--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+class AltosSensorTM {
+ int tick;
+ int accel;
+ int pres;
+ int temp;
+ int batt;
+ int drogue;
+ int main;
+
+ public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("a\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("accel:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("pres:")) {
+ pres = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("temp:")) {
+ temp = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("drogue:")) {
+ drogue = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ main = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ break;
+ }
+ }
+}
+
+class AltosSensorMM {
+ int tick;
+ int sense[];
+ int v_batt;
+ int v_pyro;
+ int accel;
+ int accel_ref;
+
+ public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("a\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ sense = new int[6];
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("0:")) {
+ sense[0] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("1:")) {
+ sense[1] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("2:")) {
+ sense[2] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("3:")) {
+ sense[3] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("4:")) {
+ sense[4] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("5:")) {
+ sense[5] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("6:")) {
+ v_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("7:")) {
+ v_pyro = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("8:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("9:")) {
+ accel_ref = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ break;
+ }
+ }
+}
+
+class AltosIMUQuery extends AltosIMU {
+
+ public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("I\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("Accel:"))
+ continue;
+ String[] items = line.split("\\s+");
+ if (items.length >= 8) {
+ accel_x = Integer.parseInt(items[1]);
+ accel_y = Integer.parseInt(items[2]);
+ accel_z = Integer.parseInt(items[3]);
+ gyro_x = Integer.parseInt(items[5]);
+ gyro_y = Integer.parseInt(items[6]);
+ gyro_z = Integer.parseInt(items[7]);
+ }
+ break;
+ }
+ }
+}
+
+class AltosMs5607Query extends AltosMs5607 {
+ public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException {
+ link.printf("v\nB\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ String[] items = line.split("\\s+");
+ if (line.startsWith("Pressure:")) {
+ if (items.length >= 2)
+ raw_pres = Integer.parseInt(items[1]);
+ } else if (line.startsWith("Temperature:")) {
+ if (items.length >= 2)
+ raw_temp = Integer.parseInt(items[1]);
+ } else if (line.startsWith("ms5607 reserved:")) {
+ if (items.length >= 3)
+ reserved = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 sens:")) {
+ if (items.length >= 3)
+ sens = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 off:")) {
+ if (items.length >= 3)
+ off = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tcs:")) {
+ if (items.length >= 3)
+ tcs = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tco:")) {
+ if (items.length >= 3)
+ tco = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tref:")) {
+ if (items.length >= 3)
+ tref = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 tempsens:")) {
+ if (items.length >= 3)
+ tempsens = Integer.parseInt(items[2]);
+ } else if (line.startsWith("ms5607 crc:")) {
+ if (items.length >= 3)
+ crc = Integer.parseInt(items[2]);
+ } else if (line.startsWith("Altitude"))
+ break;
+ }
+ convert();
+ }
+}
+
+class AltosGPSQuery extends AltosGPS {
+ public AltosGPSQuery (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();
+ String[] bits = line.split("\\s+");
+ if (bits.length == 0)
+ continue;
+ if (line.startsWith("Date:")) {
+ if (bits.length < 2)
+ continue;
+ String[] d = bits[1].split(":");
+ if (d.length < 3)
+ continue;
+ year = Integer.parseInt(d[0]) + 2000;
+ month = Integer.parseInt(d[1]);
+ day = Integer.parseInt(d[2]);
+ continue;
+ }
+ if (line.startsWith("Time:")) {
+ if (bits.length < 2)
+ continue;
+ String[] d = bits[1].split("/");
+ if (d.length < 3)
+ continue;
+ hour = Integer.parseInt(d[0]);
+ minute = Integer.parseInt(d[1]);
+ second = Integer.parseInt(d[2]);
+ continue;
+ }
+ if (line.startsWith("Lat/Lon:")) {
+ if (bits.length < 3)
+ continue;
+ lat = Integer.parseInt(bits[1]) * 1.0e-7;
+ lon = Integer.parseInt(bits[2]) * 1.0e-7;
+ continue;
+ }
+ if (line.startsWith("Alt:")) {
+ if (bits.length < 2)
+ continue;
+ alt = Integer.parseInt(bits[1]);
+ continue;
+ }
+ if (line.startsWith("Flags:")) {
+ if (bits.length < 2)
+ continue;
+ int status = Integer.decode(bits[1]);
+ connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
+ locked = (status & AltosLib.AO_GPS_VALID) != 0;
+ if (!says_done)
+ break;
+ continue;
+ }
+ if (line.startsWith("Sats:")) {
+ if (bits.length < 2)
+ continue;
+ 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);
+ }
+ }
+ if (line.startsWith("done"))
+ break;
+ if (line.startsWith("Syntax error"))
+ break;
+ }
+ }
+}
+
+public class AltosIdleMonitor extends Thread {
+ AltosLink link;
+ AltosIdleMonitorListener listener;
+ AltosState state;
+ boolean remote;
+ double frequency;
+ AltosState previous_state;
+ AltosConfigData config_data;
+ AltosGPS gps;
+
+ int AltosRSSI() throws TimeoutException, InterruptedException {
+ link.printf("s\n");
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ String[] items = line.split("\\s+");
+ if (items.length < 2)
+ return 0;
+ if (!items[0].equals("RSSI:"))
+ return 0;
+ int rssi = Integer.parseInt(items[1]);
+ return rssi;
+ }
+
+ void update_state() throws InterruptedException, TimeoutException {
+ AltosRecord record;
+ int rssi;
+
+ try {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.start_remote();
+ } else
+ link.flush_input();
+ config_data = new AltosConfigData(link);
+ if (config_data.product.startsWith("TeleMetrum")) {
+ AltosRecordTM record_tm = new AltosRecordTM();
+ AltosSensorTM sensor = new AltosSensorTM(link);
+ record_tm.accel = sensor.accel;
+ record_tm.pres = sensor.pres;
+ record_tm.batt = sensor.batt;
+ record_tm.temp = sensor.temp;
+ record_tm.drogue = sensor.drogue;
+ record_tm.main = sensor.main;
+ record_tm.ground_accel = record_tm.accel;
+ record_tm.ground_pres = record_tm.pres;
+ record_tm.accel_plus_g = config_data.accel_cal_plus;
+ record_tm.accel_minus_g = config_data.accel_cal_minus;
+ record_tm.tick = sensor.tick;
+ record = record_tm;
+ } else if (config_data.product.startsWith("MegaMetrum")) {
+ AltosRecordMM record_mm = new AltosRecordMM();
+ AltosSensorMM sensor = new AltosSensorMM(link);
+ AltosMs5607 ms5607 = new AltosMs5607Query(link);
+ AltosIMU imu = new AltosIMUQuery(link);
+
+ record_mm.accel_plus_g = config_data.accel_cal_plus;
+ record_mm.accel_minus_g = config_data.accel_cal_minus;
+
+ record_mm.ground_accel = sensor.accel;
+ record_mm.accel = sensor.accel;
+ record_mm.ground_pres = ms5607.pa;
+ record_mm.pres = ms5607.pa;
+ record_mm.temp = ms5607.cc;
+
+ record_mm.v_batt = sensor.v_batt;
+ record_mm.v_pyro = sensor.v_pyro;
+ record_mm.sense = sensor.sense;
+
+ record_mm.imu = imu;
+
+ record = record_mm;
+ } else
+ record = new AltosRecord();
+
+ gps = new AltosGPSQuery(link, config_data);
+ } finally {
+ if (remote) {
+ link.stop_remote();
+ rssi = AltosRSSI();
+ } else
+ rssi = 0;
+ }
+
+ record.version = 0;
+ record.callsign = config_data.callsign;
+ record.serial = config_data.serial;
+ record.flight = config_data.log_available() > 0 ? 255 : 0;
+ record.rssi = rssi;
+ record.status = 0;
+ record.state = AltosLib.ao_flight_idle;
+
+ record.gps = gps;
+ state = new AltosState (record, state);
+ }
+
+ public void set_frequency(double in_frequency) {
+ frequency = in_frequency;
+ }
+
+ public void post_state() {
+ listener.update(state);
+ }
+
+ public void run() {
+ try {
+ for (;;) {
+ try {
+ update_state();
+ post_state();
+ } catch (TimeoutException te) {
+ }
+ Thread.sleep(1000);
+ }
+ } catch (InterruptedException ie) {
+ link.close();
+ }
+ }
+
+ public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
+ throws FileNotFoundException, InterruptedException, TimeoutException {
+ listener = in_listener;
+ link = in_link;
+ remote = in_remote;
+ state = null;
+ }
+}
projects / fw / altos / blobdiff