summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--altosui/AltosTelemetry.java2
-rw-r--r--altosui/AltosTelemetryRecord.java109
-rw-r--r--altosui/AltosTelemetryRecordGeneral.java43
-rw-r--r--altosui/AltosTelemetryRecordLegacy.java248
-rw-r--r--altosui/AltosTelemetryRecordRaw.java89
-rw-r--r--altosui/Makefile.am1
6 files changed, 241 insertions, 251 deletions
diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java
index a05269f4..0052ef04 100644
--- a/altosui/AltosTelemetry.java
+++ b/altosui/AltosTelemetry.java
@@ -234,7 +234,7 @@ public class AltosTelemetry extends AltosRecord {
final static String AO_TELEM_SAT_C_N_0 = "s_c";
static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r = AltosTelemetryRecordGeneral.parse(line);
+ AltosTelemetryRecord r = AltosTelemetryRecord.parse(line);
return r.update_state(previous);
}
diff --git a/altosui/AltosTelemetryRecord.java b/altosui/AltosTelemetryRecord.java
index cfac309a..2e6b5ead 100644
--- a/altosui/AltosTelemetryRecord.java
+++ b/altosui/AltosTelemetryRecord.java
@@ -16,8 +16,113 @@
*/
package altosui;
+import java.lang.*;
+import java.text.*;
-public interface AltosTelemetryRecord {
+public abstract class AltosTelemetryRecord {
- public AltosRecord update_state(AltosRecord previous);
+ long received_time;
+ abstract public AltosRecord update_state(AltosRecord previous);
+
+ 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];
+ }
+
+ 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;
+
+ static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ int[] bytes;
+ try {
+ bytes = Altos.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 = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
+ int status = Altos.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 Altos.ao_telemetry_standard_len + 4:
+ int type = Altos.uint8(bytes, 4 + 1);
+ switch (type) {
+ case packet_type_TM_sensor:
+ case packet_type_Tm_sensor:
+ case packet_type_Tn_sensor:
+ r = new AltosTelemetryRecordSensor(bytes, rssi);
+ break;
+ case packet_type_configuration:
+ r = new AltosTelemetryRecordConfiguration(bytes);
+ break;
+ case packet_type_location:
+ r = new AltosTelemetryRecordLocation(bytes);
+ break;
+ case packet_type_satellite:
+ r = new AltosTelemetryRecordSatellite(bytes);
+ break;
+ case packet_type_companion:
+ r = new AltosTelemetryRecordCompanion(bytes);
+ break;
+ default:
+ r = new AltosTelemetryRecordRaw(bytes);
+ break;
+ }
+ break;
+ case Altos.ao_telemetry_0_9_len + 4:
+ r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+ break;
+ case Altos.ao_telemetry_0_8_len + 4:
+ r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+ break;
+ default:
+ throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+ }
+ r.received_time = System.currentTimeMillis();
+ return r;
+ }
+
+ public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ 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++]));
+ }
+
+ if (word[i].equals("TELEM"))
+ r = parse_hex(word[i+1]);
+ else
+ r = new AltosTelemetryRecordLegacy(line);
+ return r;
+ }
}
diff --git a/altosui/AltosTelemetryRecordGeneral.java b/altosui/AltosTelemetryRecordGeneral.java
deleted file mode 100644
index 722baba3..00000000
--- a/altosui/AltosTelemetryRecordGeneral.java
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * Copyright © 2011 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-import java.util.HashMap;
-
-public class AltosTelemetryRecordGeneral {
-
- static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- 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++]));
- }
-
- if (word[i].equals("TELEM"))
- r = AltosTelemetryRecordRaw.parse(word[i+1]);
- else
- r = new AltosTelemetryRecordLegacy(line);
- return r;
- }
-}
diff --git a/altosui/AltosTelemetryRecordLegacy.java b/altosui/AltosTelemetryRecordLegacy.java
index f2f63358..a72ebb0f 100644
--- a/altosui/AltosTelemetryRecordLegacy.java
+++ b/altosui/AltosTelemetryRecordLegacy.java
@@ -84,7 +84,7 @@ import java.util.HashMap;
*
*/
-public class AltosTelemetryRecordLegacy extends AltosRecord implements AltosTelemetryRecord {
+public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
/*
* General header fields
*
@@ -232,152 +232,156 @@ public class AltosTelemetryRecordLegacy extends AltosRecord implements AltosTele
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);
- callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
- serial = map.get_int(AO_TELEM_SERIAL, MISSING);
- flight = map.get_int(AO_TELEM_FLIGHT, MISSING);
- rssi = map.get_int(AO_TELEM_RSSI, MISSING);
- state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
- tick = map.get_int(AO_TELEM_TICK, 0);
+ 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 */
- accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING);
- pres = map.get_int(AO_TELEM_RAW_BARO, MISSING);
- temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING);
- batt = map.get_int(AO_TELEM_RAW_BATT, MISSING);
- drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING);
- main = map.get_int(AO_TELEM_RAW_MAIN, MISSING);
+ 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 */
- ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING);
- ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING);
- accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING);
- accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING);
+ 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 */
- acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, MISSING, 1/16.0);
- speed = map.get_double(AO_TELEM_KALMAN_SPEED, MISSING, 1/16.0);
- height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING);
+ 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);
- flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING);
- flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING);
- flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, 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)) {
- gps = new AltosGPS(map);
- new_gps = true;
+ record.gps = new AltosGPS(map);
+ record.new_gps = true;
}
else
- gps = null;
+ record.gps = null;
}
private void parse_legacy(String[] words, int i) throws ParseException {
AltosParse.word (words[i++], "CALL");
- callsign = words[i++];
+ record.callsign = words[i++];
AltosParse.word (words[i++], "SERIAL");
- serial = AltosParse.parse_int(words[i++]);
+ record.serial = AltosParse.parse_int(words[i++]);
- if (version >= 2) {
+ if (record.version >= 2) {
AltosParse.word (words[i++], "FLIGHT");
- flight = AltosParse.parse_int(words[i++]);
+ record.flight = AltosParse.parse_int(words[i++]);
} else
- flight = 0;
+ record.flight = 0;
AltosParse.word(words[i++], "RSSI");
- rssi = AltosParse.parse_int(words[i++]);
+ record.rssi = AltosParse.parse_int(words[i++]);
/* Older telemetry data had mis-computed RSSI value */
- if (version <= 2)
- rssi = (rssi + 74) / 2 - 74;
+ if (record.version <= 2)
+ record.rssi = (record.rssi + 74) / 2 - 74;
AltosParse.word(words[i++], "STATUS");
- status = AltosParse.parse_hex(words[i++]);
+ record.status = AltosParse.parse_hex(words[i++]);
AltosParse.word(words[i++], "STATE");
- state = Altos.state(words[i++]);
+ record.state = Altos.state(words[i++]);
- tick = AltosParse.parse_int(words[i++]);
+ record.tick = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "a:");
- accel = AltosParse.parse_int(words[i++]);
+ record.accel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "p:");
- pres = AltosParse.parse_int(words[i++]);
+ record.pres = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "t:");
- temp = AltosParse.parse_int(words[i++]);
+ record.temp = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "v:");
- batt = AltosParse.parse_int(words[i++]);
+ record.batt = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "d:");
- drogue = AltosParse.parse_int(words[i++]);
+ record.drogue = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "m:");
- main = AltosParse.parse_int(words[i++]);
+ record.main = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "fa:");
- flight_accel = AltosParse.parse_int(words[i++]);
+ record.flight_accel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "ga:");
- ground_accel = AltosParse.parse_int(words[i++]);
+ record.ground_accel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "fv:");
- flight_vel = AltosParse.parse_int(words[i++]);
+ record.flight_vel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "fp:");
- flight_pres = AltosParse.parse_int(words[i++]);
+ record.flight_pres = AltosParse.parse_int(words[i++]);
/* Old TeleDongle code with kalman-reporting TeleMetrum code */
- if ((flight_vel & 0xffff0000) == 0x80000000) {
- speed = ((short) flight_vel) / 16.0;
- acceleration = flight_accel / 16.0;
- height = flight_pres;
- flight_vel = MISSING;
- flight_pres = MISSING;
- flight_accel = MISSING;
+ 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:");
- ground_pres = AltosParse.parse_int(words[i++]);
+ record.ground_pres = AltosParse.parse_int(words[i++]);
- if (version >= 1) {
+ if (record.version >= 1) {
AltosParse.word(words[i++], "a+:");
- accel_plus_g = AltosParse.parse_int(words[i++]);
+ record.accel_plus_g = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "a-:");
- accel_minus_g = AltosParse.parse_int(words[i++]);
+ record.accel_minus_g = AltosParse.parse_int(words[i++]);
} else {
- accel_plus_g = ground_accel;
- accel_minus_g = ground_accel + 530;
+ record.accel_plus_g = record.ground_accel;
+ record.accel_minus_g = record.ground_accel + 530;
}
- gps = new AltosGPS(words, i, version);
- new_gps = true;
+ 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");
- rssi = AltosParse.parse_int(words[i++]);
- throw new AltosCRCException(rssi);
+ record.rssi = AltosParse.parse_int(words[i++]);
+ throw new AltosCRCException(record.rssi);
}
if (words[i].equals("CALL")) {
- version = 0;
+ record.version = 0;
} else {
AltosParse.word (words[i++], "VERSION");
- version = AltosParse.parse_int(words[i++]);
+ record.version = AltosParse.parse_int(words[i++]);
}
- if (version < 4)
+ if (record.version < 4)
parse_legacy(words, i);
else
parse_v4(words, i);
@@ -418,72 +422,74 @@ public class AltosTelemetryRecordLegacy extends AltosRecord implements AltosTele
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;
- version = 4;
+ record.version = 4;
adjust = 0;
if (bytes.length == Altos.ao_telemetry_0_8_len + 4) {
- serial = uint8(0);
+ record.serial = uint8(0);
adjust = -1;
} else
- serial = uint16(0);
-
- seen = seen_flight | seen_sensor | seen_temp_volt | seen_deploy;
-
- callsign = string(62, 8);
- flight = uint16(2);
- rssi = in_rssi;
- status = in_status;
- state = uint8(4);
- tick = uint16(21);
- accel = int16(23);
- pres = int16(25);
- temp = int16(27);
- batt = int16(29);
- drogue = int16(31);
- main = int16(33);
+ 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);
- ground_accel = int16(7);
- ground_pres = int16(15);
- accel_plus_g = int16(17);
- accel_minus_g = int16(19);
+ 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) {
- acceleration = int16(5);
- speed = int16(9);
- height = int16(13);
- flight_accel = MISSING;
- flight_vel = MISSING;
- flight_pres = MISSING;
+ 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 {
- flight_accel = int16(5);
- flight_vel = uint32(9);
- flight_pres = int16(13);
- acceleration = MISSING;
- speed = MISSING;
- height = MISSING;
+ 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;
}
- gps = null;
+ record.gps = null;
int gps_flags = uint8(41);
if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
- gps = new AltosGPS();
- new_gps = true;
-
- seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
- gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
- gps.locked = (gps_flags & AO_GPS_VALID) != 0;
- gps.connected = true;
- gps.lat = uint32(42) / 1.0e7;
- gps.lon = uint32(46) / 1.0e7;
- gps.alt = int16(50);
- gps.ground_speed = uint16(52) / 100.0;
- gps.course = uint8(54) * 2;
- gps.hdop = uint8(55) / 5.0;
- gps.h_error = uint16(58);
- gps.v_error = uint16(60);
+ 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)
@@ -494,22 +500,22 @@ public class AltosTelemetryRecordLegacy extends AltosRecord implements AltosTele
n_tracking_actual++;
}
if (n_tracking_actual > 0) {
- gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+ 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)
- gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+ record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
}
}
}
- time = 0.0;
+ record.time = 0.0;
}
public AltosRecord update_state(AltosRecord previous) {
- return this;
+ return record;
}
}
diff --git a/altosui/AltosTelemetryRecordRaw.java b/altosui/AltosTelemetryRecordRaw.java
index fb2b495c..08c85e85 100644
--- a/altosui/AltosTelemetryRecordRaw.java
+++ b/altosui/AltosTelemetryRecordRaw.java
@@ -21,94 +21,13 @@ import java.lang.*;
import java.text.*;
import java.util.HashMap;
-public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
+public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
int[] bytes;
int serial;
int tick;
int type;
- 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 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;
-
- 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 static AltosTelemetryRecord parse (String hex) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- int[] bytes;
- try {
- bytes = Altos.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 = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
- int status = Altos.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 Altos.ao_telemetry_standard_len + 4:
- int type = Altos.uint8(bytes, 4 + 1);
- switch (type) {
- case packet_type_TM_sensor:
- case packet_type_Tm_sensor:
- case packet_type_Tn_sensor:
- r = new AltosTelemetryRecordSensor(bytes, rssi);
- break;
- case packet_type_configuration:
- r = new AltosTelemetryRecordConfiguration(bytes);
- break;
- case packet_type_location:
- r = new AltosTelemetryRecordLocation(bytes);
- break;
- case packet_type_satellite:
- r = new AltosTelemetryRecordSatellite(bytes);
- break;
- case packet_type_companion:
- r = new AltosTelemetryRecordCompanion(bytes);
- break;
- default:
- r = new AltosTelemetryRecordRaw(bytes);
- break;
- }
- break;
- case Altos.ao_telemetry_0_9_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- case Altos.ao_telemetry_0_8_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- default:
- throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
- }
- return r;
- }
+ long received_time;
public int int8(int off) {
return Altos.int8(bytes, off + 1);
@@ -151,4 +70,8 @@ public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
next.tick = tick;
return next;
}
+
+ public long received_time() {
+ return received_time;
+ }
}
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index fc024fff..3138efac 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -86,7 +86,6 @@ altosui_JAVA = \
AltosRecordIterable.java \
AltosTelemetryReader.java \
AltosTelemetryRecord.java \
- AltosTelemetryRecordGeneral.java \
AltosTelemetryRecordRaw.java \
AltosTelemetryRecordSensor.java \
AltosTelemetryRecordConfiguration.java \
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 01:58:36 +0000