From 43f94e923a6a87520edcbb8fb4829e6ddf708908 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 14 May 2013 00:24:53 -0700 Subject: [PATCH] altoslib: Use sequence numbers to track GPS updates to AltosRecord State objects now record what GPS sequence ID they have to know when the GPS data has been updated. Record objects bump the GPS sequence each time new GPS data is recorded. This way, record objects aren't modified as they're iterated over to generate the list of state objects which makes it possible to iterate multiple times and get the same resulting set of states. Signed-off-by: Keith Packard --- altoslib/AltosEepromIterable.java | 2 +- altoslib/AltosEepromMegaIterable.java | 2 +- altoslib/AltosIdleMonitor.java | 2 +- altoslib/AltosRecord.java | 6 +++--- altoslib/AltosState.java | 7 +++++-- altoslib/AltosTelemetryRecordLegacy.java | 6 +++--- altoslib/AltosTelemetryRecordLocation.java | 2 +- 7 files changed, 15 insertions(+), 12 deletions(-) diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java index 7a8bbdea..b84574ef 100644 --- a/altoslib/AltosEepromIterable.java +++ b/altoslib/AltosEepromIterable.java @@ -125,7 +125,7 @@ public class AltosEepromIterable extends AltosRecordIterable { state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT; - state.new_gps = true; + state.gps_sequence++; has_gps = true; break; case AltosLib.AO_LOG_GPS_LAT: diff --git a/altoslib/AltosEepromMegaIterable.java b/altoslib/AltosEepromMegaIterable.java index a127f435..5736f937 100644 --- a/altoslib/AltosEepromMegaIterable.java +++ b/altoslib/AltosEepromMegaIterable.java @@ -136,7 +136,7 @@ public class AltosEepromMegaIterable extends AltosRecordIterable { state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT; - state.new_gps = true; + state.gps_sequence++; has_gps = true; eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon; break; diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index 2e4ddef2..b3ce5b20 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -112,7 +112,7 @@ public class AltosIdleMonitor extends Thread { record.status = 0; record.state = AltosLib.ao_flight_idle; record.gps = gps; - record.new_gps = true; + record.gps_sequence++; state = new AltosState (record, state); } finally { if (remote) { diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java index 07e910eb..5e4ed927 100644 --- a/altoslib/AltosRecord.java +++ b/altoslib/AltosRecord.java @@ -44,7 +44,7 @@ public class AltosRecord implements Comparable , Cloneable { public int tick; public AltosGPS gps; - public boolean new_gps; + public int gps_sequence; public double time; /* seconds since boost */ @@ -143,7 +143,7 @@ public class AltosRecord implements Comparable , Cloneable { state = old.state; tick = old.tick; gps = new AltosGPS(old.gps); - new_gps = old.new_gps; + gps_sequence = old.gps_sequence; companion = old.companion; kalman_acceleration = old.kalman_acceleration; kalman_speed = old.kalman_speed; @@ -161,7 +161,7 @@ public class AltosRecord implements Comparable , Cloneable { state = AltosLib.ao_flight_startup; tick = 0; gps = null; - new_gps = false; + gps_sequence = 0; companion = null; kalman_acceleration = MISSING; diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index ccbe498d..825306be 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -54,6 +54,7 @@ public class AltosState { public double max_baro_speed; public AltosGPS gps; + public int gps_sequence; public AltosIMU imu; public AltosMag mag; @@ -133,6 +134,7 @@ public class AltosState { npad = prev_state.npad; ngps = prev_state.ngps; gps = prev_state.gps; + gps_sequence = prev_state.gps_sequence; pad_lat = prev_state.pad_lat; pad_lon = prev_state.pad_lon; pad_alt = prev_state.pad_alt; @@ -187,6 +189,7 @@ public class AltosState { npad = 0; ngps = 0; gps = null; + gps_sequence = 0; baro_speed = AltosRecord.MISSING; accel_speed = AltosRecord.MISSING; pad_alt = AltosRecord.MISSING; @@ -199,7 +202,7 @@ public class AltosState { time = tick / 100.0; - if (cur.new_gps && (state < AltosLib.ao_flight_boost)) { + if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) { /* Track consecutive 'good' gps reports, waiting for 10 of them */ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) @@ -226,7 +229,7 @@ public class AltosState { pad_alt = ground_altitude; } - data.new_gps = false; + gps_sequence = data.gps_sequence; gps_waiting = MIN_PAD_SAMPLES - npad; if (gps_waiting < 0) diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java index a734b188..f2d3f868 100644 --- a/altoslib/AltosTelemetryRecordLegacy.java +++ b/altoslib/AltosTelemetryRecordLegacy.java @@ -267,7 +267,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { if (map.has(AO_TELEM_GPS_STATE)) { record.gps = new AltosGPS(map); - record.new_gps = true; + record.gps_sequence++; } else record.gps = null; @@ -357,7 +357,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { } record.gps = new AltosGPS(words, i, record.version); - record.new_gps = true; + record.gps_sequence++; } public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException { @@ -476,7 +476,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) { record.gps = new AltosGPS(); - record.new_gps = true; + record.gps_sequence++; record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon; record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK); diff --git a/altoslib/AltosTelemetryRecordLocation.java b/altoslib/AltosTelemetryRecordLocation.java index 02999696..0236d291 100644 --- a/altoslib/AltosTelemetryRecordLocation.java +++ b/altoslib/AltosTelemetryRecordLocation.java @@ -85,7 +85,7 @@ public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw { next.gps.hdop = hdop; next.gps.vdop = vdop; next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon; - next.new_gps = true; + next.gps_sequence++; } return next; -- 2.30.2