Move altoslib sources to top dir

No sense having them live deep in the file system.

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

1 files changed, 521 insertions, 0 deletions

diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java
new file mode 100644
index 00000000..8e3713cc
--- /dev/null
+++ b/altoslib/AltosTelemetryRecordLegacy.java
@@ -0,0 +1,521 @@
+/*
+ * Copyright © 2010 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;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * 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
+ *
+ */
+
+public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
+	/*
+	 * 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";
+
+	AltosRecord	record;
+
+	private void parse_v4(String[] words, int i) throws ParseException {
+		AltosTelemetryMap	map = new AltosTelemetryMap(words, i);
+
+		record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+		record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
+		record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
+		record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
+		record.state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+		record.tick = map.get_int(AO_TELEM_TICK, 0);
+
+		/* raw sensor values */
+		record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
+		record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
+		record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
+		record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
+		record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
+		record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
+
+		/* sensor calibration information */
+		record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
+		record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
+		record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
+		record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
+
+		/* flight computer values */
+		record.acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+		record.speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+		record.height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
+
+		record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
+		record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
+		record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
+
+		if (map.has(AO_TELEM_GPS_STATE)) {
+		record.gps = new AltosGPS(map);
+		record.new_gps = true;
+		}
+		else
+		record.gps = null;
+	}
+
+	private void parse_legacy(String[] words, int i) throws ParseException {
+
+		AltosParse.word (words[i++], "CALL");
+		record.callsign = words[i++];
+
+		AltosParse.word (words[i++], "SERIAL");
+		record.serial = AltosParse.parse_int(words[i++]);
+
+		if (record.version >= 2) {
+			AltosParse.word (words[i++], "FLIGHT");
+			record.flight = AltosParse.parse_int(words[i++]);
+		} else
+			record.flight = 0;
+
+		AltosParse.word(words[i++], "RSSI");
+		record.rssi = AltosParse.parse_int(words[i++]);
+
+		/* Older telemetry data had mis-computed RSSI value */
+		if (record.version <= 2)
+			record.rssi = (record.rssi + 74) / 2 - 74;
+
+		AltosParse.word(words[i++], "STATUS");
+		record.status = AltosParse.parse_hex(words[i++]);
+
+		AltosParse.word(words[i++], "STATE");
+		record.state = Altos.state(words[i++]);
+
+		record.tick = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "a:");
+		record.accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "p:");
+		record.pres = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "t:");
+		record.temp = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "v:");
+		record.batt = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "d:");
+		record.drogue = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "m:");
+		record.main = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fa:");
+		record.flight_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "ga:");
+		record.ground_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fv:");
+		record.flight_vel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fp:");
+		record.flight_pres = AltosParse.parse_int(words[i++]);
+
+		/* Old TeleDongle code with kalman-reporting TeleMetrum code */
+		if ((record.flight_vel & 0xffff0000) == 0x80000000) {
+			record.speed = ((short) record.flight_vel) / 16.0;
+			record.acceleration = record.flight_accel / 16.0;
+			record.height = record.flight_pres;
+			record.flight_vel = AltosRecord.MISSING;
+			record.flight_pres = AltosRecord.MISSING;
+			record.flight_accel = AltosRecord.MISSING;
+		}
+
+		AltosParse.word(words[i++], "gp:");
+		record.ground_pres = AltosParse.parse_int(words[i++]);
+
+		if (record.version >= 1) {
+			AltosParse.word(words[i++], "a+:");
+			record.accel_plus_g = AltosParse.parse_int(words[i++]);
+
+			AltosParse.word(words[i++], "a-:");
+			record.accel_minus_g = AltosParse.parse_int(words[i++]);
+		} else {
+			record.accel_plus_g = record.ground_accel;
+			record.accel_minus_g = record.ground_accel + 530;
+		}
+
+		record.gps = new AltosGPS(words, i, record.version);
+		record.new_gps = true;
+	}
+
+	public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
+		String[] words = line.split("\\s+");
+		int	i = 0;
+
+		record = new AltosRecord();
+
+		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(words[i++], "RSSI");
+			record.rssi = AltosParse.parse_int(words[i++]);
+			throw new AltosCRCException(record.rssi);
+		}
+		if (words[i].equals("CALL")) {
+			record.version = 0;
+		} else {
+			AltosParse.word (words[i++], "VERSION");
+			record.version = AltosParse.parse_int(words[i++]);
+		}
+
+		if (record.version < 4)
+			parse_legacy(words, i);
+		else
+			parse_v4(words, i);
+	}
+
+	/*
+	 * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
+	 */
+
+	int[]	bytes;
+	int	adjust;
+
+	private int int8(int i) {
+		return AltosLib.int8(bytes, i + 1 + adjust);
+	}
+	private int uint8(int i) {
+		return AltosLib.uint8(bytes, i + 1 + adjust);
+	}
+	private int int16(int i) {
+		return AltosLib.int16(bytes, i + 1 + adjust);
+	}
+	private int uint16(int i) {
+		return AltosLib.uint16(bytes, i + 1 + adjust);
+	}
+	private int uint32(int i) {
+		return AltosLib.uint32(bytes, i + 1 + adjust);
+	}
+	private String string(int i, int l) {
+		return AltosLib.string(bytes, i + 1 + adjust, l);
+	}
+
+	static final int AO_GPS_NUM_SAT_MASK	= (0xf << 0);
+	static final int AO_GPS_NUM_SAT_SHIFT	= (0);
+
+	static final int AO_GPS_VALID		= (1 << 4);
+	static final int AO_GPS_RUNNING		= (1 << 5);
+	static final int AO_GPS_DATE_VALID	= (1 << 6);
+	static final int AO_GPS_COURSE_VALID	= (1 << 7);
+
+	public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
+		record = new AltosRecord();
+
+		bytes = in_bytes;
+		record.version = 4;
+		adjust = 0;
+
+		if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
+			record.serial = uint8(0);
+			adjust = -1;
+		} else
+			record.serial = uint16(0);
+
+		record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
+
+		record.callsign = string(62, 8);
+		record.flight = uint16(2);
+		record.rssi = in_rssi;
+		record.status = in_status;
+		record.state = uint8(4);
+		record.tick = uint16(21);
+		record.accel = int16(23);
+		record.pres = int16(25);
+		record.temp = int16(27);
+		record.batt = int16(29);
+		record.drogue = int16(31);
+		record.main = int16(33);
+		
+		record.ground_accel = int16(7);
+		record.ground_pres = int16(15);
+		record.accel_plus_g = int16(17);
+		record.accel_minus_g = int16(19);
+
+		if (uint16(11) == 0x8000) {
+			record.acceleration = int16(5);
+			record.speed = int16(9);
+			record.height = int16(13);
+			record.flight_accel = AltosRecord.MISSING;
+			record.flight_vel = AltosRecord.MISSING;
+			record.flight_pres = AltosRecord.MISSING;
+		} else {
+			record.flight_accel = int16(5);
+			record.flight_vel = uint32(9);
+			record.flight_pres = int16(13);
+			record.acceleration = AltosRecord.MISSING;
+			record.speed = AltosRecord.MISSING;
+			record.height = AltosRecord.MISSING;
+		}
+
+		record.gps = null;
+
+		int gps_flags = uint8(41);
+
+		if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+			record.gps = new AltosGPS();
+			record.new_gps = true;
+
+			record.seen |= record.seen_gps_time | record.seen_gps_lat | record.seen_gps_lon;
+			record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+			record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+			record.gps.connected = true;
+			record.gps.lat = uint32(42) / 1.0e7;
+			record.gps.lon = uint32(46) / 1.0e7;
+			record.gps.alt = int16(50);
+			record.gps.ground_speed = uint16(52) / 100.0;
+			record.gps.course = uint8(54) * 2;
+			record.gps.hdop = uint8(55) / 5.0;
+			record.gps.h_error = uint16(58);
+			record.gps.v_error = uint16(60);
+
+			int	n_tracking_reported = uint8(70);
+			if (n_tracking_reported > 12)
+				n_tracking_reported = 12;
+			int	n_tracking_actual = 0;
+			for (int i = 0; i < n_tracking_reported; i++) {
+				if (uint8(71 + i*2) != 0)
+					n_tracking_actual++;
+			}
+			if (n_tracking_actual > 0) {
+				record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+				n_tracking_actual = 0;
+				for (int i = 0; i < n_tracking_reported; i++) {
+					int	svid = uint8(71 + i*2);
+					int	c_n0 = uint8(72 + i*2);
+					if (svid != 0)
+						record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+				}
+			}
+		}
+
+		record.time = 0.0;
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		return record;
+	}
+}