* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_5;
import java.text.*;
+import java.util.concurrent.*;
-public class AltosGPS {
+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 boolean connected;
public double lat; /* degrees (+N -S) */
public double lon; /* degrees (+E -W) */
- public int alt; /* m */
+ public double alt; /* m */
public int year;
public int month;
public int day;
}
public void ClearGPSTime() {
- year = month = day = 0;
- hour = minute = second = 0;
+ year = month = day = AltosLib.MISSING;
+ hour = minute = second = AltosLib.MISSING;
}
public AltosGPS(AltosTelemetryMap map) throws ParseException {
- String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
- AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+ String state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
+ AltosTelemetryLegacy.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)) {
+ nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0);
+ if (state.equals(AltosTelemetryLegacy.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);
+ lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+ lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+ alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING);
+ year = map.get_int(AltosTelemetryLegacy.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)) {
+ month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING);
+ day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING);
+
+ hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0);
+ minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0);
+ second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
+
+ ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
+ AltosLib.MISSING, 1/100.0);
+ course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
+ AltosLib.MISSING);
+ 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);
+ v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING);
+ } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) {
connected = true;
locked = false;
} else {
}
}
+ 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++]);
}
public AltosGPS() {
+ lat = AltosLib.MISSING;
+ lon = AltosLib.MISSING;
+ alt = AltosLib.MISSING;
ClearGPSTime();
cc_gps_sat = null;
}
+ public AltosGPS clone() {
+ AltosGPS g = new AltosGPS();
+
+ g.nsat = nsat;
+ g.locked = locked;
+ g.connected = connected;
+ g.lat = lat; /* degrees (+N -S) */
+ g.lon = lon; /* degrees (+E -W) */
+ g.alt = alt; /* m */
+ g.year = year;
+ g.month = month;
+ g.day = day;
+ g.hour = hour;
+ g.minute = minute;
+ g.second = second;
+
+ g.ground_speed = ground_speed; /* m/s */
+ g.course = course; /* degrees */
+ g.climb_rate = climb_rate; /* m/s */
+ g.hdop = hdop; /* unitless? */
+ g.h_error = h_error; /* m */
+ g.v_error = v_error; /* m */
+
+ if (cc_gps_sat != null) {
+ g.cc_gps_sat = new AltosGPSSat[cc_gps_sat.length];
+ for (int i = 0; i < cc_gps_sat.length; i++) {
+ g.cc_gps_sat[i] = new AltosGPSSat(cc_gps_sat[i].svid,
+ cc_gps_sat[i].c_n0);
+ }
+ }
+ return g;
+ }
+
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;
+ if (old != null) {
+ 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;
+ }
+ }
+ } else {
+ lat = AltosLib.MISSING;
+ lon = AltosLib.MISSING;
+ alt = AltosLib.MISSING;
+ ClearGPSTime();
+ cc_gps_sat = null;
+ }
+ }
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+ try {
+ AltosGPS gps = new AltosGPS(link, config_data);
+
+ if (gps != null) {
+ state.set_gps(gps, state.gps_sequence++);
+ return;
}
+ } catch (TimeoutException te) {
+ }
+ state.set_gps(null, 0);
+ }
+
+ public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
+ boolean says_done = config_data.compare_version("1.0") >= 0;
+ 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