m */
  51
  52         AltosGPSSat[] cc_gps_sat;       /* tracking data */
  53
  54         void ParseGPSDate(String date) throws ParseException {
  55                 String[] ymd = date.split("-");
  56                 if (ymd.length != 3)
  57                         throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
  58                 year = AltosParse.parse_int(ymd[0]);
  59                 month = AltosParse.parse_int(ymd[1]);
  60                 day = AltosParse.parse_int(ymd[2]);
  61         }
  62
  63         void ParseGPSTime(String time) throws ParseException {
  64                 String[] hms = time.split(":");
  65                 if (hms.length != 3)
  66                         throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
  67                 hour = AltosParse.parse_int(hms[0]);
  68                 minute = AltosParse.parse_int(hms[1]);
  69                 second = AltosParse.parse_int(hms[2]);
  70         }
  71
  72         void ClearGPSTime() {
  73                 year = month = day = 0;
  74                 hour = minute = second = 0;
  75         }
  76
  77         public AltosGPS(AltosTelemetryMap map) throws ParseException {
  78                 String  state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
  79                                                AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
  80
  81                 nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
  82                 if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
  83                         connected = true;
  84                         locked = true;
  85                         lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
  86                         lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
  87                         alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
  88                         year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
  89                         if (year != MISSING)
  90                                 year += 2000;
  91                         month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
  92                         day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
  93
  94                         hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
  95                         minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
  96                         second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
  97
  98                         ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
  99                                                       AltosRecord.MISSING, 1/100.0);
 100                         course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
 101                                              AltosRecord.MISSING);
 102                         hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
 103                         vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
 104                         h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
 105                         v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
 106                 } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
 107                         connected = true;
 108                         locked = false;
 109                 } else {
 110                         connected = false;
 111                         locked = false;
 112                 }
 113         }
 114
 115         public AltosGPS(String[] words, int i, int version) throws ParseException {
 116                 AltosParse.word(words[i++], "GPS");
 117                 nsat = AltosParse.parse_int(words[i++]);
 118                 AltosParse.word(words[i++], "sat");
 119
 120                 connected = false;
 121                 locked = false;
 122                 lat = lon = 0;
 123                 alt = 0;
 124                 ClearGPSTime();
 125                 if ((words[i]).equals("unlocked")) {
 126                         connected = true;
 127                         i++;
 128                 } else if ((words[i]).equals("not-connected")) {
 129                         i++;
 130                 } else if (words.length >= 40) {
 131                         locked = true;
 132                         connected = true;
 133
 134                         if (version > 1)
 135                                 ParseGPSDate(words[i++]);
 136                         else
 137                                 year = month = day = 0;
 138                         ParseGPSTime(words[i++]);
 139                         lat = AltosParse.parse_coord(words[i++]);
 140                         lon = AltosParse.parse_coord(words[i++]);
 141                         alt = AltosParse.parse_int(words[i++]);
 142                         if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
 143                                 ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
 144                                 course = AltosParse.parse_int(words[i++]);
 145                                 climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
 146                                 hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
 147                                 h_error = AltosParse.parse_int(words[i++]);
 148                                 v_error = AltosParse.parse_int(words[i++]);
 149                         }
 150                 } else {
 151                         i++;
 152                 }
 153                 if (i < words.length) {
 154                         AltosParse.word(words[i++], "SAT");
 155                         int tracking_channels = 0;
 156                         if (words[i].equals("not-connected"))
 157                                 tracking_channels = 0;
 158                         else
 159                                 tracking_channels = AltosParse.parse_int(words[i]);
 160                         i++;
 161                         cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
 162                         for (int chan = 0; chan < tracking_channels; chan++) {
 163                                 cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
 164                                 cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
 165                                 /* Older versions included SiRF status bits */
 166                                 if (version < 2)
 167                                         i++;
 168                                 cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
 169                         }
 170                 } else
 171                         cc_gps_sat = new AltosGPS.AltosGPSSat[0];
 172         }
 173
 174         public void set_latitude(int in_lat) {
 175                 lat = in_lat / 10.0e7;
 176         }
 177
 178         public void set_longitude(int in_lon) {
 179                 lon = in_lon / 10.0e7;
 180         }
 181
 182         public void set_time(int hour, int minute, int second) {
 183                 hour = hour;
 184                 minute = minute;
 185                 second = second;
 186         }
 187
 188         public void set_date(int year, int month, int day) {
 189                 year = year;
 190                 month = month;
 191                 day = day;
 192         }
 193
 194         public void set_flags(int flags) {
 195                 flags = flags;
 196         }
 197
 198         public void set_altitude(int altitude) {
 199                 altitude = altitude;
 200         }
 201
 202         public void add_sat(int svid, int c_n0) {
 203                 if (cc_gps_sat == null) {
 204                         cc_gps_sat = new AltosGPS.AltosGPSSat[1];
 205                 } else {
 206                         AltosGPSSat[] new_gps_sat = new AltosGPS.AltosGPSSat[cc_gps_sat.length + 1];
 207                         for (int i = 0; i < cc_gps_sat.length; i++)
 208                                 new_gps_sat[i] = cc_gps_sat[i];
 209                         cc_gps_sat = new_gps_sat;
 210                 }
 211                 AltosGPS.AltosGPSSat    sat = new AltosGPS.AltosGPSSat();
 212                 sat.svid = svid;
 213                 sat.c_n0 = c_n0;
 214                 cc_gps_sat[cc_gps_sat.length - 1] = sat;
 215         }
 216
 217         public AltosGPS() {
 218                 ClearGPSTime();
 219                 cc_gps_sat = null;
 220         }
 221
 222         public AltosGPS(AltosGPS old) {
 223                 nsat = old.nsat;
 224                 locked = old.locked;
 225                 connected = old.connected;
 226                 lat = old.lat;          /* degrees (+N -S) */
 227                 lon = old.lon;          /* degrees (+E -W) */
 228                 alt = old.alt;          /* m */
 229                 year = old.year;
 230                 month = old.month;
 231                 day = old.day;
 232                 hour = old.hour;
 233                 minute = old.minute;
 234                 second = old.second;
 235
 236                 ground_speed = old.ground_speed;        /* m/s */
 237                 course = old.course;            /* degrees */
 238                 climb_rate = old.climb_rate;    /* m/s */
 239                 hdop = old.hdop;                /* unitless? */
 240                 h_error = old.h_error;  /* m */
 241                 v_error = old.v_error;  /* m */
 242
 243                 if (old.cc_gps_sat != null) {
 244                         cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
 245                         for (int i = 0; i < old.cc_gps_sat.length; i++) {
 246                                 cc_gps_sat[i] = new AltosGPSSat();
 247                                 cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
 248                                 cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
 249                         }
 250                 }
 251         }
 252 }