git.gag.com Git - fw/altos/blob - altosui/AltosTelemetryRecordRaw.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 altosui;
  19
  20 import java.lang.*;
  21 import java.text.*;
  22 import java.util.HashMap;
  23
  24 public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
  25         int[]   bytes;
  26         int     serial;
  27         int     tick;
  28         int     type;
  29
  30         final static int packet_type_TM_sensor = 0x01;
  31         final static int packet_type_Tm_sensor = 0x02;
  32         final static int packet_type_Tn_sensor = 0x03;
  33         final static int packet_type_configuration = 0x04;
  34         final static int packet_type_location = 0x05;
  35         final static int packet_type_satellite = 0x06;
  36         final static int packet_type_companion = 0x07;
  37
  38         final static int PKT_APPEND_STATUS_1_CRC_OK             = (1 << 7);
  39         final static int PKT_APPEND_STATUS_1_LQI_MASK           = (0x7f);
  40         final static int PKT_APPEND_STATUS_1_LQI_SHIFT          = 0;
  41
  42         static boolean cksum(int[] bytes) {
  43                 int     sum = 0x5a;
  44                 for (int i = 1; i < bytes.length - 1; i++)
  45                         sum += bytes[i];
  46                 sum &= 0xff;
  47                 return sum == bytes[bytes.length - 1];
  48         }
  49
  50         public static AltosTelemetryRecord parse (String hex) throws ParseException, AltosCRCException {
  51                 AltosTelemetryRecord    r;
  52
  53                 int[] bytes;
  54                 try {
  55                         bytes = Altos.hexbytes(hex);
  56                 } catch (NumberFormatException ne) {
  57                         throw new ParseException(ne.getMessage(), 0);
  58                 }
  59
  60                 /* one for length, one for checksum */
  61                 if (bytes[0] != bytes.length - 2)
  62                         throw new ParseException(String.format("invalid length %d != %d\n",
  63                                                                bytes[0],
  64                                                                bytes.length - 2), 0);
  65                 if (!cksum(bytes))
  66                         throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
  67
  68                 int     rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
  69                 int     status = Altos.uint8(bytes, bytes.length - 2);
  70
  71                 if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
  72                         throw new AltosCRCException(rssi);
  73
  74                 /* length, data ..., rssi, status, checksum -- 4 bytes extra */
  75                 switch (bytes.length) {
  76                 case Altos.ao_telemetry_standard_len + 4:
  77                         int     type = Altos.uint8(bytes, 4 + 1);
  78                         switch (type) {
  79                         case packet_type_TM_sensor:
  80                         case packet_type_Tm_sensor:
  81                         case packet_type_Tn_sensor:
  82                                 r = new AltosTelemetryRecordSensor(bytes, rssi);
  83                                 break;
  84                         case packet_type_configuration:
  85                                 r = new AltosTelemetryRecordConfiguration(bytes);
  86                                 break;
  87                         case packet_type_location:
  88                                 r = new AltosTelemetryRecordLocation(bytes);
  89                                 break;
  90                         case packet_type_satellite:
  91                                 r = new AltosTelemetryRecordSatellite(bytes);
  92                                 break;
  93                         case packet_type_companion:
  94                                 r = new AltosTelemetryRecordCompanion(bytes);
  95                                 break;
  96                         default:
  97                                 r = new AltosTelemetryRecordRaw(bytes);
  98                                 break;
  99                         }
 100                         break;
 101                 case Altos.ao_telemetry_0_9_len + 4:
 102                         r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
 103                         break;
 104                 case Altos.ao_telemetry_0_8_len + 4:
 105                         r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
 106                         break;
 107                 default:
 108                         throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
 109                 }
 110                 return r;
 111         }
 112
 113         public int int8(int off) {
 114                 return Altos.int8(bytes, off + 1);
 115         }
 116
 117         public int uint8(int off) {
 118                 return Altos.uint8(bytes, off + 1);
 119         }
 120
 121         public int int16(int off) {
 122                 return Altos.int16(bytes, off + 1);
 123         }
 124
 125         public int uint16(int off) {
 126                 return Altos.uint16(bytes, off + 1);
 127         }
 128
 129         public int uint32(int off) {
 130                 return Altos.uint32(bytes, off + 1);
 131         }
 132
 133         public String string(int off, int l) {
 134                 return Altos.string(bytes, off + 1, l);
 135         }
 136
 137         public AltosTelemetryRecordRaw(int[] in_bytes) {
 138                 bytes = in_bytes;
 139                 serial = uint16(0);
 140                 tick   = uint16(2);
 141                 type   = uint8(4);
 142         }
 143
 144         public AltosRecord update_state(AltosRecord previous) {
 145                 AltosRecord     next;
 146                 if (previous != null) {
 147                         next = new AltosRecord(previous);
 148                         while (tick < previous.tick)
 149                                 tick += 65536;
 150                 } else
 151                         next = new AltosRecord();
 152                 next.serial = serial;
 153                 next.tick = tick;
 154                 return next;
 155         }
 156 }