/* * Copyright © 2010 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; version 2 of the License. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ package altosui; import java.lang.*; import java.text.*; public class AltosGPS { final static int MISSING = AltosRecord.MISSING; int nsat; boolean locked; boolean connected; double lat; /* degrees (+N -S) */ double lon; /* degrees (+E -W) */ int alt; /* m */ int year; int month; int day; int hour; int minute; int second; double ground_speed; /* m/s */ int course; /* degrees */ double climb_rate; /* m/s */ double hdop; /* unitless */ double vdop; /* unitless */ int h_error; /* m */ int v_error; /* m */ AltosGPSSat[] cc_gps_sat; /* tracking data */ void ParseGPSDate(String date) throws ParseException { String[] ymd = date.split("-"); if (ymd.length != 3) throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0); year = AltosParse.parse_int(ymd[0]); month = AltosParse.parse_int(ymd[1]); day = AltosParse.parse_int(ymd[2]); } void ParseGPSTime(String time) throws ParseException { String[] hms = time.split(":"); if (hms.length != 3) throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0); hour = AltosParse.parse_int(hms[0]); minute = AltosParse.parse_int(hms[1]); second = AltosParse.parse_int(hms[2]); } void ClearGPSTime() { year = month = day = 0; hour = minute = second = 0; } public AltosGPS(AltosTelemetryMap map) throws ParseException { String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE, AltosTelemetry.AO_TELEM_GPS_STATE_ERROR); nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0); if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) { connected = true; locked = true; lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7); lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7); alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING); year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING); if (year != MISSING) year += 2000; month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING); day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING); hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0); minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0); second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0); ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED, AltosRecord.MISSING, 1/100.0); course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE, AltosRecord.MISSING); hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0); vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0); h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING); v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING); } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) { connected = true; locked = false; } else { connected = false; locked = false; } } public AltosGPS(String[] words, int i, int version) throws ParseException { AltosParse.word(words[i++], "GPS"); nsat = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "sat"); connected = false; locked = false; lat = lon = 0; alt = 0; ClearGPSTime(); if ((words[i]).equals("unlocked")) { connected = true; i++; } else if ((words[i]).equals("not-connected")) { i++; } else if (words.length >= 40) { locked = true; connected = true; if (version > 1) ParseGPSDate(words[i++]); else year = month = day = 0; ParseGPSTime(words[i++]); lat = AltosParse.parse_coord(words[i++]); lon = AltosParse.parse_coord(words[i++]); alt = AltosParse.parse_int(words[i++]); if (version > 1 || (i < words.length && !words[i].equals("SAT"))) { ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)")); course = AltosParse.parse_int(words[i++]); climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)")); hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)")); h_error = AltosParse.parse_int(words[i++]); v_error = AltosParse.parse_int(words[i++]); } } else { i++; } if (i < words.length) { AltosParse.word(words[i++], "SAT"); int tracking_channels = 0; if (words[i].equals("not-connected")) tracking_channels = 0; else tracking_channels = AltosParse.parse_int(words[i]); i++; cc_gps_sat = new AltosGPSSat[tracking_channels]; for (int chan = 0; chan < tracking_channels; chan++) { cc_gps_sat[chan] = new AltosGPSSat(); cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]); /* Older versions included SiRF status bits */ if (version < 2) i++; cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]); } } else cc_gps_sat = new AltosGPSSat[0]; } public void set_latitude(int in_lat) { lat = in_lat / 10.0e7; } public void set_longitude(int in_lon) { lon = in_lon / 10.0e7; } public void set_time(int hour, int minute, int second) { hour = hour; minute = minute; second = second; } public void set_date(int year, int month, int day) { year = year; month = month; day = day; } public void set_flags(int flags) { flags = flags; } public void set_altitude(int altitude) { altitude = altitude; } public void add_sat(int svid, int c_n0) { if (cc_gps_sat == null) { cc_gps_sat = new AltosGPSSat[1]; } else { AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1]; for (int i = 0; i < cc_gps_sat.length; i++) new_gps_sat[i] = cc_gps_sat[i]; cc_gps_sat = new_gps_sat; } AltosGPSSat sat = new AltosGPSSat(); sat.svid = svid; sat.c_n0 = c_n0; cc_gps_sat[cc_gps_sat.length - 1] = sat; } public AltosGPS() { ClearGPSTime(); cc_gps_sat = null; } public AltosGPS(AltosGPS old) { nsat = old.nsat; locked = old.locked; connected = old.connected; lat = old.lat; /* degrees (+N -S) */ lon = old.lon; /* degrees (+E -W) */ alt = old.alt; /* m */ year = old.year; month = old.month; day = old.day; hour = old.hour; minute = old.minute; second = old.second; ground_speed = old.ground_speed; /* m/s */ course = old.course; /* degrees */ climb_rate = old.climb_rate; /* m/s */ hdop = old.hdop; /* unitless? */ h_error = old.h_error; /* m */ v_error = old.v_error; /* m */ if (old.cc_gps_sat != null) { cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length]; for (int i = 0; i < old.cc_gps_sat.length; i++) { cc_gps_sat[i] = new AltosGPSSat(); cc_gps_sat[i].svid = old.cc_gps_sat[i].svid; cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0; } } } }