git.gag.com Git - fw/altos/blob - ao-tools/lib/cc-telem.c

   1 /*
   2  * Copyright © 2009 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 #include "cc.h"
  19 #include <string.h>
  20 #include <stdlib.h>
  21
  22 static void
  23 cc_parse_string(char *target, int len, char *source)
  24 {
  25         strncpy(target, source, len-1);
  26         target[len-1] = '\0';
  27 }
  28
  29 static void
  30 cc_parse_int(int *target, char *source)
  31 {
  32         *target = strtol(source, NULL, 0);
  33 }
  34
  35 static void
  36 cc_parse_hex(int *target, char *source)
  37 {
  38         *target = strtol(source, NULL, 16);
  39 }
  40
  41 static void
  42 cc_parse_pos(double *target, char *source)
  43 {
  44         int     deg;
  45         double  min;
  46         char    dir;
  47         double  r;
  48
  49         if (sscanf(source, "%d°%lf'%c", &deg, &min, &dir) != 3) {
  50                 *target = 0;
  51                 return;
  52         }
  53         r = deg + min / 60.0;
  54         if (dir == 'S' || dir == 'W')
  55                 r = -r;
  56         *target = r;
  57 }
  58
  59 #define PARSE_MAX_WORDS 512
  60
  61 int
  62 cc_telem_parse(const char *input_line, struct cc_telem *telem)
  63 {
  64         char *saveptr;
  65         char *raw_words[PARSE_MAX_WORDS];
  66         char **words;
  67         int version = 0;
  68         int nword;
  69         char line_buf[8192], *line;
  70         int     tracking_pos;
  71
  72         /* avoid smashing our input parameter */
  73         strncpy (line_buf, input_line, sizeof (line_buf)-1);
  74         line_buf[sizeof(line_buf) - 1] = '\0';
  75         line = line_buf;
  76         for (nword = 0; nword < PARSE_MAX_WORDS; nword++) {
  77                 raw_words[nword] = strtok_r(line, " \t\n", &saveptr);
  78                 line = NULL;
  79                 if (raw_words[nword] == NULL)
  80                         break;
  81         }
  82         if (nword < 36)
  83                 return FALSE;
  84         words = raw_words;
  85         if (strcmp(words[0], "VERSION") == 0) {
  86                 cc_parse_int(&version, words[1]);
  87                 words += 2;
  88                 nword -= 2;
  89         }
  90
  91         if (strcmp(words[0], "CALL") != 0)
  92                 return FALSE;
  93         cc_parse_string(telem->callsign, sizeof (telem->callsign), words[1]);
  94         cc_parse_int(&telem->serial, words[3]);
  95
  96         if (version >= 2) {
  97                 cc_parse_int(&telem->flight, words[5]);
  98                 words += 2;
  99                 nword -= 2;
 100         } else
 101                 telem->flight = 0;
 102
 103         cc_parse_int(&telem->rssi, words[5]);
 104         cc_parse_string(telem->state, sizeof (telem->state), words[9]);
 105         cc_parse_int(&telem->tick, words[10]);
 106         cc_parse_int(&telem->accel, words[12]);
 107         cc_parse_int(&telem->pres, words[14]);
 108         cc_parse_int(&telem->temp, words[16]);
 109         cc_parse_int(&telem->batt, words[18]);
 110         cc_parse_int(&telem->drogue, words[20]);
 111         cc_parse_int(&telem->main, words[22]);
 112         cc_parse_int(&telem->flight_accel, words[24]);
 113         cc_parse_int(&telem->ground_accel, words[26]);
 114         cc_parse_int(&telem->flight_vel, words[28]);
 115         cc_parse_int(&telem->flight_pres, words[30]);
 116         cc_parse_int(&telem->ground_pres, words[32]);
 117         if (version >= 1) {
 118                 cc_parse_int(&telem->accel_plus_g, words[34]);
 119                 cc_parse_int(&telem->accel_minus_g, words[36]);
 120                 words += 4;
 121                 nword -= 4;
 122         } else {
 123                 telem->accel_plus_g = telem->ground_accel;
 124                 telem->accel_minus_g = telem->ground_accel + 530;
 125         }
 126         cc_parse_int(&telem->gps.nsat, words[34]);
 127         if (strcmp (words[36], "unlocked") == 0) {
 128                 telem->gps.gps_connected = 1;
 129                 telem->gps.gps_locked = 0;
 130                 telem->gps.gps_time.hour = telem->gps.gps_time.minute = telem->gps.gps_time.second = 0;
 131                 telem->gps.lat = telem->gps.lon = 0;
 132                 telem->gps.alt = 0;
 133                 tracking_pos = 37;
 134         } else if (nword >= 40) {
 135                 telem->gps.gps_locked = 1;
 136                 telem->gps.gps_connected = 1;
 137                 sscanf(words[36], "%d:%d:%d", &telem->gps.gps_time.hour, &telem->gps.gps_time.minute, &telem->gps.gps_time.second);
 138                 cc_parse_pos(&telem->gps.lat, words[37]);
 139                 cc_parse_pos(&telem->gps.lon, words[38]);
 140                 sscanf(words[39], "%dm", &telem->gps.alt);
 141                 tracking_pos = 46;
 142         } else {
 143                 telem->gps.gps_connected = 0;
 144                 telem->gps.gps_locked = 0;
 145                 telem->gps.gps_time.hour = telem->gps.gps_time.minute = telem->gps.gps_time.second = 0;
 146                 telem->gps.lat = telem->gps.lon = 0;
 147                 telem->gps.alt = 0;
 148                 tracking_pos = -1;
 149         }
 150         if (nword >= 46) {
 151                 telem->gps.gps_extended = 1;
 152                 sscanf(words[40], "%lfm/s", &telem->gps.ground_speed);
 153                 sscanf(words[41], "%d", &telem->gps.course);
 154                 sscanf(words[42], "%lfm/s", &telem->gps.climb_rate);
 155                 sscanf(words[43], "%lf", &telem->gps.hdop);
 156                 sscanf(words[44], "%d", &telem->gps.h_error);
 157                 sscanf(words[45], "%d", &telem->gps.v_error);
 158         } else {
 159                 telem->gps.gps_extended = 0;
 160                 telem->gps.ground_speed = 0;
 161                 telem->gps.course = 0;
 162                 telem->gps.climb_rate = 0;
 163                 telem->gps.hdop = 0;
 164                 telem->gps.h_error = 0;
 165                 telem->gps.v_error = 0;
 166         }
 167         if (tracking_pos >= 0 && nword >= tracking_pos + 2 && strcmp(words[tracking_pos], "SAT") == 0) {
 168                 int     c, n, pos;
 169                 cc_parse_int(&n, words[tracking_pos + 1]);
 170                 pos = tracking_pos + 2;
 171                 if (nword >= pos + n * 3) {
 172                         telem->gps_tracking.channels = n;
 173                         for (c = 0; c < n; c++) {
 174                                 cc_parse_int(&telem->gps_tracking.sats[c].svid,
 175                                                  words[pos + 0]);
 176                                 cc_parse_hex(&telem->gps_tracking.sats[c].state,
 177                                                  words[pos + 1]);
 178                                 cc_parse_int(&telem->gps_tracking.sats[c].c_n0,
 179                                                  words[pos + 2]);
 180                                 pos += 3;
 181                         }
 182                 } else {
 183                         telem->gps_tracking.channels = 0;
 184                 }
 185         } else {
 186                 telem->gps_tracking.channels = 0;
 187         }
 188         return TRUE;
 189 }