import java.io.*;
import java.util.concurrent.*;
-class AltosSensorTM extends AltosRecordTM {
-
- public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
- super();
- 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;
- }
- ground_accel = config_data.accel_cal_plus;
- ground_pres = pres;
- accel_plus_g = config_data.accel_cal_plus;
- accel_minus_g = config_data.accel_cal_minus;
- }
-}
-
-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;
projects / fw / altos / blobdiff