diff options
Diffstat (limited to 'altoslib/AltosEepromGPS.java')
| -rw-r--r-- | altoslib/AltosEepromGPS.java | 153 |
1 files changed, 153 insertions, 0 deletions
diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java new file mode 100644 index 00000000..3c1852c0 --- /dev/null +++ b/altoslib/AltosEepromGPS.java @@ -0,0 +1,153 @@ +/* + * Copyright © 2014 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_4; + +import java.io.*; +import java.util.*; +import java.text.*; + +public class AltosEepromGPS extends AltosEeprom { + public static final int record_length = 32; + + public static final int max_sat = 12; + + public int record_length() { return record_length; } + + /* AO_LOG_FLIGHT elements */ + public int flight() { return data16(0); } + public int start_altitude() { return data16(2); } + public int start_latitude() { return data32(4); } + public int start_longitude() { return data32(8); } + + /* AO_LOG_GPS_TIME elements */ + public int latitude() { return data32(0); } + public int longitude() { return data32(4); } + public int altitude() { return data16(8); } + public int hour() { return data8(10); } + public int minute() { return data8(11); } + public int second() { return data8(12); } + public int flags() { return data8(13); } + public int year() { return data8(14); } + public int month() { return data8(15); } + public int day() { return data8(16); } + public int course() { return data8(17); } + public int ground_speed() { return data16(18); } + public int climb_rate() { return data16(20); } + public int pdop() { return data8(22); } + public int hdop() { return data8(23); } + public int vdop() { return data8(24); } + public int mode() { return data8(25); } + + public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; } + + public int seconds() { + switch (cmd) { + case AltosLib.AO_LOG_GPS_TIME: + return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month()))); + default: + return 0; + } + } + + public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException { + parse_chunk(chunk, start); + } + + public void update_state(AltosState state) { + super.update_state(state); + + AltosGPS gps; + + /* Flush any pending GPS changes */ + if (state.gps_pending) { + switch (cmd) { + case AltosLib.AO_LOG_GPS_LAT: + case AltosLib.AO_LOG_GPS_LON: + case AltosLib.AO_LOG_GPS_ALT: + case AltosLib.AO_LOG_GPS_SAT: + case AltosLib.AO_LOG_GPS_DATE: + break; + default: + state.set_temp_gps(); + break; + } + } + + switch (cmd) { + case AltosLib.AO_LOG_FLIGHT: + state.set_boost_tick(tick); + state.set_flight(flight()); + /* no place to log start lat/lon yet */ + break; + case AltosLib.AO_LOG_GPS_TIME: + state.set_tick(tick); + gps = state.make_temp_gps(false); + gps.lat = latitude() / 1e7; + gps.lon = longitude() / 1e7; + gps.alt = altitude(); + + gps.hour = hour(); + gps.minute = minute(); + gps.second = second(); + + int flags = flags(); + + gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0; + gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; + gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> + AltosLib.AO_GPS_NUM_SAT_SHIFT; + + gps.year = 2000 + year(); + gps.month = month(); + gps.day = day(); + gps.ground_speed = ground_speed() * 1.0e-2; + gps.course = course() * 2; + gps.climb_rate = climb_rate() * 1.0e-2; + gps.hdop = hdop(); + gps.vdop = vdop(); + break; + } + } + + public AltosEepromGPS (String line) { + parse_string(line); + } + + static public LinkedList<AltosEeprom> read(FileInputStream input) { + LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>(); + + for (;;) { + try { + String line = AltosLib.gets(input); + if (line == null) + break; + try { + AltosEepromGPS tgps = new AltosEepromGPS(line); + if (tgps.cmd != AltosLib.AO_LOG_INVALID) + tgpss.add(tgps); + } catch (Exception e) { + System.out.printf ("exception\n"); + } + } catch (IOException ie) { + break; + } + } + + return tgpss; + } +} |