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
  37         final static int PKT_APPEND_STATUS_1_CRC_OK             = (1 << 7);
  38         final static int PKT_APPEND_STATUS_1_LQI_MASK           = (0x7f);
  39         final static int PKT_APPEND_STATUS_1_LQI_SHIFT          = 0;
  40
  41         static boolean cksum(int[] bytes) {
  42                 int     sum = 0x5a;
  43                 for (int i = 1; i < bytes.length - 1; i++)
  44                         sum += bytes[i];
  45                 sum &= 0xff;
  46                 return sum == bytes[bytes.length - 1];
  47         }
  48
  49         public static AltosTelemetryRecord parse (String hex) throws ParseException, AltosCRCException {
  50                 AltosTelemetryRecord    r;
  51
  52                 int[] bytes;
  53                 try {
  54                         bytes = Altos.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 = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
  68                 int     status = Altos.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 Altos.ao_telemetry_standard_len + 4:
  76                         int     type = Altos.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);
  85                                 break;
  86                         case packet_type_location:
  87                                 r = new AltosTelemetryRecordLocation(bytes);
  88                                 break;
  89                         case packet_type_satellite:
  90                                 r = new AltosTelemetryRecordSatellite(bytes);
  91                                 break;
  92                         default:
  93                                 r = new AltosTelemetryRecordRaw(bytes);
  94                                 break;
  95                         }
  96                         break;
  97                 case Altos.ao_telemetry_0_9_len + 4:
  98                         r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
  99                         break;
 100                 case Altos.ao_telemetry_0_8_len + 4:
 101                         r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
 102                         break;
 103                 default:
 104                         throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
 105                 }
 106                 return r;
 107         }
 108
 109         public int int8(int off) {
 110                 return Altos.int8(bytes, off + 1);
 111         }
 112
 113         public int uint8(int off) {
 114                 return Altos.uint8(bytes, off + 1);
 115         }
 116
 117         public int int16(int off) {
 118                 return Altos.int16(bytes, off + 1);
 119         }
 120
 121         public int uint16(int off) {
 122                 return Altos.uint16(bytes, off + 1);
 123         }
 124
 125         public int uint32(int off) {
 126                 return Altos.uint32(bytes, off + 1);
 127         }
 128
 129         public String string(int off, int l) {
 130                 return Altos.string(bytes, off + 1, l);
 131         }
 132
 133         public AltosTelemetryRecordRaw(int[] in_bytes) {
 134                 bytes = in_bytes;
 135                 serial = uint16(0);
 136                 tick   = uint16(2);
 137                 type   = uint8(4);
 138         }
 139
 140         public AltosRecord update_state(AltosRecord previous) {
 141                 AltosRecord     next;
 142                 if (previous != null)
 143                         next = new AltosRecord(previous);
 144                 else
 145                         next = new AltosRecord();
 146                 next.serial = serial;
 147                 next.tick = tick;
 148                 return next;
 149         }
 150 }