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-rw-r--r--altoslib/AltosEepromFile.java21
-rw-r--r--altoslib/AltosFile.java15
-rw-r--r--altoslib/AltosGPS.java40
-rw-r--r--altoslib/AltosLog.java23
-rw-r--r--altoslib/AltosState.java20
-rw-r--r--altoslib/AltosTelemetry.java337
-rw-r--r--altoslib/AltosTelemetryFile.java94
-rw-r--r--altoslib/AltosTelemetryIterable.java71
-rw-r--r--altoslib/AltosTelemetryLegacy.java556
-rw-r--r--altoslib/AltosTelemetryReader.java9
-rw-r--r--altoslib/Makefile.am14
-rw-r--r--altosui/AltosUI.java6
12 files changed, 866 insertions, 340 deletions
diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java
index bcc7171e..2f4c54d7 100644
--- a/altoslib/AltosEepromFile.java
+++ b/altoslib/AltosEepromFile.java
@@ -57,6 +57,7 @@ public class AltosEepromFile extends AltosStateIterable {
AltosEepromIterable headers;
AltosEepromIterable body;
+ AltosState start;
public void write_comments(PrintStream out) {
headers.write(out);
@@ -70,9 +71,9 @@ public class AltosEepromFile extends AltosStateIterable {
public AltosEepromFile(FileInputStream input) {
headers = new AltosEepromIterable(AltosEepromHeader.read(input));
- AltosState state = headers.state();
+ start = headers.state();
- switch (state.log_format) {
+ switch (start.log_format) {
case AltosLib.AO_LOG_FORMAT_FULL:
body = new AltosEepromIterable(AltosEepromTM.read(input));
break;
@@ -86,26 +87,24 @@ public class AltosEepromFile extends AltosStateIterable {
body = new AltosEepromIterable(AltosEepromMini.read(input));
break;
}
- }
- int boost_tick (AltosState start) {
+ /* Find boost tick */
AltosState state = start.clone();
for (AltosEeprom eeprom : body) {
eeprom.update_state(state);
- if (state.state >= AltosLib.ao_flight_boost)
- return state.tick;
+ if (state.state >= AltosLib.ao_flight_boost) {
+ start.set_boost_tick(state.tick);
+ break;
+ }
}
- return 0;
}
public Iterator<AltosState> iterator() {
-
- AltosState state = headers.state();
- Iterator<AltosEeprom> i = body.iterator();
+ AltosState state = start.clone();
+ Iterator<AltosEeprom> i = body.iterator();
while (i.hasNext() && !state.valid())
i.next().update_state(state);
- state.set_boost_tick(boost_tick(state));
return new AltosEepromIterator(state, i);
}
} \ No newline at end of file
diff --git a/altoslib/AltosFile.java b/altoslib/AltosFile.java
index 90dbc6db..54c54824 100644
--- a/altoslib/AltosFile.java
+++ b/altoslib/AltosFile.java
@@ -22,10 +22,17 @@ import java.util.*;
public class AltosFile extends File {
+ static String number(int n) {
+ if (n == AltosRecord.MISSING)
+ return "unk";
+ else
+ return String.format("%03d", n);
+ }
+
public AltosFile(int year, int month, int day, int serial, int flight, String extension) {
super (AltosPreferences.logdir(),
- String.format("%04d-%02d-%02d-serial-%03d-flight-%03d.%s",
- year, month, day, serial, flight, extension));
+ String.format("%04d-%02d-%02d-serial-%s-flight-%s.%s",
+ year, month, day, number(serial), number(flight), extension));
}
public AltosFile(int serial, int flight, String extension) {
@@ -37,7 +44,7 @@ public class AltosFile extends File {
extension);
}
- public AltosFile(AltosRecord telem) {
- this(telem.serial, telem.flight, "telem");
+ public AltosFile(AltosState state) {
+ this(state.serial, state.flight, "telem");
}
}
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index eb384e4d..399e95b1 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -70,35 +70,35 @@ public class AltosGPS implements Cloneable {
}
public AltosGPS(AltosTelemetryMap map) throws ParseException {
- String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
- AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+ String state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
+ AltosTelemetryLegacy.AO_TELEM_GPS_STATE_ERROR);
- nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
- if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+ nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0);
+ if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_LOCKED)) {
connected = true;
locked = true;
- lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
- lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
- alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
- year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+ lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+ lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+ alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING);
+ year = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_YEAR, MISSING);
if (year != MISSING)
year += 2000;
- month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
- day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
+ month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING);
+ day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING);
- hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
- minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
- second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
+ hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0);
+ minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0);
+ second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
- ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
+ ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
AltosRecord.MISSING, 1/100.0);
- course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
+ course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
AltosRecord.MISSING);
- hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
- vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
- h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
- v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
- } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+ hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
+ vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
+ h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
+ v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING);
+ } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) {
connected = true;
locked = false;
} else {
diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java
index 974c9f0f..7f69bb65 100644
--- a/altoslib/AltosLog.java
+++ b/altoslib/AltosLog.java
@@ -57,8 +57,8 @@ public class AltosLog implements Runnable {
return file;
}
- boolean open (AltosRecord telem) throws IOException {
- AltosFile a = new AltosFile(telem);
+ boolean open (AltosState state) throws IOException {
+ AltosFile a = new AltosFile(state);
log_file = new FileWriter(a, true);
if (log_file != null) {
@@ -78,22 +78,25 @@ public class AltosLog implements Runnable {
public void run () {
try {
- AltosRecord previous = null;
+ AltosState state = null;
for (;;) {
AltosLine line = input_queue.take();
if (line.line == null)
continue;
try {
- AltosRecord telem = AltosTelemetry.parse(line.line, previous);
- if ((telem.seen & AltosRecord.seen_flight) != 0 &&
- (telem.serial != serial || telem.flight != flight || log_file == null))
+ AltosTelemetry telem = new AltosTelemetryLegacy(line.line);
+ if (state != null)
+ state = state.clone();
+ else
+ state = new AltosState();
+ telem.update_state(state);
+ if (state.serial != serial || state.flight != flight || log_file == null)
{
close_log_file();
- serial = telem.serial;
- flight = telem.flight;
- open(telem);
+ serial = state.serial;
+ flight = state.flight;
+ open(state);
}
- previous = telem;
} catch (ParseException pe) {
} catch (AltosCRCException ce) {
}
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index daf06c19..52650062 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -104,6 +104,7 @@ public class AltosState implements Cloneable {
public double accel_minus_g;
public double accel;
public double ground_accel;
+ public double ground_accel_avg;
public int log_format;
@@ -201,6 +202,7 @@ public class AltosState implements Cloneable {
accel_minus_g = AltosRecord.MISSING;
accel = AltosRecord.MISSING;
ground_accel = AltosRecord.MISSING;
+ ground_accel_avg = AltosRecord.MISSING;
log_format = AltosRecord.MISSING;
serial = AltosRecord.MISSING;
@@ -306,6 +308,7 @@ public class AltosState implements Cloneable {
accel_minus_g = old.accel_minus_g;
accel = old.accel;
ground_accel = old.ground_accel;
+ ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
serial = old.serial;
@@ -396,9 +399,13 @@ public class AltosState implements Cloneable {
}
void update_accel() {
+ double ground = ground_accel;
+
+ if (ground == AltosRecord.MISSING)
+ ground = ground_accel_avg;
if (accel == AltosRecord.MISSING)
return;
- if (ground_accel == AltosRecord.MISSING)
+ if (ground == AltosRecord.MISSING)
return;
if (accel_plus_g == AltosRecord.MISSING)
return;
@@ -408,7 +415,7 @@ public class AltosState implements Cloneable {
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
- acceleration = (ground_accel - accel) / counts_per_mss;
+ acceleration = (ground - accel) / counts_per_mss;
/* Only look at accelerometer data under boost */
if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
@@ -556,9 +563,6 @@ public class AltosState implements Cloneable {
public void set_gps(AltosGPS gps, int sequence) {
if (gps != null) {
- System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n",
- gps.year, gps.month, gps.day,
- gps.hour, gps.minute, gps.second);
this.gps = gps.clone();
gps_sequence = sequence;
update_gps();
@@ -623,6 +627,12 @@ public class AltosState implements Cloneable {
public void set_accel(double accel) {
if (accel != AltosRecord.MISSING) {
this.accel = accel;
+ if (state == AltosLib.ao_flight_pad) {
+ if (ground_accel_avg == AltosRecord.MISSING)
+ ground_accel_avg = accel;
+ else
+ ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
+ }
}
update_accel();
}
diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index e7322349..b84455d3 100644
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -23,217 +23,136 @@ import java.text.*;
* Telemetry data contents
*/
+public abstract class AltosTelemetry implements AltosStateUpdate {
+
+ /* All telemetry packets have these fields */
+ public int tick;
+ public int serial;
+ public int rssi;
+ public int status;
+
+ /* Mark when we received the packet */
+ long received_time;
+
+ static boolean cksum(int[] bytes) {
+ int sum = 0x5a;
+ for (int i = 1; i < bytes.length - 1; i++)
+ sum += bytes[i];
+ sum &= 0xff;
+ return sum == bytes[bytes.length - 1];
+ }
+
+ public void update_state(AltosState state) {
+ }
+ final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
+ final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
+ final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
+
+ final static int packet_type_TM_sensor = 0x01;
+ final static int packet_type_Tm_sensor = 0x02;
+ final static int packet_type_Tn_sensor = 0x03;
+ final static int packet_type_configuration = 0x04;
+ final static int packet_type_location = 0x05;
+ final static int packet_type_satellite = 0x06;
+ final static int packet_type_companion = 0x07;
+ final static int packet_type_MM_sensor = 0x08;
+ final static int packet_type_MM_data = 0x09;
+ final static int packet_type_Mini = 0x10;
+
+ static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
+ AltosTelemetry telem = null;
+
+ int[] bytes;
+ try {
+ bytes = AltosLib.hexbytes(hex);
+ } catch (NumberFormatException ne) {
+ throw new ParseException(ne.getMessage(), 0);
+ }
+
+ /* one for length, one for checksum */
+ if (bytes[0] != bytes.length - 2)
+ throw new ParseException(String.format("invalid length %d != %d\n",
+ bytes[0],
+ bytes.length - 2), 0);
+ if (!cksum(bytes))
+ throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+ int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
+ int status = AltosLib.uint8(bytes, bytes.length - 2);
+
+ if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi);
+
+ /* length, data ..., rssi, status, checksum -- 4 bytes extra */
+ switch (bytes.length) {
+ case AltosLib.ao_telemetry_standard_len + 4:
+ int type = AltosLib.uint8(bytes, 4 + 1);
/*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * Version 4 is a replacement with consistent syntax. Each telemetry line
- * contains a sequence of space-separated names and values, the values are
- * either integers or strings. The names are all unique. All values are
- * optional
- *
- * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
- * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
- * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
- *
- * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
- * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- *
- * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
- * in 1/2dB increments while this protocol provides only integers. So,
- * the syntax didn't change just the interpretation of the RSSI
- * values.
- *
- * Version 2 of the telemetry data stream is a bit of a mess, with no
- * consistent formatting. In particular, the GPS data is formatted for
- * viewing instead of parsing. However, the key feature is that every
- * telemetry line contains all of the information necessary to
- * describe the current rocket state, including the calibration values
- * for accelerometer and barometer.
- *
- * GPS unlocked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
- * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
- * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
- * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
- * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
- * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
- * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
- *
- */
+ switch (type) {
+ case packet_type_TM_sensor:
+ case packet_type_Tm_sensor:
+ case packet_type_Tn_sensor:
+ telem = new AltosTelemetrySensor(bytes);
+ break;
+ case packet_type_configuration:
+ telem = new AltosTelemetryConfiguration(bytes);
+ break;
+ case packet_type_location:
+ telem = new AltosTelemetryLocation(bytes);
+ break;
+ case packet_type_satellite:
+ telem = new AltosTelemetrySatellite(bytes);
+ break;
+ case packet_type_companion:
+ telem = new AltosTelemetryCompanion(bytes);
+ break;
+ case packet_type_MM_sensor:
+ telem = new AltosTelemetryMegaSensor(bytes);
+ break;
+ case packet_type_MM_data:
+ telem = new AltosTelemetryMegaData(bytes);
+ break;
+ default:
+ telem = new AltosTelemetryRaw(bytes);
+ break;
+ }
+*/
+ break;
+ case AltosLib.ao_telemetry_0_9_len + 4:
+ telem = new AltosTelemetryLegacy(bytes);
+ break;
+ case AltosLib.ao_telemetry_0_8_len + 4:
+ telem = new AltosTelemetryLegacy(bytes);
+ break;
+ default:
+ throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+ }
+ if (telem != null) {
+ telem.received_time = System.currentTimeMillis();
+ telem.rssi = rssi;
+ telem.status = status;
+ }
+ return telem;
+ }
+
+ public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
+ String[] word = line.split("\\s+");
+ int i =0;
+
+ if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(word[i++], "RSSI");
+ throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+ }
+
+ AltosTelemetry telem;
-public abstract class AltosTelemetry extends AltosRecord {
-
- /*
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
- final static String AO_TELEM_VERSION = "VERSION";
- final static String AO_TELEM_CALL = "c";
- final static String AO_TELEM_SERIAL = "n";
- final static String AO_TELEM_FLIGHT = "f";
- final static String AO_TELEM_RSSI = "r";
- final static String AO_TELEM_STATE = "s";
- final static String AO_TELEM_TICK = "t";
-
- /*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
- final static String AO_TELEM_RAW_ACCEL = "r_a";
- final static String AO_TELEM_RAW_BARO = "r_b";
- final static String AO_TELEM_RAW_THERMO = "r_t";
- final static String AO_TELEM_RAW_BATT = "r_v";
- final static String AO_TELEM_RAW_DROGUE = "r_d";
- final static String AO_TELEM_RAW_MAIN = "r_m";
-
- /*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
- final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
- final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
- final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
- final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
-
- /*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
- final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
- final static String AO_TELEM_KALMAN_SPEED = "k_s";
- final static String AO_TELEM_KALMAN_ACCEL = "k_a";
-
- /*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
- final static String AO_TELEM_ADHOC_ACCEL = "a_a";
- final static String AO_TELEM_ADHOC_SPEED = "a_s";
- final static String AO_TELEM_ADHOC_BARO = "a_b";
-
- /*
- * GPS values
- *
- * Name Value
- * g_s GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_s GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
- final static String AO_TELEM_GPS_STATE = "g";
- final static String AO_TELEM_GPS_STATE_LOCKED = "l";
- final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
- final static String AO_TELEM_GPS_STATE_ERROR = "e";
- final static String AO_TELEM_GPS_NUM_SAT = "g_n";
- final static String AO_TELEM_GPS_LATITUDE = "g_ns";
- final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
- final static String AO_TELEM_GPS_ALTITUDE = "g_a";
- final static String AO_TELEM_GPS_YEAR = "g_Y";
- final static String AO_TELEM_GPS_MONTH = "g_M";
- final static String AO_TELEM_GPS_DAY = "g_D";
- final static String AO_TELEM_GPS_HOUR = "g_h";
- final static String AO_TELEM_GPS_MINUTE = "g_m";
- final static String AO_TELEM_GPS_SECOND = "g_s";
- final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
- final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
- final static String AO_TELEM_GPS_COURSE = "g_c";
- final static String AO_TELEM_GPS_HDOP = "g_hd";
- final static String AO_TELEM_GPS_VDOP = "g_vd";
- final static String AO_TELEM_GPS_HERROR = "g_he";
- final static String AO_TELEM_GPS_VERROR = "g_ve";
-
- /*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
- final static String AO_TELEM_SAT_NUM = "s_n";
- final static String AO_TELEM_SAT_SVID = "s_v";
- final static String AO_TELEM_SAT_C_N_0 = "s_c";
-
- static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r = AltosTelemetryRecord.parse(line);
-
- return r.update_state(previous);
+ if (word[i].equals("TELEM")) {
+ telem = parse_hex(word[i+1]);
+ } else {
+ telem = new AltosTelemetryLegacy(line);
+ }
+ return telem;
}
}
diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java
new file mode 100644
index 00000000..9e992576
--- /dev/null
+++ b/altoslib/AltosTelemetryFile.java
@@ -0,0 +1,94 @@
+/*
+ * 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;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+class AltosTelemetryIterator implements Iterator<AltosState> {
+ AltosState state;
+ Iterator<AltosTelemetry> telems;
+ AltosTelemetry next;
+ boolean seen;
+
+ public boolean hasNext() {
+ return !seen || telems.hasNext();
+ }
+
+ public AltosState next() {
+ if (seen) {
+ AltosState n = state.clone();
+ AltosTelemetry t = telems.next();
+
+ t.update_state(n);
+ state = n;
+ }
+ seen = true;
+ return state;
+ }
+
+ public void remove () {
+ }
+
+ public AltosTelemetryIterator(AltosState start, Iterator<AltosTelemetry> telems) {
+ this.state = start;
+ this.telems = telems;
+ this.seen = false;
+ }
+}
+
+public class AltosTelemetryFile extends AltosStateIterable {
+
+ AltosTelemetryIterable telems;
+ AltosState start;
+
+ public void write_comments(PrintStream out) {
+ }
+
+ public void write(PrintStream out) {
+
+ }
+
+ public AltosTelemetryFile(FileInputStream input) {
+ telems = new AltosTelemetryIterable(input);
+ start = new AltosState();
+
+ /* Find boost tick */
+ AltosState state = start.clone();
+
+ for (AltosTelemetry telem : telems) {
+ telem.update_state(state);
+ if (state.state >= AltosLib.ao_flight_boost) {
+ start.set_boost_tick(state.tick);
+ break;
+ }
+ }
+ }
+
+ public Iterator<AltosState> iterator() {
+ AltosState state = start.clone();
+ Iterator<AltosTelemetry> i = telems.iterator();
+
+ while (i.hasNext() && !state.valid()) {
+ AltosTelemetry t = i.next();
+ t.update_state(state);
+ }
+ return new AltosTelemetryIterator(state, i);
+ }
+} \ No newline at end of file
diff --git a/altoslib/AltosTelemetryIterable.java b/altoslib/AltosTelemetryIterable.java
index 57033638..b7489f77 100644
--- a/altoslib/AltosTelemetryIterable.java
+++ b/altoslib/AltosTelemetryIterable.java
@@ -21,27 +21,15 @@ import java.io.*;
import java.util.*;
import java.text.*;
-public class AltosTelemetryIterable extends AltosRecordIterable {
- TreeSet<AltosRecord> records;
+public class AltosTelemetryIterable implements Iterable<AltosTelemetry> {
+ LinkedList<AltosTelemetry> telems;
- public Iterator<AltosRecord> iterator () {
- return records.iterator();
+ public Iterator<AltosTelemetry> iterator () {
+ return telems.iterator();
}
- boolean has_gps = false;
- boolean has_accel = false;
- boolean has_ignite = false;
- public boolean has_gps() { return has_gps; }
- public boolean has_accel() { return has_accel; }
- public boolean has_ignite() { return has_ignite; };
-
public AltosTelemetryIterable (FileInputStream input) {
- boolean saw_boost = false;
- int current_tick = 0;
- int boost_tick = 0;
-
- AltosRecord previous = null;
- records = new TreeSet<AltosRecord> ();
+ telems = new LinkedList<AltosTelemetry> ();
try {
for (;;) {
@@ -50,32 +38,10 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
break;
}
try {
- AltosRecord record = AltosTelemetry.parse(line, previous);
- if (record == null)
+ AltosTelemetry telem = AltosTelemetry.parse(line);
+ if (telem == null)
break;
- if (records.isEmpty()) {
- current_tick = record.tick;
- } else {
- int tick = record.tick;
- while (tick < current_tick - 0x1000)
- tick += 0x10000;
- current_tick = tick;
- record.tick = current_tick;
- }
- if (!saw_boost && record.state >= AltosLib.ao_flight_boost)
- {
- saw_boost = true;
- boost_tick = record.tick;
- }
- if (record.acceleration() != AltosRecord.MISSING)
- has_accel = true;
- if (record.gps != null)
- has_gps = true;
- if (record.main_voltage() != AltosRecord.MISSING)
- has_ignite = true;
- if (previous != null && previous.tick != record.tick)
- records.add(previous);
- previous = record;
+ telems.add(telem);
} catch (ParseException pe) {
System.out.printf("parse exception %s\n", pe.getMessage());
} catch (AltosCRCException ce) {
@@ -84,26 +50,5 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
} catch (IOException io) {
System.out.printf("io exception\n");
}
-
- if (previous != null)
- records.add(previous);
-
- /* Adjust all tick counts to match expected eeprom values,
- * which starts with a 16-bit tick count 16 samples before boost
- */
-
- int tick_adjust = (boost_tick - 16) & 0xffff0000;
- for (AltosRecord r : this)
- r.tick -= tick_adjust;
- boost_tick -= tick_adjust;
-
- /* adjust all tick counts to be relative to boost time */
- for (AltosRecord r : this)
- r.time = (r.tick - boost_tick) / 100.0;
-
- try {
- input.close();
- } catch (IOException ie) {
- }
}
}
diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
new file mode 100644
index 00000000..45e5c315
--- /dev/null
+++ b/altoslib/AltosTelemetryLegacy.java
@@ -0,0 +1,556 @@
+/*
+ * 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_1;
+
+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 AltosTelemetryLegacy extends AltosTelemetry {
+ /*
+ * 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";
+
+ public int version;
+ public String callsign;
+ public int flight;
+ public int state;
+
+ public AltosGPS gps;
+ public int gps_sequence;
+
+ /* Telemetry sources have these values recorded from the flight computer */
+ public double kalman_height;
+ public double kalman_speed;
+ public double kalman_acceleration;
+
+ /* Sensor values */
+ public int accel;
+ public int pres;
+ public int temp;
+ public int batt;
+ public int apogee;
+ public int main;
+
+ public int ground_accel;
+ public int ground_pres;
+ public int accel_plus_g;
+ public int accel_minus_g;
+
+ public int flight_accel;
+ public int flight_vel;
+ public int flight_pres;
+
+ 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, AltosRecord.MISSING);
+ flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
+ rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
+ state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
+ tick = map.get_int(AO_TELEM_TICK, 0);
+
+ /* raw sensor values */
+ accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
+ pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
+ temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
+ batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
+ apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
+ main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
+
+ /* sensor calibration information */
+ ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
+ ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
+ accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
+ accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
+
+ /* flight computer values */
+ kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+ kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+ kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
+
+ flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
+ flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
+ flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
+
+ if (map.has(AO_TELEM_GPS_STATE))
+ gps = new AltosGPS(map);
+ else
+ gps = null;
+ }
+
+ private void parse_legacy(String[] words, int i) throws ParseException {
+
+ AltosParse.word (words[i++], "CALL");
+ callsign = words[i++];
+
+ AltosParse.word (words[i++], "SERIAL");
+ serial = AltosParse.parse_int(words[i++]);
+
+ if (version >= 2) {
+ AltosParse.word (words[i++], "FLIGHT");
+ flight = AltosParse.parse_int(words[i++]);
+ } else
+ flight = 0;
+
+ AltosParse.word(words[i++], "RSSI");
+ rssi = AltosParse.parse_int(words[i++]);
+
+ /* Older telemetry data had mis-computed RSSI value */
+ if (version <= 2)
+ rssi = (rssi + 74) / 2 - 74;
+
+ AltosParse.word(words[i++], "STATUS");
+ status = AltosParse.parse_hex(words[i++]);
+
+ AltosParse.word(words[i++], "STATE");
+ state = AltosLib.state(words[i++]);
+
+ tick = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a:");
+ accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "p:");
+ pres = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "t:");
+ temp = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "v:");
+ batt = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "d:");
+ apogee = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "m:");
+ main = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fa:");
+ flight_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "ga:");
+ ground_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fv:");
+ flight_vel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fp:");
+ flight_pres = AltosParse.parse_int(words[i++]);
+
+ /* Old TeleDongle code with kalman-reporting TeleMetrum code */
+ if ((flight_vel & 0xffff0000) == 0x80000000) {
+ kalman_speed = ((short) flight_vel) / 16.0;
+ kalman_acceleration = flight_accel / 16.0;
+ kalman_height = flight_pres;
+ flight_vel = AltosRecord.MISSING;
+ flight_pres = AltosRecord.MISSING;
+ flight_accel = AltosRecord.MISSING;
+ } else {
+ kalman_speed = AltosRecord.MISSING;
+ kalman_acceleration = AltosRecord.MISSING;
+ kalman_height = AltosRecord.MISSING;
+ }
+
+ AltosParse.word(words[i++], "gp:");
+ ground_pres = AltosParse.parse_int(words[i++]);
+
+ if (version >= 1) {
+ AltosParse.word(words[i++], "a+:");
+ accel_plus_g = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a-:");
+ accel_minus_g = AltosParse.parse_int(words[i++]);
+ } else {
+ accel_plus_g = ground_accel;
+ accel_minus_g = ground_accel + 530;
+ }
+
+ gps = new AltosGPS(words, i, version);
+ gps_sequence++;
+ }
+
+ public AltosTelemetryLegacy(String line) throws ParseException, AltosCRCException {
+ String[] words = line.split("\\s+");
+ int i = 0;
+
+ 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);
+ }
+ if (words[i].equals("CALL")) {
+ version = 0;
+ } else {
+ AltosParse.word (words[i++], "VERSION");
+ version = AltosParse.parse_int(words[i++]);
+ }
+
+ if (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 AltosTelemetryLegacy(int[] in_bytes) {
+ bytes = in_bytes;
+ version = 4;
+ adjust = 0;
+
+ if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
+ serial = uint8(0);
+ adjust = -1;
+ } else
+ serial = uint16(0);
+
+ callsign = string(62, 8);
+ flight = uint16(2);
+ state = uint8(4);
+ tick = uint16(21);
+ accel = int16(23);
+ pres = int16(25);
+ temp = int16(27);
+ batt = int16(29);
+ apogee = int16(31);
+ main = int16(33);
+
+ ground_accel = int16(7);
+ ground_pres = int16(15);
+ accel_plus_g = int16(17);
+ accel_minus_g = int16(19);
+
+ if (uint16(11) == 0x8000) {
+ kalman_acceleration = int16(5);
+ kalman_speed = int16(9);
+ kalman_height = int16(13);
+ flight_accel = AltosRecord.MISSING;
+ flight_vel = AltosRecord.MISSING;
+ flight_pres = AltosRecord.MISSING;
+ } else {
+ flight_accel = int16(5);
+ flight_vel = uint32(9);
+ flight_pres = int16(13);
+ kalman_acceleration = AltosRecord.MISSING;
+ kalman_speed = AltosRecord.MISSING;
+ kalman_height = AltosRecord.MISSING;
+ }
+
+ gps = null;
+
+ int gps_flags = uint8(41);
+
+ if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+ gps = new AltosGPS();
+ gps_sequence++;
+
+ 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);
+
+ 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) {
+ 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);
+ }
+ }
+ }
+ }
+
+ public void update_state(AltosState state) {
+ state.set_tick(tick);
+ state.set_state(this.state);
+ state.set_flight(flight);
+ state.set_serial(serial);
+ state.set_rssi(rssi, status);
+
+ state.set_pressure(AltosConvert.barometer_to_pressure(pres));
+ state.set_accel_g(accel_plus_g, accel_minus_g);
+ state.set_accel(accel);
+ if (kalman_height != AltosRecord.MISSING)
+ state.set_kalman(kalman_height, kalman_speed, kalman_acceleration);
+ state.set_temperature(AltosEepromTM.thermometer_to_temperature(temp));
+ state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt));
+ state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee));
+ state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main));
+ if (gps != null)
+ state.set_gps(gps, gps_sequence);
+ }
+}
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index 3915927c..b1cc009c 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -35,9 +35,12 @@ public class AltosTelemetryReader extends AltosFlightReader {
AltosLine l = telem.take();
if (l.line == null)
throw new IOException("IO error");
- AltosRecord next = AltosTelemetry.parse(l.line, previous);
- previous = next;
- state = new AltosState (next, state);
+ AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
+ if (state == null)
+ state = new AltosState();
+ else
+ state = state.clone();
+ telem.update_state(state);
return state;
}
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index bbcca906..59e0ec1c 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -72,21 +72,11 @@ altoslib_JAVA = \
AltosStateIterable.java \
AltosStateUpdate.java \
AltosTelemetry.java \
+ AltosTelemetryFile.java \
AltosTelemetryIterable.java \
+ AltosTelemetryLegacy.java \
AltosTelemetryMap.java \
AltosTelemetryReader.java \
- AltosTelemetryRecordCompanion.java \
- AltosTelemetryRecordConfiguration.java \
- AltosTelemetryRecordGeneral.java \
- AltosTelemetryRecord.java \
- AltosTelemetryRecordLegacy.java \
- AltosTelemetryRecordLocation.java \
- AltosTelemetryRecordRaw.java \
- AltosTelemetryRecordSatellite.java \
- AltosTelemetryRecordSensor.java \
- AltosTelemetryRecordMegaSensor.java \
- AltosTelemetryRecordMegaData.java \
- AltosTelemetryRecordMini.java \
AltosUnitsListener.java \
AltosMs5607.java \
AltosIMU.java \
diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index 6d5ce185..72b2c0d9 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -437,7 +437,7 @@ public class AltosUI extends AltosUIFrame {
if (file.getName().endsWith("eeprom")) {
return new AltosEepromFile(in);
} else {
- return null; // new AltosTelemetryIterable(in);
+ return new AltosTelemetryFile(in);
}
}
@@ -517,9 +517,9 @@ public class AltosUI extends AltosUIFrame {
static boolean process_cat(File file) {
try {
- FileInputStream input = new FileInputStream(file);
- AltosEepromFile eef = new AltosEepromFile(input);
+ AltosStateIterable eef = record_iterable(file);
+ System.out.printf ("process cat\n");
for (AltosState state : eef) {
if ((state.set & AltosState.set_gps) != 0)
System.out.printf ("time %g lat %g lon %g alt %g\n",
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 20:26:55 +0000