diff options
Diffstat (limited to 'altoslib')
98 files changed, 812 insertions, 221 deletions
diff --git a/altoslib/AltosAccel.java b/altoslib/AltosAccel.java index 3d340e5d..d91da4da 100644 --- a/altoslib/AltosAccel.java +++ b/altoslib/AltosAccel.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosAccel extends AltosUnits { diff --git a/altoslib/AltosCRCException.java b/altoslib/AltosCRCException.java index 253ca435..507c446b 100644 --- a/altoslib/AltosCRCException.java +++ b/altoslib/AltosCRCException.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosCRCException extends Exception { public int rssi; diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java index 27e1fade..4a9278d9 100644 --- a/altoslib/AltosCSV.java +++ b/altoslib/AltosCSV.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -29,6 +29,14 @@ public class AltosCSV implements AltosWriter { LinkedList<AltosState> pad_states; AltosState state; + static boolean has_basic; + static boolean has_battery; + static boolean has_flight_state; + static boolean has_advanced; + static boolean has_gps; + static boolean has_gps_sat; + static boolean has_companion; + static final int ALTOS_CSV_VERSION = 5; /* Version 4 format: @@ -55,10 +63,12 @@ public class AltosCSV implements AltosWriter { * accelerometer speed (m/s) * barometer speed (m/s) * temp (°C) - * battery (V) * drogue (V) * main (V) * + * Battery + * battery (V) + * * Advanced sensors (if available) * accel_x (m/s²) * accel_y (m/s²) @@ -87,7 +97,9 @@ public class AltosCSV implements AltosWriter { * from_pad_azimuth (deg true) * from_pad_range (m) * from_pad_elevation (deg from horizon) + * pdop * hdop + * vdop * * GPS Sat data * C/N0 data for all 32 valid SDIDs @@ -107,7 +119,7 @@ public class AltosCSV implements AltosWriter { void write_general(AltosState state) { out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d", ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign, - (double) state.time, (double) state.tick / 100.0, + (double) state.time_since_boost(), (double) state.tick / 100.0, state.rssi, state.status & 0x7f); } @@ -121,11 +133,11 @@ public class AltosCSV implements AltosWriter { } void write_basic_header() { - out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage"); + out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage"); } void write_basic(AltosState state) { - out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f", + out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f", state.acceleration(), state.pressure(), state.altitude(), @@ -133,11 +145,18 @@ public class AltosCSV implements AltosWriter { state.speed(), state.speed(), state.temperature, - state.battery_voltage, state.apogee_voltage, state.main_voltage); } + void write_battery_header() { + out.printf("battery_voltage"); + } + + void write_battery(AltosState state) { + out.printf("%5.2f", state.battery_voltage); + } + void write_advanced_header() { out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z"); } @@ -150,14 +169,14 @@ public class AltosCSV implements AltosWriter { imu = new AltosIMU(); if (mag == null) mag = new AltosMag(); - out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d", + out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f", imu.accel_x, imu.accel_y, imu.accel_z, imu.gyro_x, imu.gyro_y, imu.gyro_z, mag.x, mag.y, mag.z); } void write_gps_header() { - out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop"); + out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop"); } void write_gps(AltosState state) { @@ -169,7 +188,7 @@ public class AltosCSV implements AltosWriter { if (from_pad == null) from_pad = new AltosGreatCircle(); - out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f", + out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f,%6.1f,%6.1f", gps.connected?1:0, gps.locked?1:0, gps.nsat, @@ -186,7 +205,9 @@ public class AltosCSV implements AltosWriter { state.range, from_pad.bearing, state.elevation, - gps.hdop); + gps.pdop, + gps.hdop, + gps.vdop); } void write_gps_sat_header() { @@ -239,52 +260,83 @@ public class AltosCSV implements AltosWriter { out.printf(",0"); } - void write_header(boolean advanced, boolean gps, boolean companion) { + void write_header() { out.printf("#"); write_general_header(); - out.printf(","); write_flight_header(); - out.printf(","); write_basic_header(); - if (advanced) - out.printf(","); write_advanced_header(); - if (gps) { - out.printf(","); write_gps_header(); - out.printf(","); write_gps_sat_header(); + if (has_flight_state) { + out.printf(","); + write_flight_header(); } - if (companion) { - out.printf(","); write_companion_header(); + if (has_basic) { + out.printf(","); + write_basic_header(); + } + if (has_battery) { + out.printf(","); + write_battery_header(); + } + if (has_advanced) { + out.printf(","); + write_advanced_header(); + } + if (has_gps) { + out.printf(","); + write_gps_header(); + } + if (has_gps_sat) { + out.printf(","); + write_gps_sat_header(); + } + if (has_companion) { + out.printf(","); + write_companion_header(); } out.printf ("\n"); } void write_one(AltosState state) { - write_general(state); out.printf(","); - write_flight(state); out.printf(","); - write_basic(state); out.printf(","); - if (state.imu != null || state.mag != null) + write_general(state); + if (has_flight_state) { + out.printf(","); + write_flight(state); + } + if (has_basic) { + out.printf(","); + write_basic(state); + } + if (has_battery) { + out.printf(","); + write_battery(state); + } + if (has_advanced) { + out.printf(","); write_advanced(state); - if (state.gps != null) { + } + if (has_gps) { + out.printf(","); + write_gps(state); + } + if (has_gps_sat) { out.printf(","); - write_gps(state); out.printf(","); write_gps_sat(state); } - if (state.companion != null) { + if (has_companion) { out.printf(","); write_companion(state); } out.printf ("\n"); } - void flush_pad() { + private void flush_pad() { while (!pad_states.isEmpty()) { write_one (pad_states.remove()); } } - public void write(AltosState state) { + private void write(AltosState state) { if (state.state == AltosLib.ao_flight_startup) return; if (!header_written) { - write_header(state.imu != null || state.mag != null, - state.gps != null, state.companion != null); + write_header(); header_written = true; } if (!seen_boost) { @@ -300,7 +352,7 @@ public class AltosCSV implements AltosWriter { pad_states.add(state); } - public PrintStream out() { + private PrintStream out() { return out; } @@ -314,6 +366,31 @@ public class AltosCSV implements AltosWriter { public void write(AltosStateIterable states) { states.write_comments(out()); + + has_flight_state = false; + has_basic = false; + has_battery = false; + has_advanced = false; + has_gps = false; + has_gps_sat = false; + has_companion = false; + for (AltosState state : states) { + if (state.state != AltosLib.ao_flight_stateless && state.state != AltosLib.ao_flight_invalid && state.state != AltosLib.ao_flight_startup) + has_flight_state = true; + if (state.acceleration() != AltosLib.MISSING || state.pressure() != AltosLib.MISSING) + has_basic = true; + if (state.battery_voltage != AltosLib.MISSING) + has_battery = true; + if (state.imu != null || state.mag != null) + has_advanced = true; + if (state.gps != null) { + has_gps = true; + if (state.gps.cc_gps_sat != null) + has_gps_sat = true; + } + if (state.companion != null) + has_companion = true; + } for (AltosState state : states) write(state); } diff --git a/altoslib/AltosCompanion.java b/altoslib/AltosCompanion.java index 09bfe9f3..47deb2a3 100644 --- a/altoslib/AltosCompanion.java +++ b/altoslib/AltosCompanion.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosCompanion { public final static int board_id_telescience = 0x0a; diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index e1043958..fc1f2442 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.*; import java.text.*; @@ -31,6 +31,7 @@ public class AltosConfigData implements Iterable<String> { public int log_format; public int log_space; public String version; + public int altitude_32; /* Strings returned */ public LinkedList<String> lines; @@ -46,6 +47,7 @@ public class AltosConfigData implements Iterable<String> { public String callsign; public int radio_enable; public int radio_calibration; + public int telemetry_rate; /* Old HAS_RADIO values */ public int radio_channel; public int radio_setting; @@ -56,6 +58,7 @@ public class AltosConfigData implements Iterable<String> { /* HAS_LOG */ public int flight_log_max; + public int log_fixed; /* HAS_IGNITE */ public int ignite_mode; @@ -71,6 +74,7 @@ public class AltosConfigData implements Iterable<String> { /* HAS_APRS */ public int aprs_interval; + public int aprs_ssid; /* HAS_BEEP */ public int beep; @@ -234,12 +238,14 @@ public class AltosConfigData implements Iterable<String> { radio_calibration = -1; radio_channel = -1; radio_setting = -1; + telemetry_rate = -1; accel_cal_plus = -1; accel_cal_minus = -1; pad_orientation = -1; flight_log_max = -1; + log_fixed = -1; ignite_mode = -1; aes_key = ""; @@ -250,6 +256,7 @@ public class AltosConfigData implements Iterable<String> { pyro_firing_time = -1; aprs_interval = -1; + aprs_ssid = -1; beep = -1; @@ -270,6 +277,7 @@ public class AltosConfigData implements Iterable<String> { try { flight = get_int(line, "current-flight"); } catch (Exception e) {} try { log_format = get_int(line, "log-format"); } catch (Exception e) {} try { log_space = get_int(line, "log-space"); } catch (Exception e) {} + try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {} try { version = get_string(line, "software-version"); } catch (Exception e) {} /* Version also contains MS5607 info, which we ignore here */ @@ -290,6 +298,7 @@ public class AltosConfigData implements Iterable<String> { try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {} try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {} try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {} + try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {} /* Old HAS_RADIO values */ try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {} @@ -309,6 +318,7 @@ public class AltosConfigData implements Iterable<String> { /* HAS_LOG */ try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {} + try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {} /* HAS_IGNITE */ try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {} @@ -333,6 +343,7 @@ public class AltosConfigData implements Iterable<String> { /* HAS_APRS */ try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {} + try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {} /* HAS_BEEP */ try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {} @@ -375,6 +386,10 @@ public class AltosConfigData implements Iterable<String> { return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0; } + public boolean has_telemetry_rate() { + return telemetry_rate >= 0; + } + public void set_frequency(double freq) { int frequency = radio_frequency; int setting = radio_setting; @@ -414,6 +429,8 @@ public class AltosConfigData implements Iterable<String> { return false; if (product.startsWith("TeleMetrum-v2")) return false; + if (product.startsWith("EasyMega")) + return false; return true; } @@ -437,6 +454,8 @@ public class AltosConfigData implements Iterable<String> { callsign = source.callsign(); if (radio_calibration >= 0) radio_calibration = source.radio_calibration(); + if (telemetry_rate >= 0) + telemetry_rate = source.telemetry_rate(); /* HAS_ACCEL */ if (pad_orientation >= 0) @@ -459,6 +478,8 @@ public class AltosConfigData implements Iterable<String> { /* HAS_APRS */ if (aprs_interval >= 0) aprs_interval = source.aprs_interval(); + if (aprs_ssid >= 0) + aprs_ssid = source.aprs_ssid(); /* HAS_BEEP */ if (beep >= 0) @@ -474,16 +495,21 @@ public class AltosConfigData implements Iterable<String> { dest.set_serial(serial); dest.set_product(product); dest.set_version(version); + dest.set_altitude_32(altitude_32); dest.set_main_deploy(main_deploy); dest.set_apogee_delay(apogee_delay); dest.set_apogee_lockout(apogee_lockout); dest.set_radio_calibration(radio_calibration); dest.set_radio_frequency(frequency()); + dest.set_telemetry_rate(telemetry_rate); boolean max_enabled = true; if (log_space() == 0) max_enabled = false; + if (log_fixed > 0) + max_enabled = false; + switch (log_format) { case AltosLib.AO_LOG_FORMAT_TINY: max_enabled = false; @@ -507,6 +533,7 @@ public class AltosConfigData implements Iterable<String> { dest.set_pyros(null); dest.set_pyro_firing_time(pyro_firing_time); dest.set_aprs_interval(aprs_interval); + dest.set_aprs_ssid(aprs_ssid); dest.set_beep(beep); dest.set_tracker_motion(tracker_motion); dest.set_tracker_interval(tracker_interval); @@ -537,14 +564,36 @@ public class AltosConfigData implements Iterable<String> { radio_calibration); /* When remote, reset the dongle frequency at the same time */ if (remote) { + link.flush_output(); link.stop_remote(); link.set_radio_frequency(frequency); + link.flush_output(); link.start_remote(); } } - if (callsign != null) + if (telemetry_rate >= 0) { + link.printf("c T %d\n", telemetry_rate); + if (remote) { + link.flush_output(); + link.stop_remote(); + link.set_telemetry_rate(telemetry_rate); + link.flush_output(); + link.start_remote(); + } + } + + if (callsign != null) { link.printf("c c %s\n", callsign); + if (remote) { + link.flush_output(); + link.stop_remote(); + link.set_callsign(callsign); + link.flush_output(); + link.start_remote(); + } + } + if (radio_enable >= 0) link.printf("c e %d\n", radio_enable); @@ -577,6 +626,8 @@ public class AltosConfigData implements Iterable<String> { /* HAS_APRS */ if (aprs_interval >= 0) link.printf("c A %d\n", aprs_interval); + if (aprs_ssid >= 0) + link.printf("c S %d\n", aprs_ssid); /* HAS_BEEP */ if (beep >= 0) diff --git a/altoslib/AltosConfigDataException.java b/altoslib/AltosConfigDataException.java index ae5621cc..a932d3e3 100644 --- a/altoslib/AltosConfigDataException.java +++ b/altoslib/AltosConfigDataException.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosConfigDataException extends Exception { diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java index 724ba7dc..3f0a7075 100644 --- a/altoslib/AltosConfigValues.java +++ b/altoslib/AltosConfigValues.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosConfigValues { /* set and get all of the dialog values */ @@ -25,6 +25,8 @@ public interface AltosConfigValues { public abstract void set_serial(int serial); + public abstract void set_altitude_32(int altitude_32); + public abstract void set_main_deploy(int new_main_deploy); public abstract int main_deploy() throws AltosConfigDataException; @@ -53,6 +55,10 @@ public interface AltosConfigValues { public abstract String callsign(); + public abstract void set_telemetry_rate(int new_telemetry_rate); + + public abstract int telemetry_rate() throws AltosConfigDataException; + public abstract void set_flight_log_max(int new_flight_log_max); public abstract void set_flight_log_max_enabled(boolean enable); @@ -81,6 +87,10 @@ public interface AltosConfigValues { public abstract void set_aprs_interval(int new_aprs_interval); + public abstract int aprs_ssid() throws AltosConfigDataException; + + public abstract void set_aprs_ssid(int new_aprs_ssid); + public abstract int beep() throws AltosConfigDataException; public abstract void set_beep(int new_beep); diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java index dc0fbb62..18878c02 100644 --- a/altoslib/AltosConvert.java +++ b/altoslib/AltosConvert.java @@ -18,7 +18,7 @@ /* * Sensor data conversion functions */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosConvert { /* diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java index b0e52fc1..e58fbaf2 100644 --- a/altoslib/AltosDebug.java +++ b/altoslib/AltosDebug.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; @@ -52,7 +52,7 @@ public class AltosDebug { public static final byte GET_CHIP_ID = 0x68; - AltosLink link; + private AltosLink link; boolean debug_mode; @@ -112,7 +112,11 @@ public class AltosDebug { int i = 0; int start = 0; while (i < length) { - String line = link.get_reply().trim(); + String line = link.get_reply(); + if (line == null) + throw new IOException("No reply"); + + line = line.trim(); if (!AltosLib.ishex(line) || line.length() % 2 != 0) throw new IOException( String.format @@ -277,4 +281,4 @@ public class AltosDebug { public AltosDebug (AltosLink link) { this.link = link; } -}
\ No newline at end of file +} diff --git a/altoslib/AltosDistance.java b/altoslib/AltosDistance.java index 76ca20c0..67bb58e9 100644 --- a/altoslib/AltosDistance.java +++ b/altoslib/AltosDistance.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosDistance extends AltosUnits { diff --git a/altoslib/AltosEeprom.java b/altoslib/AltosEeprom.java index 020590eb..532c9f1d 100644 --- a/altoslib/AltosEeprom.java +++ b/altoslib/AltosEeprom.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromChunk.java b/altoslib/AltosEepromChunk.java index 91eebc5a..4d12f564 100644 --- a/altoslib/AltosEepromChunk.java +++ b/altoslib/AltosEepromChunk.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; import java.util.concurrent.*; diff --git a/altoslib/AltosEepromDownload.java b/altoslib/AltosEepromDownload.java index a2dfc438..a448ee64 100644 --- a/altoslib/AltosEepromDownload.java +++ b/altoslib/AltosEepromDownload.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java index b7e446ce..a1579b55 100644 --- a/altoslib/AltosEepromFile.java +++ b/altoslib/AltosEepromFile.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java index 3c1852c0..8c991a6e 100644 --- a/altoslib/AltosEepromGPS.java +++ b/altoslib/AltosEepromGPS.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -37,7 +37,7 @@ public class AltosEepromGPS extends AltosEeprom { /* 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 altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -52,6 +52,7 @@ public class AltosEepromGPS extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; } @@ -90,8 +91,10 @@ public class AltosEepromGPS extends AltosEeprom { switch (cmd) { case AltosLib.AO_LOG_FLIGHT: - state.set_boost_tick(tick); - state.set_flight(flight()); + if (state.flight == AltosLib.MISSING) { + state.set_boost_tick(tick); + state.set_flight(flight()); + } /* no place to log start lat/lon yet */ break; case AltosLib.AO_LOG_GPS_TIME: @@ -99,7 +102,10 @@ public class AltosEepromGPS extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); @@ -118,8 +124,21 @@ public class AltosEepromGPS extends AltosEeprom { 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(); + if (state.compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } break; } } diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java index 839aa06e..71030655 100644 --- a/altoslib/AltosEepromHeader.java +++ b/altoslib/AltosEepromHeader.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -96,6 +96,22 @@ public class AltosEepromHeader extends AltosEeprom { case AltosLib.AO_LOG_SOFTWARE_VERSION: state.set_firmware_version(data); break; + case AltosLib.AO_LOG_FREQUENCY: + case AltosLib.AO_LOG_APOGEE_LOCKOUT: + case AltosLib.AO_LOG_RADIO_RATE: + case AltosLib.AO_LOG_IGNITE_MODE: + case AltosLib.AO_LOG_PAD_ORIENTATION: + case AltosLib.AO_LOG_RADIO_ENABLE: + case AltosLib.AO_LOG_AES_KEY: + case AltosLib.AO_LOG_APRS: + case AltosLib.AO_LOG_BEEP_SETTING: + case AltosLib.AO_LOG_TRACKER_SETTING: + case AltosLib.AO_LOG_PYRO_TIME: + case AltosLib.AO_LOG_APRS_ID: + break; + case AltosLib.AO_LOG_ALTITUDE_32: + state.set_altitude_32(config_a); + break; } } @@ -161,6 +177,22 @@ public class AltosEepromHeader extends AltosEeprom { case AltosLib.AO_LOG_BARO_CRC: out.printf ("# Baro crc: %d\n", config_a); break; + case AltosLib.AO_LOG_FREQUENCY: + case AltosLib.AO_LOG_APOGEE_LOCKOUT: + case AltosLib.AO_LOG_RADIO_RATE: + case AltosLib.AO_LOG_IGNITE_MODE: + case AltosLib.AO_LOG_PAD_ORIENTATION: + case AltosLib.AO_LOG_RADIO_ENABLE: + case AltosLib.AO_LOG_AES_KEY: + case AltosLib.AO_LOG_APRS: + case AltosLib.AO_LOG_BEEP_SETTING: + case AltosLib.AO_LOG_TRACKER_SETTING: + case AltosLib.AO_LOG_PYRO_TIME: + case AltosLib.AO_LOG_APRS_ID: + break; + case AltosLib.AO_LOG_ALTITUDE_32: + out.printf("# Altitude-32: %d\n", config_a); + break; } } @@ -205,6 +237,9 @@ public class AltosEepromHeader extends AltosEeprom { } else if (tokens[0].equals("log-format")) { cmd = AltosLib.AO_LOG_LOG_FORMAT; config_a = Integer.parseInt(tokens[1]); + } else if (tokens[0].equals("altitude-32")) { + cmd = AltosLib.AO_LOG_ALTITUDE_32; + config_a = Integer.parseInt(tokens[1]); } else if (tokens[0].equals("software-version")) { cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; data = tokens[1]; diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java index d6832c1b..dd0afd9f 100644 --- a/altoslib/AltosEepromIterable.java +++ b/altoslib/AltosEepromIterable.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromList.java b/altoslib/AltosEepromList.java index ab853a88..740499d3 100644 --- a/altoslib/AltosEepromList.java +++ b/altoslib/AltosEepromList.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromLog.java b/altoslib/AltosEepromLog.java index 1a430c03..5a11fa54 100644 --- a/altoslib/AltosEepromLog.java +++ b/altoslib/AltosEepromLog.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; import java.util.concurrent.*; diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 71719a26..adaa7f31 100644 --- a/altoslib/AltosEepromMega.java +++ b/altoslib/AltosEepromMega.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -67,7 +67,7 @@ public class AltosEepromMega extends AltosEeprom { /* 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 altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -82,6 +82,7 @@ public class AltosEepromMega extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } /* AO_LOG_GPS_SAT elements */ public int nsat() { return data16(0); } @@ -168,7 +169,11 @@ public class AltosEepromMega extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); @@ -187,8 +192,21 @@ public class AltosEepromMega extends AltosEeprom { 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(); + if (state.compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } break; case AltosLib.AO_LOG_GPS_SAT: state.set_tick(tick); diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java index d137614a..d9a65989 100644 --- a/altoslib/AltosEepromMetrum2.java +++ b/altoslib/AltosEepromMetrum2.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -49,7 +49,8 @@ public class AltosEepromMetrum2 extends AltosEeprom { /* AO_LOG_GPS_POS elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } + public int altitude_high() { return data16(10); } /* AO_LOG_GPS_TIME elements */ public int hour() { return data8(0); } @@ -59,6 +60,7 @@ public class AltosEepromMetrum2 extends AltosEeprom { public int year() { return data8(4); } public int month() { return data8(5); } public int day() { return data8(6); } + public int pdop() { return data8(7); } /* AO_LOG_GPS_SAT elements */ public int nsat() { return data8(0); } @@ -117,7 +119,10 @@ public class AltosEepromMetrum2 extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); break; case AltosLib.AO_LOG_GPS_TIME: gps = state.make_temp_gps(false); @@ -136,6 +141,7 @@ public class AltosEepromMetrum2 extends AltosEeprom { gps.year = 2000 + year(); gps.month = month(); gps.day = day(); + gps.pdop = pdop() / 10.0; break; case AltosLib.AO_LOG_GPS_SAT: gps = state.make_temp_gps(true); diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java index 32985639..f197539e 100644 --- a/altoslib/AltosEepromMini.java +++ b/altoslib/AltosEepromMini.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromMonitor.java b/altoslib/AltosEepromMonitor.java index b97287c3..173a2cd8 100644 --- a/altoslib/AltosEepromMonitor.java +++ b/altoslib/AltosEepromMonitor.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosEepromMonitor { diff --git a/altoslib/AltosEepromTM.java b/altoslib/AltosEepromTM.java index 77fe20c5..6d36cf47 100644 --- a/altoslib/AltosEepromTM.java +++ b/altoslib/AltosEepromTM.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosEepromTm.java b/altoslib/AltosEepromTm.java index 6cbb7253..81b42f21 100644 --- a/altoslib/AltosEepromTm.java +++ b/altoslib/AltosEepromTm.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosFile.java b/altoslib/AltosFile.java index 2a738996..ba639a04 100644 --- a/altoslib/AltosFile.java +++ b/altoslib/AltosFile.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.File; import java.util.*; diff --git a/altoslib/AltosFlash.java b/altoslib/AltosFlash.java index 8e8722c2..a8519550 100644 --- a/altoslib/AltosFlash.java +++ b/altoslib/AltosFlash.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; @@ -345,9 +345,23 @@ public class AltosFlash extends AltosProgrammer { debug = new AltosDebug(link); input = new FileInputStream(file); image = new AltosHexfile(input); - if (debug != null && !debug.check_connection()) { + + boolean connection_ok = true; + + if (debug != null) { + try { + connection_ok = debug.check_connection(); + } catch (IOException ie) { + debug.close(); + throw ie; + } catch (InterruptedException ie) { + debug.close(); + throw ie; + } + } + if (!connection_ok) { debug.close(); throw new IOException("Debug port not connected"); } } -}
\ No newline at end of file +} diff --git a/altoslib/AltosFlashListener.java b/altoslib/AltosFlashListener.java index 8bb86bba..7a51c330 100644 --- a/altoslib/AltosFlashListener.java +++ b/altoslib/AltosFlashListener.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosFlashListener { public void position(String label, int percent); diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java index 2fcd556e..be103838 100644 --- a/altoslib/AltosFlightReader.java +++ b/altoslib/AltosFlightReader.java @@ -15,22 +15,22 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; import java.io.*; import java.util.concurrent.*; -public class AltosFlightReader { +public abstract class AltosFlightReader { public String name; public int serial; - public void init() { } + public void init() {} - public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; } + public abstract AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException; - public void close(boolean interrupted) { } + public abstract void close(boolean interrupted); public void set_frequency(double frequency) throws InterruptedException, TimeoutException { } @@ -38,12 +38,18 @@ public class AltosFlightReader { public void set_telemetry(int telemetry) { } + public void set_telemetry_rate(int telemetry_rate) throws InterruptedException, TimeoutException { } + public void save_telemetry() { } + public void save_telemetry_rate() { } + public void update(AltosState state) throws InterruptedException { } public boolean supports_telemetry(int telemetry) { return false; } + public boolean supports_telemetry_rate(int telemetry_rate) { return false; } + public File backing_file() { return null; } public boolean has_monitor_battery() throws InterruptedException { return false; } diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java index 56feb848..1b88cb9f 100644 --- a/altoslib/AltosFlightStats.java +++ b/altoslib/AltosFlightStats.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java index 7c291ea9..6093df49 100644 --- a/altoslib/AltosFrequency.java +++ b/altoslib/AltosFrequency.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosFrequency { public double frequency; @@ -41,4 +41,4 @@ public class AltosFrequency { frequency = f; description = d; } -}
\ No newline at end of file +} diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java index 2708d026..0154e95d 100644 --- a/altoslib/AltosGPS.java +++ b/altoslib/AltosGPS.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; import java.util.concurrent.*; @@ -40,10 +40,11 @@ public class AltosGPS implements Cloneable { public double ground_speed; /* m/s */ public int course; /* degrees */ public double climb_rate; /* m/s */ + public double pdop; /* unitless */ public double hdop; /* unitless */ public double vdop; /* unitless */ - public int h_error; /* m */ - public int v_error; /* m */ + public double h_error; /* m */ + public double v_error; /* m */ public AltosGPSSat[] cc_gps_sat; /* tracking data */ @@ -95,6 +96,7 @@ public class AltosGPS implements Cloneable { AltosLib.MISSING, 1/100.0); course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE, AltosLib.MISSING); + pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0); 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); @@ -268,14 +270,26 @@ public class AltosGPS implements Cloneable { cc_gps_sat[cc_gps_sat.length - 1] = sat; } - public AltosGPS() { + private void init() { lat = AltosLib.MISSING; lon = AltosLib.MISSING; alt = AltosLib.MISSING; + ground_speed = AltosLib.MISSING; + course = AltosLib.MISSING; + climb_rate = AltosLib.MISSING; + pdop = AltosLib.MISSING; + hdop = AltosLib.MISSING; + vdop = AltosLib.MISSING; + h_error = AltosLib.MISSING; + v_error = AltosLib.MISSING; ClearGPSTime(); cc_gps_sat = null; } + public AltosGPS() { + init(); + } + public AltosGPS clone() { AltosGPS g = new AltosGPS(); @@ -295,7 +309,9 @@ public class AltosGPS implements Cloneable { g.ground_speed = ground_speed; /* m/s */ g.course = course; /* degrees */ g.climb_rate = climb_rate; /* m/s */ - g.hdop = hdop; /* unitless? */ + g.pdop = pdop; /* unitless */ + g.hdop = hdop; /* unitless */ + g.vdop = vdop; /* unitless */ g.h_error = h_error; /* m */ g.v_error = v_error; /* m */ @@ -327,9 +343,11 @@ public class AltosGPS implements Cloneable { ground_speed = old.ground_speed; /* m/s */ course = old.course; /* degrees */ climb_rate = old.climb_rate; /* m/s */ + pdop = old.pdop; /* unitless? */ hdop = old.hdop; /* unitless? */ - h_error = old.h_error; /* m */ - v_error = old.v_error; /* m */ + vdop = old.vdop; /* 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]; @@ -340,11 +358,7 @@ public class AltosGPS implements Cloneable { } } } else { - lat = AltosLib.MISSING; - lon = AltosLib.MISSING; - alt = AltosLib.MISSING; - ClearGPSTime(); - cc_gps_sat = null; + init(); } } diff --git a/altoslib/AltosGPSSat.java b/altoslib/AltosGPSSat.java index ef24d497..adbcbe61 100644 --- a/altoslib/AltosGPSSat.java +++ b/altoslib/AltosGPSSat.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosGPSSat { public int svid; diff --git a/altoslib/AltosGreatCircle.java b/altoslib/AltosGreatCircle.java index 4782c34d..716eeef9 100644 --- a/altoslib/AltosGreatCircle.java +++ b/altoslib/AltosGreatCircle.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.lang.Math; diff --git a/altoslib/AltosHeight.java b/altoslib/AltosHeight.java index 84981032..8c67e043 100644 --- a/altoslib/AltosHeight.java +++ b/altoslib/AltosHeight.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosHeight extends AltosUnits { diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java index d5fa8f5f..9ee64bdc 100644 --- a/altoslib/AltosHexfile.java +++ b/altoslib/AltosHexfile.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.LinkedList; diff --git a/altoslib/AltosHexsym.java b/altoslib/AltosHexsym.java index 403b5644..52eb81db 100644 --- a/altoslib/AltosHexsym.java +++ b/altoslib/AltosHexsym.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosHexsym { String name; diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index a22b3fed..89d7def4 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.*; diff --git a/altoslib/AltosIdle.java b/altoslib/AltosIdle.java index 55f6f5c9..0f723d14 100644 --- a/altoslib/AltosIdle.java +++ b/altoslib/AltosIdle.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java index 5cd8bf36..50745d97 100644 --- a/altoslib/AltosIdleFetch.java +++ b/altoslib/AltosIdleFetch.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -118,6 +118,10 @@ public class AltosIdleFetch implements AltosStateUpdate { AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, AltosIdler.idle_imu, AltosIdler.idle_mag, AltosIdler.idle_sensor_mega), + new AltosIdler("EasyMega", + AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, + AltosIdler.idle_imu, AltosIdler.idle_mag, + AltosIdler.idle_sensor_mega), }; AltosLink link; diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index f81abdff..85bcff10 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.concurrent.*; diff --git a/altoslib/AltosIdleMonitorListener.java b/altoslib/AltosIdleMonitorListener.java index 6a9abea2..4382430c 100644 --- a/altoslib/AltosIdleMonitorListener.java +++ b/altoslib/AltosIdleMonitorListener.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosIdleMonitorListener { public void update(AltosState state, AltosListenerState listener_state); diff --git a/altoslib/AltosIgnite.java b/altoslib/AltosIgnite.java index c21f17ac..b458911e 100644 --- a/altoslib/AltosIgnite.java +++ b/altoslib/AltosIgnite.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.*; import java.io.*; diff --git a/altoslib/AltosKML.java b/altoslib/AltosKML.java index d55da9ef..e701fda3 100644 --- a/altoslib/AltosKML.java +++ b/altoslib/AltosKML.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; @@ -28,18 +28,25 @@ public class AltosKML implements AltosWriter { double gps_start_altitude; static final String[] kml_state_colors = { - "FF000000", - "FF000000", - "FF000000", - "FF0000FF", - "FF4080FF", - "FF00FFFF", - "FFFF0000", - "FF00FF00", - "FF000000", - "FFFFFFFF" + "FF000000", // startup + "FF000000", // idle + "FF000000", // pad + "FF0000FF", // boost + "FF4080FF", // fast + "FF00FFFF", // coast + "FFFF0000", // drogue + "FF00FF00", // main + "FF000000", // landed + "FFFFFFFF", // invalid + "FFFF0000", // stateless }; + static String state_color(int state) { + if (state < 0 || kml_state_colors.length <= state) + return kml_state_colors[AltosLib.ao_flight_invalid]; + return kml_state_colors[state]; + } + static final String kml_header_start = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n" + "<kml xmlns=\"http://www.opengis.net/kml/2.2\">\n" + @@ -95,7 +102,8 @@ public class AltosKML implements AltosWriter { void state_start(AltosState state) { String state_name = AltosLib.state_name(state.state); - out.printf(kml_style_start, state_name, kml_state_colors[state.state]); + String state_color = state_color(state.state); + out.printf(kml_style_start, state_name, state_color); out.printf("\tState: %s\n", state_name); out.printf("%s", kml_style_end); out.printf(kml_placemark_start, state_name, state_name); diff --git a/altoslib/AltosLatitude.java b/altoslib/AltosLatitude.java index 6156d6dc..2b507173 100644 --- a/altoslib/AltosLatitude.java +++ b/altoslib/AltosLatitude.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosLatitude extends AltosLocation { public String pos() { return "N"; } diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java index 69c6d604..2e9dc648 100644 --- a/altoslib/AltosLib.java +++ b/altoslib/AltosLib.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.*; import java.io.*; @@ -51,6 +51,20 @@ public class AltosLib { public static final int AO_LOG_SERIAL_NUMBER = 2002; public static final int AO_LOG_LOG_FORMAT = 2003; + public static final int AO_LOG_FREQUENCY = 2004; + public static final int AO_LOG_APOGEE_LOCKOUT = 2005; + public static final int AO_LOG_RADIO_RATE = 2006; + public static final int AO_LOG_IGNITE_MODE = 2007; + public static final int AO_LOG_PAD_ORIENTATION = 2008; + public static final int AO_LOG_RADIO_ENABLE = 2009; + public static final int AO_LOG_AES_KEY = 2010; + public static final int AO_LOG_APRS = 2011; + public static final int AO_LOG_BEEP_SETTING = 2012; + public static final int AO_LOG_TRACKER_SETTING = 2013; + public static final int AO_LOG_PYRO_TIME = 2014; + public static final int AO_LOG_APRS_ID = 2015; + public static final int AO_LOG_ALTITUDE_32 = 2016; + /* Added for header fields in telemega files */ public static final int AO_LOG_BARO_RESERVED = 3000; public static final int AO_LOG_BARO_SENS = 3001; @@ -98,6 +112,7 @@ public class AltosLib { public final static int product_telegps = 0x0025; public final static int product_easymini = 0x0026; public final static int product_telemini = 0x0027; + public final static int product_easymega = 0x0028; public final static int product_altusmetrum_min = 0x000a; public final static int product_altusmetrum_max = 0x002c; @@ -129,7 +144,8 @@ public class AltosLib { new Product("megadongle", product_megadongle), new Product("telegps", product_telegps), new Product("easymini", product_easymini), - new Product("telemini", product_telemini) + new Product("telemini", product_telemini), + new Product("easymega", product_easymega) }; public static int name_to_product(String name) { @@ -161,6 +177,15 @@ public class AltosLib { "Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8" }; + public static final int ao_telemetry_rate_38400 = 0; + public static final int ao_telemetry_rate_9600 = 1; + public static final int ao_telemetry_rate_2400 = 2; + public static final int ao_telemetry_rate_max = 2; + + public static final Integer[] ao_telemetry_rate_values = { + 38400, 9600, 2400 + }; + public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt"; public static final int ao_telemetry_standard_len = 32; @@ -206,6 +231,31 @@ public class AltosLib { telemetry)); } + private static int[] split_version(String version) { + String[] tokens = version.split("\\."); + int[] ret = new int[tokens.length]; + for (int i = 0; i < tokens.length; i++) + ret[i] = Integer.parseInt(tokens[i]); + return ret; + } + + public static int compare_version(String version_a, String version_b) { + int[] a = split_version(version_a); + int[] b = split_version(version_b); + + for (int i = 0; i < Math.min(a.length, b.length); i++) { + if (a[i] < b[i]) + return -1; + if (a[i] > b[i]) + return 1; + } + if (a.length < b.length) + return -1; + if (a.length > b.length) + return 1; + return 0; + } + private static String[] state_to_string = { "startup", "idle", @@ -281,7 +331,7 @@ public class AltosLib { return false; } - public static boolean ishex(int c) { + public static final boolean ishex(int c) { if ('0' <= c && c <= '9') return true; if ('a' <= c && c <= 'f') @@ -291,7 +341,7 @@ public class AltosLib { return false; } - public static boolean ishex(String s) { + public static final boolean ishex(String s) { for (int i = 0; i < s.length(); i++) if (!ishex(s.charAt(i))) return false; @@ -415,10 +465,17 @@ public class AltosLib { if ((s.length() & 1) != 0) throw new NumberFormatException(String.format("invalid line \"%s\"", s)); - n = s.length() / 2; + byte[] bytes = s.getBytes(unicode_set); + n = bytes.length / 2; r = new int[n]; - for (i = 0; i < n; i++) - r[i] = hexbyte(s, i * 2); + for (i = 0; i < n; i++) { + int h = fromhex(bytes[(i << 1)]); + int l = fromhex(bytes[(i << 1) + 1]); + if (h < 0 || l < 0) + throw new NumberFormatException(String.format("invalid hex \"%c%c\"", + bytes[(i<<1)], bytes[(i<<1) + 1])); + r[i] = (h << 4) + l; + } return r; } diff --git a/altoslib/AltosLine.java b/altoslib/AltosLine.java index f9c712a3..f56938c6 100644 --- a/altoslib/AltosLine.java +++ b/altoslib/AltosLine.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosLine { public String line; diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 7f434a06..62bd82b9 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.concurrent.*; @@ -163,8 +163,21 @@ public abstract class AltosLink implements Runnable { if (!can_cancel && remote) System.out.printf("Uh-oh, reading remote serial device from swing thread\n"); - if (remote && can_cancel) + if (remote && can_cancel) { timeout = 500; + switch (telemetry_rate) { + case AltosLib.ao_telemetry_rate_38400: + default: + timeout = 500; + break; + case AltosLib.ao_telemetry_rate_9600: + timeout = 2000; + break; + case AltosLib.ao_telemetry_rate_2400: + timeout = 8000; + break; + } + } try { ++in_reply; @@ -274,6 +287,8 @@ public abstract class AltosLink implements Runnable { } public void flush_output() { + if (pending_output == null) + return; for (String s : pending_output) System.out.print(s); pending_output.clear(); @@ -305,6 +320,7 @@ public abstract class AltosLink implements Runnable { */ public boolean monitor_mode = false; public int telemetry = AltosLib.ao_telemetry_standard; + public int telemetry_rate = -1; public double frequency; public String callsign; AltosConfigData config_data; @@ -356,6 +372,15 @@ public abstract class AltosLink implements Runnable { flush_output(); } + public void set_telemetry_rate(int in_telemetry_rate) { + telemetry_rate = in_telemetry_rate; + if (monitor_mode) + printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len()); + else + printf("c T %d\n", telemetry_rate); + flush_output(); + } + public void set_monitor(boolean monitor) { monitor_mode = monitor; if (monitor) @@ -383,10 +408,14 @@ public abstract class AltosLink implements Runnable { flush_output(); } - public AltosConfigData config_data() throws InterruptedException, TimeoutException { + public AltosConfigData config_data() throws InterruptedException, TimeoutException { synchronized(config_data_lock) { - if (config_data == null) + if (config_data == null) { + printf("m 0\n"); config_data = new AltosConfigData(this); + if (monitor_mode) + set_monitor(true); + } return config_data; } } @@ -430,7 +459,12 @@ public abstract class AltosLink implements Runnable { if (debug) System.out.printf("start remote %7.3f\n", frequency); set_radio_frequency(frequency); - set_callsign(AltosPreferences.callsign()); + if (telemetry_rate < 0) + telemetry_rate = AltosPreferences.telemetry_rate(serial); + set_telemetry_rate(telemetry_rate); + if (callsign.equals("")) + callsign = AltosPreferences.callsign(); + set_callsign(callsign); printf("p\nE 0\n"); flush_input(); remote = true; diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java index 5bf761b0..054ff1d0 100644 --- a/altoslib/AltosListenerState.java +++ b/altoslib/AltosListenerState.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosListenerState { public int crc_errors; diff --git a/altoslib/AltosLocation.java b/altoslib/AltosLocation.java index 725a02ba..9bbbb899 100644 --- a/altoslib/AltosLocation.java +++ b/altoslib/AltosLocation.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public abstract class AltosLocation extends AltosUnits { diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java index c4e9e425..28116e3d 100644 --- a/altoslib/AltosLog.java +++ b/altoslib/AltosLog.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.text.*; @@ -72,6 +72,7 @@ public class AltosLog implements Runnable { } log_file.flush(); file = a; + AltosPreferences.set_logfile(link.serial, file); } return log_file != null; } diff --git a/altoslib/AltosLongitude.java b/altoslib/AltosLongitude.java index 29a5dcd4..dbcd6bf0 100644 --- a/altoslib/AltosLongitude.java +++ b/altoslib/AltosLongitude.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosLongitude extends AltosLocation { public String pos() { return "E"; } diff --git a/altoslib/AltosMag.java b/altoslib/AltosMag.java index 9262de2d..690241f1 100644 --- a/altoslib/AltosMag.java +++ b/altoslib/AltosMag.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.*; diff --git a/altoslib/AltosMma655x.java b/altoslib/AltosMma655x.java index cb2e63d4..7f0dab98 100644 --- a/altoslib/AltosMma655x.java +++ b/altoslib/AltosMma655x.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.*; @@ -23,14 +23,15 @@ public class AltosMma655x implements Cloneable { int accel; - public boolean parse_line(String line) { - String[] items = line.split("\\s+"); - if (line.startsWith("MMA655X value:")) { - if (items.length >= 3) - accel = Integer.parseInt(items[1]); - } else - return false; - return true; + public boolean parse_line(String line) throws NumberFormatException { + if (line.startsWith("MMA655X value")) { + String[] items = line.split("\\s+"); + if (items.length >= 3) { + accel = Integer.parseInt(items[2]); + return true; + } + } + return false; } public AltosMma655x() { @@ -51,17 +52,18 @@ public class AltosMma655x implements Cloneable { if (mma655x != null) state.set_accel(mma655x.accel); } catch (TimeoutException te) { + } catch (NumberFormatException ne) { } } - public AltosMma655x(AltosLink link) throws InterruptedException, TimeoutException { + public AltosMma655x(AltosLink link) throws InterruptedException, TimeoutException, NumberFormatException { this(); link.printf("A\n"); for (;;) { String line = link.get_reply_no_dialog(5000); if (line == null) throw new TimeoutException(); - if (!parse_line(line)) + if (parse_line(line)) break; } } diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java index 5aa3a7ec..81e0641c 100644 --- a/altoslib/AltosMs5607.java +++ b/altoslib/AltosMs5607.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.*; diff --git a/altoslib/AltosNoSymbol.java b/altoslib/AltosNoSymbol.java index f5e53b8c..d436c3f1 100644 --- a/altoslib/AltosNoSymbol.java +++ b/altoslib/AltosNoSymbol.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosNoSymbol extends Exception { public AltosNoSymbol(String name) { diff --git a/altoslib/AltosOrient.java b/altoslib/AltosOrient.java index 5fcbe28d..348c6844 100644 --- a/altoslib/AltosOrient.java +++ b/altoslib/AltosOrient.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosOrient extends AltosUnits { diff --git a/altoslib/AltosParse.java b/altoslib/AltosParse.java index 1bff7682..9cb99a0d 100644 --- a/altoslib/AltosParse.java +++ b/altoslib/AltosParse.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java index d299f27b..dba57dcb 100644 --- a/altoslib/AltosPreferences.java +++ b/altoslib/AltosPreferences.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -35,6 +35,12 @@ public class AltosPreferences { /* telemetry format preference name */ public final static String telemetryPreferenceFormat = "TELEMETRY-%d"; + /* telemetry rate format preference name */ + public final static String telemetryRatePreferenceFormat = "RATE-%d"; + + /* log file format preference name */ + public final static String logfilePreferenceFormat = "LOGFILE-%d"; + /* voice preference name */ public final static String voicePreference = "VOICE"; @@ -50,6 +56,9 @@ public class AltosPreferences { /* scanning telemetry preferences name */ public final static String scanningTelemetryPreference = "SCANNING-TELEMETRY"; + /* scanning telemetry rate preferences name */ + public final static String scanningTelemetryRatePreference = "SCANNING-RATE"; + /* Launcher serial preference name */ public final static String launcherSerialPreference = "LAUNCHER-SERIAL"; @@ -74,6 +83,12 @@ public class AltosPreferences { /* Telemetry (map serial to telemetry format) */ public static Hashtable<Integer, Integer> telemetries; + /* Telemetry rate (map serial to telemetry format) */ + public static Hashtable<Integer, Integer> telemetry_rates; + + /* Log file (map serial to logfile name) */ + public static Hashtable<Integer, File> logfiles; + /* Voice preference */ public static boolean voice; @@ -86,6 +101,8 @@ public class AltosPreferences { /* Scanning telemetry */ public static int scanning_telemetry; + public static int scanning_telemetry_rate; + /* List of frequencies */ public final static String common_frequencies_node_name = "COMMON-FREQUENCIES"; public static AltosFrequency[] common_frequencies; @@ -140,6 +157,10 @@ public class AltosPreferences { public static int launcher_channel; public static void init(AltosPreferencesBackend in_backend) { + + if (backend != null) + return; + backend = in_backend; /* Initialize logdir from preferences */ @@ -159,12 +180,18 @@ public class AltosPreferences { telemetries = new Hashtable<Integer,Integer>(); + telemetry_rates = new Hashtable<Integer,Integer>(); + + logfiles = new Hashtable<Integer,File>(); + voice = backend.getBoolean(voicePreference, true); callsign = backend.getString(callsignPreference,"N0CALL"); scanning_telemetry = backend.getInt(scanningTelemetryPreference,(1 << AltosLib.ao_telemetry_standard)); + scanning_telemetry_rate = backend.getInt(scanningTelemetryRatePreference,(1 << AltosLib.ao_telemetry_rate_38400)); + launcher_serial = backend.getInt(launcherSerialPreference, 0); launcher_channel = backend.getInt(launcherChannelPreference, 0); @@ -266,6 +293,46 @@ public class AltosPreferences { } } + public static void set_telemetry_rate(int serial, int new_telemetry_rate) { + synchronized (backend) { + telemetry_rates.put(serial, new_telemetry_rate); + backend.putInt(String.format(telemetryRatePreferenceFormat, serial), new_telemetry_rate); + flush_preferences(); + } + } + + public static int telemetry_rate(int serial) { + synchronized (backend) { + if (telemetry_rates.containsKey(serial)) + return telemetry_rates.get(serial); + int telemetry_rate = backend.getInt(String.format(telemetryRatePreferenceFormat, serial), + AltosLib.ao_telemetry_rate_38400); + telemetry_rates.put(serial, telemetry_rate); + return telemetry_rate; + } + } + + public static void set_logfile(int serial, File new_logfile) { + synchronized(backend) { + logfiles.put(serial, new_logfile); + backend.putString(String.format(logfilePreferenceFormat, serial), new_logfile.getPath()); + flush_preferences(); + } + } + + public static File logfile(int serial) { + synchronized(backend) { + if (logfiles.containsKey(serial)) + return logfiles.get(serial); + String logfile_string = backend.getString(String.format(logfilePreferenceFormat, serial), null); + if (logfile_string == null) + return null; + File logfile = new File(logfile_string); + logfiles.put(serial, logfile); + return logfile; + } + } + public static void set_scanning_telemetry(int new_scanning_telemetry) { synchronized (backend) { scanning_telemetry = new_scanning_telemetry; @@ -280,6 +347,20 @@ public class AltosPreferences { } } + public static void set_scanning_telemetry_rate(int new_scanning_telemetry_rate) { + synchronized (backend) { + scanning_telemetry_rate = new_scanning_telemetry_rate; + backend.putInt(scanningTelemetryRatePreference, scanning_telemetry_rate); + flush_preferences(); + } + } + + public static int scanning_telemetry_rate() { + synchronized(backend) { + return scanning_telemetry_rate; + } + } + public static void set_voice(boolean new_voice) { synchronized (backend) { voice = new_voice; diff --git a/altoslib/AltosPreferencesBackend.java b/altoslib/AltosPreferencesBackend.java index 461b5c80..76a99acb 100644 --- a/altoslib/AltosPreferencesBackend.java +++ b/altoslib/AltosPreferencesBackend.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.File; diff --git a/altoslib/AltosProgrammer.java b/altoslib/AltosProgrammer.java index c96f04ca..443082d5 100644 --- a/altoslib/AltosProgrammer.java +++ b/altoslib/AltosProgrammer.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java index 9e47bc80..60b8fe52 100644 --- a/altoslib/AltosPyro.java +++ b/altoslib/AltosPyro.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.*; import java.text.*; diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java index bf7e0e5b..2864e02a 100644 --- a/altoslib/AltosReplayReader.java +++ b/altoslib/AltosReplayReader.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -27,6 +27,7 @@ import java.util.*; public class AltosReplayReader extends AltosFlightReader { Iterator<AltosState> iterator; File file; + boolean real_time; public AltosState read() { if (iterator.hasNext()) @@ -39,16 +40,22 @@ public class AltosReplayReader extends AltosFlightReader { public void update(AltosState state) throws InterruptedException { /* Make it run in realtime after the rocket leaves the pad */ - if (state.state > AltosLib.ao_flight_pad && state.time_change > 0) + if (real_time && state.state > AltosLib.ao_flight_pad && state.time_change > 0) Thread.sleep((int) (Math.min(state.time_change,10) * 1000)); state.set_received_time(System.currentTimeMillis()); } public File backing_file() { return file; } - public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) { + public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file, + boolean in_real_time) { iterator = in_iterator; file = in_file; + real_time = in_real_time; name = file.getName(); } + + public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) { + this(in_iterator, in_file, false); + } } diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java index 10df11af..d0de5492 100644 --- a/altoslib/AltosRomconfig.java +++ b/altoslib/AltosRomconfig.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; diff --git a/altoslib/AltosSelfFlash.java b/altoslib/AltosSelfFlash.java index 502c6d65..3ec69213 100644 --- a/altoslib/AltosSelfFlash.java +++ b/altoslib/AltosSelfFlash.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; diff --git a/altoslib/AltosSensorEMini.java b/altoslib/AltosSensorEMini.java index ee0238f9..53a8e998 100644 --- a/altoslib/AltosSensorEMini.java +++ b/altoslib/AltosSensorEMini.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java index e34e71b7..cdc2ac42 100644 --- a/altoslib/AltosSensorMM.java +++ b/altoslib/AltosSensorMM.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorMega.java b/altoslib/AltosSensorMega.java index 02f3a256..3c7213eb 100644 --- a/altoslib/AltosSensorMega.java +++ b/altoslib/AltosSensorMega.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorMetrum.java b/altoslib/AltosSensorMetrum.java index e5421ef5..d977e886 100644 --- a/altoslib/AltosSensorMetrum.java +++ b/altoslib/AltosSensorMetrum.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java index 2d60d8cf..344e7449 100644 --- a/altoslib/AltosSensorTM.java +++ b/altoslib/AltosSensorTM.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorTMini.java b/altoslib/AltosSensorTMini.java index b9eeca0c..edd76da2 100644 --- a/altoslib/AltosSensorTMini.java +++ b/altoslib/AltosSensorTMini.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSpeed.java b/altoslib/AltosSpeed.java index 9134f5f4..d2f86214 100644 --- a/altoslib/AltosSpeed.java +++ b/altoslib/AltosSpeed.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosSpeed extends AltosUnits { diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index b05cd358..5fce15c4 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -19,7 +19,7 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosState implements Cloneable { @@ -271,6 +271,7 @@ public class AltosState implements Cloneable { public int state; public int flight; public int serial; + public int altitude_32; public int receiver_serial; public boolean landed; public boolean ascent; /* going up? */ @@ -472,15 +473,23 @@ public class AltosState implements Cloneable { pressure.set(p, time); } + public double baro_height() { + double a = altitude(); + double g = ground_altitude(); + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + public double height() { double k = kalman_height.value(); if (k != AltosLib.MISSING) return k; - double a = altitude(); - double g = ground_altitude(); - if (a != AltosLib.MISSING && g != AltosLib.MISSING) - return a - g; + double b = baro_height(); + if (b != AltosLib.MISSING) + return b; + return gps_height(); } @@ -762,6 +771,7 @@ public class AltosState implements Cloneable { product = null; serial = AltosLib.MISSING; receiver_serial = AltosLib.MISSING; + altitude_32 = AltosLib.MISSING; baro = null; companion = null; @@ -899,6 +909,7 @@ public class AltosState implements Cloneable { product = old.product; serial = old.serial; receiver_serial = old.receiver_serial; + altitude_32 = old.altitude_32; baro = old.baro; companion = old.companion; @@ -1024,15 +1035,27 @@ public class AltosState implements Cloneable { firmware_version = version; } + public int compare_version(String other_version) { + if (firmware_version == null) + return AltosLib.MISSING; + return AltosLib.compare_version(firmware_version, other_version); + } + + private void re_init() { + int bt = boost_tick; + int rs = receiver_serial; + init(); + boost_tick = bt; + receiver_serial = rs; + } + public void set_flight(int flight) { /* When the flight changes, reset the state */ - if (flight != AltosLib.MISSING && flight != 0) { + if (flight != AltosLib.MISSING) { if (this.flight != AltosLib.MISSING && this.flight != flight) { - int bt = boost_tick; - init(); - boost_tick = bt; + re_init(); } this.flight = flight; } @@ -1043,9 +1066,7 @@ public class AltosState implements Cloneable { if (serial != AltosLib.MISSING) { if (this.serial != AltosLib.MISSING && this.serial != serial) { - int bt = boost_tick; - init(); - boost_tick = bt; + re_init(); } this.serial = serial; } @@ -1056,6 +1077,15 @@ public class AltosState implements Cloneable { receiver_serial = serial; } + public boolean altitude_32() { + return altitude_32 == 1; + } + + public void set_altitude_32(int altitude_32) { + if (altitude_32 != AltosLib.MISSING) + this.altitude_32 = altitude_32; + } + public int rssi() { if (rssi == AltosLib.MISSING) return 0; diff --git a/altoslib/AltosStateIterable.java b/altoslib/AltosStateIterable.java index be812095..4154b71c 100644 --- a/altoslib/AltosStateIterable.java +++ b/altoslib/AltosStateIterable.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; @@ -26,4 +26,18 @@ public abstract class AltosStateIterable implements Iterable<AltosState> { } public abstract void write(PrintStream out); + + public static AltosStateIterable iterable(File file) { + FileInputStream in; + try { + in = new FileInputStream(file); + } catch (Exception e) { + System.out.printf("Failed to open file '%s'\n", file); + return null; + } + if (file.getName().endsWith("telem")) + return new AltosTelemetryFile(in); + else + return new AltosEepromFile(in); + } } diff --git a/altoslib/AltosStateUpdate.java b/altoslib/AltosStateUpdate.java index ac4e963e..70530f75 100644 --- a/altoslib/AltosStateUpdate.java +++ b/altoslib/AltosStateUpdate.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosStateUpdate { public void update_state(AltosState state) throws InterruptedException; diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java index 8182ec6b..a123d752 100644 --- a/altoslib/AltosTelemetry.java +++ b/altoslib/AltosTelemetry.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; @@ -114,6 +114,29 @@ public abstract class AltosTelemetry implements AltosStateUpdate { return telem; } + public static int extend_height(AltosState state, int height_16) { + double compare_height; + int height = height_16; + + if (state.gps != null && state.gps.alt != AltosLib.MISSING) { + compare_height = state.gps_height(); + } else { + compare_height = state.height(); + } + + if (compare_height != AltosLib.MISSING) { + int high_bits = (int) Math.floor (compare_height / 65536.0); + + height = (high_bits << 16) | (height_16 & 0xffff); + + if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height)) + height += 65536; + else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height)) + height -= 65536; + } + return height; + } + public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException { String[] word = line.split("\\s+"); int i =0; diff --git a/altoslib/AltosTelemetryConfiguration.java b/altoslib/AltosTelemetryConfiguration.java index e3884051..f578e6ad 100644 --- a/altoslib/AltosTelemetryConfiguration.java +++ b/altoslib/AltosTelemetryConfiguration.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryConfiguration extends AltosTelemetryStandard { diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java index 3d3fa407..15344b8d 100644 --- a/altoslib/AltosTelemetryFile.java +++ b/altoslib/AltosTelemetryFile.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosTelemetryIterable.java b/altoslib/AltosTelemetryIterable.java index cba97ddc..ac42597d 100644 --- a/altoslib/AltosTelemetryIterable.java +++ b/altoslib/AltosTelemetryIterable.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java index 3367ece7..72a8bc4a 100644 --- a/altoslib/AltosTelemetryLegacy.java +++ b/altoslib/AltosTelemetryLegacy.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; @@ -186,6 +186,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry { * g_v GPS vertical speed (integer, cm/sec) * g_s GPS horizontal speed (integer, cm/sec) * g_c GPS course (integer, 0-359) + * g_pd GPS pdop (integer * 10) * g_hd GPS hdop (integer * 10) * g_vd GPS vdop (integer * 10) * g_he GPS h error (integer) @@ -209,6 +210,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry { 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_PDOP = "g_pd"; 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"; diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java index 8368188f..427ae16e 100644 --- a/altoslib/AltosTelemetryLocation.java +++ b/altoslib/AltosTelemetryLocation.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryLocation extends AltosTelemetryStandard { @@ -37,11 +37,12 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { int climb_rate; int course; + public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */ + public AltosTelemetryLocation(int[] bytes) { super(bytes); flags = uint8(5); - altitude = int16(6); latitude = uint32(8); longitude = uint32(12); year = uint8(16); @@ -57,6 +58,11 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { ground_speed = uint16(26); climb_rate = int16(28); course = uint8(30); + + if ((mode & AO_GPS_MODE_ALTITUDE_24) != 0) { + altitude = (int8(31) << 16) | uint16(6); + } else + altitude = int16(6); } public void update_state(AltosState state) { @@ -80,8 +86,9 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { 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; + gps.pdop = pdop / 10.0; + gps.hdop = hdop / 10.0; + gps.vdop = vdop / 10.0; } state.set_temp_gps(); } diff --git a/altoslib/AltosTelemetryMap.java b/altoslib/AltosTelemetryMap.java index 8d0de355..758311eb 100644 --- a/altoslib/AltosTelemetryMap.java +++ b/altoslib/AltosTelemetryMap.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; import java.util.HashMap; diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java index fac5695f..d949c02f 100644 --- a/altoslib/AltosTelemetryMegaData.java +++ b/altoslib/AltosTelemetryMegaData.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryMegaData extends AltosTelemetryStandard { int state; @@ -31,12 +31,12 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { int acceleration; int speed; - int height; + int height_16; public AltosTelemetryMegaData(int[] bytes) { super(bytes); - state = int8(5); + state = uint8(5); v_batt = int16(6); v_pyro = int16(8); @@ -44,7 +44,7 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { sense = new int[6]; for (int i = 0; i < 6; i++) { - sense[i] = int8(10 + i) << 4; + sense[i] = uint8(10 + i) << 4; sense[i] |= sense[i] >> 8; } @@ -55,7 +55,8 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { acceleration = int16(26); speed = int16(28); - height = int16(30); + + height_16 = int16(30); } public void update_state(AltosState state) { @@ -79,7 +80,13 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { state.set_ground_pressure(ground_pres); state.set_accel_g(accel_plus_g, accel_minus_g); - state.set_kalman(height, speed/16.0, acceleration / 16.0); + /* Fill in the high bits of height from recent GPS + * data if available, otherwise guess using the + * previous kalman height + */ + + state.set_kalman(extend_height(state, height_16), + speed/16.0, acceleration / 16.0); } } diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java index 9e73bc4e..1b568c88 100644 --- a/altoslib/AltosTelemetryMegaSensor.java +++ b/altoslib/AltosTelemetryMegaSensor.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { int accel; diff --git a/altoslib/AltosTelemetryMetrumData.java b/altoslib/AltosTelemetryMetrumData.java index 96617306..3377d969 100644 --- a/altoslib/AltosTelemetryMetrumData.java +++ b/altoslib/AltosTelemetryMetrumData.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryMetrumData extends AltosTelemetryStandard { diff --git a/altoslib/AltosTelemetryMetrumSensor.java b/altoslib/AltosTelemetryMetrumSensor.java index e7055404..beab6da9 100644 --- a/altoslib/AltosTelemetryMetrumSensor.java +++ b/altoslib/AltosTelemetryMetrumSensor.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { @@ -27,7 +27,7 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { int acceleration; int speed; - int height; + int height_16; int v_batt; int sense_a; @@ -43,7 +43,7 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { acceleration = int16(14); speed = int16(16); - height = int16(18); + height_16 = int16(18); v_batt = int16(20); sense_a = int16(22); @@ -59,7 +59,8 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { state.set_pressure(pres); state.set_temperature(temp/100.0); - state.set_kalman(height, speed/16.0, acceleration/16.0); + state.set_kalman(extend_height(state, height_16), + speed/16.0, acceleration/16.0); state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt)); diff --git a/altoslib/AltosTelemetryMini.java b/altoslib/AltosTelemetryMini.java index fbfaff8e..221bb67c 100644 --- a/altoslib/AltosTelemetryMini.java +++ b/altoslib/AltosTelemetryMini.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryMini extends AltosTelemetryStandard { diff --git a/altoslib/AltosTelemetryRaw.java b/altoslib/AltosTelemetryRaw.java index 0dca62aa..2a535e84 100644 --- a/altoslib/AltosTelemetryRaw.java +++ b/altoslib/AltosTelemetryRaw.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetryRaw extends AltosTelemetryStandard { public AltosTelemetryRaw(int[] bytes) { diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java index 3dff661a..7539452d 100644 --- a/altoslib/AltosTelemetryReader.java +++ b/altoslib/AltosTelemetryReader.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; import java.text.*; import java.io.*; @@ -26,11 +26,19 @@ public class AltosTelemetryReader extends AltosFlightReader { AltosLog log; double frequency; int telemetry; + int telemetry_rate; AltosState state = null; + AltosFlightReader stacked; LinkedBlockingQueue<AltosLine> telem; public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { + if (stacked != null) { + state = stacked.read(); + if (state != null) + return state; + stacked = null; + } AltosLine l = telem.take(); if (l.line == null) throw new IOException("IO error"); @@ -52,6 +60,12 @@ public class AltosTelemetryReader extends AltosFlightReader { } public void close(boolean interrupted) { + + if (stacked != null) { + stacked.close(interrupted); + stacked = null; + } + link.remove_monitor(telem); log.close(); try { @@ -92,6 +106,23 @@ public class AltosTelemetryReader extends AltosFlightReader { } } + public boolean supports_telemetry_rate(int telemetry_rate) { + try { + /* Version 1.4.1.1 supports all rates, older versions don't */ + if (link.config_data().compare_version("1.4.1.1") >= 0) + return true; + + if (telemetry_rate == AltosLib.ao_telemetry_rate_38400) + return true; + else + return false; + } catch (InterruptedException ie) { + return false; + } catch (TimeoutException te) { + return true; + } + } + public void save_frequency() { AltosPreferences.set_frequency(link.serial, frequency); } @@ -105,6 +136,15 @@ public class AltosTelemetryReader extends AltosFlightReader { AltosPreferences.set_telemetry(link.serial, telemetry); } + public void set_telemetry_rate(int in_telemetry_rate) { + telemetry_rate = in_telemetry_rate; + link.set_telemetry_rate(telemetry_rate); + } + + public void save_telemetry_rate() { + AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate); + } + public void set_monitor(boolean monitor) { link.set_monitor(monitor); } @@ -121,9 +161,10 @@ public class AltosTelemetryReader extends AltosFlightReader { return link.monitor_battery(); } - public AltosTelemetryReader (AltosLink in_link) + public AltosTelemetryReader (AltosLink in_link, AltosFlightReader in_stacked) throws IOException, InterruptedException, TimeoutException { link = in_link; + stacked = in_stacked; boolean success = false; try { log = new AltosLog(link); @@ -133,6 +174,8 @@ public class AltosTelemetryReader extends AltosFlightReader { set_frequency(frequency); telemetry = AltosPreferences.telemetry(link.serial); set_telemetry(telemetry); + telemetry_rate = AltosPreferences.telemetry_rate(link.serial); + set_telemetry_rate(telemetry_rate); link.add_monitor(telem); success = true; } finally { @@ -140,4 +183,22 @@ public class AltosTelemetryReader extends AltosFlightReader { close(true); } } + + private static AltosFlightReader existing_data(AltosLink link) { + if (link == null) + return null; + + File file = AltosPreferences.logfile(link.serial); + if (file != null) { + AltosStateIterable iterable = AltosStateIterable.iterable(file); + if (iterable != null) + return new AltosReplayReader(iterable.iterator(), file, false); + } + return null; + } + + public AltosTelemetryReader(AltosLink link) + throws IOException, InterruptedException, TimeoutException { + this(link, existing_data(link)); + } } diff --git a/altoslib/AltosTelemetrySatellite.java b/altoslib/AltosTelemetrySatellite.java index d611e88c..d1cdaf6d 100644 --- a/altoslib/AltosTelemetrySatellite.java +++ b/altoslib/AltosTelemetrySatellite.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetrySatellite extends AltosTelemetryStandard { int channels; diff --git a/altoslib/AltosTelemetrySensor.java b/altoslib/AltosTelemetrySensor.java index ad4d9283..fc3fe858 100644 --- a/altoslib/AltosTelemetrySensor.java +++ b/altoslib/AltosTelemetrySensor.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTelemetrySensor extends AltosTelemetryStandard { diff --git a/altoslib/AltosTelemetryStandard.java b/altoslib/AltosTelemetryStandard.java index 23ae9d21..f4dfd8e9 100644 --- a/altoslib/AltosTelemetryStandard.java +++ b/altoslib/AltosTelemetryStandard.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public abstract class AltosTelemetryStandard extends AltosTelemetry { int[] bytes; diff --git a/altoslib/AltosTemperature.java b/altoslib/AltosTemperature.java index 5fa71b86..e654fada 100644 --- a/altoslib/AltosTemperature.java +++ b/altoslib/AltosTemperature.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosTemperature extends AltosUnits { diff --git a/altoslib/AltosUnits.java b/altoslib/AltosUnits.java index d29cfae7..dbdb7882 100644 --- a/altoslib/AltosUnits.java +++ b/altoslib/AltosUnits.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public abstract class AltosUnits { diff --git a/altoslib/AltosUnitsListener.java b/altoslib/AltosUnitsListener.java index ca6faafd..664aed67 100644 --- a/altoslib/AltosUnitsListener.java +++ b/altoslib/AltosUnitsListener.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosUnitsListener { public void units_changed(boolean imperial_units); diff --git a/altoslib/AltosVoltage.java b/altoslib/AltosVoltage.java index 351bf115..22bd1aee 100644 --- a/altoslib/AltosVoltage.java +++ b/altoslib/AltosVoltage.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public class AltosVoltage extends AltosUnits { diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java index c3479a93..fb208b02 100644 --- a/altoslib/AltosWriter.java +++ b/altoslib/AltosWriter.java @@ -15,12 +15,10 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_5; public interface AltosWriter { - public void write(AltosState state); - public void write(AltosStateIterable states); public void close(); diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index e81418bb..0ad9b7da 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -131,7 +131,7 @@ JAR=altoslib_$(ALTOSLIB_VERSION).jar all-local: $(JAR) clean-local: - -rm -rf bin $(JAR) + -rm -rf $(JAVAROOT) altoslib_*.jar install-altoslibJAVA: $(JAR) @$(NORMAL_INSTALL) |