+/*
+ * Copyright © 2014 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_4;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosEepromGPS extends AltosEeprom {
+ public static final int record_length = 32;
+
+ public static final int max_sat = 12;
+
+ public int record_length() { return record_length; }
+
+ /* AO_LOG_FLIGHT elements */
+ public int flight() { return data16(0); }
+ public int start_altitude() { return data16(2); }
+ public int start_latitude() { return data32(4); }
+ public int start_longitude() { return data32(8); }
+
+ /* AO_LOG_GPS_TIME elements */
+ public int latitude() { return data32(0); }
+ public int longitude() { return data32(4); }
+ public int altitude() { return data16(8); }
+ public int hour() { return data8(10); }
+ public int minute() { return data8(11); }
+ public int second() { return data8(12); }
+ public int flags() { return data8(13); }
+ public int year() { return data8(14); }
+ public int month() { return data8(15); }
+ public int day() { return data8(16); }
+ public int course() { return data8(17); }
+ public int ground_speed() { return data16(18); }
+ public int climb_rate() { return data16(20); }
+ public int pdop() { return data8(22); }
+ public int hdop() { return data8(23); }
+ public int vdop() { return data8(24); }
+ public int mode() { return data8(25); }
+ public int state() { return data8(26); }
+
+ /* AO_LOG_GPS_SAT elements */
+ public int nsat() { return data16(0); }
+ public int svid(int n) { return data8(2 + n * 2); }
+ public int c_n(int n) { return data8(2 + n * 2 + 1); }
+
+ public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
+ parse_chunk(chunk, start);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ AltosGPS gps;
+
+ /* Flush any pending GPS changes */
+ if (state.gps_pending) {
+ switch (cmd) {
+ case AltosLib.AO_LOG_GPS_LAT:
+ case AltosLib.AO_LOG_GPS_LON:
+ case AltosLib.AO_LOG_GPS_ALT:
+ case AltosLib.AO_LOG_GPS_SAT:
+ case AltosLib.AO_LOG_GPS_DATE:
+ break;
+ default:
+ state.set_temp_gps();
+ break;
+ }
+ }
+
+ switch (cmd) {
+ case AltosLib.AO_LOG_FLIGHT:
+ state.set_boost_tick(tick);
+ state.set_flight(flight());
+ /* no place to log start lat/lon yet */
+ break;
+ case AltosLib.AO_LOG_GPS_TIME:
+ state.set_tick(tick);
+ state.set_state(state());
+ gps = state.make_temp_gps(false);
+ gps.lat = latitude() / 1e7;
+ gps.lon = longitude() / 1e7;
+ gps.alt = altitude();
+
+ gps.hour = hour();
+ gps.minute = minute();
+ gps.second = second();
+
+ int flags = flags();
+
+ gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
+ gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
+ gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
+ AltosLib.AO_GPS_NUM_SAT_SHIFT;
+
+ gps.year = 2000 + year();
+ gps.month = month();
+ gps.day = day();
+ gps.ground_speed = ground_speed() * 1.0e-2;
+ gps.course = course() * 2;
+ gps.climb_rate = climb_rate() * 1.0e-2;
+ gps.hdop = hdop();
+ gps.vdop = vdop();
+ break;
+ case AltosLib.AO_LOG_GPS_SAT:
+ state.set_tick(tick);
+ gps = state.make_temp_gps(true);
+
+ int n = nsat();
+ if (n > max_sat)
+ n = max_sat;
+ for (int i = 0; i < n; i++)
+ gps.add_sat(svid(i), c_n(i));
+ break;
+ }
+ }
+
+ public AltosEepromGPS (String line) {
+ parse_string(line);
+ }
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ try {
+ AltosEepromGPS tgps = new AltosEepromGPS(line);
+ if (tgps.cmd != AltosLib.AO_LOG_INVALID)
+ tgpss.add(tgps);
+ } catch (Exception e) {
+ System.out.printf ("exception\n");
+ }
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return tgpss;
+ }
+}
projects / fw / altos / commitdiff