X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosui%2FAltosTelemetry.java;h=91b6d0481436c536ae8f5d46f3ac1e04e91e4b2a;hp=bdb6466a46d7d66ec03914cad9653bac9b71c8a9;hb=8de9d3cbfcd1db7b554fb761296a8de09aafc8c3;hpb=f01096c4b42f9a4720ed0414826c2a283a992545

diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java
index bdb6466a..91b6d048 100644
--- a/altosui/AltosTelemetry.java
+++ b/altosui/AltosTelemetry.java
@@ -27,10 +27,40 @@ import java.util.HashMap;
 
 
 /*
- * The telemetry data stream is a bit of a mess at present, with no consistent
- * formatting. In particular, the GPS data is formatted for viewing instead of parsing.
- * However, the key feature is that every telemetry line contains all of the information
- * necessary to describe the current rocket state, including the calibration values
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ *   r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ *   a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ *   r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ *	Name		Value
+ *
+ *	VERSION		Telemetry version number (4 or more). Must be first.
+ * 	c		Callsign (string, no spaces allowed)
+ *	n		Flight unit serial number (integer)
+ * 	f		Flight number (integer)
+ *	r		Packet RSSI value (integer)
+ * 	s		Flight computer state (string, no spaces allowed)
+ *	t		Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing.  However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
  * for accelerometer and barometer.
  *
  * GPS unlocked:
@@ -47,25 +77,197 @@ import java.util.HashMap;
  *     GPS  9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W  1790m  \
  *     0.00m/s(H) 0°     0.00m/s(V) 1.0(hdop)     0(herr)     0(verr) \
  *     SAT 10   29  30  24  28   5  25  21  20  15  33   1  23  30  24  18  26  10  29   2  26
+ *
  */
 
 public class AltosTelemetry extends AltosRecord {
-	public AltosTelemetry(String line) throws ParseException, AltosCRCException {
-		String[] words = line.split("\\s+");
-		int	i = 0;
+	/*
+	 * General header fields
+	 *
+	 *	Name		Value
+	 *
+	 *	VERSION		Telemetry version number (4 or more). Must be first.
+	 * 	c		Callsign (string, no spaces allowed)
+	 *	n		Flight unit serial number (integer)
+	 * 	f		Flight number (integer)
+	 *	r		Packet RSSI value (integer)
+	 * 	s		Flight computer state (string, no spaces allowed)
+	 *	t		Flight computer clock (integer in centiseconds)
+	 */
 
-		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
-			i += 2;
-			AltosParse.word(words[i++], "RSSI");
-			rssi = AltosParse.parse_int(words[i++]);
-			throw new AltosCRCException(rssi);
-		}
-		if (words[i].equals("CALL")) {
-			version = 0;
-		} else {
-			AltosParse.word (words[i++], "VERSION");
-			version = AltosParse.parse_int(words[i++]);
-		}
+	final static String AO_TELEM_VERSION	= "VERSION";
+	final static String AO_TELEM_CALL	= "c";
+	final static String AO_TELEM_SERIAL	= "n";
+	final static String AO_TELEM_FLIGHT	= "f";
+	final static String AO_TELEM_RSSI	= "r";
+	final static String AO_TELEM_STATE	= "s";
+	final static String AO_TELEM_TICK	= "t";
+
+	/*
+	 * Raw sensor values
+	 *
+	 *	Name		Value
+	 *	r_a		Accelerometer reading (integer)
+	 *	r_b		Barometer reading (integer)
+	 *	r_t		Thermometer reading (integer)
+	 *	r_v		Battery reading (integer)
+	 *	r_d		Drogue continuity (integer)
+	 *	r_m		Main continuity (integer)
+	 */
+
+	final static String AO_TELEM_RAW_ACCEL	= "r_a";
+	final static String AO_TELEM_RAW_BARO	= "r_b";
+	final static String AO_TELEM_RAW_THERMO	= "r_t";
+	final static String AO_TELEM_RAW_BATT	= "r_v";
+	final static String AO_TELEM_RAW_DROGUE	= "r_d";
+	final static String AO_TELEM_RAW_MAIN	= "r_m";
+
+	/*
+	 * Sensor calibration values
+	 *
+	 *	Name		Value
+	 *	c_a		Ground accelerometer reading (integer)
+	 *	c_b		Ground barometer reading (integer)
+	 *	c_p		Accelerometer reading for +1g
+	 *	c_m		Accelerometer reading for -1g
+	 */
+
+	final static String AO_TELEM_CAL_ACCEL_GROUND	= "c_a";
+	final static String AO_TELEM_CAL_BARO_GROUND	= "c_b";
+	final static String AO_TELEM_CAL_ACCEL_PLUS	= "c_p";
+	final static String AO_TELEM_CAL_ACCEL_MINUS	= "c_m";
+
+	/*
+	 * Kalman state values
+	 *
+	 *	Name		Value
+	 *	k_h		Height above pad (integer, meters)
+	 *	k_s		Vertical speeed (integer, m/s * 16)
+	 *	k_a		Vertical acceleration (integer, m/s² * 16)
+	 */
+
+	final static String AO_TELEM_KALMAN_HEIGHT	= "k_h";
+	final static String AO_TELEM_KALMAN_SPEED	= "k_s";
+	final static String AO_TELEM_KALMAN_ACCEL	= "k_a";
+
+	/*
+	 * Ad-hoc flight values
+	 *
+	 *	Name		Value
+	 *	a_a		Acceleration (integer, sensor units)
+	 *	a_s		Speed (integer, integrated acceleration value)
+	 *	a_b		Barometer reading (integer, sensor units)
+	 */
+
+	final static String AO_TELEM_ADHOC_ACCEL	= "a_a";
+	final static String AO_TELEM_ADHOC_SPEED	= "a_s";
+	final static String AO_TELEM_ADHOC_BARO		= "a_b";
+
+	/*
+	 * GPS values
+	 *
+	 *	Name		Value
+	 *	g_s		GPS state (string):
+	 *				l	locked
+	 *				u	unlocked
+	 *				e	error (missing or broken)
+	 *	g_n		Number of sats used in solution
+	 *	g_ns		Latitude (degrees * 10e7)
+	 *	g_ew		Longitude (degrees * 10e7)
+	 *	g_a		Altitude (integer meters)
+	 *	g_Y		GPS year (integer)
+	 *	g_M		GPS month (integer - 1-12)
+	 *	g_D		GPS day (integer - 1-31)
+	 *	g_h		GPS hour (integer - 0-23)
+	 *	g_m		GPS minute (integer - 0-59)
+	 *	g_s		GPS second (integer - 0-59)
+	 *	g_v		GPS vertical speed (integer, cm/sec)
+	 *	g_s		GPS horizontal speed (integer, cm/sec)
+	 *	g_c		GPS course (integer, 0-359)
+	 *	g_hd		GPS hdop (integer * 10)
+	 *	g_vd		GPS vdop (integer * 10)
+	 *	g_he		GPS h error (integer)
+	 *	g_ve		GPS v error (integer)
+	 */
+
+	final static String AO_TELEM_GPS_STATE	 		= "g";
+	final static String AO_TELEM_GPS_STATE_LOCKED		= "l";
+	final static String AO_TELEM_GPS_STATE_UNLOCKED		= "u";
+	final static String AO_TELEM_GPS_STATE_ERROR		= "e";
+	final static String AO_TELEM_GPS_NUM_SAT		= "g_n";
+	final static String AO_TELEM_GPS_LATITUDE		= "g_ns";
+	final static String AO_TELEM_GPS_LONGITUDE		= "g_ew";
+	final static String AO_TELEM_GPS_ALTITUDE		= "g_a";
+	final static String AO_TELEM_GPS_YEAR			= "g_Y";
+	final static String AO_TELEM_GPS_MONTH			= "g_M";
+	final static String AO_TELEM_GPS_DAY			= "g_D";
+	final static String AO_TELEM_GPS_HOUR			= "g_h";
+	final static String AO_TELEM_GPS_MINUTE			= "g_m";
+	final static String AO_TELEM_GPS_SECOND			= "g_s";
+	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
+	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
+	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_HDOP			= "g_hd";
+	final static String AO_TELEM_GPS_VDOP			= "g_vd";
+	final static String AO_TELEM_GPS_HERROR			= "g_he";
+	final static String AO_TELEM_GPS_VERROR			= "g_ve";
+
+	/*
+	 * GPS satellite values
+	 *
+	 *	Name		Value
+	 *	s_n		Number of satellites reported (integer)
+	 *	s_v0		Space vehicle ID (integer) for report 0
+	 *	s_c0		C/N0 number (integer) for report 0
+	 *	s_v1		Space vehicle ID (integer) for report 1
+	 *	s_c1		C/N0 number (integer) for report 1
+	 *	...
+	 */
+
+	final static String AO_TELEM_SAT_NUM	= "s_n";
+	final static String AO_TELEM_SAT_SVID	= "s_v";
+	final static String AO_TELEM_SAT_C_N_0	= "s_c";
+
+	private void parse_v4(String[] words, int i) throws ParseException {
+		AltosTelemetryMap	map = new AltosTelemetryMap(words, i);
+
+		callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+		serial = map.get_int(AO_TELEM_SERIAL, MISSING);
+		flight = map.get_int(AO_TELEM_FLIGHT, MISSING);
+		rssi = map.get_int(AO_TELEM_RSSI, MISSING);
+		state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+		tick = map.get_int(AO_TELEM_TICK, 0);
+
+		/* raw sensor values */
+		accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING);
+		pres = map.get_int(AO_TELEM_RAW_BARO, MISSING);
+		temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING);
+		batt = map.get_int(AO_TELEM_RAW_BATT, MISSING);
+		drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING);
+		main = map.get_int(AO_TELEM_RAW_MAIN, MISSING);
+
+		/* sensor calibration information */
+		ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING);
+		ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING);
+		accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING);
+		accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING);
+
+		/* flight computer values */
+		acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, MISSING, 1/16.0);
+		speed = map.get_double(AO_TELEM_KALMAN_SPEED, MISSING, 1/16.0);
+		height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING);
+
+		flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING);
+		flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING);
+		flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING);
+
+		if (map.has(AO_TELEM_GPS_STATE))
+			gps = new AltosGPS(map);
+		else
+			gps = null;
+	}
+
+	private void parse_legacy(String[] words, int i) throws ParseException {
 
 		AltosParse.word (words[i++], "CALL");
 		callsign = words[i++];
@@ -140,4 +342,27 @@ public class AltosTelemetry extends AltosRecord {
 
 		gps = new AltosGPS(words, i, version);
 	}
+
+	public AltosTelemetry(String line) throws ParseException, AltosCRCException {
+		String[] words = line.split("\\s+");
+		int	i = 0;
+
+		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(words[i++], "RSSI");
+			rssi = AltosParse.parse_int(words[i++]);
+			throw new AltosCRCException(rssi);
+		}
+		if (words[i].equals("CALL")) {
+			version = 0;
+		} else {
+			AltosParse.word (words[i++], "VERSION");
+			version = AltosParse.parse_int(words[i++]);
+		}
+
+		if (version < 4)
+			parse_legacy(words, i);
+		else
+			parse_v4(words, i);
+	}
 }