altoslib/altosui: Get legacy telem working with new AltosState structure
authorKeith Packard <keithp@keithp.com>
Sat, 31 Aug 2013 06:48:02 +0000 (01:48 -0500)
committerKeith Packard <keithp@keithp.com>
Sat, 31 Aug 2013 06:48:58 +0000 (01:48 -0500)
Make AltosTelemetry work without AltosRecord

Signed-off-by: Keith Packard <keithp@keithp.com>
12 files changed:
altoslib/AltosEepromFile.java
altoslib/AltosFile.java
altoslib/AltosGPS.java
altoslib/AltosLog.java
altoslib/AltosState.java
altoslib/AltosTelemetry.java
altoslib/AltosTelemetryFile.java [new file with mode: 0644]
altoslib/AltosTelemetryIterable.java
altoslib/AltosTelemetryLegacy.java [new file with mode: 0644]
altoslib/AltosTelemetryReader.java
altoslib/Makefile.am
altosui/AltosUI.java

index bcc7171ee91a4c9dd77d00aae042fbaf91602ee9..2f4c54d7d7fc3c4d61c29c18f0e55f1638aafb95 100644 (file)
@@ -57,6 +57,7 @@ public class AltosEepromFile extends AltosStateIterable {
 
        AltosEepromIterable     headers;
        AltosEepromIterable     body;
+       AltosState              start;
 
        public void write_comments(PrintStream out) {
                headers.write(out);
@@ -70,9 +71,9 @@ public class AltosEepromFile extends AltosStateIterable {
        public AltosEepromFile(FileInputStream input) {
                headers = new AltosEepromIterable(AltosEepromHeader.read(input));
 
-               AltosState      state = headers.state();
+               start = headers.state();
 
-               switch (state.log_format) {
+               switch (start.log_format) {
                case AltosLib.AO_LOG_FORMAT_FULL:
                        body = new AltosEepromIterable(AltosEepromTM.read(input));
                        break;
@@ -86,26 +87,24 @@ public class AltosEepromFile extends AltosStateIterable {
                        body = new AltosEepromIterable(AltosEepromMini.read(input));
                        break;
                }
-       }
 
-       int boost_tick (AltosState start) {
+               /* Find boost tick */
                AltosState      state = start.clone();
                for (AltosEeprom eeprom : body) {
                        eeprom.update_state(state);
-                       if (state.state >= AltosLib.ao_flight_boost)
-                               return state.tick;
+                       if (state.state >= AltosLib.ao_flight_boost) {
+                               start.set_boost_tick(state.tick);
+                               break;
+                       }
                }
-               return 0;
        }
 
        public Iterator<AltosState> iterator() {
-
-               AltosState              state = headers.state();
-               Iterator<AltosEeprom>   i = body.iterator();
+               AltosState              state = start.clone();
+               Iterator<AltosEeprom>   i = body.iterator();
 
                while (i.hasNext() && !state.valid())
                        i.next().update_state(state);
-               state.set_boost_tick(boost_tick(state));
                return new AltosEepromIterator(state, i);
        }
 }
\ No newline at end of file
index 90dbc6dbea8ecf069dbedbf530b88e33ee865ea3..54c5482435b18e75d3e173498b664240c82007ed 100644 (file)
@@ -22,10 +22,17 @@ import java.util.*;
 
 public class AltosFile extends File {
 
+       static String number(int n) {
+               if (n == AltosRecord.MISSING)
+                       return "unk";
+               else
+                       return String.format("%03d", n);
+       }
+
        public AltosFile(int year, int month, int day, int serial, int flight, String extension) {
                super (AltosPreferences.logdir(),
-                      String.format("%04d-%02d-%02d-serial-%03d-flight-%03d.%s",
-                                    year, month, day, serial, flight, extension));
+                      String.format("%04d-%02d-%02d-serial-%s-flight-%s.%s",
+                                    year, month, day, number(serial), number(flight), extension));
        }
 
        public AltosFile(int serial, int flight, String extension) {
@@ -37,7 +44,7 @@ public class AltosFile extends File {
                     extension);
        }
 
-       public AltosFile(AltosRecord telem) {
-               this(telem.serial, telem.flight, "telem");
+       public AltosFile(AltosState state) {
+               this(state.serial, state.flight, "telem");
        }
 }
index eb384e4d964d5adbc0e11dc68658d0bdc3492fe7..399e95b1376369de24c5ebaf491fe6da62f08938 100644 (file)
@@ -70,35 +70,35 @@ public class AltosGPS implements Cloneable {
        }
 
        public AltosGPS(AltosTelemetryMap map) throws ParseException {
-               String  state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
-                                              AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+               String  state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
+                                              AltosTelemetryLegacy.AO_TELEM_GPS_STATE_ERROR);
 
-               nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
-               if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+               nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0);
+               if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_LOCKED)) {
                        connected = true;
                        locked = true;
-                       lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
-                       lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
-                       alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
-                       year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+                       lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+                       lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+                       alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING);
+                       year = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_YEAR, MISSING);
                        if (year != MISSING)
                                year += 2000;
-                       month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
-                       day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
+                       month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING);
+                       day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING);
 
-                       hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
-                       minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
-                       second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
+                       hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0);
+                       minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0);
+                       second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
 
-                       ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
+                       ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
                                                      AltosRecord.MISSING, 1/100.0);
-                       course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
+                       course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
                                             AltosRecord.MISSING);
-                       hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
-                       vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
-                       h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
-                       v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
-               } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+                       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);
+                       v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING);
+               } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) {
                        connected = true;
                        locked = false;
                } else {
index 974c9f0f90ab6c189c1dbb718a6d0e02af809207..7f69bb65afea25e4082f5b1f2e7ae2649914f9e8 100644 (file)
@@ -57,8 +57,8 @@ public class AltosLog implements Runnable {
                return file;
        }
 
-       boolean open (AltosRecord telem) throws IOException {
-               AltosFile       a = new AltosFile(telem);
+       boolean open (AltosState state) throws IOException {
+               AltosFile       a = new AltosFile(state);
 
                log_file = new FileWriter(a, true);
                if (log_file != null) {
@@ -78,22 +78,25 @@ public class AltosLog implements Runnable {
 
        public void run () {
                try {
-                       AltosRecord     previous = null;
+                       AltosState      state = null;
                        for (;;) {
                                AltosLine       line = input_queue.take();
                                if (line.line == null)
                                        continue;
                                try {
-                                       AltosRecord     telem = AltosTelemetry.parse(line.line, previous);
-                                       if ((telem.seen & AltosRecord.seen_flight) != 0 &&
-                                           (telem.serial != serial || telem.flight != flight || log_file == null))
+                                       AltosTelemetry  telem = new AltosTelemetryLegacy(line.line);
+                                       if (state != null)
+                                               state = state.clone();
+                                       else
+                                               state = new AltosState();
+                                       telem.update_state(state);
+                                       if (state.serial != serial || state.flight != flight || log_file == null)
                                        {
                                                close_log_file();
-                                               serial = telem.serial;
-                                               flight = telem.flight;
-                                               open(telem);
+                                               serial = state.serial;
+                                               flight = state.flight;
+                                               open(state);
                                        }
-                                       previous = telem;
                                } catch (ParseException pe) {
                                } catch (AltosCRCException ce) {
                                }
index daf06c19f4c29225c2bbcd676596af06a831a124..52650062c479c205a520cdf8c55c6a66a682ae87 100644 (file)
@@ -104,6 +104,7 @@ public class AltosState implements Cloneable {
        public double   accel_minus_g;
        public double   accel;
        public double   ground_accel;
+       public double   ground_accel_avg;
 
        public int      log_format;
 
@@ -201,6 +202,7 @@ public class AltosState implements Cloneable {
                accel_minus_g = AltosRecord.MISSING;
                accel = AltosRecord.MISSING;
                ground_accel = AltosRecord.MISSING;
+               ground_accel_avg = AltosRecord.MISSING;
                log_format = AltosRecord.MISSING;
                serial = AltosRecord.MISSING;
 
@@ -306,6 +308,7 @@ public class AltosState implements Cloneable {
                accel_minus_g = old.accel_minus_g;
                accel = old.accel;
                ground_accel = old.ground_accel;
+               ground_accel_avg = old.ground_accel_avg;
 
                log_format = old.log_format;
                serial = old.serial;
@@ -396,9 +399,13 @@ public class AltosState implements Cloneable {
        }
        
        void update_accel() {
+               double  ground = ground_accel;
+
+               if (ground == AltosRecord.MISSING)
+                       ground = ground_accel_avg;
                if (accel == AltosRecord.MISSING)
                        return;
-               if (ground_accel == AltosRecord.MISSING)
+               if (ground == AltosRecord.MISSING)
                        return;
                if (accel_plus_g == AltosRecord.MISSING)
                        return;
@@ -408,7 +415,7 @@ public class AltosState implements Cloneable {
                double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
                double counts_per_mss = counts_per_g / 9.80665;
 
-               acceleration = (ground_accel - accel) / counts_per_mss;
+               acceleration = (ground - accel) / counts_per_mss;
 
                /* Only look at accelerometer data under boost */
                if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
@@ -556,9 +563,6 @@ public class AltosState implements Cloneable {
 
        public void set_gps(AltosGPS gps, int sequence) {
                if (gps != null) {
-                       System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n",
-                                          gps.year, gps.month, gps.day,
-                                          gps.hour, gps.minute, gps.second);
                        this.gps = gps.clone();
                        gps_sequence = sequence;
                        update_gps();
@@ -623,6 +627,12 @@ public class AltosState implements Cloneable {
        public void set_accel(double accel) {
                if (accel != AltosRecord.MISSING) {
                        this.accel = accel;
+                       if (state == AltosLib.ao_flight_pad) {
+                               if (ground_accel_avg == AltosRecord.MISSING)
+                                       ground_accel_avg = accel;
+                               else
+                                       ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
+                       }
                }
                update_accel();
        }
index e73223499a2f42ed91950b0a70e778e3541b3a12..b84455d34d17236ad09dff2326166a63a4d727f4 100644 (file)
@@ -23,217 +23,136 @@ import java.text.*;
  * Telemetry data contents
  */
 
+public abstract class AltosTelemetry implements AltosStateUpdate {
+
+       /* All telemetry packets have these fields */
+       public int      tick;
+       public int      serial;
+       public int      rssi;
+       public int      status;
+
+       /* Mark when we received the packet */
+       long            received_time;
+
+       static boolean cksum(int[] bytes) {
+               int     sum = 0x5a;
+               for (int i = 1; i < bytes.length - 1; i++)
+                       sum += bytes[i];
+               sum &= 0xff;
+               return sum == bytes[bytes.length - 1];
+       }
+
+       public void update_state(AltosState state) {
+       }
 
+       final static int PKT_APPEND_STATUS_1_CRC_OK             = (1 << 7);
+       final static int PKT_APPEND_STATUS_1_LQI_MASK           = (0x7f);
+       final static int PKT_APPEND_STATUS_1_LQI_SHIFT          = 0;
+
+       final static int packet_type_TM_sensor = 0x01;
+       final static int packet_type_Tm_sensor = 0x02;
+       final static int packet_type_Tn_sensor = 0x03;
+       final static int packet_type_configuration = 0x04;
+       final static int packet_type_location = 0x05;
+       final static int packet_type_satellite = 0x06;
+       final static int packet_type_companion = 0x07;
+       final static int packet_type_MM_sensor = 0x08;
+       final static int packet_type_MM_data = 0x09;
+       final static int packet_type_Mini = 0x10;
+       
+       static AltosTelemetry parse_hex(String hex)  throws ParseException, AltosCRCException {
+               AltosTelemetry  telem = null;
+
+               int[] bytes;
+               try {
+                       bytes = AltosLib.hexbytes(hex);
+               } catch (NumberFormatException ne) {
+                       throw new ParseException(ne.getMessage(), 0);
+               }
+
+               /* one for length, one for checksum */
+               if (bytes[0] != bytes.length - 2)
+                       throw new ParseException(String.format("invalid length %d != %d\n",
+                                                              bytes[0],
+                                                              bytes.length - 2), 0);
+               if (!cksum(bytes))
+                       throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+               int     rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
+               int     status = AltosLib.uint8(bytes, bytes.length - 2);
+
+               if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+                       throw new AltosCRCException(rssi);
+
+               /* length, data ..., rssi, status, checksum -- 4 bytes extra */
+               switch (bytes.length) {
+               case AltosLib.ao_telemetry_standard_len + 4:
+                       int     type = AltosLib.uint8(bytes, 4 + 1);
 /*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * 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:
- *
- * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -68 STATUS ff STATE     pad  1001 \
- *    a: 16032 p: 21232 t: 20284 v: 25160 d:   204 m:   204 fa: 16038 ga: 16032 fv:       0 \
- *    fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS  0 sat unlocked SAT 1   15  30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -71 STATUS ff STATE     pad  2504 \
- *     a: 16028 p: 21220 t: 20360 v: 25004 d:   208 m:   200 fa: 16031 ga: 16032 fv:     330 \
- *     fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- *     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
- *
- */
+                       switch (type) {
+                       case packet_type_TM_sensor:
+                       case packet_type_Tm_sensor:
+                       case packet_type_Tn_sensor:
+                               telem = new AltosTelemetrySensor(bytes);
+                               break;
+                       case packet_type_configuration:
+                               telem = new AltosTelemetryConfiguration(bytes);
+                               break;
+                       case packet_type_location:
+                               telem = new AltosTelemetryLocation(bytes);
+                               break;
+                       case packet_type_satellite:
+                               telem = new AltosTelemetrySatellite(bytes);
+                               break;
+                       case packet_type_companion:
+                               telem = new AltosTelemetryCompanion(bytes);
+                               break;
+                       case packet_type_MM_sensor:
+                               telem = new AltosTelemetryMegaSensor(bytes);
+                               break;
+                       case packet_type_MM_data:
+                               telem = new AltosTelemetryMegaData(bytes);
+                               break;
+                       default:
+                               telem = new AltosTelemetryRaw(bytes);
+                               break;
+                       }
+*/
+                       break;
+               case AltosLib.ao_telemetry_0_9_len + 4:
+                       telem = new AltosTelemetryLegacy(bytes);
+                       break;
+               case AltosLib.ao_telemetry_0_8_len + 4:
+                       telem = new AltosTelemetryLegacy(bytes);
+                       break;
+               default:
+                       throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+               }
+               if (telem != null) {
+                       telem.received_time = System.currentTimeMillis();
+                       telem.rssi = rssi;
+                       telem.status = status;
+               }
+               return telem;
+       }
+
+       public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
+               String[] word = line.split("\\s+");
+               int i =0;
+
+               if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+                       i += 2;
+                       AltosParse.word(word[i++], "RSSI");
+                       throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+               }
+
+               AltosTelemetry telem;
 
-public abstract class AltosTelemetry extends AltosRecord {
-
-       /*
-        * 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)
-        */
-
-       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";
-
-       static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
-               AltosTelemetryRecord    r = AltosTelemetryRecord.parse(line);
-
-               return r.update_state(previous);
+               if (word[i].equals("TELEM")) {
+                       telem = parse_hex(word[i+1]);
+               } else {
+                       telem = new AltosTelemetryLegacy(line);
+               }
+               return telem;
        }
 }
diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java
new file mode 100644 (file)
index 0000000..9e99257
--- /dev/null
@@ -0,0 +1,94 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.altoslib_1;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+class AltosTelemetryIterator implements Iterator<AltosState> {
+       AltosState                      state;
+       Iterator<AltosTelemetry>        telems;
+       AltosTelemetry                  next;
+       boolean                         seen;
+
+       public boolean hasNext() {
+               return !seen || telems.hasNext();
+       }
+
+       public AltosState next() {
+               if (seen) {
+                       AltosState      n = state.clone();
+                       AltosTelemetry  t = telems.next();
+
+                       t.update_state(n);
+                       state = n;
+               }
+               seen = true;
+               return state;
+       }
+
+       public void remove () {
+       }
+
+       public AltosTelemetryIterator(AltosState start, Iterator<AltosTelemetry> telems) {
+               this.state = start;
+               this.telems = telems;
+               this.seen = false;
+       }
+}
+
+public class AltosTelemetryFile extends AltosStateIterable {
+
+       AltosTelemetryIterable  telems;
+       AltosState              start;
+
+       public void write_comments(PrintStream out) {
+       }
+
+       public void write(PrintStream out) {
+               
+       }
+
+       public AltosTelemetryFile(FileInputStream input) {
+               telems = new AltosTelemetryIterable(input);
+               start = new AltosState();
+
+               /* Find boost tick */
+               AltosState      state = start.clone();
+
+               for (AltosTelemetry telem : telems) {
+                       telem.update_state(state);
+                       if (state.state >= AltosLib.ao_flight_boost) {
+                               start.set_boost_tick(state.tick);
+                               break;
+                       }
+               }
+       }
+
+       public Iterator<AltosState> iterator() {
+               AltosState                      state = start.clone();
+               Iterator<AltosTelemetry>        i = telems.iterator();
+
+               while (i.hasNext() && !state.valid()) {
+                       AltosTelemetry  t = i.next();
+                       t.update_state(state);
+               }
+               return new AltosTelemetryIterator(state, i);
+       }
+}
\ No newline at end of file
index 570336387640c1ae77560e4dcf038967e3c08465..b7489f77c64d4f4c7efe22a0f24fdac48ff484c2 100644 (file)
@@ -21,27 +21,15 @@ import java.io.*;
 import java.util.*;
 import java.text.*;
 
-public class AltosTelemetryIterable extends AltosRecordIterable {
-       TreeSet<AltosRecord>    records;
+public class AltosTelemetryIterable implements Iterable<AltosTelemetry> {
+       LinkedList<AltosTelemetry>      telems;
 
-       public Iterator<AltosRecord> iterator () {
-               return records.iterator();
+       public Iterator<AltosTelemetry> iterator () {
+               return telems.iterator();
        }
 
-       boolean has_gps = false;
-       boolean has_accel = false;
-       boolean has_ignite = false;
-       public boolean has_gps() { return has_gps; }
-       public boolean has_accel() { return has_accel; }
-       public boolean has_ignite() { return has_ignite; };
-
        public AltosTelemetryIterable (FileInputStream input) {
-               boolean saw_boost = false;
-               int     current_tick = 0;
-               int     boost_tick = 0;
-
-               AltosRecord     previous = null;
-               records = new TreeSet<AltosRecord> ();
+               telems = new LinkedList<AltosTelemetry> ();
 
                try {
                        for (;;) {
@@ -50,32 +38,10 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
                                        break;
                                }
                                try {
-                                       AltosRecord record = AltosTelemetry.parse(line, previous);
-                                       if (record == null)
+                                       AltosTelemetry telem = AltosTelemetry.parse(line);
+                                       if (telem == null)
                                                break;
-                                       if (records.isEmpty()) {
-                                               current_tick = record.tick;
-                                       } else {
-                                               int tick = record.tick;
-                                               while (tick < current_tick - 0x1000)
-                                                       tick += 0x10000;
-                                               current_tick = tick;
-                                               record.tick = current_tick;
-                                       }
-                                       if (!saw_boost && record.state >= AltosLib.ao_flight_boost)
-                                       {
-                                               saw_boost = true;
-                                               boost_tick = record.tick;
-                                       }
-                                       if (record.acceleration() != AltosRecord.MISSING)
-                                               has_accel = true;
-                                       if (record.gps != null)
-                                               has_gps = true;
-                                       if (record.main_voltage() != AltosRecord.MISSING)
-                                               has_ignite = true;
-                                       if (previous != null && previous.tick != record.tick)
-                                               records.add(previous);
-                                       previous = record;
+                                       telems.add(telem);
                                } catch (ParseException pe) {
                                        System.out.printf("parse exception %s\n", pe.getMessage());
                                } catch (AltosCRCException ce) {
@@ -84,26 +50,5 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
                } catch (IOException io) {
                        System.out.printf("io exception\n");
                }
-
-               if (previous != null)
-                       records.add(previous);
-
-               /* Adjust all tick counts to match expected eeprom values,
-                * which starts with a 16-bit tick count 16 samples before boost
-                */
-
-               int tick_adjust = (boost_tick - 16) & 0xffff0000;
-               for (AltosRecord r : this)
-                       r.tick -= tick_adjust;
-               boost_tick -= tick_adjust;
-
-               /* adjust all tick counts to be relative to boost time */
-               for (AltosRecord r : this)
-                       r.time = (r.tick - boost_tick) / 100.0;
-
-               try {
-                       input.close();
-               } catch (IOException ie) {
-               }
        }
 }
diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
new file mode 100644 (file)
index 0000000..45e5c31
--- /dev/null
@@ -0,0 +1,556 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.altoslib_1;
+
+import java.text.*;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * 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:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -68 STATUS ff STATE     pad  1001 \
+ *    a: 16032 p: 21232 t: 20284 v: 25160 d:   204 m:   204 fa: 16038 ga: 16032 fv:       0 \
+ *    fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS  0 sat unlocked SAT 1   15  30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -71 STATUS ff STATE     pad  2504 \
+ *     a: 16028 p: 21220 t: 20360 v: 25004 d:   208 m:   200 fa: 16031 ga: 16032 fv:     330 \
+ *     fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ *     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 AltosTelemetryLegacy extends AltosTelemetry {
+       /*
+        * 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)
+        */
+
+       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";
+
+       public int      version;
+       public String   callsign;
+       public int      flight;
+       public int      state;
+
+       public AltosGPS gps;
+       public int      gps_sequence;
+
+       /* Telemetry sources have these values recorded from the flight computer */
+       public double   kalman_height;
+       public double   kalman_speed;
+       public double   kalman_acceleration;
+
+       /* Sensor values */
+       public int      accel;
+       public int      pres;
+       public int      temp;
+       public int      batt;
+       public int      apogee;
+       public int      main;
+
+       public int      ground_accel;
+       public int      ground_pres;
+       public int      accel_plus_g;
+       public int      accel_minus_g;
+
+       public int      flight_accel;
+       public int      flight_vel;
+       public int      flight_pres;
+
+       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, AltosRecord.MISSING);
+               flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
+               rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
+               state = AltosLib.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, AltosRecord.MISSING);
+               pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
+               temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
+               batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
+               apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
+               main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
+
+               /* sensor calibration information */
+               ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
+               ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
+               accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
+               accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
+
+               /* flight computer values */
+               kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+               kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+               kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
+
+               flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
+               flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
+               flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.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++];
+
+               AltosParse.word (words[i++], "SERIAL");
+               serial = AltosParse.parse_int(words[i++]);
+
+               if (version >= 2) {
+                       AltosParse.word (words[i++], "FLIGHT");
+                       flight = AltosParse.parse_int(words[i++]);
+               } else
+                       flight = 0;
+
+               AltosParse.word(words[i++], "RSSI");
+               rssi = AltosParse.parse_int(words[i++]);
+
+               /* Older telemetry data had mis-computed RSSI value */
+               if (version <= 2)
+                       rssi = (rssi + 74) / 2 - 74;
+
+               AltosParse.word(words[i++], "STATUS");
+               status = AltosParse.parse_hex(words[i++]);
+
+               AltosParse.word(words[i++], "STATE");
+               state = AltosLib.state(words[i++]);
+
+               tick = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "a:");
+               accel = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "p:");
+               pres = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "t:");
+               temp = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "v:");
+               batt = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "d:");
+               apogee = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "m:");
+               main = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "fa:");
+               flight_accel = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "ga:");
+               ground_accel = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "fv:");
+               flight_vel = AltosParse.parse_int(words[i++]);
+
+               AltosParse.word(words[i++], "fp:");
+               flight_pres = AltosParse.parse_int(words[i++]);
+
+               /* Old TeleDongle code with kalman-reporting TeleMetrum code */
+               if ((flight_vel & 0xffff0000) == 0x80000000) {
+                       kalman_speed = ((short) flight_vel) / 16.0;
+                       kalman_acceleration = flight_accel / 16.0;
+                       kalman_height = flight_pres;
+                       flight_vel = AltosRecord.MISSING;
+                       flight_pres = AltosRecord.MISSING;
+                       flight_accel = AltosRecord.MISSING;
+               } else {
+                       kalman_speed = AltosRecord.MISSING;
+                       kalman_acceleration = AltosRecord.MISSING;
+                       kalman_height = AltosRecord.MISSING;
+               }
+
+               AltosParse.word(words[i++], "gp:");
+               ground_pres = AltosParse.parse_int(words[i++]);
+
+               if (version >= 1) {
+                       AltosParse.word(words[i++], "a+:");
+                       accel_plus_g = AltosParse.parse_int(words[i++]);
+
+                       AltosParse.word(words[i++], "a-:");
+                       accel_minus_g = AltosParse.parse_int(words[i++]);
+               } else {
+                       accel_plus_g = ground_accel;
+                       accel_minus_g = ground_accel + 530;
+               }
+
+               gps = new AltosGPS(words, i, version);
+               gps_sequence++;
+       }
+
+       public AltosTelemetryLegacy(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);
+       }
+
+       /*
+        * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
+        */
+
+       int[]   bytes;
+       int     adjust;
+
+       /*
+       private int int8(int i) {
+               return AltosLib.int8(bytes, i + 1 + adjust);
+       }
+       */
+       private int uint8(int i) {
+               return AltosLib.uint8(bytes, i + 1 + adjust);
+       }
+       private int int16(int i) {
+               return AltosLib.int16(bytes, i + 1 + adjust);
+       }
+       private int uint16(int i) {
+               return AltosLib.uint16(bytes, i + 1 + adjust);
+       }
+       private int uint32(int i) {
+               return AltosLib.uint32(bytes, i + 1 + adjust);
+       }
+       private String string(int i, int l) {
+               return AltosLib.string(bytes, i + 1 + adjust, l);
+       }
+
+       static final int AO_GPS_NUM_SAT_MASK    = (0xf << 0);
+       static final int AO_GPS_NUM_SAT_SHIFT   = (0);
+
+       static final int AO_GPS_VALID           = (1 << 4);
+       static final int AO_GPS_RUNNING         = (1 << 5);
+       static final int AO_GPS_DATE_VALID      = (1 << 6);
+       static final int AO_GPS_COURSE_VALID    = (1 << 7);
+
+       public AltosTelemetryLegacy(int[] in_bytes) {
+               bytes = in_bytes;
+               version = 4;
+               adjust = 0;
+
+               if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
+                       serial = uint8(0);
+                       adjust = -1;
+               } else
+                       serial = uint16(0);
+
+               callsign = string(62, 8);
+               flight = uint16(2);
+               state = uint8(4);
+               tick = uint16(21);
+               accel = int16(23);
+               pres = int16(25);
+               temp = int16(27);
+               batt = int16(29);
+               apogee = int16(31);
+               main = int16(33);
+               
+               ground_accel = int16(7);
+               ground_pres = int16(15);
+               accel_plus_g = int16(17);
+               accel_minus_g = int16(19);
+
+               if (uint16(11) == 0x8000) {
+                       kalman_acceleration = int16(5);
+                       kalman_speed = int16(9);
+                       kalman_height = int16(13);
+                       flight_accel = AltosRecord.MISSING;
+                       flight_vel = AltosRecord.MISSING;
+                       flight_pres = AltosRecord.MISSING;
+               } else {
+                       flight_accel = int16(5);
+                       flight_vel = uint32(9);
+                       flight_pres = int16(13);
+                       kalman_acceleration = AltosRecord.MISSING;
+                       kalman_speed = AltosRecord.MISSING;
+                       kalman_height = AltosRecord.MISSING;
+               }
+
+               gps = null;
+
+               int gps_flags = uint8(41);
+
+               if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+                       gps = new AltosGPS();
+                       gps_sequence++;
+
+                       gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+                       gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+                       gps.connected = true;
+                       gps.lat = uint32(42) / 1.0e7;
+                       gps.lon = uint32(46) / 1.0e7;
+                       gps.alt = int16(50);
+                       gps.ground_speed = uint16(52) / 100.0;
+                       gps.course = uint8(54) * 2;
+                       gps.hdop = uint8(55) / 5.0;
+                       gps.h_error = uint16(58);
+                       gps.v_error = uint16(60);
+
+                       int     n_tracking_reported = uint8(70);
+                       if (n_tracking_reported > 12)
+                               n_tracking_reported = 12;
+                       int     n_tracking_actual = 0;
+                       for (int i = 0; i < n_tracking_reported; i++) {
+                               if (uint8(71 + i*2) != 0)
+                                       n_tracking_actual++;
+                       }
+                       if (n_tracking_actual > 0) {
+                               gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+                               n_tracking_actual = 0;
+                               for (int i = 0; i < n_tracking_reported; i++) {
+                                       int     svid = uint8(71 + i*2);
+                                       int     c_n0 = uint8(72 + i*2);
+                                       if (svid != 0)
+                                               gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+                               }
+                       }
+               }
+       }
+
+       public void update_state(AltosState state) {
+               state.set_tick(tick);
+               state.set_state(this.state);
+               state.set_flight(flight);
+               state.set_serial(serial);
+               state.set_rssi(rssi, status);
+
+               state.set_pressure(AltosConvert.barometer_to_pressure(pres));
+               state.set_accel_g(accel_plus_g, accel_minus_g);
+               state.set_accel(accel);
+               if (kalman_height != AltosRecord.MISSING)
+                       state.set_kalman(kalman_height, kalman_speed, kalman_acceleration);
+               state.set_temperature(AltosEepromTM.thermometer_to_temperature(temp));
+               state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt));
+               state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee));
+               state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main));
+               if (gps != null)
+                       state.set_gps(gps, gps_sequence);
+       }
+}
index 3915927c5df0666714af79a3a90700eb15f02f69..b1cc009c12814f336bf56b9b3d86be1a460fc4ef 100644 (file)
@@ -35,9 +35,12 @@ public class AltosTelemetryReader extends AltosFlightReader {
                AltosLine l = telem.take();
                if (l.line == null)
                        throw new IOException("IO error");
-               AltosRecord     next = AltosTelemetry.parse(l.line, previous);
-               previous = next;
-               state = new AltosState (next, state);
+               AltosTelemetry  telem = AltosTelemetryLegacy.parse(l.line);
+               if (state == null)
+                       state = new AltosState();
+               else
+                       state = state.clone();
+               telem.update_state(state);
                return state;
        }
 
index bbcca906ae22da333442a4ff992c13182a206ada..59e0ec1cb6d66f61b96e38a13d2f26e84070db62 100644 (file)
@@ -72,21 +72,11 @@ altoslib_JAVA = \
        AltosStateIterable.java \
        AltosStateUpdate.java \
        AltosTelemetry.java \
+       AltosTelemetryFile.java \
        AltosTelemetryIterable.java \
+       AltosTelemetryLegacy.java \
        AltosTelemetryMap.java \
        AltosTelemetryReader.java \
-       AltosTelemetryRecordCompanion.java \
-       AltosTelemetryRecordConfiguration.java \
-       AltosTelemetryRecordGeneral.java \
-       AltosTelemetryRecord.java \
-       AltosTelemetryRecordLegacy.java \
-       AltosTelemetryRecordLocation.java \
-       AltosTelemetryRecordRaw.java \
-       AltosTelemetryRecordSatellite.java \
-       AltosTelemetryRecordSensor.java \
-       AltosTelemetryRecordMegaSensor.java \
-       AltosTelemetryRecordMegaData.java \
-       AltosTelemetryRecordMini.java \
        AltosUnitsListener.java \
        AltosMs5607.java \
        AltosIMU.java \
index 6d5ce18512954c66a3aceee7c4c994760786e773..72b2c0d9869cd71e62a7a6a0ce374968427505b8 100644 (file)
@@ -437,7 +437,7 @@ public class AltosUI extends AltosUIFrame {
                if (file.getName().endsWith("eeprom")) {
                        return new AltosEepromFile(in);
                } else {
-                       return null; // new AltosTelemetryIterable(in);
+                       return new AltosTelemetryFile(in);
                }
        }
 
@@ -517,9 +517,9 @@ public class AltosUI extends AltosUIFrame {
 
        static boolean process_cat(File file) {
                try {
-                       FileInputStream input = new FileInputStream(file);
-                       AltosEepromFile eef = new AltosEepromFile(input);
+                       AltosStateIterable eef = record_iterable(file);
 
+                       System.out.printf ("process cat\n");
                        for (AltosState state : eef) {
                                if ((state.set & AltosState.set_gps) != 0)
                                        System.out.printf ("time %g lat %g lon %g alt %g\n",