altoslib: Switch preserved state format to JSON

This is much easier to debug than the icky strings with backslashes everywhere.

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

1 files changed, 359 insertions, 14 deletions

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index d359d67a..a3c6cc34 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -46,7 +46,7 @@ public class AltosState implements Cloneable, AltosHashable {
 	private int	prev_tick;
 	public int	boost_tick;
 
-	class AltosValue implements AltosHashable {
+	class AltosValue implements AltosHashable, AltosJsonable {
 		double	value;
 		double	prev_value;
 		private double	max_value;
@@ -188,6 +188,17 @@ public class AltosState implements Cloneable, AltosHashable {
 			return h;
 		}
 
+		public AltosJson json() {
+			AltosJson j = new AltosJson();
+
+			j.put("value", value);
+			j.put("prev_value", prev_value);
+			j.put("max_value", max_value);
+			j.put("set_time", set_time);
+			j.put("prev_set_time", prev_set_time);
+			return j;
+		}
+
 		AltosValue(AltosHashSet h) {
 			this();
 			if (h != null) {
@@ -199,6 +210,17 @@ public class AltosState implements Cloneable, AltosHashable {
 			}
 		}
 
+		AltosValue(AltosJson j) {
+			this();
+			if (j != null) {
+				value = j.get_double("value", value);
+				prev_value = j.get_double("prev_value", prev_value);
+				max_value = j.get_double("max_value", max_value);
+				set_time = j.get_double("set_time", 0);
+				prev_set_time = j.get_double("prev_set_time", 0);
+			}
+		}
+
 		AltosValue() {
 			value = AltosLib.MISSING;
 			prev_value = AltosLib.MISSING;
@@ -213,9 +235,15 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosValue(h);
 	}
 
-	class AltosCValue implements AltosHashable {
+	AltosValue AltosValue_fromJson(AltosJson j, AltosValue def) {
+		if (j == null)
+			return def;
+		return new AltosValue(j);
+	}
+
+	class AltosCValue implements AltosHashable, AltosJsonable {
 
-		class AltosIValue extends AltosValue implements AltosHashable {
+		class AltosIValue extends AltosValue implements AltosHashable, AltosJsonable {
 			boolean can_max() {
 				return c_can_max();
 			}
@@ -227,6 +255,10 @@ public class AltosState implements Cloneable, AltosHashable {
 			AltosIValue(AltosHashSet h) {
 				super(h);
 			}
+
+			AltosIValue(AltosJson j) {
+				super(j);
+			}
 		};
 
 		public AltosIValue	measured;
@@ -320,7 +352,6 @@ public class AltosState implements Cloneable, AltosHashable {
 			computed = new AltosIValue();
 		}
 
-
 		public AltosHashSet hashSet() {
 			AltosHashSet h = new AltosHashSet();
 
@@ -329,10 +360,23 @@ public class AltosState implements Cloneable, AltosHashable {
 			return h;
 		}
 
+		public AltosJson json() {
+			AltosJson	j = new AltosJson();
+
+			j.put("measured", measured.json());
+			j.put("computed", computed.json());
+			return j;
+		}
+
 		AltosCValue(AltosHashSet h) {
 			measured = new AltosIValue(h.getHash("measured"));
 			computed = new AltosIValue(h.getHash("computed"));
 		}
+
+		AltosCValue(AltosJson j) {
+			measured = new AltosIValue(j.get("measured"));
+			computed = new AltosIValue(j.get("computed"));
+		}
 	}
 
 	AltosCValue AltosCValue_fromHashSet(AltosHashSet h, AltosCValue def) {
@@ -341,6 +385,12 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosCValue(h);
 	}
 
+	AltosCValue AltosCValue_fromJson(AltosJson j, AltosCValue def) {
+		if (j == null)
+			return def;
+		return new AltosCValue(j);
+	}
+
 	private int	state;
 	public int	flight;
 	public int	serial;
@@ -394,6 +444,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosGpsGroundAltitude (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosGpsGroundAltitude (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosGpsGroundAltitude AltosGpsGroundAltitude_fromHashSet(AltosHashSet h, AltosGpsGroundAltitude def) {
@@ -401,6 +455,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosGpsGroundAltitude(h);
 	}
 
+	AltosGpsGroundAltitude AltosGpsGroundAltitude_fromJson(AltosJson j, AltosGpsGroundAltitude def) {
+		if (j == null) return def;
+		return new AltosGpsGroundAltitude(j);
+	}
+
 	private AltosGpsGroundAltitude gps_ground_altitude;
 
 	public double gps_ground_altitude() {
@@ -430,6 +489,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosGroundPressure (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosGroundPressure (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosGroundPressure AltosGroundPressure_fromHashSet(AltosHashSet h, AltosGroundPressure def) {
@@ -437,6 +500,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosGroundPressure(h);
 	}
 
+	AltosGroundPressure AltosGroundPressure_fromJson(AltosJson j, AltosGroundPressure def) {
+		if (j == null) return def;
+		return new AltosGroundPressure(j);
+	}
+
 	private AltosGroundPressure ground_pressure;
 
 	public double ground_pressure() {
@@ -473,6 +541,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosAltitude (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosAltitude (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosAltitude AltosAltitude_fromHashSet(AltosHashSet h, AltosAltitude def) {
@@ -480,6 +552,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosAltitude(h);
 	}
 
+	AltosAltitude AltosAltitude_fromJson(AltosJson j, AltosAltitude def) {
+		if (j == null) return def;
+		return new AltosAltitude(j);
+	}
+
 	private AltosAltitude	altitude;
 
 	class AltosGpsAltitude extends AltosValue implements AltosHashable {
@@ -506,6 +583,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosGpsAltitude (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosGpsAltitude (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosGpsAltitude AltosGpsAltitude_fromHashSet(AltosHashSet h, AltosGpsAltitude def) {
@@ -513,6 +594,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosGpsAltitude(h);
 	}
 
+	AltosGpsAltitude AltosGpsAltitude_fromJson(AltosJson j, AltosGpsAltitude def) {
+		if (j == null) return def;
+		return new AltosGpsAltitude(j);
+	}
+
 	private AltosGpsAltitude	gps_altitude;
 
 	private AltosValue		gps_ground_speed;
@@ -594,6 +680,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosPressure (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosPressure (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosPressure AltosPressure_fromHashSet(AltosHashSet h, AltosPressure def) {
@@ -601,6 +691,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosPressure(h);
 	}
 
+	AltosPressure AltosPressure_fromJson(AltosJson j, AltosPressure def) {
+		if (j == null) return def;
+		return new AltosPressure(j);
+	}
+
 	private AltosPressure	pressure;
 
 	public double pressure() {
@@ -693,6 +788,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosSpeed (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosSpeed (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosSpeed AltosSpeed_fromHashSet(AltosHashSet h, AltosSpeed def) {
@@ -700,6 +799,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosSpeed(h);
 	}
 
+	AltosSpeed AltosSpeed_fromJson(AltosJson j, AltosSpeed def) {
+		if (j == null) return def;
+		return new AltosSpeed(j);
+	}
+
 	private AltosSpeed speed;
 
 	public double speed() {
@@ -747,6 +851,10 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosAccel (AltosHashSet h) {
 			super(h);
 		}
+
+		AltosAccel (AltosJson j) {
+			super(j);
+		}
 	}
 
 	AltosAccel AltosAccel_fromHashSet(AltosHashSet h, AltosAccel def) {
@@ -754,6 +862,11 @@ public class AltosState implements Cloneable, AltosHashable {
 		return new AltosAccel(h);
 	}
 
+	AltosAccel AltosAccel_fromJson(AltosJson j, AltosAccel def) {
+		if (j == null) return def;
+		return new AltosAccel(j);
+	}
+
 	AltosAccel acceleration;
 
 	public double acceleration() {
@@ -1639,16 +1752,31 @@ public class AltosState implements Cloneable, AltosHashable {
 		AltosState s = new AltosState();
 		s.copy(this);
 
-		AltosHashSet	hash = hashSet();
-		String		onetrip = hash.toString();
-		AltosHashSet	back = AltosHashSet.fromString(onetrip);
-		AltosState	tripstate = AltosState.fromHashSet(back);
-		AltosHashSet	triphash = tripstate.hashSet();
-		String		twotrip = triphash.toString();
-
-		if (!onetrip.equals(twotrip)) {
-			System.out.printf("%s\n%s\n", onetrip, twotrip);
-			System.exit(1);
+		if (false) {
+			AltosJson	json = json();
+			String		onetrip = json.toPrettyString();
+			AltosJson	back = AltosJson.fromString(onetrip);
+			AltosState	tripstate = AltosState.fromJson(back);
+			AltosJson	tripjson = tripstate.json();
+			String		twotrip = tripjson.toPrettyString();
+
+			if (!onetrip.equals(twotrip)) {
+				System.out.printf("one:\n%s\ntwo:\n%s\n", onetrip, twotrip);
+				System.exit(1);
+			}
+		}
+		if (false) {
+			AltosHashSet	hash = hashSet();
+			String		onetrip = hash.toString();
+			AltosHashSet	back = AltosHashSet.fromString(onetrip);
+			AltosState	tripstate = AltosState.fromHashSet(back);
+			AltosHashSet	triphash = tripstate.hashSet();
+			String		twotrip = triphash.toString();
+
+			if (!onetrip.equals(twotrip)) {
+				System.out.printf("%s\n%s\n", onetrip, twotrip);
+				System.exit(1);
+			}
 		}
 		return s;
 	}
@@ -1763,6 +1891,112 @@ public class AltosState implements Cloneable, AltosHashable {
 		return h;
 	}
 
+	public AltosJson json() {
+		AltosJson	j = new AltosJson();
+
+		j.put("valid", true);
+		j.put("set", set);
+		j.put("received_time", received_time);
+		j.put("time", time);
+		j.put("prev_time", prev_time);
+		j.put("time_change", time_change);
+		j.put("tick", tick);
+		j.put("prev_tick", prev_tick);
+		j.put("boost_tick", boost_tick);
+		j.put("state", state);
+		j.put("flight", flight);
+		j.put("serial", serial);
+		j.put("altitude_32", altitude_32);
+		j.put("receiver_serial", receiver_serial);
+		j.put("landed", landed);
+		j.put("ascent", ascent);
+		j.put("boost", boost);
+		j.put("rssi", rssi);
+		j.put("status", status);
+		j.put("device_type", device_type);
+		j.put("config_major", config_major);
+		j.put("config_minor", config_minor);
+		j.put("apogee_delay", apogee_delay);
+		j.put("main_deploy", main_deploy);
+		j.put("flight_log_max", flight_log_max);
+		j.put("ground_altitude", ground_altitude);
+		j.put("gps_ground_altitude", gps_ground_altitude);
+		j.put("ground_pressure", ground_pressure);
+		j.put("altitude", altitude);
+		j.put("gps_altitude", gps_altitude);
+		j.put("gps_ground_speed", gps_ground_speed);
+		j.put("gps_ascent_rate", gps_ascent_rate);
+		j.put("gps_course", gps_course);
+		j.put("gps_speed", gps_speed);
+		j.put("pressure", pressure);
+		j.put("speed", speed);
+		j.put("acceleration", acceleration);
+		j.put("orient", orient);
+		j.put("kalman_height", kalman_height);
+		j.put("kalman_speed", kalman_speed);
+		j.put("kalman_acceleration", kalman_acceleration);
+
+		j.put("battery_voltage",battery_voltage);
+		j.put("pyro_voltage",pyro_voltage);
+		j.put("temperature",temperature);
+		j.put("apogee_voltage",apogee_voltage);
+		j.put("main_voltage",main_voltage);
+		j.put("ignitor_voltage",ignitor_voltage);
+		j.put("gps", gps);
+		j.put("temp_gps", temp_gps);
+		j.put("temp_gps_sat_tick", temp_gps_sat_tick);
+		j.put("gps_pending", gps_pending);
+		j.put("gps_sequence", gps_sequence);
+		j.put("imu", imu);
+		j.put("mag", mag);
+
+		j.put("npad", npad);
+		j.put("gps_waiting", gps_waiting);
+		j.put("gps_ready", gps_ready);
+		j.put("ngps", ngps);
+		j.put("from_pad", from_pad);
+		j.put("elevation", elevation);
+		j.put("range", range);
+		j.put("gps_height", gps_height);
+		j.put("pad_lat", pad_lat);
+		j.put("pad_lon", pad_lon);
+		j.put("pad_alt", pad_alt);
+		j.put("speak_tick", speak_tick);
+		j.put("speak_altitude", speak_altitude);
+		j.put("callsign", callsign);
+		j.put("firmware_version", firmware_version);
+		j.put("accel_plus_g", accel_plus_g);
+		j.put("accel_minus_g", accel_minus_g);
+		j.put("accel", accel);
+		j.put("ground_accel", ground_accel);
+		j.put("ground_accel_avg", ground_accel_avg);
+		j.put("log_format", log_format);
+		j.put("log_space", log_space);
+		j.put("product", product);
+		j.put("baro", baro);
+		j.put("companion", companion);
+		j.put("pyro_fired", pyro_fired);
+		j.put("accel_zero_along", accel_zero_along);
+		j.put("accel_zero_across", accel_zero_across);
+		j.put("accel_zero_through", accel_zero_through);
+
+		j.put("rotation", rotation);
+		j.put("ground_rotation", ground_rotation);
+
+		j.put("pad_orientation", pad_orientation);
+
+		j.put("accel_ground_along", accel_ground_along);
+		j.put("accel_ground_across", accel_ground_across);
+		j.put("accel_ground_through", accel_ground_through);
+
+		j.put("gyro_zero_roll", gyro_zero_roll);
+		j.put("gyro_zero_pitch", gyro_zero_pitch);
+		j.put("gyro_zero_yaw", gyro_zero_yaw);
+
+		j.put("last_imu_time", last_imu_time);
+		return j;
+	}
+
 	public AltosState(AltosHashSet h) {
 		this();
 
@@ -1867,6 +2101,109 @@ public class AltosState implements Cloneable, AltosHashable {
 		last_imu_time = h.getDouble("last_imu_time", last_imu_time);
 	}
 
+	public AltosState(AltosJson j) {
+		this();
+
+		set = j.get_int("set", set);
+		received_time = j.get_long("received_time", received_time);
+		time = j.get_double("time", time);
+		prev_time = j.get_double("prev_time", prev_time);
+		time_change = j.get_double("time_change", time_change);
+		tick = j.get_int("tick", tick);
+		prev_tick = j.get_int("prev_tick", prev_tick);
+		boost_tick = j.get_int("boost_tick", boost_tick);
+		state = j.get_int("state", state);
+		flight = j.get_int("flight", flight);
+		serial = j.get_int("serial", serial);
+		altitude_32 = j.get_int("altitude_32", altitude_32);
+		receiver_serial = j.get_int("receiver_serial", receiver_serial);
+		landed = j.get_boolean("landed", landed);
+		ascent = j.get_boolean("ascent", ascent);
+		boost = j.get_boolean("boost", boost);
+		rssi = j.get_int("rssi", rssi);
+		status = j.get_int("status", status);
+		device_type = j.get_int("device_type", device_type);
+		config_major = j.get_int("config_major", config_major);
+		config_minor = j.get_int("config_minor", config_minor);
+		apogee_delay = j.get_int("apogee_delay", apogee_delay);
+		main_deploy = j.get_int("main_deploy", main_deploy);
+		flight_log_max = j.get_int("flight_log_max", flight_log_max);
+		ground_altitude = AltosCValue_fromJson(j.get("ground_altitude"), ground_altitude);
+		gps_ground_altitude = AltosGpsGroundAltitude_fromJson(j.get("gps_ground_altitude"), gps_ground_altitude);
+		ground_pressure = AltosGroundPressure_fromJson(j.get("ground_pressure"), ground_pressure);
+		altitude = AltosAltitude_fromJson(j.get("altitude"), altitude);
+		gps_altitude = AltosGpsAltitude_fromJson(j.get("gps_altitude"), gps_altitude);
+		gps_ground_speed = AltosValue_fromJson(j.get("gps_ground_speed"), gps_ground_speed);
+		gps_ascent_rate = AltosValue_fromJson(j.get("gps_ascent_rate"), gps_ascent_rate);
+		gps_course = AltosValue_fromJson(j.get("gps_course"), gps_course);
+		gps_speed = AltosValue_fromJson(j.get("gps_speed"), gps_speed);
+		pressure = AltosPressure_fromJson(j.get("pressure"), pressure);
+		speed = AltosSpeed_fromJson(j.get("speed"), speed);
+		acceleration = AltosAccel_fromJson(j.get("acceleration"), acceleration);
+		orient = AltosCValue_fromJson(j.get("orient"), orient);
+		kalman_height = AltosValue_fromJson(j.get("kalman_height"), kalman_height);
+		kalman_speed = AltosValue_fromJson(j.get("kalman_speed"), kalman_speed);
+		kalman_acceleration = AltosValue_fromJson(j.get("kalman_acceleration"), kalman_acceleration);
+
+		battery_voltage = j.get_double("battery_voltage", battery_voltage);
+		pyro_voltage = j.get_double("pyro_voltage", pyro_voltage);
+		temperature = j.get_double("temperature", temperature);
+		apogee_voltage = j.get_double("apogee_voltage", apogee_voltage);
+		main_voltage=  j.get_double("main_voltage", main_voltage);
+		ignitor_voltage = j.get_double_array("ignitor_voltage", ignitor_voltage);
+		gps = AltosGPS.fromJson(j.get("gps"), gps);
+		temp_gps = AltosGPS.fromJson(j.get("temp_gps"), temp_gps);
+		temp_gps_sat_tick = j.get_int("temp_gps_sat_tick", temp_gps_sat_tick);
+		gps_pending = j.get_boolean("gps_pending", gps_pending);
+		gps_sequence = j.get_int("gps_sequence", gps_sequence);
+		imu = AltosIMU.fromJson(j.get("imu"), imu);
+		mag = AltosMag.fromJson(j.get("mag"), mag);
+
+		npad = j.get_int("npad", npad);
+		gps_waiting = j.get_int("gps_waiting", gps_waiting);
+		gps_ready = j.get_boolean("gps_ready", gps_ready);
+		ngps = j.get_int("ngps", ngps);
+		from_pad = AltosGreatCircle.fromJson(j.get("from_pad"), from_pad);
+		elevation = j.get_double("elevation", elevation);
+		range = j.get_double("range", range);
+		gps_height = j.get_double("gps_height", gps_height);
+		pad_lat = j.get_double("pad_lat", pad_lat);
+		pad_lon = j.get_double("pad_lon", pad_lon);
+		pad_alt = j.get_double("pad_alt", pad_alt);
+		speak_tick = j.get_int("speak_tick", speak_tick);
+		speak_altitude = j.get_double("speak_altitude", speak_altitude);
+		callsign = j.get_string("callsign", callsign);
+		firmware_version = j.get_string("firmware_version", firmware_version);
+		accel_plus_g = j.get_double("accel_plus_g", accel_plus_g);
+		accel_minus_g = j.get_double("accel_minus_g", accel_minus_g);
+		accel = j.get_double("accel", accel);
+		ground_accel = j.get_double("ground_accel", ground_accel);
+		ground_accel_avg = j.get_double("ground_accel_avg", ground_accel_avg);
+		log_format = j.get_int("log_format", log_format);
+		log_space = j.get_int("log_space", log_space);
+		product = j.get_string("product", product);
+		baro = AltosMs5607.fromJson(j.get("baro"), baro);
+		companion = AltosCompanion.fromJson(j.get("companion"), companion);
+		pyro_fired = j.get_int("pyro_fired", pyro_fired);
+		accel_zero_along = j.get_double("accel_zero_along", accel_zero_along);
+		accel_zero_across = j.get_double("accel_zero_across", accel_zero_across);
+		accel_zero_through = j.get_double("accel_zero_through", accel_zero_through);
+
+		rotation = AltosRotation.fromJson(j.get("rotation"), rotation);
+		ground_rotation = AltosRotation.fromJson(j.get("ground_rotation"), ground_rotation);
+
+		pad_orientation = j.get_int("pad_orientation", pad_orientation);
+
+		accel_ground_along = j.get_double("accel_ground_along", accel_ground_along);
+		accel_ground_across = j.get_double("accel_ground_across", accel_ground_across);
+		accel_ground_through = j.get_double("accel_ground_through", accel_ground_through);
+
+		gyro_zero_roll = j.get_double("gyro_zero_roll", gyro_zero_roll);
+		gyro_zero_pitch = j.get_double("gyro_zero_pitch", gyro_zero_pitch);
+		gyro_zero_yaw = j.get_double("gyro_zero_yaw", gyro_zero_yaw);
+
+		last_imu_time = j.get_double("last_imu_time", last_imu_time);
+	}
 	public static AltosState fromHashSet(AltosHashSet h) {
 		if (h == null)
 			return null;
@@ -1874,4 +2211,12 @@ public class AltosState implements Cloneable, AltosHashable {
 			return null;
 		return new AltosState(h);
 	}
+
+	public static AltosState fromJson(AltosJson j) {
+		if (j == null)
+			return null;
+		if (!j.get_boolean("valid", false))
+			return null;
+		return new AltosState(j);
+	}
 }