altosui: Support MM telemetry packets

Required restructuring the whole telemetry system to provide abstract
interfaces to flight data.

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 57 insertions, 168 deletions

diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java
index 10ef3061..e468f84b 100644
--- a/altoslib/AltosRecord.java
+++ b/altoslib/AltosRecord.java
@@ -22,8 +22,7 @@ import java.text.*;
 import java.util.HashMap;
 import java.io.*;
 
-public class AltosRecord implements Comparable <AltosRecord> {
-	public final static int	MISSING = 0x7fffffff;
+public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 
 	public static final int	seen_flight = 1;
 	public static final int	seen_sensor = 2;
@@ -33,8 +32,13 @@ public class AltosRecord implements Comparable <AltosRecord> {
 	public static final int	seen_gps_lat = 32;
 	public static final int	seen_gps_lon = 64;
 	public static final int	seen_companion = 128;
-	public int			seen;
 
+	public int	seen;
+	
+	public final static int	MISSING = 0x7fffffff;
+
+	/* Every AltosRecord implementation provides these fields */
+	
 	public int	version;
 	public String 	callsign;
 	public int	serial;
@@ -44,31 +48,13 @@ public class AltosRecord implements Comparable <AltosRecord> {
 	public int	state;
 	public int	tick;
 
-	public int	accel;
-	public int	pres;
-	public int	temp;
-	public int	batt;
-	public int	drogue;
-	public int	main;
-
-	public int	ground_accel;
-	public int	ground_pres;
-	public int	accel_plus_g;
-	public int	accel_minus_g;
-
-	public double	acceleration;
-	public double	speed;
-	public double	height;
-
-	public int	flight_accel;
-	public int	flight_vel;
-	public int	flight_pres;
+	/* Current flight dynamic state */
+	public double	acceleration;	/* m/s² */
+	public double	speed;		/* m/s */
+	public double	height;		/* m */
 
 	public AltosGPS	gps;
-	public boolean		new_gps;
-
-	public AltosIMU	imu;
-	public AltosMag	mag;
+	public boolean	new_gps;
 
 	public double	time;	/* seconds since boost */
 
@@ -83,45 +69,42 @@ public class AltosRecord implements Comparable <AltosRecord> {
 	public AltosRecordCompanion companion;
 
 	/*
-	 * Values for our MP3H6115A pressure sensor
-	 *
-	 * From the data sheet:
+	 * Abstract methods that convert record data
+	 * to standard units:
 	 *
-	 * Pressure range: 15-115 kPa
-	 * Voltage at 115kPa: 2.82
-	 * Output scale: 27mV/kPa
-	 *
-	 *
-	 * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
-	 * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
+	 *	pressure:	Pa
+	 *	voltage:	V
+	 *	acceleration:	m/s²
+	 *	speed:		m/s
+	 *	height:		m
+	 *	temperature:	°C
 	 */
 
-	public static final double counts_per_kPa = 27 * 2047 / 3300;
-	public static final double counts_at_101_3kPa = 1674.0;
+	public double raw_pressure() { return MISSING; }
 
-	public static double
-	barometer_to_pressure(double count)
-	{
-		return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
-	}
+	public double filtered_pressure() { return MISSING; }
 
-	public double raw_pressure() {
-		if (pres == MISSING)
-			return MISSING;
-		return barometer_to_pressure(pres);
-	}
+	public double ground_pressure() { return MISSING; }
 
-	public double filtered_pressure() {
-		if (flight_pres == MISSING)
-			return MISSING;
-		return barometer_to_pressure(flight_pres);
-	}
+	public double battery_voltage() { return MISSING; }
 
-	public double ground_pressure() {
-		if (ground_pres == MISSING)
-			return MISSING;
-		return barometer_to_pressure(ground_pres);
-	}
+	public double main_voltage() { return MISSING; }
+
+	public double drogue_voltage() { return MISSING; }
+
+	public double temperature() { return MISSING; }
+	
+	public double acceleration() { return MISSING; }
+
+	public double accel_speed() { return MISSING; }
+
+	public AltosIMU imu() { return null; }
+
+	public AltosMag mag() { return null; }
+
+	/*
+	 * Convert various pressure values to altitude
+	 */
 
 	public double raw_altitude() {
 		double p = raw_pressure();
@@ -138,8 +121,9 @@ public class AltosRecord implements Comparable <AltosRecord> {
 	}
 
 	public double filtered_altitude() {
-		if (height != MISSING && ground_pres != MISSING)
-			return height + ground_altitude();
+		double	ga = ground_altitude();
+		if (height != MISSING && ga != MISSING)
+			return height + ga;
 
 		double	p = filtered_pressure();
 		if (p == MISSING)
@@ -167,94 +151,17 @@ public class AltosRecord implements Comparable <AltosRecord> {
 		return r - g;
 	}
 
-	public double battery_voltage() {
-		if (batt == MISSING)
-			return MISSING;
-		return AltosConvert.cc_battery_to_voltage(batt);
-	}
-
-	public double main_voltage() {
-		if (main == MISSING)
-			return MISSING;
-		return AltosConvert.cc_ignitor_to_voltage(main);
-	}
-
-	public double drogue_voltage() {
-		if (drogue == MISSING)
-			return MISSING;
-		return AltosConvert.cc_ignitor_to_voltage(drogue);
-	}
-
-	/* Value for the CC1111 built-in temperature sensor
-	 * Output voltage at 0°C = 0.755V
-	 * Coefficient = 0.00247V/°C
-	 * Reference voltage = 1.25V
-	 *
-	 * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
-	 *      = (value - 19791.268) / 32768 * 1.25 / 0.00247
-	 */
-
-	public static double
-	thermometer_to_temperature(double thermo)
-	{
-		return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
-	}
-
-	public double temperature() {
-		if (temp == MISSING)
-			return MISSING;
-		return thermometer_to_temperature(temp);
-	}
-
-	public double accel_counts_per_mss() {
-		double	counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
-
-		return counts_per_g / 9.80665;
-	}
-
-	public double acceleration() {
-		if (acceleration != MISSING)
-			return acceleration;
-
-		if (ground_accel == MISSING || accel == MISSING)
-			return MISSING;
-		return (ground_accel - accel) / accel_counts_per_mss();
-	}
-
-	public double accel_speed() {
-		if (speed != MISSING)
-			return speed;
-		if (flight_vel == MISSING)
-			return MISSING;
-		return flight_vel / (accel_counts_per_mss() * 100.0);
-	}
-
 	public String state() {
 		return AltosLib.state_name(state);
 	}
 
-	public static String gets(FileInputStream s) throws IOException {
-		int c;
-		String	line = "";
-
-		while ((c = s.read()) != -1) {
-			if (c == '\r')
-				continue;
-			if (c == '\n') {
-				return line;
-			}
-			line = line + (char) c;
-		}
-		return null;
-	}
-
 	public int compareTo(AltosRecord o) {
 		return tick - o.tick;
 	}
 
-	public AltosRecord(AltosRecord old) {
-		version = old.version;
+	public void copy(AltosRecord old) {
 		seen = old.seen;
+		version = old.version;
 		callsign = old.callsign;
 		serial = old.serial;
 		flight = old.flight;
@@ -262,32 +169,27 @@ public class AltosRecord implements Comparable <AltosRecord> {
 		status = old.status;
 		state = old.state;
 		tick = old.tick;
-		accel = old.accel;
-		pres = old.pres;
-		temp = old.temp;
-		batt = old.batt;
-		drogue = old.drogue;
-		main = old.main;
-		flight_accel = old.flight_accel;
-		ground_accel = old.ground_accel;
-		flight_vel = old.flight_vel;
-		flight_pres = old.flight_pres;
-		ground_pres = old.ground_pres;
-		accel_plus_g = old.accel_plus_g;
-		accel_minus_g = old.accel_minus_g;
 		acceleration = old.acceleration;
 		speed = old.speed;
 		height = old.height;
 		gps = new AltosGPS(old.gps);
 		new_gps = false;
 		companion = old.companion;
-		imu = old.imu;
-		mag = old.mag;
+	}
+
+	public AltosRecord clone() {
+		try {
+			AltosRecord n = (AltosRecord) super.clone();
+			n.copy(this);
+			return n;
+		} catch (CloneNotSupportedException e) {
+			return null;
+		}
 	}
 
 	public AltosRecord() {
-		version = 0;
 		seen = 0;
+		version = 0;
 		callsign = "N0CALL";
 		serial = 0;
 		flight = 0;
@@ -295,19 +197,6 @@ public class AltosRecord implements Comparable <AltosRecord> {
 		status = 0;
 		state = AltosLib.ao_flight_startup;
 		tick = 0;
-		accel = MISSING;
-		pres = MISSING;
-		temp = MISSING;
-		batt = MISSING;
-		drogue = MISSING;
-		main = MISSING;
-		flight_accel = 0;
-		ground_accel = 0;
-		flight_vel = 0;
-		flight_pres = 0;
-		ground_pres = 0;
-		accel_plus_g = 0;
-		accel_minus_g = 0;
 		acceleration = MISSING;
 		speed = MISSING;
 		height = MISSING;