add a paragraph about forcing TM back to idle mode if an accel cal goes badly

[fw/altos] / ao-tools / altosui / AltosGPS.java

diff --git a/ao-tools/altosui/AltosGPS.java b/ao-tools/altosui/AltosGPS.java
index 6b84d7a57ec29eb145ce603270546d93cb1f1d97..acb6fb2c8bbbdcb4c211022951ea13fb1427c2d2 100644 (file)
--- a/ao-tools/altosui/AltosGPS.java
+++ b/ao-tools/altosui/AltosGPS.java
@@ -29,8 +29,9 @@ public class AltosGPS {
        }
 
        int     nsat;
-       boolean gps_locked;
-       boolean gps_connected;
+       boolean locked;
+       boolean connected;
+       boolean date_valid;
        double  lat;            /* degrees (+N -S) */
        double  lon;            /* degrees (+E -W) */
        int     alt;            /* m */
@@ -51,14 +52,16 @@ public class AltosGPS {
 
        AltosGPSSat[] cc_gps_sat;       /* tracking data */
 
-       void ParseGPSTime(String date, String time) throws ParseException {
+       void ParseGPSDate(String date) throws ParseException {
                String[] ymd = date.split("-");
                if (ymd.length != 3)
                        throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
                year = AltosParse.parse_int(ymd[0]);
                month = AltosParse.parse_int(ymd[1]);
                day = AltosParse.parse_int(ymd[2]);
+       }
 
+       void ParseGPSTime(String time) throws ParseException {
                String[] hms = time.split(":");
                if (hms.length != 3)
                        throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
@@ -72,51 +75,63 @@ public class AltosGPS {
                hour = minute = second = 0;
        }
 
-       public AltosGPS(String[] words, int i) throws ParseException {
+       public AltosGPS(String[] words, int i, int version) throws ParseException {
                AltosParse.word(words[i++], "GPS");
                nsat = AltosParse.parse_int(words[i++]);
                AltosParse.word(words[i++], "sat");
 
-               gps_connected = false;
-               gps_locked = false;
+               connected = false;
+               locked = false;
                lat = lon = 0;
                alt = 0;
                ClearGPSTime();
                if ((words[i]).equals("unlocked")) {
-                       gps_connected = true;
+                       connected = true;
                        i++;
                } else if ((words[i]).equals("not-connected")) {
                        i++;
                } else if (words.length >= 40) {
-                       gps_locked = true;
-                       gps_connected = true;
-
-                       ParseGPSTime(words[i], words[i+1]); i += 2;
+                       locked = true;
+                       connected = true;
+
+                       if (version > 1)
+                               ParseGPSDate(words[i++]);
+                       else
+                               year = month = day = 0;
+                       ParseGPSTime(words[i++]);
                        lat = AltosParse.parse_coord(words[i++]);
                        lon = AltosParse.parse_coord(words[i++]);
-                       alt = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "m"));
-                       ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
-                       course = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "°"));
-                       climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
-                       hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
-                       h_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(herr)"));
-                       v_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(verr)"));
+                       alt = AltosParse.parse_int(words[i++]);
+                       if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
+                               ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+                               course = AltosParse.parse_int(words[i++]);
+                               climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+                               hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+                               h_error = AltosParse.parse_int(words[i++]);
+                               v_error = AltosParse.parse_int(words[i++]);
+                       }
                } else {
                        i++;
                }
-               AltosParse.word(words[i++], "SAT");
-               int tracking_channels = 0;
-               if (words[i].equals("not-connected"))
-                       tracking_channels = 0;
-               else
-                       tracking_channels = AltosParse.parse_int(words[i]);
-               i++;
-               cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
-               for (int chan = 0; chan < tracking_channels; chan++) {
-                       cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
-                       cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
-                       cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
-               }
+               if (i < words.length) {
+                       AltosParse.word(words[i++], "SAT");
+                       int tracking_channels = 0;
+                       if (words[i].equals("not-connected"))
+                               tracking_channels = 0;
+                       else
+                               tracking_channels = AltosParse.parse_int(words[i]);
+                       i++;
+                       cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
+                       for (int chan = 0; chan < tracking_channels; chan++) {
+                               cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
+                               cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+                               /* Older versions included SiRF status bits */
+                               if (version < 2)
+                                       i++;
+                               cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+                       }
+               } else
+                       cc_gps_sat = new AltosGPS.AltosGPSSat[0];
        }
 
        public void set_latitude(int in_lat) {
@@ -169,8 +184,9 @@ public class AltosGPS {
 
        public AltosGPS(AltosGPS old) {
                nsat = old.nsat;
-               gps_locked = old.gps_locked;
-               gps_connected = old.gps_connected;
+               locked = old.locked;
+               connected = old.connected;
+               date_valid = old.date_valid;
                lat = old.lat;          /* degrees (+N -S) */
                lon = old.lon;          /* degrees (+E -W) */
                alt = old.alt;          /* m */
@@ -189,11 +205,13 @@ public class AltosGPS {
                h_error = old.h_error;  /* m */
                v_error = old.v_error;  /* m */
 
-               AltosGPSSat[] cc_gps_sat;       /* tracking data */
-               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].svid = old.cc_gps_sat[i].svid;
-                       cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+               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;
+                       }
                }
        }
 }