altoslib/altosui: Get legacy telem working with new AltosState structure

Make AltosTelemetry work without AltosRecord

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

1 files changed, 128 insertions, 209 deletions

diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index e7322349..b84455d3 100644
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -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;
 	}
 }