diff options
29 files changed, 632 insertions, 483 deletions
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index 45b95646..57605607 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -135,6 +135,12 @@ public class AltosConfigData implements Iterable<String> { } } + public boolean has_monitor_battery() { + if (product.startsWith("TeleBT")) + return true; + return false; + } + int[] parse_version(String v) { String[] parts = v.split("\\."); int r[] = new int[parts.length]; diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java index 3039b4dc..34526658 100644 --- a/altoslib/AltosFlightReader.java +++ b/altoslib/AltosFlightReader.java @@ -45,4 +45,8 @@ public class AltosFlightReader { public boolean supports_telemetry(int telemetry) { return false; } public File backing_file() { return null; } + + public boolean has_monitor_battery() { return false; } + + public double monitor_battery() { return AltosRecord.MISSING; } } diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java index 068d8c9c..f23842f3 100644 --- a/altoslib/AltosGPS.java +++ b/altoslib/AltosGPS.java @@ -217,33 +217,38 @@ public class AltosGPS { } public AltosGPS(AltosGPS old) { - nsat = old.nsat; - locked = old.locked; - connected = old.connected; - lat = old.lat; /* degrees (+N -S) */ - lon = old.lon; /* degrees (+E -W) */ - alt = old.alt; /* m */ - year = old.year; - month = old.month; - day = old.day; - hour = old.hour; - minute = old.minute; - second = old.second; - - ground_speed = old.ground_speed; /* m/s */ - course = old.course; /* degrees */ - climb_rate = old.climb_rate; /* m/s */ - hdop = old.hdop; /* unitless? */ - h_error = old.h_error; /* m */ - v_error = old.v_error; /* m */ - - if (old.cc_gps_sat != null) { - cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length]; - for (int i = 0; i < old.cc_gps_sat.length; i++) { - cc_gps_sat[i] = new AltosGPSSat(); - cc_gps_sat[i].svid = old.cc_gps_sat[i].svid; - cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0; + if (old != null) { + nsat = old.nsat; + locked = old.locked; + connected = old.connected; + lat = old.lat; /* degrees (+N -S) */ + lon = old.lon; /* degrees (+E -W) */ + alt = old.alt; /* m */ + year = old.year; + month = old.month; + day = old.day; + hour = old.hour; + minute = old.minute; + second = old.second; + + ground_speed = old.ground_speed; /* m/s */ + course = old.course; /* degrees */ + climb_rate = old.climb_rate; /* m/s */ + hdop = old.hdop; /* unitless? */ + h_error = old.h_error; /* m */ + v_error = old.v_error; /* m */ + + if (old.cc_gps_sat != null) { + cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length]; + for (int i = 0; i < old.cc_gps_sat.length; i++) { + cc_gps_sat[i] = new AltosGPSSat(); + cc_gps_sat[i].svid = old.cc_gps_sat[i].svid; + cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0; + } } + } else { + ClearGPSTime(); + cc_gps_sat = null; } } } diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index f2f75bbb..ec51b9c1 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -116,8 +116,10 @@ public class AltosIdleMonitor extends Thread { } finally { if (remote) { link.stop_remote(); - if (record != null) - record.rssi = AltosRSSI(); + if (record != null) { + record.rssi = link.rssi(); + record.monitor_battery = link.monitor_battery(); + } } else { if (record != null) record.rssi = 0; diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 9eb25ce0..159ebfe1 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -364,6 +364,63 @@ public abstract class AltosLink implements Runnable { remote = false; } + public int rssi() throws TimeoutException, InterruptedException { + if (remote) + return 0; + printf("s\n"); + String line = get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + String[] items = line.split("\\s+"); + if (items.length < 2) + return 0; + if (!items[0].equals("RSSI:")) + return 0; + int rssi = Integer.parseInt(items[1]); + return rssi; + } + + public String[] adc() throws TimeoutException, InterruptedException { + printf("a\n"); + for (;;) { + String line = get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("tick:")) + continue; + String[] items = line.split("\\s+"); + return items; + } + } + + public boolean has_monitor_battery() { + return config_data.has_monitor_battery(); + } + + public double monitor_battery() { + int monitor_batt = AltosRecord.MISSING; + + if (config_data.has_monitor_battery()) { + try { + String[] items = adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("batt")) { + monitor_batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + } catch (InterruptedException ie) { + } catch (TimeoutException te) { + } + } + if (monitor_batt == AltosRecord.MISSING) + return AltosRecord.MISSING; + return AltosConvert.cc_battery_to_voltage(monitor_batt); + } + public AltosLink() { callsign = ""; } diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java new file mode 100644 index 00000000..2fb4673e --- /dev/null +++ b/altoslib/AltosListenerState.java @@ -0,0 +1,28 @@ +/* + * Copyright © 2013 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_1; + +public class AltosListenerState { + public int crc_errors; + public double battery; + + public AltosListenerState() { + crc_errors = 0; + battery = AltosRecord.MISSING; + } +} diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java index f8c44cc5..7046b9f1 100644 --- a/altoslib/AltosRecord.java +++ b/altoslib/AltosRecord.java @@ -17,7 +17,7 @@ package org.altusmetrum.altoslib_1; -public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable { +public class AltosRecord implements Comparable <AltosRecord>, Cloneable { public static final int seen_flight = 1; public static final int seen_sensor = 2; @@ -75,15 +75,17 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable * temperature: °C */ - abstract public double pressure(); - abstract public double ground_pressure(); - abstract public double acceleration(); + public double pressure() { return MISSING; } + public double ground_pressure() { return MISSING; } + public double acceleration() { return MISSING; } public double altitude() { double p = pressure(); - if (p == MISSING) + if (p == MISSING) { + System.out.printf ("altitude missing\n"); return MISSING; + } return AltosConvert.pressure_to_altitude(p); } @@ -126,7 +128,11 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable return tick - o.tick; } - abstract public AltosRecord clone(); + public AltosRecord clone() { + AltosRecord n = new AltosRecord(); + n.copy(this); + return n; + } public void copy(AltosRecord old) { seen = old.seen; @@ -150,13 +156,13 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable seen = 0; version = 0; callsign = "N0CALL"; - serial = 0; - flight = 0; + serial = MISSING; + flight = MISSING; rssi = 0; status = 0; state = AltosLib.ao_flight_startup; tick = 0; - gps = new AltosGPS(); + gps = null; new_gps = false; companion = null; diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java index 8372d047..6d1b61c0 100644 --- a/altoslib/AltosSensorMM.java +++ b/altoslib/AltosSensorMM.java @@ -28,75 +28,65 @@ class AltosSensorMM { int accel_ref; public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException { - link.printf("a\n"); - for (;;) { - String line = link.get_reply_no_dialog(5000); - if (line == null) { - throw new TimeoutException(); + String[] items = link.adc(); + sense = new int[6]; + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("0:")) { + sense[0] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("1:")) { + sense[1] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("2:")) { + sense[2] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("3:")) { + sense[3] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("4:")) { + sense[4] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("5:")) { + sense[5] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("6:")) { + v_batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("7:")) { + v_pyro = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("8:")) { + accel = Integer.parseInt(items[i+1]); + i += 2; + continue; } - if (!line.startsWith("tick:")) + if (items[i].equals("9:")) { + accel_ref = Integer.parseInt(items[i+1]); + i += 2; continue; - String[] items = line.split("\\s+"); - sense = new int[6]; - for (int i = 0; i < items.length;) { - if (items[i].equals("tick:")) { - tick = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("0:")) { - sense[0] = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("1:")) { - sense[1] = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("2:")) { - sense[2] = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("3:")) { - sense[3] = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("4:")) { - sense[4] = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("5:")) { - sense[5] = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("6:")) { - v_batt = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("7:")) { - v_pyro = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("8:")) { - accel = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("9:")) { - accel_ref = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - i++; } - break; + i++; } } } diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java index f5fa83a5..754dc5bb 100644 --- a/altoslib/AltosSensorTM.java +++ b/altoslib/AltosSensorTM.java @@ -23,54 +23,44 @@ class AltosSensorTM extends AltosRecordTM { public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException { super(); - link.printf("a\n"); - for (;;) { - String line = link.get_reply_no_dialog(5000); - if (line == null) { - throw new TimeoutException(); + String[] items = link.adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("accel:")) { + accel = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("pres:")) { + pres = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("temp:")) { + temp = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("drogue:")) { + drogue = Integer.parseInt(items[i+1]); + i += 2; + continue; } - if (!line.startsWith("tick:")) + if (items[i].equals("main:")) { + main = Integer.parseInt(items[i+1]); + i += 2; continue; - String[] items = line.split("\\s+"); - for (int i = 0; i < items.length;) { - if (items[i].equals("tick:")) { - tick = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("accel:")) { - accel = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("pres:")) { - pres = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("temp:")) { - temp = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("batt:")) { - batt = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("drogue:")) { - drogue = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("main:")) { - main = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - i++; } - break; + i++; } ground_accel = config_data.accel_cal_plus; ground_pres = pres; diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 8a3bbd4c..f1bcb1c1 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -155,30 +155,41 @@ public class AltosState { /* compute barometric speed */ double height_change = height - prev_state.height; + + double prev_baro_speed = prev_state.baro_speed; + if (prev_baro_speed == AltosRecord.MISSING) + prev_baro_speed = 0; + if (time_change > 0) - baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0; + baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0; else baro_speed = prev_state.baro_speed; + double prev_accel_speed = prev_state.accel_speed; + + if (prev_accel_speed == AltosRecord.MISSING) + prev_accel_speed = 0; + if (acceleration == AltosRecord.MISSING) { /* Fill in mising acceleration value */ accel_speed = baro_speed; - if (time_change > 0) - acceleration = (accel_speed - prev_state.accel_speed) / time_change; + + if (time_change > 0 && accel_speed != AltosRecord.MISSING) + acceleration = (accel_speed - prev_accel_speed) / time_change; else acceleration = prev_state.acceleration; } else { /* compute accelerometer speed */ - accel_speed = prev_state.accel_speed + acceleration * time_change; + accel_speed = prev_accel_speed + acceleration * time_change; } } - } else { npad = 0; ngps = 0; gps = null; baro_speed = AltosRecord.MISSING; accel_speed = AltosRecord.MISSING; + pad_alt = AltosRecord.MISSING; max_baro_speed = 0; max_accel_speed = 0; max_height = 0; diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java index f365b821..b4293c73 100644 --- a/altoslib/AltosTelemetryReader.java +++ b/altoslib/AltosTelemetryReader.java @@ -107,6 +107,14 @@ public class AltosTelemetryReader extends AltosFlightReader { return log.file(); } + public boolean has_monitor_battery() { + return link.has_monitor_battery(); + } + + public double monitor_battery() { + return link.monitor_battery(); + } + public AltosTelemetryReader (AltosLink in_link) throws IOException, InterruptedException, TimeoutException { link = in_link; diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index 8e5701ad..30a9d954 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -37,6 +37,7 @@ altoslib_JAVA = \ AltosIMUQuery.java \ AltosLine.java \ AltosLink.java \ + AltosListenerState.java \ AltosLog.java \ AltosMs5607.java \ AltosMs5607Query.java \ diff --git a/altosui/AltosAscent.java b/altosui/AltosAscent.java index 80a5b759..4da4d591 100644 --- a/altosui/AltosAscent.java +++ b/altosui/AltosAscent.java @@ -42,7 +42,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { label.setVisible(false); } - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void show(String s) { show(); @@ -107,7 +107,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { public class AscentValue { JLabel label; JTextField value; - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void reset() { value.setText(""); @@ -174,7 +174,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { JTextField max_value; double max; - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void reset() { value.setText(""); @@ -239,7 +239,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Height extends AscentValueHold { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.height, state.height); } public Height (GridBagLayout layout, int y) { @@ -250,7 +250,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { Height height; class Speed extends AscentValueHold { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { double speed = state.accel_speed; if (!state.ascent) speed = state.baro_speed; @@ -264,7 +264,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { Speed speed; class Accel extends AscentValueHold { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.accel, state.acceleration); } public Accel (GridBagLayout layout, int y) { @@ -286,7 +286,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { } class Apogee extends AscentStatus { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show("%4.2f V", state.drogue_sense); lights.set(state.drogue_sense > 3.2); } @@ -298,7 +298,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { Apogee apogee; class Main extends AscentStatus { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show("%4.2f V", state.main_sense); lights.set(state.main_sense > 3.2); } @@ -310,7 +310,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { Main main; class Lat extends AscentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { if (state.gps != null) show(pos(state.gps.lat,"N", "S")); else @@ -324,7 +324,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { Lat lat; class Lon extends AscentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { if (state.gps != null) show(pos(state.gps.lon,"E", "W")); else @@ -359,25 +359,25 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { accel.set_font(); } - public void show(AltosState state, int crc_errors) { + public void show(AltosState state, AltosListenerState listener_state) { if (state.gps != null && state.gps.connected) { - lat.show(state, crc_errors); - lon.show(state, crc_errors); + lat.show(state, listener_state); + lon.show(state, listener_state); } else { lat.hide(); lon.hide(); } - height.show(state, crc_errors); + height.show(state, listener_state); if (state.main_sense != AltosRecord.MISSING) - main.show(state, crc_errors); + main.show(state, listener_state); else main.hide(); if (state.drogue_sense != AltosRecord.MISSING) - apogee.show(state, crc_errors); + apogee.show(state, listener_state); else apogee.hide(); - speed.show(state, crc_errors); - accel.show(state, crc_errors); + speed.show(state, listener_state); + accel.show(state, listener_state); } public void labels(GridBagLayout layout, int y) { diff --git a/altosui/AltosCompanionInfo.java b/altosui/AltosCompanionInfo.java index 7dd36aec..ebe1d1f9 100644 --- a/altosui/AltosCompanionInfo.java +++ b/altosui/AltosCompanionInfo.java @@ -83,7 +83,7 @@ public class AltosCompanionInfo extends JTable { } } - public void show(AltosState state, int crc_errors) { + public void show(AltosState state, AltosListenerState listener_state) { if (state == null) return; if (state.data.companion != null) diff --git a/altosui/AltosDescent.java b/altosui/AltosDescent.java index 9838f46b..29d33ddc 100644 --- a/altosui/AltosDescent.java +++ b/altosui/AltosDescent.java @@ -29,7 +29,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { JTextField value; AltosLights lights; - abstract void show(AltosState state, int crc_errors); + abstract void show(AltosState state, AltosListenerState listener_state); void show() { label.setVisible(true); @@ -108,7 +108,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { value.setText(""); } - abstract void show(AltosState state, int crc_errors); + abstract void show(AltosState state, AltosListenerState listener_state); void show() { label.setVisible(true); @@ -192,7 +192,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { value2.setFont(Altos.value_font); } - abstract void show(AltosState state, int crc_errors); + abstract void show(AltosState state, AltosListenerState listener_state); void show(String v1, String v2) { show(); @@ -244,7 +244,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { } class Height extends DescentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.height, state.height); } public Height (GridBagLayout layout, int x, int y) { @@ -255,7 +255,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Height height; class Speed extends DescentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { double speed = state.accel_speed; if (!state.ascent) speed = state.baro_speed; @@ -280,7 +280,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { } class Lat extends DescentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { if (state.gps != null && state.gps.connected) show(pos(state.gps.lat,"N", "S")); else @@ -294,7 +294,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Lat lat; class Lon extends DescentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { if (state.gps != null && state.gps.connected) show(pos(state.gps.lon,"W", "E")); else @@ -308,7 +308,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Lon lon; class Distance extends DescentValue { - void show(AltosState state, int crc_errors) { + void show(AltosState state, AltosListenerState listener_state) { if (state.from_pad != null) show(AltosConvert.distance, state.from_pad.distance); else @@ -324,7 +324,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Apogee extends DescentStatus { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show("%4.2f V", state.drogue_sense); lights.set(state.drogue_sense > 3.2); } @@ -336,7 +336,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Apogee apogee; class Main extends DescentStatus { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show("%4.2f V", state.main_sense); lights.set(state.main_sense > 3.2); } @@ -348,7 +348,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Main main; class Bearing extends DescentDualValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { if (state.from_pad != null) { show( String.format("%3.0f°", state.from_pad.bearing), state.from_pad.bearing_words( @@ -365,7 +365,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Bearing bearing; class Range extends DescentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.distance, state.range); } public Range (GridBagLayout layout, int x, int y) { @@ -376,7 +376,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { Range range; class Elevation extends DescentValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show("%3.0f°", state.elevation); } public Elevation (GridBagLayout layout, int x, int y) { @@ -412,16 +412,16 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { apogee.set_font(); } - public void show(AltosState state, int crc_errors) { - height.show(state, crc_errors); - speed.show(state, crc_errors); + public void show(AltosState state, AltosListenerState listener_state) { + height.show(state, listener_state); + speed.show(state, listener_state); if (state.gps != null && state.gps.connected) { - bearing.show(state, crc_errors); - range.show(state, crc_errors); - distance.show(state, crc_errors); - elevation.show(state, crc_errors); - lat.show(state, crc_errors); - lon.show(state, crc_errors); + bearing.show(state, listener_state); + range.show(state, listener_state); + distance.show(state, listener_state); + elevation.show(state, listener_state); + lat.show(state, listener_state); + lon.show(state, listener_state); } else { bearing.hide(); range.hide(); @@ -431,11 +431,11 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { lon.hide(); } if (state.main_sense != AltosRecord.MISSING) - main.show(state, crc_errors); + main.show(state, listener_state); else main.hide(); if (state.drogue_sense != AltosRecord.MISSING) - apogee.show(state, crc_errors); + apogee.show(state, listener_state); else apogee.hide(); } diff --git a/altosui/AltosDisplayThread.java b/altosui/AltosDisplayThread.java index 6f8aa9ee..095bed99 100644 --- a/altosui/AltosDisplayThread.java +++ b/altosui/AltosDisplayThread.java @@ -29,21 +29,17 @@ public class AltosDisplayThread extends Thread { IdleThread idle_thread; AltosVoice voice; AltosFlightReader reader; - int crc_errors; + AltosState old_state, state; + AltosListenerState listener_state; AltosFlightDisplay display; - void show_internal(AltosState state, int crc_errors) { - if (state != null) - display.show(state, crc_errors); - } - - void show_safely(AltosState in_state, int in_crc_errors) { - final AltosState state = in_state; - final int crc_errors = in_crc_errors; + synchronized void show_safely() { + final AltosState my_state = state; + final AltosListenerState my_listener_state = listener_state; Runnable r = new Runnable() { public void run() { try { - show_internal(state, crc_errors); + display.show(my_state, my_listener_state); } catch (Exception ex) { } } @@ -73,7 +69,6 @@ public class AltosDisplayThread extends Thread { class IdleThread extends Thread { boolean started; - private AltosState state; int reported_landing; int report_interval; long report_time; @@ -129,7 +124,7 @@ public class AltosDisplayThread extends Thread { ++reported_landing; if (state.state != Altos.ao_flight_landed) { state.state = Altos.ao_flight_landed; - show_safely(state, 0); + show_safely(); } } } @@ -145,6 +140,10 @@ public class AltosDisplayThread extends Thread { public void run () { try { for (;;) { + if (reader.has_monitor_battery()) { + listener_state.battery = reader.monitor_battery(); + show_safely(); + } set_report_time(); for (;;) { voice.drain(); @@ -155,6 +154,7 @@ public class AltosDisplayThread extends Thread { wait(sleep_time); } } + report(false); } } catch (InterruptedException ie) { @@ -164,18 +164,7 @@ public class AltosDisplayThread extends Thread { } } - public synchronized void notice(AltosState new_state, boolean spoken) { - AltosState old_state = state; - state = new_state; - if (!started && state.state > Altos.ao_flight_pad) { - started = true; - start(); - } - - if (state.state < Altos.ao_flight_drogue) - report_interval = 10000; - else - report_interval = 20000; + public synchronized void notice(boolean spoken) { if (old_state != null && old_state.state != state.state) { report_time = now(); this.notify(); @@ -184,13 +173,12 @@ public class AltosDisplayThread extends Thread { } public IdleThread() { - state = null; reported_landing = 0; report_interval = 10000; } } - boolean tell(AltosState state, AltosState old_state) { + synchronized boolean tell() { boolean ret = false; if (old_state == null || old_state.state != state.state) { voice.speak(state.data.state()); @@ -222,12 +210,10 @@ public class AltosDisplayThread extends Thread { public void run() { boolean interrupted = false; - //String line; - AltosState state = null; - AltosState old_state = null; boolean told; idle_thread = new IdleThread(); + idle_thread.start(); try { for (;;) { @@ -238,14 +224,14 @@ public class AltosDisplayThread extends Thread { old_state = state; state = new AltosState(record, state); reader.update(state); - show_safely(state, crc_errors); - told = tell(state, old_state); - idle_thread.notice(state, told); + show_safely(); + told = tell(); + idle_thread.notice(told); } catch (ParseException pp) { System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage()); } catch (AltosCRCException ce) { - ++crc_errors; - show_safely(state, crc_errors); + ++listener_state.crc_errors; + show_safely(); } } } catch (InterruptedException ee) { @@ -264,6 +250,7 @@ public class AltosDisplayThread extends Thread { } public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) { + listener_state = new AltosListenerState(); parent = in_parent; voice = in_voice; display = in_display; diff --git a/altosui/AltosFlightDisplay.java b/altosui/AltosFlightDisplay.java index d1ed7d2f..4f4c158e 100644 --- a/altosui/AltosFlightDisplay.java +++ b/altosui/AltosFlightDisplay.java @@ -22,7 +22,7 @@ import org.altusmetrum.altoslib_1.*; public interface AltosFlightDisplay { void reset(); - void show(AltosState state, int crc_errors); + void show(AltosState state, AltosListenerState listener_state); void set_font(); } diff --git a/altosui/AltosFlightStatus.java b/altosui/AltosFlightStatus.java index 20539a9f..d2910414 100644 --- a/altosui/AltosFlightStatus.java +++ b/altosui/AltosFlightStatus.java @@ -28,7 +28,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay JLabel label; JTextField value; - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void reset() { value.setText(""); @@ -64,7 +64,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay } class Call extends FlightValue { - void show(AltosState state, int crc_errors) { + void show(AltosState state, AltosListenerState listener_state) { value.setText(state.data.callsign); } public Call (GridBagLayout layout, int x) { @@ -75,8 +75,11 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay Call call; class Serial extends FlightValue { - void show(AltosState state, int crc_errors) { - value.setText(String.format("%d", state.data.serial)); + void show(AltosState state, AltosListenerState listener_state) { + if (state.data.serial == AltosRecord.MISSING) + value.setText("none"); + else + value.setText(String.format("%d", state.data.serial)); } public Serial (GridBagLayout layout, int x) { super (layout, x, "Serial"); @@ -86,8 +89,11 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay Serial serial; class Flight extends FlightValue { - void show(AltosState state, int crc_errors) { - value.setText(String.format("%d", state.data.flight)); + void show(AltosState state, AltosListenerState listener_state) { + if (state.data.flight == AltosRecord.MISSING) + value.setText("none"); + else + value.setText(String.format("%d", state.data.flight)); } public Flight (GridBagLayout layout, int x) { super (layout, x, "Flight"); @@ -97,7 +103,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay Flight flight; class FlightState extends FlightValue { - void show(AltosState state, int crc_errors) { + void show(AltosState state, AltosListenerState listener_state) { value.setText(state.data.state()); } public FlightState (GridBagLayout layout, int x) { @@ -108,7 +114,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay FlightState flight_state; class RSSI extends FlightValue { - void show(AltosState state, int crc_errors) { + void show(AltosState state, AltosListenerState listener_state) { value.setText(String.format("%d", state.data.rssi)); } public RSSI (GridBagLayout layout, int x) { @@ -119,7 +125,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay RSSI rssi; class LastPacket extends FlightValue { - void show(AltosState state, int crc_errors) { + void show(AltosState state, AltosListenerState listener_state) { long secs = (System.currentTimeMillis() - state.report_time + 500) / 1000; value.setText(String.format("%d", secs)); } @@ -148,13 +154,13 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay last_packet.set_font(); } - public void show (AltosState state, int crc_errors) { - call.show(state, crc_errors); - serial.show(state, crc_errors); - flight.show(state, crc_errors); - flight_state.show(state, crc_errors); - rssi.show(state, crc_errors); - last_packet.show(state, crc_errors); + public void show (AltosState state, AltosListenerState listener_state) { + call.show(state, listener_state); + serial.show(state, listener_state); + flight.show(state, listener_state); + flight_state.show(state, listener_state); + rssi.show(state, listener_state); + last_packet.show(state, listener_state); } public int height() { diff --git a/altosui/AltosFlightStatusUpdate.java b/altosui/AltosFlightStatusUpdate.java index bf679b85..962a08f7 100644 --- a/altosui/AltosFlightStatusUpdate.java +++ b/altosui/AltosFlightStatusUpdate.java @@ -22,12 +22,16 @@ import org.altusmetrum.altoslib_1.*; public class AltosFlightStatusUpdate implements ActionListener { - public AltosState saved_state; - AltosFlightStatus flightStatus; + public AltosState saved_state; + public AltosListenerState saved_listener_state; + AltosFlightStatus flightStatus; public void actionPerformed (ActionEvent e) { - if (saved_state != null) - flightStatus.show(saved_state, 0); + if (saved_state != null) { + if (saved_listener_state == null) + saved_listener_state = new AltosListenerState(); + flightStatus.show(saved_state, saved_listener_state); + } } public AltosFlightStatusUpdate (AltosFlightStatus in_flightStatus) { diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java index c04a4357..6b258f2e 100644 --- a/altosui/AltosFlightUI.java +++ b/altosui/AltosFlightUI.java @@ -98,11 +98,15 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A AltosFlightStatusUpdate status_update; - public void show(AltosState state, int crc_errors) { + public void show(AltosState state, AltosListenerState listener_state) { status_update.saved_state = state; - JComponent tab = which_tab(state); - try { - pad.show(state, crc_errors); + + if (state == null) { + System.out.printf ("no state provided\n"); + state = new AltosState(new AltosRecord()); + } + + pad.show(state, listener_state); if (state.state != Altos.ao_flight_startup) { if (!has_state) { @@ -114,25 +118,26 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A } } - ascent.show(state, crc_errors); - descent.show(state, crc_errors); - landed.show(state, crc_errors); + ascent.show(state, listener_state); + descent.show(state, listener_state); + landed.show(state, listener_state); + JComponent tab = which_tab(state); if (tab != cur_tab) { if (cur_tab == pane.getSelectedComponent()) { pane.setSelectedComponent(tab); } cur_tab = tab; } - flightStatus.show(state, crc_errors); - flightInfo.show(state, crc_errors); + flightStatus.show(state, listener_state); + flightInfo.show(state, listener_state); if (state.data.companion != null) { if (!has_companion) { pane.add("Companion", companion); has_companion= true; } - companion.show(state, crc_errors); + companion.show(state, listener_state); } else { if (has_companion) { pane.remove(companion); @@ -144,17 +149,13 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A pane.add("Site Map", sitemap); has_map = true; } - sitemap.show(state, crc_errors); + sitemap.show(state, listener_state); } else { if (has_map) { pane.remove(sitemap); has_map = false; } } - } catch (Exception e) { - System.out.print("Show exception " + e + "\n"); - e.printStackTrace(); - } } public void set_exit_on_close() { diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java index f6e57e7e..d8b8f6dd 100644 --- a/altosui/AltosGraphUI.java +++ b/altosui/AltosGraphUI.java @@ -35,7 +35,7 @@ public class AltosGraphUI extends AltosUIFrame if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) { if (map == null) map = new AltosSiteMap(); - map.show(state, 0); + map.show(state, null); has_gps = true; } } diff --git a/altosui/AltosIdleMonitorUI.java b/altosui/AltosIdleMonitorUI.java index 8c883eeb..1ef30f0a 100644 --- a/altosui/AltosIdleMonitorUI.java +++ b/altosui/AltosIdleMonitorUI.java @@ -63,12 +63,12 @@ public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDispl AltosFlightStatusUpdate status_update; - public void show(AltosState state, int crc_errors) { + public void show(AltosState state, AltosListenerState listener_state) { status_update.saved_state = state; try { - pad.show(state, crc_errors); - flightStatus.show(state, crc_errors); - flightInfo.show(state, crc_errors); + pad.show(state, listener_state); + flightStatus.show(state, listener_state); + flightInfo.show(state, listener_state); } catch (Exception e) { System.out.print("Show exception" + e); } @@ -77,7 +77,7 @@ public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDispl public void update(final AltosState state) { Runnable r = new Runnable() { public void run() { - show(state, 0); + show(state, null); } }; SwingUtilities.invokeLater(r); diff --git a/altosui/AltosInfoTable.java b/altosui/AltosInfoTable.java index 1dce6daf..3d16faf2 100644 --- a/altosui/AltosInfoTable.java +++ b/altosui/AltosInfoTable.java @@ -104,111 +104,118 @@ public class AltosInfoTable extends JTable { model.clear(); } - public void show(AltosState state, int crc_errors) { - if (state == null) - return; + public void show(AltosState state, AltosListenerState listener_state) { info_reset(); - if (state.altitude != AltosRecord.MISSING) - info_add_row(0, "Altitude", "%6.0f m", state.altitude); - if (state.ground_altitude != AltosRecord.MISSING) - info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude); - if (state.height != AltosRecord.MISSING) - info_add_row(0, "Height", "%6.0f m", state.height); - if (state.max_height != AltosRecord.MISSING) - info_add_row(0, "Max height", "%6.0f m", state.max_height); - if (state.acceleration != AltosRecord.MISSING) - info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration); - if (state.max_acceleration != AltosRecord.MISSING) - info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration); - if (state.speed() != AltosRecord.MISSING) - info_add_row(0, "Speed", "%8.1f m/s", state.speed()); - if (state.max_speed() != AltosRecord.MISSING) - info_add_row(0, "Max Speed", "%8.1f m/s", state.max_accel_speed); - if (state.temperature != AltosRecord.MISSING) - info_add_row(0, "Temperature", "%9.2f °C", state.temperature); - if (state.battery != AltosRecord.MISSING) - info_add_row(0, "Battery", "%9.2f V", state.battery); - if (state.drogue_sense != AltosRecord.MISSING) - info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense); - if (state.main_sense != AltosRecord.MISSING) - info_add_row(0, "Main", "%9.2f V", state.main_sense); - info_add_row(0, "CRC Errors", "%6d", crc_errors); - - if (state.gps == null || !state.gps.connected) { - info_add_row(1, "GPS", "not available"); - } else { - if (state.gps_ready) - info_add_row(1, "GPS state", "%s", "ready"); - else - info_add_row(1, "GPS state", "wait (%d)", - state.gps_waiting); - if (state.data.gps.locked) - info_add_row(1, "GPS", " locked"); - else if (state.data.gps.connected) - info_add_row(1, "GPS", " unlocked"); - else - info_add_row(1, "GPS", " missing"); - info_add_row(1, "Satellites", "%6d", state.data.gps.nsat); - info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S'); - info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W'); - info_add_row(1, "GPS altitude", "%6d", state.gps.alt); - info_add_row(1, "GPS height", "%6.0f", state.gps_height); - - /* The SkyTraq GPS doesn't report these values */ - /* - if (false) { - info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°", - state.gps.ground_speed, - state.gps.course); - info_add_row(1, "GPS climb rate", "%8.1f m/s", - state.gps.climb_rate); - info_add_row(1, "GPS error", "%6d m(h)%3d m(v)", - state.gps.h_error, state.gps.v_error); - } - */ - - info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop); - - if (state.npad > 0) { - if (state.from_pad != null) { - info_add_row(1, "Distance from pad", "%6d m", - (int) (state.from_pad.distance + 0.5)); - info_add_row(1, "Direction from pad", "%6d°", - (int) (state.from_pad.bearing + 0.5)); - info_add_row(1, "Elevation from pad", "%6d°", - (int) (state.elevation + 0.5)); - info_add_row(1, "Range from pad", "%6d m", - (int) (state.range + 0.5)); - } else { - info_add_row(1, "Distance from pad", "unknown"); - info_add_row(1, "Direction from pad", "unknown"); - info_add_row(1, "Elevation from pad", "unknown"); - info_add_row(1, "Range from pad", "unknown"); + if (state != null) { + if (state.altitude != AltosRecord.MISSING) + info_add_row(0, "Altitude", "%6.0f m", state.altitude); + if (state.ground_altitude != AltosRecord.MISSING) + info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude); + if (state.height != AltosRecord.MISSING) + info_add_row(0, "Height", "%6.0f m", state.height); + if (state.height != AltosRecord.MISSING) + info_add_row(0, "Max height", "%6.0f m", state.max_height); + if (state.acceleration != AltosRecord.MISSING) + info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration); + if (state.acceleration != AltosRecord.MISSING) + info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration); + if (state.speed() != AltosRecord.MISSING) + info_add_row(0, "Speed", "%8.1f m/s", state.speed()); + if (state.speed() != AltosRecord.MISSING) + info_add_row(0, "Max Speed", "%8.1f m/s", state.max_accel_speed); + if (state.temperature != AltosRecord.MISSING) + info_add_row(0, "Temperature", "%9.2f °C", state.temperature); + if (state.battery != AltosRecord.MISSING) + info_add_row(0, "Battery", "%9.2f V", state.battery); + if (state.drogue_sense != AltosRecord.MISSING) + info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense); + if (state.main_sense != AltosRecord.MISSING) + info_add_row(0, "Main", "%9.2f V", state.main_sense); + } + if (listener_state != null) { + info_add_row(0, "CRC Errors", "%6d", listener_state.crc_errors); + + if (listener_state.battery != AltosRecord.MISSING) + info_add_row(0, "Receiver Battery", "%9.2f", listener_state.battery); + } + + if (state != null) { + if (state.gps == null || !state.gps.connected) { + info_add_row(1, "GPS", "not available"); + } else { + if (state.gps_ready) + info_add_row(1, "GPS state", "%s", "ready"); + else + info_add_row(1, "GPS state", "wait (%d)", + state.gps_waiting); + if (state.data.gps.locked) + info_add_row(1, "GPS", " locked"); + else if (state.data.gps.connected) + info_add_row(1, "GPS", " unlocked"); + else + info_add_row(1, "GPS", " missing"); + info_add_row(1, "Satellites", "%6d", state.data.gps.nsat); + info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S'); + info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W'); + info_add_row(1, "GPS altitude", "%6d", state.gps.alt); + info_add_row(1, "GPS height", "%6.0f", state.gps_height); + + /* The SkyTraq GPS doesn't report these values */ + /* + if (false) { + info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°", + state.gps.ground_speed, + state.gps.course); + info_add_row(1, "GPS climb rate", "%8.1f m/s", + state.gps.climb_rate); + info_add_row(1, "GPS error", "%6d m(h)%3d m(v)", + state.gps.h_error, state.gps.v_error); + } + */ + + info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop); + + if (state.npad > 0) { + if (state.from_pad != null) { + info_add_row(1, "Distance from pad", "%6d m", + (int) (state.from_pad.distance + 0.5)); + info_add_row(1, "Direction from pad", "%6d°", + (int) (state.from_pad.bearing + 0.5)); + info_add_row(1, "Elevation from pad", "%6d°", + (int) (state.elevation + 0.5)); + info_add_row(1, "Range from pad", "%6d m", + (int) (state.range + 0.5)); + } else { + info_add_row(1, "Distance from pad", "unknown"); + info_add_row(1, "Direction from pad", "unknown"); + info_add_row(1, "Elevation from pad", "unknown"); + info_add_row(1, "Range from pad", "unknown"); + } + info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S'); + info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W'); + info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt); } - info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S'); - info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W'); - info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt); - } - info_add_row(1, "GPS date", "%04d-%02d-%02d", - state.gps.year, - state.gps.month, - state.gps.day); - info_add_row(1, "GPS time", " %02d:%02d:%02d", - state.gps.hour, - state.gps.minute, - state.gps.second); - //int nsat_vis = 0; - int c; - - if (state.gps.cc_gps_sat == null) - info_add_row(2, "Satellites Visible", "%4d", 0); - else { - info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length); - for (c = 0; c < state.gps.cc_gps_sat.length; c++) { - info_add_row(2, "Satellite id,C/N0", - "%4d, %4d", - state.gps.cc_gps_sat[c].svid, - state.gps.cc_gps_sat[c].c_n0); + info_add_row(1, "GPS date", "%04d-%02d-%02d", + state.gps.year, + state.gps.month, + state.gps.day); + info_add_row(1, "GPS time", " %02d:%02d:%02d", + state.gps.hour, + state.gps.minute, + state.gps.second); + //int nsat_vis = 0; + int c; + + if (state.gps.cc_gps_sat == null) + info_add_row(2, "Satellites Visible", "%4d", 0); + else { + info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length); + for (c = 0; c < state.gps.cc_gps_sat.length; c++) { + info_add_row(2, "Satellite id,C/N0", + "%4d, %4d", + state.gps.cc_gps_sat[c].svid, + state.gps.cc_gps_sat[c].c_n0); + } } } } diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java index a245dde3..1d209bda 100644 --- a/altosui/AltosLanded.java +++ b/altosui/AltosLanded.java @@ -29,7 +29,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio public class LandedValue { JLabel label; JTextField value; - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void reset() { value.setText(""); @@ -102,7 +102,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio } class Lat extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { if (state.gps != null && state.gps.connected) show(pos(state.gps.lat,"N", "S")); else @@ -116,7 +116,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio Lat lat; class Lon extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(); if (state.gps != null && state.gps.connected) show(pos(state.gps.lon,"E", "W")); @@ -131,7 +131,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio Lon lon; class Bearing extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(); if (state.from_pad != null) show("%3.0f°", state.from_pad.bearing); @@ -146,7 +146,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio Bearing bearing; class Distance extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(); if (state.from_pad != null) show(AltosConvert.distance, state.from_pad.distance); @@ -161,7 +161,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio Distance distance; class Height extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.height, state.max_height); } public Height (GridBagLayout layout, int y) { @@ -172,7 +172,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio Height height; class Speed extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.speed, state.max_speed()); } public Speed (GridBagLayout layout, int y) { @@ -183,7 +183,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio Speed speed; class Accel extends LandedValue { - void show (AltosState state, int crc_errors) { + void show (AltosState state, AltosListenerState listener_state) { show(AltosConvert.accel, state.max_acceleration); } public Accel (GridBagLayout layout, int y) { @@ -213,21 +213,21 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio accel.set_font(); } - public void show(AltosState state, int crc_errors) { + public void show(AltosState state, AltosListenerState listener_state) { if (state.gps != null && state.gps.connected) { - bearing.show(state, crc_errors); - distance.show(state, crc_errors); - lat.show(state, crc_errors); - lon.show(state, crc_errors); + bearing.show(state, listener_state); + distance.show(state, listener_state); + lat.show(state, listener_state); + lon.show(state, listener_state); } else { bearing.hide(); distance.hide(); lat.hide(); lon.hide(); } - height.show(state, crc_errors); - speed.show(state, crc_errors); - accel.show(state, crc_errors); + height.show(state, listener_state); + speed.show(state, listener_state); + accel.show(state, listener_state); if (reader.backing_file() != null) graph.setEnabled(true); } diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java index eb08525c..e2316a13 100644 --- a/altosui/AltosPad.java +++ b/altosui/AltosPad.java @@ -29,7 +29,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { JTextField value; AltosLights lights; - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void reset() { value.setText(""); @@ -109,7 +109,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { public class LaunchValue { JLabel label; JTextField value; - void show(AltosState state, int crc_errors) {} + void show(AltosState state, AltosListenerState listener_state) {} void show() { label.setVisible(true); @@ -175,8 +175,8 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { } class Battery extends LaunchStatus { - void show (AltosState state, int crc_errors) { - if (state.battery == AltosRecord.MISSING) + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.battery == AltosRecord.MISSING) hide(); else { show("%4.2f V", state.battery); @@ -191,9 +191,13 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { Battery battery; class Apogee extends LaunchStatus { - void show (AltosState state, int crc_errors) { - show("%4.2f V", state.drogue_sense); - lights.set(state.drogue_sense > 3.2); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.drogue_sense == AltosRecord.MISSING) + hide(); + else { + show("%4.2f V", state.drogue_sense); + lights.set(state.drogue_sense > 3.2); + } } public Apogee (GridBagLayout layout, int y) { super(layout, y, "Apogee Igniter Voltage"); @@ -203,9 +207,13 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { Apogee apogee; class Main extends LaunchStatus { - void show (AltosState state, int crc_errors) { - show("%4.2f V", state.main_sense); - lights.set(state.main_sense > 3.2); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.main_sense == AltosRecord.MISSING) + hide(); + else { + show("%4.2f V", state.main_sense); + lights.set(state.main_sense > 3.2); + } } public Main (GridBagLayout layout, int y) { super(layout, y, "Main Igniter Voltage"); @@ -215,18 +223,21 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { Main main; class LoggingReady extends LaunchStatus { - void show (AltosState state, int crc_errors) { - if (state.data.flight != 0) { - if (state.data.state <= Altos.ao_flight_pad) - show("Ready to record"); - else if (state.data.state < Altos.ao_flight_landed) - show("Recording data"); - else - show("Recorded data"); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.data.flight == AltosRecord.MISSING) { + hide(); + } else { + if (state.data.flight != 0) { + if (state.data.state <= Altos.ao_flight_pad) + show("Ready to record"); + else if (state.data.state < Altos.ao_flight_landed) + show("Recording data"); + else + show("Recorded data"); + } else + show("Storage full"); + lights.set(state.data.flight != 0); } - else - show("Storage full"); - lights.set(state.data.flight != 0); } public LoggingReady (GridBagLayout layout, int y) { super(layout, y, "On-board Data Logging"); @@ -236,9 +247,13 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { LoggingReady logging_ready; class GPSLocked extends LaunchStatus { - void show (AltosState state, int crc_errors) { - show("%4d sats", state.gps.nsat); - lights.set(state.gps.locked && state.gps.nsat >= 4); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.gps == null) + hide(); + else { + show("%4d sats", state.gps.nsat); + lights.set(state.gps.locked && state.gps.nsat >= 4); + } } public GPSLocked (GridBagLayout layout, int y) { super (layout, y, "GPS Locked"); @@ -248,12 +263,16 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { GPSLocked gps_locked; class GPSReady extends LaunchStatus { - void show (AltosState state, int crc_errors) { - if (state.gps_ready) - show("Ready"); - else - show("Waiting %d", state.gps_waiting); - lights.set(state.gps_ready); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.gps == null) + hide(); + else { + if (state.gps_ready) + show("Ready"); + else + show("Waiting %d", state.gps_waiting); + lights.set(state.gps_ready); + } } public GPSReady (GridBagLayout layout, int y) { super (layout, y, "GPS Ready"); @@ -262,6 +281,22 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { GPSReady gps_ready; + class ReceiverBattery extends LaunchStatus { + void show (AltosState state, AltosListenerState listener_state) { + if (listener_state == null || listener_state.battery == AltosRecord.MISSING) + hide(); + else { + show("%4.2f V", listener_state.battery); + lights.set(listener_state.battery > 3.7); + } + } + public ReceiverBattery (GridBagLayout layout, int y) { + super(layout, y, "Receiver Battery"); + } + } + + ReceiverBattery receiver_battery; + String pos(double p, String pos, String neg) { String h = pos; if (p < 0) { @@ -274,13 +309,17 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { } class PadLat extends LaunchValue { - void show (AltosState state, int crc_errors) { - if (state.state < AltosLib.ao_flight_pad && state.gps != null) { - show(pos(state.gps.lat,"N", "S")); - set_label("Latitude"); - } else { - show(pos(state.pad_lat,"N", "S")); - set_label("Pad Latitude"); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.gps == null) { + hide(); + } else { + if (state.state < AltosLib.ao_flight_pad) { + show(pos(state.gps.lat,"N", "S")); + set_label("Latitude"); + } else { + show(pos(state.pad_lat,"N", "S")); + set_label("Pad Latitude"); + } } } public PadLat (GridBagLayout layout, int y) { @@ -291,13 +330,17 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { PadLat pad_lat; class PadLon extends LaunchValue { - void show (AltosState state, int crc_errors) { - if (state.state < AltosLib.ao_flight_pad && state.gps != null) { - show(pos(state.gps.lon,"E", "W")); - set_label("Longitude"); - } else { - show(pos(state.pad_lon,"E", "W")); - set_label("Pad Longitude"); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null || state.gps == null) { + hide(); + } else { + if (state.state < AltosLib.ao_flight_pad) { + show(pos(state.gps.lon,"E", "W")); + set_label("Longitude"); + } else { + show(pos(state.pad_lon,"E", "W")); + set_label("Pad Longitude"); + } } } public PadLon (GridBagLayout layout, int y) { @@ -308,16 +351,20 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { PadLon pad_lon; class PadAlt extends LaunchValue { - void show (AltosState state, int crc_errors) { - if (state.state < AltosLib.ao_flight_pad && state.gps != null) { - show("%4.0f m", state.gps.alt); - set_label("Altitude"); - } else { - if (state.pad_alt == AltosRecord.MISSING) - hide(); - else { - show("%4.0f m", state.pad_alt); - set_label("Pad Altitude"); + void show (AltosState state, AltosListenerState listener_state) { + if (state == null) + hide(); + else { + if (state.state < AltosLib.ao_flight_pad && state.gps != null) { + show("%4.0f m", state.gps.alt); + set_label("Altitude"); + } else { + if (state.pad_alt == AltosRecord.MISSING) + hide(); + else { + show("%4.0f m", state.pad_alt); + set_label("Pad Altitude"); + } } } } @@ -335,6 +382,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { logging_ready.reset(); gps_locked.reset(); gps_ready.reset(); + receiver_battery.reset(); pad_lat.reset(); pad_lon.reset(); pad_alt.reset(); @@ -347,34 +395,23 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { logging_ready.set_font(); gps_locked.set_font(); gps_ready.set_font(); + receiver_battery.set_font(); pad_lat.set_font(); pad_lon.set_font(); pad_alt.set_font(); } - public void show(AltosState state, int crc_errors) { - battery.show(state, crc_errors); - if (state.drogue_sense == AltosRecord.MISSING) - apogee.hide(); - else - apogee.show(state, crc_errors); - if (state.main_sense == AltosRecord.MISSING) - main.hide(); - else - main.show(state, crc_errors); - logging_ready.show(state, crc_errors); - pad_alt.show(state, crc_errors); - if (state.gps != null && state.gps.connected) { - gps_locked.show(state, crc_errors); - gps_ready.show(state, crc_errors); - pad_lat.show(state, crc_errors); - pad_lon.show(state, crc_errors); - } else { - gps_locked.hide(); - gps_ready.hide(); - pad_lat.hide(); - pad_lon.hide(); - } + public void show(AltosState state, AltosListenerState listener_state) { + battery.show(state, listener_state); + apogee.show(state, listener_state); + main.show(state, listener_state); + logging_ready.show(state, listener_state); + pad_alt.show(state, listener_state); + receiver_battery.show(state, listener_state); + gps_locked.show(state, listener_state); + gps_ready.show(state, listener_state); + pad_lat.show(state, listener_state); + pad_lon.show(state, listener_state); } public AltosPad() { @@ -398,8 +435,10 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { logging_ready = new LoggingReady(layout, 3); gps_locked = new GPSLocked(layout, 4); gps_ready = new GPSReady(layout, 5); - pad_lat = new PadLat(layout, 6); - pad_lon = new PadLon(layout, 7); - pad_alt = new PadAlt(layout, 8); + receiver_battery = new ReceiverBattery(layout, 6); + pad_lat = new PadLat(layout, 7); + pad_lon = new PadLon(layout, 8); + pad_alt = new PadAlt(layout, 9); + show(null, null); } } diff --git a/altosui/AltosSiteMap.java b/altosui/AltosSiteMap.java index f614eae6..5bf02e54 100644 --- a/altosui/AltosSiteMap.java +++ b/altosui/AltosSiteMap.java @@ -264,7 +264,7 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { initMaps(lat, lon); scrollRocketToVisible(pt(lat, lon)); } - public void show(final AltosState state, final int crc_errors) { + public void show(final AltosState state, final AltosListenerState listener_state) { // if insufficient gps data, nothing to update if (!state.gps.locked && state.gps.nsat < 4) return; @@ -294,7 +294,7 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { Point2D.Double ref, lref; ref = translatePoint(pt, tileCoordOffset(offset)); lref = translatePoint(last_pt, tileCoordOffset(offset)); - tile.show(state, crc_errors, lref, ref); + tile.show(state, listener_state, lref, ref); if (0 <= ref.x && ref.x < px_size) if (0 <= ref.y && ref.y < px_size) in_any = true; @@ -307,7 +307,7 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { lref = translatePoint(last_pt, tileCoordOffset(offset)); AltosSiteMapTile tile = createTile(offset); - tile.show(state, crc_errors, lref, ref); + tile.show(state, listener_state, lref, ref); initMap(offset); finishTileLater(tile, offset); } diff --git a/altosui/AltosSiteMapTile.java b/altosui/AltosSiteMapTile.java index 10e65bcd..365e4b6c 100644 --- a/altosui/AltosSiteMapTile.java +++ b/altosui/AltosSiteMapTile.java @@ -56,7 +56,7 @@ public class AltosSiteMapTile extends JLayeredPane { private boolean drawn_landed_circle = false; private boolean drawn_boost_circle = false; - public synchronized void show(AltosState state, int crc_errors, + public synchronized void show(AltosState state, AltosListenerState listener_state, Point2D.Double last_pt, Point2D.Double pt) { if (0 <= state.state && state.state < stateColors.length) { diff --git a/src/core/ao.h b/src/core/ao.h index 6c790f69..977e10b8 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -94,7 +94,7 @@ extern volatile __data AO_TICK_TYPE ao_tick_count; #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) /* Returns the current time in ticks */ -uint16_t +AO_TICK_TYPE ao_time(void); /* Suspend the current task until ticks time has passed */ diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index e07625d8..8b7c2327 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -18,15 +18,12 @@ #include "ao.h" #include <ao_task.h> -volatile __data AO_TICK_TYPE ao_tick_count; +volatile AO_TICK_TYPE ao_tick_count; -uint16_t ao_time(void) +AO_TICK_TYPE +ao_time(void) { - uint16_t v; - ao_arch_critical( - v = ao_tick_count; - ); - return v; + return ao_tick_count; } #if AO_DATA_ALL |