*
* 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
import java.io.*;
-public class AltosState implements Cloneable, AltosHashable {
+public class AltosState extends AltosFlightListener implements Cloneable {
public static final int set_position = 1;
public static final int set_gps = 2;
public double time;
public double prev_time;
public double time_change;
- public int tick;
private int prev_tick;
- public int boost_tick;
- class AltosValue implements AltosHashable {
+ class AltosValue {
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;
}
- AltosValue AltosValue_fromHashSet(AltosHashSet h, AltosValue def) {
- if (h == null)
- return def;
- return new AltosValue(h);
- }
-
- class AltosCValue implements AltosHashable {
+ class AltosCValue {
- class AltosIValue extends AltosValue implements AltosHashable {
+ class AltosIValue extends AltosValue {
boolean can_max() {
return c_can_max();
}
AltosIValue() {
super();
}
-
- AltosIValue(AltosHashSet h) {
- super(h);
- }
};
public AltosIValue measured;
computed.finish_update();
}
- AltosCValue() {
+ public AltosCValue() {
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;
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;
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 AltosHashable {
+ class AltosAltitude extends AltosCValue {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
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 AltosHashable {
+ class AltosGpsAltitude extends AltosValue {
private void set_gps_height() {
double a = value();
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;
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;
pressure.set(p, time);
}
+ class AltosForce extends AltosValue {
+ void set(double p, double time) {
+ super.set(p, time);
+ }
+
+ AltosForce() {
+ super();
+ }
+ }
+ private AltosForce thrust;
+
+ public double thrust() {
+ return thrust.value();
+ }
+
+ public void set_thrust(double N) {
+ thrust.set(N, time);
+ }
+
public double baro_height() {
double a = altitude();
double g = ground_altitude();
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue implements AltosHashable {
+ class AltosSpeed extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
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 AltosHashable {
+ class AltosAccel extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
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;
ground_pressure = new AltosGroundPressure();
altitude = new AltosAltitude();
pressure = new AltosPressure();
+ thrust = new AltosForce();
speed = new AltosSpeed();
acceleration = new AltosAccel();
orient = new AltosCValue();
return;
}
+ super.copy(old);
+
received_time = old.received_time;
time = old.time;
time_change = old.time_change;
}
}
- public void set_boost_tick(int boost_tick) {
- if (boost_tick != AltosLib.MISSING)
- this.boost_tick = boost_tick;
- }
-
public String state_name() {
return AltosLib.state_name(state);
}
public void set_ms5607(AltosMs5607 ms5607) {
baro = ms5607;
- if (baro != null) {
+ if (baro != null && baro.pa != AltosLib.MISSING && baro.cc != AltosLib.MISSING) {
set_pressure(baro.pa);
set_temperature(baro.cc / 100.0);
}
return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
}
- public AltosGPS make_temp_gps(boolean sats) {
- if (temp_gps == null) {
- temp_gps = new AltosGPS(gps);
- }
- gps_pending = true;
- if (sats) {
- if (tick != temp_gps_sat_tick)
- temp_gps.cc_gps_sat = null;
- temp_gps_sat_tick = tick;
- }
- return temp_gps;
- }
-
public void set_temp_gps() {
set_gps(temp_gps, gps_sequence + 1);
gps_pending = false;
- temp_gps = null;
+ super.set_temp_gps();
+ }
+
+ public void set_config_data(AltosConfigData config_data) {
+ if (config_data.callsign != null)
+ set_callsign(config_data.callsign);
+ if (config_data.accel_cal_plus != AltosLib.MISSING &&
+ config_data.accel_cal_minus != AltosLib.MISSING)
+ set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus);
+ if (config_data.product != null)
+ set_product(config_data.product);
+ if (config_data.log_format != AltosLib.MISSING)
+ set_log_format(config_data.log_format);
+ if (config_data.serial != AltosLib.MISSING)
+ set_serial(config_data.serial);
+ AltosMs5607 ms5607 = new AltosMs5607(config_data);
+ if (ms5607.valid_config())
+ set_ms5607(ms5607);
}
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);
+ /* Code to test state save/restore. Enable only for that purpose
+ */
+ if (false) {
+ AltosJson json = new AltosJson(this);
+ String onetrip = json.toPrettyString();
+ AltosJson back = AltosJson.fromString(onetrip);
+ AltosState tripstate = (AltosState) back.make(this.getClass());
+ AltosJson tripjson = new AltosJson(tripstate);
+ String twotrip = tripjson.toPrettyString();
+
+ if (!onetrip.equals(twotrip)) {
+ try {
+ FileWriter one_file = new FileWriter("one.json", true);
+ one_file.write(onetrip);
+ one_file.flush();
+ FileWriter two_file = new FileWriter("two.json", true);
+ two_file.write(twotrip);
+ two_file.flush();
+ } catch (Exception e) {
+ }
+ System.out.printf("json error\n");
+ 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.putInt("log_space", log_space);
- 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);
- log_space = h.getInt("log_space", log_space);
- 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