/* * 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.*; import java.util.HashMap; import altosui.AltosConvert; import altosui.AltosRecord; import altosui.AltosGPS; import altosui.AltosCRCException; /* * Telemetry data contents */ /* * The telemetry data stream is a bit of a mess at present, with no consistent * formatting. In particular, the GPS data is formatted for viewing instead of parsing. * However, the key feature is that every telemetry line contains all of the information * necessary to describe the current rocket state, including the calibration values * for accelerometer and barometer. * * GPS unlocked: * * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \ * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \ * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30 * * GPS locked: * * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \ * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \ * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \ * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26 */ public class AltosTelemetry extends AltosRecord { public AltosTelemetry(String line) throws ParseException, AltosCRCException { String[] words = line.split("\\s+"); int i = 0; if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { i += 2; AltosParse.word(words[i++], "RSSI"); rssi = AltosParse.parse_int(words[i++]); throw new AltosCRCException(rssi); } if (words[i].equals("CALL")) { version = 0; } else { AltosParse.word (words[i++], "VERSION"); version = AltosParse.parse_int(words[i++]); } AltosParse.word (words[i++], "CALL"); callsign = words[i++]; AltosParse.word (words[i++], "SERIAL"); serial = AltosParse.parse_int(words[i++]); if (version >= 2) { AltosParse.word (words[i++], "FLIGHT"); flight = AltosParse.parse_int(words[i++]); } else flight = 0; AltosParse.word(words[i++], "RSSI"); rssi = AltosParse.parse_int(words[i++]); /* Older telemetry data had mis-computed RSSI value */ if (version <= 2) rssi = (rssi + 74) / 2 - 74; AltosParse.word(words[i++], "STATUS"); status = AltosParse.parse_hex(words[i++]); AltosParse.word(words[i++], "STATE"); state = Altos.state(words[i++]); tick = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "a:"); accel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "p:"); pres = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "t:"); temp = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "v:"); batt = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "d:"); drogue = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "m:"); main = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "fa:"); flight_accel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "ga:"); ground_accel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "fv:"); flight_vel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "fp:"); flight_pres = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "gp:"); ground_pres = AltosParse.parse_int(words[i++]); if (version >= 1) { AltosParse.word(words[i++], "a+:"); accel_plus_g = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "a-:"); accel_minus_g = AltosParse.parse_int(words[i++]); } else { accel_plus_g = ground_accel; accel_minus_g = ground_accel + 530; } gps = new AltosGPS(words, i, version); } }