*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_11;
import java.text.*;
+import java.util.concurrent.*;
+import java.io.*;
+import java.time.*;
public class AltosGPS implements Cloneable {
- public final static int MISSING = AltosRecord.MISSING;
+ public final static int MISSING = AltosLib.MISSING;
public int nsat;
public boolean locked;
public double ground_speed; /* m/s */
public int course; /* degrees */
public double climb_rate; /* m/s */
+ public double pdop; /* unitless */
public double hdop; /* unitless */
public double vdop; /* unitless */
- public int h_error; /* m */
- public int v_error; /* m */
+ public double h_error; /* m */
+ public double v_error; /* m */
public AltosGPSSat[] cc_gps_sat; /* tracking data */
}
public void ClearGPSTime() {
- year = month = day = 0;
- hour = minute = second = 0;
+ year = month = day = AltosLib.MISSING;
+ hour = minute = second = AltosLib.MISSING;
+ }
+
+ /* Return time since epoc in seconds */
+ public long seconds() {
+ if (year == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (month == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (day == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (hour == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (minute == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (second == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ OffsetDateTime odt = OffsetDateTime.of(year, month, day, hour, minute, second, 0, ZoneOffset.UTC);
+ return odt.toEpochSecond();
}
public AltosGPS(AltosTelemetryMap map) throws ParseException {
second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
- AltosRecord.MISSING, 1/100.0);
+ AltosLib.MISSING, 1/100.0);
course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
- AltosRecord.MISSING);
+ AltosLib.MISSING);
+ pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0);
hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
}
}
+ public boolean parse_string (String line, boolean says_done) {
+ String[] bits = line.split("\\s+");
+ if (bits.length == 0)
+ return false;
+ if (line.startsWith("Date:")) {
+ if (bits.length < 2)
+ return false;
+ String[] d = bits[1].split("/");
+ if (d.length < 3)
+ return false;
+ year = Integer.parseInt(d[0]) + 2000;
+ month = Integer.parseInt(d[1]);
+ day = Integer.parseInt(d[2]);
+ } else if (line.startsWith("Time:")) {
+ if (bits.length < 2)
+ return false;
+ String[] d = bits[1].split(":");
+ if (d.length < 3)
+ return false;
+ hour = Integer.parseInt(d[0]);
+ minute = Integer.parseInt(d[1]);
+ second = Integer.parseInt(d[2]);
+ } else if (line.startsWith("Lat/Lon:")) {
+ if (bits.length < 3)
+ return false;
+ lat = Integer.parseInt(bits[1]) * 1.0e-7;
+ lon = Integer.parseInt(bits[2]) * 1.0e-7;
+ } else if (line.startsWith("Alt:")) {
+ if (bits.length < 2)
+ return false;
+ alt = Integer.parseInt(bits[1]);
+ } else if (line.startsWith("Flags:")) {
+ if (bits.length < 2)
+ return false;
+ int status = Integer.decode(bits[1]);
+ connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
+ locked = (status & AltosLib.AO_GPS_VALID) != 0;
+ if (!says_done)
+ return false;
+ } else if (line.startsWith("Sats:")) {
+ if (bits.length < 2)
+ return false;
+ nsat = Integer.parseInt(bits[1]);
+ cc_gps_sat = new AltosGPSSat[nsat];
+ for (int i = 0; i < nsat; i++) {
+ int svid = Integer.parseInt(bits[2+i*2]);
+ int cc_n0 = Integer.parseInt(bits[3+i*2]);
+ cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
+ }
+ } else if (line.startsWith("done")) {
+ return false;
+ } else
+ return false;
+ return true;
+ }
+
public AltosGPS(String[] words, int i, int version) throws ParseException {
AltosParse.word(words[i++], "GPS");
nsat = AltosParse.parse_int(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)"));
+ ground_speed = AltosParse.parse_double_net(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)"));
+ climb_rate = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+ hdop = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "(hdop)"));
h_error = AltosParse.parse_int(words[i++]);
v_error = AltosParse.parse_int(words[i++]);
}
cc_gps_sat[cc_gps_sat.length - 1] = sat;
}
- public AltosGPS() {
+ private void init() {
+ lat = AltosLib.MISSING;
+ lon = AltosLib.MISSING;
+ alt = AltosLib.MISSING;
+ ground_speed = AltosLib.MISSING;
+ course = AltosLib.MISSING;
+ climb_rate = AltosLib.MISSING;
+ pdop = AltosLib.MISSING;
+ hdop = AltosLib.MISSING;
+ vdop = AltosLib.MISSING;
+ h_error = AltosLib.MISSING;
+ v_error = AltosLib.MISSING;
ClearGPSTime();
cc_gps_sat = null;
}
+ public AltosGPS() {
+ init();
+ }
+
public AltosGPS clone() {
AltosGPS g = new AltosGPS();
g.ground_speed = ground_speed; /* m/s */
g.course = course; /* degrees */
g.climb_rate = climb_rate; /* m/s */
- g.hdop = hdop; /* unitless? */
+ g.pdop = pdop; /* unitless */
+ g.hdop = hdop; /* unitless */
+ g.vdop = vdop; /* unitless */
g.h_error = h_error; /* m */
g.v_error = v_error; /* m */
ground_speed = old.ground_speed; /* m/s */
course = old.course; /* degrees */
climb_rate = old.climb_rate; /* m/s */
+ pdop = old.pdop; /* unitless? */
hdop = old.hdop; /* unitless? */
- h_error = old.h_error; /* m */
- v_error = old.v_error; /* m */
+ vdop = old.vdop; /* 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];
}
}
} else {
- ClearGPSTime();
- cc_gps_sat = null;
+ init();
+ }
+ }
+
+ static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
+ try {
+ AltosGPS gps = new AltosGPS(link, link.config_data());
+ if (gps != null)
+ listener.set_gps(gps);
+ } catch (TimeoutException te) {
+ }
+ }
+
+ public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
+ boolean says_done = config_data.compare_version("1.0") >= 0;
+ init();
+ link.printf("g\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ if (!parse_string(line, says_done))
+ break;
}
}
}
projects / fw / altos / blobdiff