import java.io.*;
-public class AltosState implements Cloneable, Serializable {
+public class AltosState implements Cloneable, AltosHashable {
public static final int set_position = 1;
public static final int set_gps = 2;
private int prev_tick;
public int boost_tick;
- class AltosValue implements Serializable{
+ class AltosValue implements AltosHashable {
double value;
double prev_value;
private double max_value;
prev_set_time = set_time;
}
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putDouble("value", value);
+ h.putDouble("prev_value", prev_value);
+ h.putDouble("max_value", max_value);
+ h.putDouble("set_time", set_time);
+ h.putDouble("prev_set_time", prev_set_time);
+ return h;
+ }
+
+ AltosValue(AltosHashSet h) {
+ this();
+ if (h != null) {
+ value = h.getDouble("value", value);
+ prev_value = h.getDouble("prev_value", prev_value);
+ max_value = h.getDouble("max_value", max_value);
+ set_time = h.getDouble("set_time", 0);
+ prev_set_time = h.getDouble("prev_set_time", 0);
+ }
+ }
+
AltosValue() {
value = AltosLib.MISSING;
prev_value = AltosLib.MISSING;
max_value = AltosLib.MISSING;
}
+
+ }
+
+ AltosValue AltosValue_fromHashSet(AltosHashSet h, AltosValue def) {
+ if (h == null)
+ return def;
+ return new AltosValue(h);
}
- class AltosCValue implements Serializable {
+ class AltosCValue implements AltosHashable {
- class AltosIValue extends AltosValue implements Serializable {
+ class AltosIValue extends AltosValue implements AltosHashable {
boolean can_max() {
return c_can_max();
}
+
+ AltosIValue() {
+ super();
+ }
+
+ AltosIValue(AltosHashSet h) {
+ super(h);
+ }
};
public AltosIValue measured;
measured = new AltosIValue();
computed = new AltosIValue();
}
+
+
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putHashable("measured", measured);
+ h.putHashable("computed", computed);
+ return h;
+ }
+
+ AltosCValue(AltosHashSet h) {
+ measured = new AltosIValue(h.getHash("measured"));
+ computed = new AltosIValue(h.getHash("computed"));
+ }
+ }
+
+ AltosCValue AltosCValue_fromHashSet(AltosHashSet h, AltosCValue def) {
+ if (h == null)
+ return def;
+ return new AltosCValue(h);
}
private int state;
ground_altitude.set_measured(a, time);
}
- class AltosGpsGroundAltitude extends AltosValue implements Serializable {
+ class AltosGpsGroundAltitude extends AltosValue {
void set(double a, double t) {
super.set(a, t);
pad_alt = value();
pad_alt = value();
gps_altitude.set_gps_height();
}
+
+ AltosGpsGroundAltitude() {
+ super();
+ }
+
+ AltosGpsGroundAltitude (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosGpsGroundAltitude AltosGpsGroundAltitude_fromHashSet(AltosHashSet h, AltosGpsGroundAltitude def) {
+ if (h == null) return def;
+ return new AltosGpsGroundAltitude(h);
}
private AltosGpsGroundAltitude gps_ground_altitude;
gps_ground_altitude.set(a, time);
}
- class AltosGroundPressure extends AltosCValue implements Serializable {
+ class AltosGroundPressure extends AltosCValue {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
if (!is_measured())
super.set_measured(p, time);
ground_altitude.set_computed(pressure_to_altitude(p), time);
}
+
+ AltosGroundPressure () {
+ super();
+ }
+
+ AltosGroundPressure (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosGroundPressure AltosGroundPressure_fromHashSet(AltosHashSet h, AltosGroundPressure def) {
+ if (h == null) return def;
+ return new AltosGroundPressure(h);
}
private AltosGroundPressure ground_pressure;
ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue implements Serializable {
+ class AltosAltitude extends AltosCValue implements AltosHashable {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
set_speed(measured);
set |= set_position;
}
+
+ AltosAltitude() {
+ super();
+ }
+
+ AltosAltitude (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosAltitude AltosAltitude_fromHashSet(AltosHashSet h, AltosAltitude def) {
+ if (h == null) return def;
+ return new AltosAltitude(h);
}
private AltosAltitude altitude;
- class AltosGpsAltitude extends AltosValue implements Serializable {
+ class AltosGpsAltitude extends AltosValue implements AltosHashable {
private void set_gps_height() {
double a = value();
super.set(a, t);
set_gps_height();
}
+
+ AltosGpsAltitude() {
+ super();
+ }
+
+ AltosGpsAltitude (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosGpsAltitude AltosGpsAltitude_fromHashSet(AltosHashSet h, AltosGpsAltitude def) {
+ if (h == null) return def;
+ return new AltosGpsAltitude(h);
}
private AltosGpsAltitude gps_altitude;
return gps_speed.max();
}
- class AltosPressure extends AltosValue implements Serializable {
+ class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
if (state == AltosLib.ao_flight_pad)
double a = pressure_to_altitude(p);
altitude.set_computed(a, time);
}
+
+ AltosPressure() {
+ super();
+ }
+
+ AltosPressure (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosPressure AltosPressure_fromHashSet(AltosHashSet h, AltosPressure def) {
+ if (h == null) return def;
+ return new AltosPressure(h);
}
private AltosPressure pressure;
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue implements Serializable {
+ class AltosSpeed extends AltosCValue implements AltosHashable {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
super.set_measured(new_value, time);
set_accel();
}
+
+ AltosSpeed() {
+ super();
+ }
+
+ AltosSpeed (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosSpeed AltosSpeed_fromHashSet(AltosHashSet h, AltosSpeed def) {
+ if (h == null) return def;
+ return new AltosSpeed(h);
}
private AltosSpeed speed;
return AltosLib.MISSING;
}
- class AltosAccel extends AltosCValue implements Serializable {
+ class AltosAccel extends AltosCValue implements AltosHashable {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
if (ascent)
speed.set_integral(this.measured);
}
+
+ AltosAccel() {
+ super();
+ }
+
+ AltosAccel (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosAccel AltosAccel_fromHashSet(AltosHashSet h, AltosAccel def) {
+ if (h == null) return def;
+ return new AltosAccel(h);
}
AltosAccel acceleration;
public AltosState clone() {
AltosState s = new AltosState();
s.copy(this);
+
+ AltosHashSet hash = hashSet();
+ String onetrip = hash.toString();
+ AltosHashSet back = AltosHashSet.fromString(onetrip);
+ AltosState tripstate = AltosState.fromHashSet(back);
+ AltosHashSet triphash = tripstate.hashSet();
+ String twotrip = triphash.toString();
+
+ if (!onetrip.equals(twotrip)) {
+ System.out.printf("%s\n%s\n", onetrip, twotrip);
+ System.exit(1);
+ }
return s;
}
public AltosState () {
init();
}
+
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putBoolean("valid", true);
+ h.putInt("set", set);
+ h.putLong("received_time", received_time);
+ h.putDouble("time", time);
+ h.putDouble("prev_time", prev_time);
+ h.putDouble("time_change", time_change);
+ h.putInt("tick", tick);
+ h.putInt("prev_tick", prev_tick);
+ h.putInt("boost_tick", boost_tick);
+ h.putInt("state", state);
+ h.putInt("flight", flight);
+ h.putInt("serial", serial);
+ h.putInt("altitude_32", altitude_32);
+ h.putInt("receiver_serial", receiver_serial);
+ h.putBoolean("landed", landed);
+ h.putBoolean("ascent", ascent);
+ h.putBoolean("boost", boost);
+ h.putInt("rssi", rssi);
+ h.putInt("status", status);
+ h.putInt("device_type", device_type);
+ h.putInt("config_major", config_major);
+ h.putInt("config_minor", config_minor);
+ h.putInt("apogee_delay", apogee_delay);
+ h.putInt("main_deploy", main_deploy);
+ h.putInt("flight_log_max", flight_log_max);
+ h.putHashable("ground_altitude", ground_altitude);
+ h.putHashable("gps_ground_altitude", gps_ground_altitude);
+ h.putHashable("ground_pressure", ground_pressure);
+ h.putHashable("altitude", altitude);
+ h.putHashable("gps_altitude", gps_altitude);
+ h.putHashable("gps_ground_speed", gps_ground_speed);
+ h.putHashable("gps_ascent_rate", gps_ascent_rate);
+ h.putHashable("gps_course", gps_course);
+ h.putHashable("gps_speed", gps_speed);
+ h.putHashable("pressure", pressure);
+ h.putHashable("speed", speed);
+ h.putHashable("acceleration", acceleration);
+ h.putHashable("orient", orient);
+ h.putHashable("kalman_height", kalman_height);
+ h.putHashable("kalman_speed", kalman_speed);
+ h.putHashable("kalman_acceleration", kalman_acceleration);
+
+ h.putDouble("battery_voltage",battery_voltage);
+ h.putDouble("pyro_voltage",pyro_voltage);
+ h.putDouble("temperature",temperature);
+ h.putDouble("apogee_voltage",apogee_voltage);
+ h.putDouble("main_voltage",main_voltage);
+ h.putDoubleArray("ignitor_voltage",ignitor_voltage);
+ h.putHashable("gps", gps);
+ h.putHashable("temp_gps", temp_gps);
+ h.putInt("temp_gps_sat_tick", temp_gps_sat_tick);
+ h.putBoolean("gps_pending", gps_pending);
+ h.putInt("gps_sequence", gps_sequence);
+ h.putHashable("imu", imu);
+ h.putHashable("mag", mag);
+
+ h.putInt("npad", npad);
+ h.putInt("gps_waiting", gps_waiting);
+ h.putBoolean("gps_ready", gps_ready);
+ h.putInt("ngps", ngps);
+ h.putHashable("from_pad", from_pad);
+ h.putDouble("elevation", elevation);
+ h.putDouble("range", range);
+ h.putDouble("gps_height", gps_height);
+ h.putDouble("pad_lat", pad_lat);
+ h.putDouble("pad_lon", pad_lon);
+ h.putDouble("pad_alt", pad_alt);
+ h.putInt("speak_tick", speak_tick);
+ h.putDouble("speak_altitude", speak_altitude);
+ h.putString("callsign", callsign);
+ h.putString("firmware_version", firmware_version);
+ h.putDouble("accel_plus_g", accel_plus_g);
+ h.putDouble("accel_minus_g", accel_minus_g);
+ h.putDouble("accel", accel);
+ h.putDouble("ground_accel", ground_accel);
+ h.putDouble("ground_accel_avg", ground_accel_avg);
+ h.putInt("log_format", log_format);
+ h.putString("product", product);
+ h.putHashable("baro", baro);
+ h.putHashable("companion", companion);
+ h.putInt("pyro_fired", pyro_fired);
+ h.putDouble("accel_zero_along", accel_zero_along);
+ h.putDouble("accel_zero_across", accel_zero_across);
+ h.putDouble("accel_zero_through", accel_zero_through);
+
+ h.putHashable("rotation", rotation);
+ h.putHashable("ground_rotation", ground_rotation);
+
+ h.putInt("pad_orientation", pad_orientation);
+
+ h.putDouble("accel_ground_along", accel_ground_along);
+ h.putDouble("accel_ground_across", accel_ground_across);
+ h.putDouble("accel_ground_through", accel_ground_through);
+
+ h.putDouble("gyro_zero_roll", gyro_zero_roll);
+ h.putDouble("gyro_zero_pitch", gyro_zero_pitch);
+ h.putDouble("gyro_zero_yaw", gyro_zero_yaw);
+
+ h.putDouble("last_imu_time", last_imu_time);
+ return h;
+ }
+
+ public AltosState(AltosHashSet h) {
+ this();
+
+ set = h.getInt("set", set);
+ received_time = h.getLong("received_time", received_time);
+ time = h.getDouble("time", time);
+ prev_time = h.getDouble("prev_time", prev_time);
+ time_change = h.getDouble("time_change", time_change);
+ tick = h.getInt("tick", tick);
+ prev_tick = h.getInt("prev_tick", prev_tick);
+ boost_tick = h.getInt("boost_tick", boost_tick);
+ state = h.getInt("state", state);
+ flight = h.getInt("flight", flight);
+ serial = h.getInt("serial", serial);
+ altitude_32 = h.getInt("altitude_32", altitude_32);
+ receiver_serial = h.getInt("receiver_serial", receiver_serial);
+ landed = h.getBoolean("landed", landed);
+ ascent = h.getBoolean("ascent", ascent);
+ boost = h.getBoolean("boost", boost);
+ rssi = h.getInt("rssi", rssi);
+ status = h.getInt("status", status);
+ device_type = h.getInt("device_type", device_type);
+ config_major = h.getInt("config_major", config_major);
+ config_minor = h.getInt("config_minor", config_minor);
+ apogee_delay = h.getInt("apogee_delay", apogee_delay);
+ main_deploy = h.getInt("main_deploy", main_deploy);
+ flight_log_max = h.getInt("flight_log_max", flight_log_max);
+ ground_altitude = AltosCValue_fromHashSet(h.getHash("ground_altitude"), ground_altitude);
+ gps_ground_altitude = AltosGpsGroundAltitude_fromHashSet(h.getHash("gps_ground_altitude"), gps_ground_altitude);
+ ground_pressure = AltosGroundPressure_fromHashSet(h.getHash("ground_pressure"), ground_pressure);
+ altitude = AltosAltitude_fromHashSet(h.getHash("altitude"), altitude);
+ gps_altitude = AltosGpsAltitude_fromHashSet(h.getHash("gps_altitude"), gps_altitude);
+ gps_ground_speed = AltosValue_fromHashSet(h.getHash("gps_ground_speed"), gps_ground_speed);
+ gps_ascent_rate = AltosValue_fromHashSet(h.getHash("gps_ascent_rate"), gps_ascent_rate);
+ gps_course = AltosValue_fromHashSet(h.getHash("gps_course"), gps_course);
+ gps_speed = AltosValue_fromHashSet(h.getHash("gps_speed"), gps_speed);
+ pressure = AltosPressure_fromHashSet(h.getHash("pressure"), pressure);
+ speed = AltosSpeed_fromHashSet(h.getHash("speed"), speed);
+ acceleration = AltosAccel_fromHashSet(h.getHash("acceleration"), acceleration);
+ orient = AltosCValue_fromHashSet(h.getHash("orient"), orient);
+ kalman_height = AltosValue_fromHashSet(h.getHash("kalman_height"), kalman_height);
+ kalman_speed = AltosValue_fromHashSet(h.getHash("kalman_speed"), kalman_speed);
+ kalman_acceleration = AltosValue_fromHashSet(h.getHash("kalman_acceleration"), kalman_acceleration);
+
+ battery_voltage = h.getDouble("battery_voltage", battery_voltage);
+ pyro_voltage = h.getDouble("pyro_voltage", pyro_voltage);
+ temperature = h.getDouble("temperature", temperature);
+ apogee_voltage = h.getDouble("apogee_voltage", apogee_voltage);
+ main_voltage= h.getDouble("main_voltage", main_voltage);
+ ignitor_voltage = h.getDoubleArray("ignitor_voltage", ignitor_voltage);
+ gps = AltosGPS.fromHashSet(h.getHash("gps"), gps);
+ temp_gps = AltosGPS.fromHashSet(h.getHash("temp_gps"), temp_gps);
+ temp_gps_sat_tick = h.getInt("temp_gps_sat_tick", temp_gps_sat_tick);
+ gps_pending = h.getBoolean("gps_pending", gps_pending);
+ gps_sequence = h.getInt("gps_sequence", gps_sequence);
+ imu = AltosIMU.fromHashSet(h.getHash("imu"), imu);
+ mag = AltosMag.fromHashSet(h.getHash("mag"), mag);
+
+ npad = h.getInt("npad", npad);
+ gps_waiting = h.getInt("gps_waiting", gps_waiting);
+ gps_ready = h.getBoolean("gps_ready", gps_ready);
+ ngps = h.getInt("ngps", ngps);
+ from_pad = AltosGreatCircle.fromHashSet(h.getHash("from_pad"), from_pad);
+ elevation = h.getDouble("elevation", elevation);
+ range = h.getDouble("range", range);
+ gps_height = h.getDouble("gps_height", gps_height);
+ pad_lat = h.getDouble("pad_lat", pad_lat);
+ pad_lon = h.getDouble("pad_lon", pad_lon);
+ pad_alt = h.getDouble("pad_alt", pad_alt);
+ speak_tick = h.getInt("speak_tick", speak_tick);
+ speak_altitude = h.getDouble("speak_altitude", speak_altitude);
+ callsign = h.getString("callsign", callsign);
+ firmware_version = h.getString("firmware_version", firmware_version);
+ accel_plus_g = h.getDouble("accel_plus_g", accel_plus_g);
+ accel_minus_g = h.getDouble("accel_minus_g", accel_minus_g);
+ accel = h.getDouble("accel", accel);
+ ground_accel = h.getDouble("ground_accel", ground_accel);
+ ground_accel_avg = h.getDouble("ground_accel_avg", ground_accel_avg);
+ log_format = h.getInt("log_format", log_format);
+ product = h.getString("product", product);
+ baro = AltosMs5607.fromHashSet(h.getHash("baro"), baro);
+ companion = AltosCompanion.fromHashSet(h.getHash("companion"), companion);
+ pyro_fired = h.getInt("pyro_fired", pyro_fired);
+ accel_zero_along = h.getDouble("accel_zero_along", accel_zero_along);
+ accel_zero_across = h.getDouble("accel_zero_across", accel_zero_across);
+ accel_zero_through = h.getDouble("accel_zero_through", accel_zero_through);
+
+ rotation = AltosRotation.fromHashSet(h.getHash("rotation"), rotation);
+ ground_rotation = AltosRotation.fromHashSet(h.getHash("ground_rotation"), ground_rotation);
+
+ pad_orientation = h.getInt("pad_orientation", pad_orientation);
+
+ accel_ground_along = h.getDouble("accel_ground_along", accel_ground_along);
+ accel_ground_across = h.getDouble("accel_ground_across", accel_ground_across);
+ accel_ground_through = h.getDouble("accel_ground_through", accel_ground_through);
+
+ gyro_zero_roll = h.getDouble("gyro_zero_roll", gyro_zero_roll);
+ gyro_zero_pitch = h.getDouble("gyro_zero_pitch", gyro_zero_pitch);
+ gyro_zero_yaw = h.getDouble("gyro_zero_yaw", gyro_zero_yaw);
+
+ last_imu_time = h.getDouble("last_imu_time", last_imu_time);
+ }
+
+ public static AltosState fromHashSet(AltosHashSet h) {
+ if (h == null)
+ return null;
+ if (!h.getBoolean("valid", false))
+ return null;
+ return new AltosState(h);
+ }
}
projects / fw / altos / blobdiff