altoslib: Remove AltosRecord-based telemetry code

All of this is now AltosState based

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

1 files changed, 0 insertions, 521 deletions

diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java
deleted file mode 100644
index 5f86d671..00000000
--- a/altoslib/AltosTelemetryRecordLegacy.java
+++ /dev/null
@@ -1,521 +0,0 @@
-/*
- * 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_2;
-
-import java.text.*;
-
-/*
- * 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";
-
-	AltosRecordTM	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, AltosLib.MISSING);
-		record.flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING);
-		record.rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING);
-		record.state = AltosLib.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, AltosLib.MISSING);
-		record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING);
-		record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING);
-		record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING);
-		record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING);
-		record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING);
-
-		/* sensor calibration information */
-		record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING);
-		record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING);
-		record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING);
-		record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING);
-
-		/* flight computer values */
-		record.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0);
-		record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0);
-		record.kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING);
-
-		record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING);
-		record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING);
-		record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING);
-
-		if (map.has(AO_TELEM_GPS_STATE)) {
-		record.gps = new AltosGPS(map);
-		record.gps_sequence++;
-		}
-		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 = AltosLib.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.kalman_speed = ((short) record.flight_vel) / 16.0;
-			record.kalman_acceleration = record.flight_accel / 16.0;
-			record.kalman_height = record.flight_pres;
-			record.flight_vel = AltosLib.MISSING;
-			record.flight_pres = AltosLib.MISSING;
-			record.flight_accel = AltosLib.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.gps_sequence++;
-	}
-
-	public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
-		String[] words = line.split("\\s+");
-		int	i = 0;
-
-		record = new AltosRecordTM();
-
-		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 AltosRecordTM 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 AltosRecordTM();
-
-		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.kalman_acceleration = int16(5);
-			record.kalman_speed = int16(9);
-			record.kalman_height = int16(13);
-			record.flight_accel = AltosLib.MISSING;
-			record.flight_vel = AltosLib.MISSING;
-			record.flight_pres = AltosLib.MISSING;
-		} else {
-			record.flight_accel = int16(5);
-			record.flight_vel = uint32(9);
-			record.flight_pres = int16(13);
-			record.kalman_acceleration = AltosLib.MISSING;
-			record.kalman_speed = AltosLib.MISSING;
-			record.kalman_height = AltosLib.MISSING;
-		}
-
-		record.gps = null;
-
-		int gps_flags = uint8(41);
-
-		if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
-			record.gps = new AltosGPS();
-			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);
-			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;
-	}
-}