X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosGPS.java;h=a730957b2566bc5c0b872820d69fa682b38994cc;hp=399e95b1376369de24c5ebaf491fe6da62f08938;hb=fd738d47bbc46d36698350d5450abe1125d990a3;hpb=7ec1b97d278c7aec3199fb7270f0dcf9484c879f

diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index 399e95b1..a730957b 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -3,7 +3,8 @@
  *
  * 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
@@ -15,13 +16,16 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_11;
 
 import java.text.*;
+import java.util.concurrent.*;
+import java.io.*;
+import java.time.*;
 
 public class AltosGPS implements Cloneable {
 
-	public final static int MISSING = AltosRecord.MISSING;
+	public final static int MISSING = AltosLib.MISSING;
 
 	public int	nsat;
 	public boolean	locked;
@@ -39,10 +43,11 @@ public class AltosGPS implements Cloneable {
 	public double	ground_speed;	/* m/s */
 	public int	course;		/* degrees */
 	public double	climb_rate;	/* m/s */
+	public double	pdop;		/* unitless */
 	public double	hdop;		/* unitless */
 	public double	vdop;		/* unitless */
-	public int	h_error;	/* m */
-	public int	v_error;	/* m */
+	public double	h_error;	/* m */
+	public double	v_error;	/* m */
 
 	public AltosGPSSat[] cc_gps_sat;	/* tracking data */
 
@@ -65,8 +70,26 @@ public class AltosGPS implements Cloneable {
 	}
 
 	public void ClearGPSTime() {
-		year = month = day = 0;
-		hour = minute = second = 0;
+		year = month = day = AltosLib.MISSING;
+		hour = minute = second = AltosLib.MISSING;
+	}
+
+	/* Return time since epoc in seconds */
+	public long seconds() {
+		if (year == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		if (month == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		if (day == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		if (hour == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		if (minute == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		if (second == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		OffsetDateTime	odt = OffsetDateTime.of(year, month, day, hour, minute, second, 0, ZoneOffset.UTC);
+		return odt.toEpochSecond();
 	}
 
 	public AltosGPS(AltosTelemetryMap map) throws ParseException {
@@ -91,9 +114,10 @@ public class AltosGPS implements Cloneable {
 			second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
 
 			ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
-						      AltosRecord.MISSING, 1/100.0);
+						      AltosLib.MISSING, 1/100.0);
 			course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
-					     AltosRecord.MISSING);
+					     AltosLib.MISSING);
+			pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0);
 			hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
 			vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
 			h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
@@ -107,6 +131,62 @@ public class AltosGPS implements Cloneable {
 		}
 	}
 
+	public boolean parse_string (String line, boolean says_done) {
+		String[] bits = line.split("\\s+");
+		if (bits.length == 0)
+			return false;
+		if (line.startsWith("Date:")) {
+			if (bits.length < 2)
+				return false;
+			String[] d = bits[1].split("/");
+			if (d.length < 3)
+				return false;
+			year = Integer.parseInt(d[0]) + 2000;
+			month = Integer.parseInt(d[1]);
+			day = Integer.parseInt(d[2]);
+		} else if (line.startsWith("Time:")) {
+			if (bits.length < 2)
+				return false;
+			String[] d = bits[1].split(":");
+			if (d.length < 3)
+				return false;
+			hour = Integer.parseInt(d[0]);
+			minute = Integer.parseInt(d[1]);
+			second = Integer.parseInt(d[2]);
+		} else if (line.startsWith("Lat/Lon:")) {
+			if (bits.length < 3)
+				return false;
+			lat = Integer.parseInt(bits[1]) * 1.0e-7;
+			lon = Integer.parseInt(bits[2]) * 1.0e-7;
+		} else if (line.startsWith("Alt:")) {
+			if (bits.length < 2)
+				return false;
+			alt = Integer.parseInt(bits[1]);
+		} else if (line.startsWith("Flags:")) {
+			if (bits.length < 2)
+				return false;
+			int status = Integer.decode(bits[1]);
+			connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
+			locked = (status & AltosLib.AO_GPS_VALID) != 0;
+			if (!says_done)
+				return false;
+		} else if (line.startsWith("Sats:")) {
+			if (bits.length < 2)
+				return false;
+			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);
+			}
+		} else if (line.startsWith("done")) {
+			return false;
+		} else
+			return false;
+		return true;
+	}
+
 	public AltosGPS(String[] words, int i, int version) throws ParseException {
 		AltosParse.word(words[i++], "GPS");
 		nsat = AltosParse.parse_int(words[i++]);
@@ -135,10 +215,10 @@ public class AltosGPS implements Cloneable {
 			lon = AltosParse.parse_coord(words[i++]);
 			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)"));
+				ground_speed = AltosParse.parse_double_net(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)"));
+				climb_rate = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+				hdop = AltosParse.parse_double_net(AltosParse.strip_suffix(words[i++], "(hdop)"));
 				h_error = AltosParse.parse_int(words[i++]);
 				v_error = AltosParse.parse_int(words[i++]);
 			}
@@ -211,11 +291,26 @@ public class AltosGPS implements Cloneable {
 		cc_gps_sat[cc_gps_sat.length - 1] = sat;
 	}
 
-	public AltosGPS() {
+	private void init() {
+		lat = AltosLib.MISSING;
+		lon = AltosLib.MISSING;
+		alt = AltosLib.MISSING;
+		ground_speed = AltosLib.MISSING;
+		course = AltosLib.MISSING;
+		climb_rate = AltosLib.MISSING;
+		pdop = AltosLib.MISSING;
+		hdop = AltosLib.MISSING;
+		vdop = AltosLib.MISSING;
+		h_error = AltosLib.MISSING;
+		v_error = AltosLib.MISSING;
 		ClearGPSTime();
 		cc_gps_sat = null;
 	}
 
+	public AltosGPS() {
+		init();
+	}
+
 	public AltosGPS clone() {
 		AltosGPS	g = new AltosGPS();
 
@@ -235,7 +330,9 @@ public class AltosGPS implements Cloneable {
 		g.ground_speed = ground_speed;	/* m/s */
 		g.course = course;		/* degrees */
 		g.climb_rate = climb_rate;	/* m/s */
-		g.hdop = hdop;		/* unitless? */
+		g.pdop = pdop;		/* unitless */
+		g.hdop = hdop;		/* unitless */
+		g.vdop = vdop;		/* unitless */
 		g.h_error = h_error;	/* m */
 		g.v_error = v_error;	/* m */
 
@@ -267,9 +364,11 @@ public class AltosGPS implements Cloneable {
 			ground_speed = old.ground_speed;	/* m/s */
 			course = old.course;		/* degrees */
 			climb_rate = old.climb_rate;	/* m/s */
+			pdop = old.pdop;		/* unitless? */
 			hdop = old.hdop;		/* unitless? */
-			h_error = old.h_error;	/* m */
-			v_error = old.v_error;	/* m */
+			vdop = old.vdop;		/* unitless? */
+			h_error = old.h_error;		/* m */
+			v_error = old.v_error;		/* m */
 
 			if (old.cc_gps_sat != null) {
 				cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
@@ -280,8 +379,29 @@ public class AltosGPS implements Cloneable {
 				}
 			}
 		} else {
-			ClearGPSTime();
-			cc_gps_sat = null;
+			init();
+		}
+	}
+
+	static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
+		try {
+			AltosGPS gps = new AltosGPS(link, link.config_data());
+			if (gps != null)
+				listener.set_gps(gps);
+		} catch (TimeoutException te) {
+		}
+	}
+
+	public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
+		boolean says_done = config_data.compare_version("1.0") >= 0;
+		init();
+		link.printf("g\n");
+		for (;;) {
+			String line = link.get_reply_no_dialog(5000);
+			if (line == null)
+				throw new TimeoutException();
+			if (!parse_string(line, says_done))
+				break;
 		}
 	}
 }