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-rw-r--r--altoslib/AltosConvert.java6
-rw-r--r--altoslib/AltosEepromFile.java64
-rw-r--r--altoslib/AltosEepromHeader.java13
-rw-r--r--altoslib/AltosEepromHeaderIterable.java2
-rw-r--r--altoslib/AltosEepromIterable.java72
-rw-r--r--altoslib/AltosEepromMini.java17
-rw-r--r--altoslib/AltosEepromMiniIterable.java2
-rw-r--r--altoslib/AltosEepromTM.java249
-rw-r--r--altoslib/AltosFlightReader.java2
-rw-r--r--altoslib/AltosGPS.java10
-rw-r--r--altoslib/AltosIMU.java1
-rw-r--r--altoslib/AltosLib.java4
-rw-r--r--altoslib/AltosRecord.java8
-rw-r--r--altoslib/AltosReplayReader.java6
-rw-r--r--altoslib/AltosState.java425
-rw-r--r--altoslib/AltosStateIterable.java29
-rw-r--r--altoslib/AltosTelemetryReader.java6
-rw-r--r--altoslib/Makefile.am3
18 files changed, 594 insertions, 325 deletions
diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java
index 8cd478e2..a1e2cdca 100644
--- a/altoslib/AltosConvert.java
+++ b/altoslib/AltosConvert.java
@@ -190,6 +190,12 @@ public class AltosConvert {
return ignite / 32767 * 15.0;
}
+ public static double
+ barometer_to_pressure(double count)
+ {
+ return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
+ }
+
public static double radio_to_frequency(int freq, int setting, int cal, int channel) {
double f;
diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java
index 48d2543c..bcc7171e 100644
--- a/altoslib/AltosEepromFile.java
+++ b/altoslib/AltosEepromFile.java
@@ -21,11 +21,47 @@ import java.io.*;
import java.util.*;
import java.text.*;
-public class AltosEepromFile {
+class AltosEepromIterator implements Iterator<AltosState> {
+ AltosState state;
+ Iterator<AltosEeprom> body;
+ AltosEeprom next;
+ boolean seen;
+
+ public boolean hasNext() {
+ return !seen || body.hasNext();
+ }
+
+ public AltosState next() {
+ if (seen) {
+ AltosState n = state.clone();
+ AltosEeprom e = body.next();
+
+ e.update_state(n);
+ state = n;
+ }
+ seen = true;
+ return state;
+ }
+
+ public void remove () {
+ }
+
+ public AltosEepromIterator(AltosState start, Iterator<AltosEeprom> body) {
+ this.state = start;
+ this.body = body;
+ this.seen = false;
+ }
+}
+
+public class AltosEepromFile extends AltosStateIterable {
AltosEepromIterable headers;
AltosEepromIterable body;
+ public void write_comments(PrintStream out) {
+ headers.write(out);
+ }
+
public void write(PrintStream out) {
headers.write(out);
body.write(out);
@@ -38,14 +74,38 @@ public class AltosEepromFile {
switch (state.log_format) {
case AltosLib.AO_LOG_FORMAT_FULL:
+ body = new AltosEepromIterable(AltosEepromTM.read(input));
+ break;
case AltosLib.AO_LOG_FORMAT_TINY:
case AltosLib.AO_LOG_FORMAT_TELEMETRY:
case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
break;
- case AltosLib.AO_LOG_FORMAT_MINI:
+ case AltosLib.AO_LOG_FORMAT_TELEMINI:
+ case AltosLib.AO_LOG_FORMAT_EASYMINI:
body = new AltosEepromIterable(AltosEepromMini.read(input));
break;
}
}
+
+ int boost_tick (AltosState start) {
+ AltosState state = start.clone();
+ for (AltosEeprom eeprom : body) {
+ eeprom.update_state(state);
+ if (state.state >= AltosLib.ao_flight_boost)
+ return state.tick;
+ }
+ return 0;
+ }
+
+ public Iterator<AltosState> iterator() {
+
+ AltosState state = headers.state();
+ Iterator<AltosEeprom> i = body.iterator();
+
+ while (i.hasNext() && !state.valid())
+ i.next().update_state(state);
+ state.set_boost_tick(boost_tick(state));
+ return new AltosEepromIterator(state, i);
+ }
} \ No newline at end of file
diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java
index b2343dc6..a06f05ed 100644
--- a/altoslib/AltosEepromHeader.java
+++ b/altoslib/AltosEepromHeader.java
@@ -43,8 +43,7 @@ public class AltosEepromHeader extends AltosEeprom {
state.callsign = data;
break;
case AltosLib.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = config_a;
- state.accel_minus_g = config_b;
+ state.set_accel_g(config_a, config_b);
break;
case AltosLib.AO_LOG_RADIO_CAL:
break;
@@ -56,30 +55,38 @@ public class AltosEepromHeader extends AltosEeprom {
state.log_format = config_a;
break;
case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = config_a;
+ state.set_serial(config_a);
break;
case AltosLib.AO_LOG_BARO_RESERVED:
+ state.make_baro();
state.baro.reserved = config_a;
break;
case AltosLib.AO_LOG_BARO_SENS:
+ state.make_baro();
state.baro.sens = config_a;
break;
case AltosLib.AO_LOG_BARO_OFF:
+ state.make_baro();
state.baro.off = config_a;
break;
case AltosLib.AO_LOG_BARO_TCS:
+ state.make_baro();
state.baro.tcs = config_a;
break;
case AltosLib.AO_LOG_BARO_TCO:
+ state.make_baro();
state.baro.tco = config_a;
break;
case AltosLib.AO_LOG_BARO_TREF:
+ state.make_baro();
state.baro.tref = config_a;
break;
case AltosLib.AO_LOG_BARO_TEMPSENS:
+ state.make_baro();
state.baro.tempsens = config_a;
break;
case AltosLib.AO_LOG_BARO_CRC:
+ state.make_baro();
state.baro.crc = config_a;
break;
case AltosLib.AO_LOG_SOFTWARE_VERSION:
diff --git a/altoslib/AltosEepromHeaderIterable.java b/altoslib/AltosEepromHeaderIterable.java
index fe9e05d9..01953f0e 100644
--- a/altoslib/AltosEepromHeaderIterable.java
+++ b/altoslib/AltosEepromHeaderIterable.java
@@ -29,7 +29,7 @@ public class AltosEepromHeaderIterable implements Iterable<AltosEepromHeader> {
}
public AltosState state() {
- AltosState state = new AltosState(null);
+ AltosState state = new AltosState();
for (AltosEepromHeader header : headers)
header.update_state(state);
diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java
index 470a7a8a..8e6a2313 100644
--- a/altoslib/AltosEepromIterable.java
+++ b/altoslib/AltosEepromIterable.java
@@ -21,6 +21,74 @@ import java.io.*;
import java.util.*;
import java.text.*;
+class AltosEepromOrdered implements Comparable<AltosEepromOrdered> {
+ AltosEeprom eeprom;
+ int index;
+ int tick;
+
+ int cmdi() {
+ if (eeprom.cmd == AltosLib.AO_LOG_FLIGHT)
+ return 0;
+ return 1;
+ }
+
+ public int compareTo(AltosEepromOrdered o) {
+ int cmd_diff = cmdi() - o.cmdi();
+
+ if (cmd_diff != 0)
+ return cmd_diff;
+
+ int tick_diff = tick - o.tick;
+
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
+ }
+
+ AltosEepromOrdered (AltosEeprom eeprom, int index, int tick) {
+ this.eeprom = eeprom;
+ this.index = index;
+ this.tick = tick;
+ }
+}
+
+class AltosEepromOrderedIterator implements Iterator<AltosEeprom> {
+ TreeSet<AltosEepromOrdered> olist;
+ Iterator<AltosEepromOrdered> oiterator;
+
+ public AltosEepromOrderedIterator(Iterable<AltosEeprom> eeproms) {
+ olist = new TreeSet<AltosEepromOrdered>();
+
+ int tick = 0;
+ int index = 0;
+ boolean first = true;
+
+ for (AltosEeprom e : eeproms) {
+ int t = e.tick;
+ if (first)
+ tick = t;
+ else {
+ while (t < tick - 32767)
+ t += 65536;
+ tick = t;
+ }
+ olist.add(new AltosEepromOrdered(e, index++, tick));
+ }
+ oiterator = olist.iterator();
+ }
+
+ public boolean hasNext() {
+ return oiterator.hasNext();
+ }
+
+ public AltosEeprom next() {
+ return oiterator.next().eeprom;
+ }
+
+ public void remove () {
+ }
+}
+
public class AltosEepromIterable implements Iterable<AltosEeprom> {
public LinkedList<AltosEeprom> eeproms;
@@ -30,7 +98,7 @@ public class AltosEepromIterable implements Iterable<AltosEeprom> {
}
public AltosState state() {
- AltosState state = new AltosState(null);
+ AltosState state = new AltosState();
for (AltosEeprom header : eeproms)
header.update_state(state);
@@ -44,6 +112,6 @@ public class AltosEepromIterable implements Iterable<AltosEeprom> {
public Iterator<AltosEeprom> iterator() {
if (eeproms == null)
eeproms = new LinkedList<AltosEeprom>();
- return eeproms.iterator();
+ return new AltosEepromOrderedIterator(eeproms);
}
} \ No newline at end of file
diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java
index ced87680..1e0ff1b9 100644
--- a/altoslib/AltosEepromMini.java
+++ b/altoslib/AltosEepromMini.java
@@ -55,13 +55,30 @@ public class AltosEepromMini extends AltosEeprom {
public int sense_m() { return data16(8); }
public int v_batt() { return data16(10); }
+ double voltage(AltosState state, int sensor) {
+ double supply;
+
+ if (state.log_format == AltosLib.AO_LOG_FORMAT_EASYMINI)
+ supply = 3.0;
+ else
+ supply = 3.3;
+ return sensor / 32767.0 * supply * 127/27;
+ }
+
public void update_state(AltosState state) {
switch (cmd) {
case AltosLib.AO_LOG_FLIGHT:
+ state.set_flight(flight());
+ state.set_ground_pressure(ground_pres());
break;
case AltosLib.AO_LOG_STATE:
+ state.set_state(state());
break;
case AltosLib.AO_LOG_SENSOR:
+ state.set_ms5607(pres(), temp());
+ state.set_apogee_voltage(voltage(state, sense_a()));
+ state.set_main_voltage(voltage(state, sense_m()));
+ state.set_battery_voltage(voltage(state, v_batt()));
break;
}
}
diff --git a/altoslib/AltosEepromMiniIterable.java b/altoslib/AltosEepromMiniIterable.java
index 1f221187..495495eb 100644
--- a/altoslib/AltosEepromMiniIterable.java
+++ b/altoslib/AltosEepromMiniIterable.java
@@ -21,7 +21,7 @@ import java.io.*;
import java.util.*;
import java.text.*;
-public class AltosEepromMiniIterable extends AltosRecordIterable {
+public class AltosEepromMiniIterable implements Iterable<AltosEepromMini> {
static final int seen_flight = 1;
static final int seen_sensor = 2;
diff --git a/altoslib/AltosEepromTM.java b/altoslib/AltosEepromTM.java
index fc7ec321..6945468b 100644
--- a/altoslib/AltosEepromTM.java
+++ b/altoslib/AltosEepromTM.java
@@ -17,134 +17,119 @@
package org.altusmetrum.altoslib_1;
+import java.io.*;
+import java.util.*;
import java.text.*;
-public class AltosEepromTM implements AltosStateUpdate {
+public class AltosEepromTM extends AltosEeprom {
public int cmd;
public int tick;
public int a;
public int b;
- public String data;
public boolean tick_valid;
public static final int record_length = 8;
+ static double
+ thermometer_to_temperature(double thermo)
+ {
+ return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
+ }
+
+ public void write(PrintStream out) {
+ out.printf("%c %4x %4x %4x\n", cmd, tick, a, b);
+ }
+
public void update_state(AltosState state) {
- state.set_tick(tick);
+ 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.ground_accel = a;
- state.flight = b;
+ state.set_state(AltosLib.ao_flight_pad);
+ state.set_ground_accel(a);
+ state.set_flight(b);
state.set_boost_tick(tick);
- state.time = 0;
break;
case AltosLib.AO_LOG_SENSOR:
- state.set_telemetrum(a, b);
+ state.set_tick(tick);
+ state.set_accel(a);
+ double pressure = AltosConvert.barometer_to_pressure(b);
+ state.set_pressure(pressure);
break;
case AltosLib.AO_LOG_PRESSURE:
- state.set_telemetrum(AltosState.MISSING, b);
+ state.set_tick(tick);
+ state.set_pressure(AltosConvert.barometer_to_pressure(b));
break;
case AltosLib.AO_LOG_TEMP_VOLT:
-/*
-
- record.temp = a;
- record.batt = b;
- eeprom_state.seen |= AltosRecord.seen_temp_volt;
-*/
+ state.set_tick(tick);
+ state.set_temperature(thermometer_to_temperature(a));
+ state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(b));
break;
case AltosLib.AO_LOG_DEPLOY:
-/*
- record.drogue = a;
- record.main = b;
- eeprom_state.seen |= AltosRecord.seen_deploy;
- has_ignite = true;
-*/
+ state.set_tick(tick);
+ state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(a));
+ state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(b));
break;
case AltosLib.AO_LOG_STATE:
- state.state = a;
- break;
-// case AltosLib.AO_LOG_GPS_TIME:
-// eeprom_state.gps_tick = record.tick;
-// eeprom_state.seen |= AltosRecord.seen_gps_time;
-// AltosGPS old = state.gps;
-// AltosGPS gps = new AltosGPS();
-//
-// /* GPS date doesn't get repeated through the file */
-// if (old != null) {
-// gps.year = old.year;
-// gps.month = old.month;
-// gps.day = old.day;
-// }
-// gps.hour = (a & 0xff);
-// gps.minute = (a >> 8);
-// gps.second = (b & 0xff);
-//
-// int flags = (b >> 8);
-// 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;
-// state.temp_gps = gps;
-// break;
-// case AltosLib.AO_LOG_GPS_LAT:
-// int lat32 = a | (b << 16);
-// if (state.temp_gps == null)
-// state.temp_gps = new AltosGPS();
-// state.temp_gps.lat = (double) lat32 / 1e7;
-// break;
-// case AltosLib.AO_LOG_GPS_LON:
-// int lon32 = a | (b << 16);
-// if (state.temp_gps == null)
-// state.temp_gps = new AltosGPS();
-// state.temp_gps.lon = (double) lon32 / 1e7;
-// break;
-// case AltosLib.AO_LOG_GPS_ALT:
-// if (state.temp_gps == null)
-// state.temp_gps = new AltosGPS();
-// state.temp_gps.alt = a;
-// break;
-// case AltosLib.AO_LOG_GPS_SAT:
-// if (record.tick == eeprom_state.gps_tick) {
-// int svid = a;
-// int c_n0 = b >> 8;
-// if (record.gps == null)
-// record.gps = new AltosGPS();
-// record.gps.add_sat(svid, c_n0);
-// }
-// break;
-// case AltosLib.AO_LOG_GPS_DATE:
-// if (record.gps == null)
-// record.gps = new AltosGPS();
-// record.gps.year = (a & 0xff) + 2000;
-// record.gps.month = a >> 8;
-// record.gps.day = b & 0xff;
-// break;
-
- case AltosLib.AO_LOG_CONFIG_VERSION:
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- state.callsign = data;
+ state.set_tick(tick);
+ state.set_state(a);
break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = a;
- state.accel_minus_g = b;
+ case AltosLib.AO_LOG_GPS_TIME:
+ gps = state.make_temp_gps();
+
+ gps.hour = (a & 0xff);
+ gps.minute = (a >> 8);
+ gps.second = (b & 0xff);
+
+ int flags = (b >> 8);
+
+ 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;
break;
- case AltosLib.AO_LOG_RADIO_CAL:
+ case AltosLib.AO_LOG_GPS_LAT:
+ gps = state.make_temp_gps();
+
+ int lat32 = a | (b << 16);
+ gps.lat = (double) lat32 / 1e7;
break;
- case AltosLib.AO_LOG_MANUFACTURER:
+ case AltosLib.AO_LOG_GPS_LON:
+ gps = state.make_temp_gps();
+
+ int lon32 = a | (b << 16);
+ gps.lon = (double) lon32 / 1e7;
break;
- case AltosLib.AO_LOG_PRODUCT:
+ case AltosLib.AO_LOG_GPS_ALT:
+ gps = state.make_temp_gps();
+ gps.alt = a;
break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = a;
+ case AltosLib.AO_LOG_GPS_SAT:
+ gps = state.make_temp_gps();
+ int svid = a;
+ int c_n0 = b >> 8;
+ gps.add_sat(svid, c_n0);
break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
+ case AltosLib.AO_LOG_GPS_DATE:
+ gps = state.make_temp_gps();
+ gps.year = (a & 0xff) + 2000;
+ gps.month = a >> 8;
+ gps.day = b & 0xff;
break;
}
}
@@ -166,8 +151,6 @@ public class AltosEepromTM implements AltosStateUpdate {
tick = chunk.data16(start + 2);
a = chunk.data16(start + 4);
b = chunk.data16(start + 6);
-
- data = null;
}
public AltosEepromTM (String line) {
@@ -175,10 +158,8 @@ public class AltosEepromTM implements AltosStateUpdate {
tick = 0;
a = 0;
b = 0;
- data = null;
if (line == null) {
cmd = AltosLib.AO_LOG_INVALID;
- data = "";
} else {
try {
String[] tokens = line.split("\\s+");
@@ -186,7 +167,6 @@ public class AltosEepromTM implements AltosStateUpdate {
if (tokens[0].length() == 1) {
if (tokens.length != 4) {
cmd = AltosLib.AO_LOG_INVALID;
- data = line;
} else {
cmd = tokens[0].codePointAt(0);
tick = Integer.parseInt(tokens[1],16);
@@ -194,53 +174,11 @@ public class AltosEepromTM implements AltosStateUpdate {
a = Integer.parseInt(tokens[2],16);
b = Integer.parseInt(tokens[3],16);
}
- } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
- cmd = AltosLib.AO_LOG_CONFIG_VERSION;
- data = tokens[2];
- } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
- cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
- cmd = AltosLib.AO_LOG_APOGEE_DELAY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
- cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Callsign:")) {
- cmd = AltosLib.AO_LOG_CALLSIGN;
- data = tokens[1].replaceAll("\"","");
- } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
- cmd = AltosLib.AO_LOG_ACCEL_CAL;
- a = Integer.parseInt(tokens[3]);
- b = Integer.parseInt(tokens[5]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
- cmd = AltosLib.AO_LOG_RADIO_CAL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
- cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
- a = Integer.parseInt(tokens[3]);
- } else if (tokens[0].equals("manufacturer")) {
- cmd = AltosLib.AO_LOG_MANUFACTURER;
- data = tokens[1];
- } else if (tokens[0].equals("product")) {
- cmd = AltosLib.AO_LOG_PRODUCT;
- data = tokens[1];
- } else if (tokens[0].equals("serial-number")) {
- cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("log-format")) {
- cmd = AltosLib.AO_LOG_LOG_FORMAT;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("software-version")) {
- cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
- data = tokens[1];
} else {
cmd = AltosLib.AO_LOG_INVALID;
- data = line;
}
} catch (NumberFormatException ne) {
-v cmd = AltosLib.AO_LOG_INVALID;
- data = line;
+ cmd = AltosLib.AO_LOG_INVALID;
}
}
}
@@ -252,4 +190,23 @@ v cmd = AltosLib.AO_LOG_INVALID;
a = in_a;
b = in_b;
}
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> tms = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ AltosEepromTM tm = new AltosEepromTM(line);
+ tms.add(tm);
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return tms;
+ }
+
}
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index 34526658..5a415274 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -28,7 +28,7 @@ public class AltosFlightReader {
public void init() { }
- public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
+ public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
public void close(boolean interrupted) { }
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index f7929a4c..eb384e4d 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -28,7 +28,7 @@ public class AltosGPS implements Cloneable {
public boolean connected;
public double lat; /* degrees (+N -S) */
public double lon; /* degrees (+E -W) */
- public int alt; /* m */
+ public double alt; /* m */
public int year;
public int month;
public int day;
@@ -222,7 +222,7 @@ public class AltosGPS implements Cloneable {
g.nsat = nsat;
g.locked = locked;
g.connected = connected;
- g.lat = lat; g./* degrees (+N -S) */
+ g.lat = lat; /* degrees (+N -S) */
g.lon = lon; /* degrees (+E -W) */
g.alt = alt; /* m */
g.year = year;
@@ -242,11 +242,11 @@ public class AltosGPS implements Cloneable {
if (cc_gps_sat != null) {
g.cc_gps_sat = new AltosGPSSat[cc_gps_sat.length];
for (int i = 0; i < cc_gps_sat.length; i++) {
- g.cc_gps_sat[i] = new AltosGPSSat();
- g.cc_gps_sat[i].svid = cc_gps_sat[i].svid;
- g.cc_gps_sat[i].c_n0 = cc_gps_sat[i].c_n0;
+ g.cc_gps_sat[i] = new AltosGPSSat(cc_gps_sat[i].svid,
+ cc_gps_sat[i].c_n0);
}
}
+ return g;
}
public AltosGPS(AltosGPS old) {
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 46df35bf..c5ebbb16 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -37,5 +37,6 @@ public class AltosIMU implements Cloneable {
n.gyro_y = gyro_y;
n.gyro_z = gyro_z;
return n;
+ }
}
\ No newline at end of file
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index d60ef492..4ca8ad9d 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -218,7 +218,9 @@ public class AltosLib {
public static final int AO_LOG_FORMAT_TELEMETRY = 3;
public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
public static final int AO_LOG_FORMAT_TELEMEGA = 5;
- public static final int AO_LOG_FORMAT_MINI = 6;
+ public static final int AO_LOG_FORMAT_EASYMINI = 6;
+ public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
+ public static final int AO_LOG_FORMAT_TELEMINI = 8;
public static final int AO_LOG_FORMAT_NONE = 127;
public static boolean isspace(int c) {
diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java
index 5e4ed927..0c8e1db9 100644
--- a/altoslib/AltosRecord.java
+++ b/altoslib/AltosRecord.java
@@ -56,6 +56,10 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
public int flight_log_max;
public String firmware_version;
+ public double accel_plus_g, accel_minus_g;
+ public double ground_accel;
+ public double accel;
+
public AltosRecordCompanion companion;
/* Telemetry sources have these values recorded from the flight computer */
@@ -167,5 +171,9 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
kalman_acceleration = MISSING;
kalman_speed = MISSING;
kalman_height = MISSING;
+
+ accel_plus_g = MISSING;
+ accel_minus_g = MISSING;
+
}
}
diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java
index a7e30370..0c14dee4 100644
--- a/altoslib/AltosReplayReader.java
+++ b/altoslib/AltosReplayReader.java
@@ -25,10 +25,10 @@ import java.util.*;
*/
public class AltosReplayReader extends AltosFlightReader {
- Iterator<AltosRecord> iterator;
+ Iterator<AltosState> iterator;
File file;
- public AltosRecord read() {
+ public AltosState read() {
if (iterator.hasNext())
return iterator.next();
return null;
@@ -45,7 +45,7 @@ public class AltosReplayReader extends AltosFlightReader {
public File backing_file() { return file; }
- public AltosReplayReader(Iterator<AltosRecord> in_iterator, File in_file) {
+ public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
iterator = in_iterator;
file = in_file;
name = file.getName();
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index b40b744f..daf06c19 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -22,22 +22,35 @@
package org.altusmetrum.altoslib_1;
public class AltosState implements Cloneable {
- public AltosRecord data;
+ public AltosRecord record;
+
+ public static final int set_position = 1;
+ public static final int set_gps = 2;
+ public static final int set_data = 4;
+
+ public int set;
/* derived data */
public long report_time;
public double time;
+ public double prev_time;
public double time_change;
public int tick;
+ public int boost_tick;
public int state;
+ public int flight;
+ public int serial;
public boolean landed;
public boolean ascent; /* going up? */
public boolean boost; /* under power */
+ public int rssi;
+ public int status;
public double ground_altitude;
+ public double ground_pressure;
public double altitude;
public double height;
public double pressure;
@@ -60,6 +73,8 @@ public class AltosState implements Cloneable {
public double kalman_height, kalman_speed, kalman_acceleration;
public AltosGPS gps;
+ public AltosGPS temp_gps;
+ public boolean gps_pending;
public int gps_sequence;
public AltosIMU imu;
@@ -91,10 +106,11 @@ public class AltosState implements Cloneable {
public double ground_accel;
public int log_format;
- public int serial;
public AltosMs5607 baro;
+ public AltosRecordCompanion companion;
+
public double speed() {
return speed;
}
@@ -112,17 +128,25 @@ public class AltosState implements Cloneable {
}
public void init() {
- data = new AltosRecord();
+ record = null;
+
+ set = 0;
report_time = System.currentTimeMillis();
time = AltosRecord.MISSING;
time_change = AltosRecord.MISSING;
+ prev_time = AltosRecord.MISSING;
tick = AltosRecord.MISSING;
+ boost_tick = AltosRecord.MISSING;
state = AltosLib.ao_flight_invalid;
+ flight = AltosRecord.MISSING;
landed = false;
boost = false;
+ rssi = AltosRecord.MISSING;
+ status = 0;
ground_altitude = AltosRecord.MISSING;
+ ground_pressure = AltosRecord.MISSING;
altitude = AltosRecord.MISSING;
height = AltosRecord.MISSING;
pressure = AltosRecord.MISSING;
@@ -138,21 +162,20 @@ public class AltosState implements Cloneable {
apogee_voltage = AltosRecord.MISSING;
main_voltage = AltosRecord.MISSING;
-
- accel_speed = AltosRecord.MISSING;
- baro_speed = AltosRecord.MISSING;
+ speed = AltosRecord.MISSING;
kalman_height = AltosRecord.MISSING;
kalman_speed = AltosRecord.MISSING;
kalman_acceleration = AltosRecord.MISSING;
- max_baro_speed = 0;
- max_accel_speed = 0;
+ max_speed = 0;
max_height = 0;
max_acceleration = 0;
gps = null;
+ temp_gps = null;
gps_sequence = 0;
+ gps_pending = false;
imu = null;
mag = null;
@@ -165,7 +188,7 @@ public class AltosState implements Cloneable {
range = AltosRecord.MISSING;
gps_height = AltosRecord.MISSING;
- pat_lat = AltosRecord.MISSING;
+ pad_lat = AltosRecord.MISSING;
pad_lon = AltosRecord.MISSING;
pad_alt = AltosRecord.MISSING;
@@ -176,15 +199,18 @@ public class AltosState implements Cloneable {
accel_plus_g = AltosRecord.MISSING;
accel_minus_g = AltosRecord.MISSING;
+ accel = AltosRecord.MISSING;
+ ground_accel = AltosRecord.MISSING;
log_format = AltosRecord.MISSING;
serial = AltosRecord.MISSING;
baro = null;
+ companion = null;
}
void copy(AltosState old) {
- data = null;
+ record = null;
if (old == null) {
init();
@@ -193,13 +219,19 @@ public class AltosState implements Cloneable {
report_time = old.report_time;
time = old.time;
- time_change = old.time_change;
+ time_change = 0;
tick = old.tick;
+ boost_tick = old.boost_tick;
state = old.state;
+ flight = old.flight;
landed = old.landed;
ascent = old.ascent;
boost = old.boost;
+ rssi = old.rssi;
+ status = old.status;
+
+ set = 0;
ground_altitude = old.ground_altitude;
altitude = old.altitude;
@@ -211,17 +243,16 @@ public class AltosState implements Cloneable {
temperature = old.temperature;
apogee_voltage = old.apogee_voltage;
main_voltage = old.main_voltage;
- accel_speed = old.accel_speed;
- baro_speed = old.baro_speed;
+ speed = old.speed;
prev_height = old.height;
prev_speed = old.speed;
prev_acceleration = old.acceleration;
+ prev_time = old.time;
max_height = old.max_height;
max_acceleration = old.max_acceleration;
- max_accel_speed = old.max_accel_speed;
- max_baro_speed = old.max_baro_speed;
+ max_speed = old.max_speed;
kalman_height = old.kalman_height;
kalman_speed = old.kalman_speed;
@@ -231,7 +262,12 @@ public class AltosState implements Cloneable {
gps = old.gps.clone();
else
gps = null;
+ if (old.temp_gps != null)
+ temp_gps = old.temp_gps.clone();
+ else
+ temp_gps = null;
gps_sequence = old.gps_sequence;
+ gps_pending = old.gps_pending;
if (old.imu != null)
imu = old.imu.clone();
@@ -268,14 +304,14 @@ public class AltosState implements Cloneable {
accel_plus_g = old.accel_plus_g;
accel_minus_g = old.accel_minus_g;
+ accel = old.accel;
+ ground_accel = old.ground_accel;
+
log_format = old.log_format;
serial = old.serial;
baro = old.baro;
- }
-
- double ground_altitude() {
-
+ companion = old.companion;
}
double altitude() {
@@ -289,8 +325,12 @@ public class AltosState implements Cloneable {
void update_vertical_pos() {
double alt = altitude();
- if (state == AltosLib.ao_flight_pad) {
-
+
+ if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
+ if (ground_altitude == AltosRecord.MISSING)
+ ground_altitude = alt;
+ else
+ ground_altitude = (ground_altitude * 7 + alt) / 8;
}
if (kalman_height != AltosRecord.MISSING)
@@ -300,6 +340,9 @@ public class AltosState implements Cloneable {
else
height = AltosRecord.MISSING;
+ if (height != AltosRecord.MISSING && height > max_height)
+ max_height = height;
+
update_speed();
}
@@ -348,12 +391,14 @@ public class AltosState implements Cloneable {
}
}
}
+ if (boost && speed != AltosRecord.MISSING && speed > max_speed)
+ max_speed = speed;
}
void update_accel() {
if (accel == AltosRecord.MISSING)
return;
- if (ground_Accel == AltosRecord.MISSING)
+ if (ground_accel == AltosRecord.MISSING)
return;
if (accel_plus_g == AltosRecord.MISSING)
return;
@@ -364,9 +409,60 @@ public class AltosState implements Cloneable {
double counts_per_mss = counts_per_g / 9.80665;
acceleration = (ground_accel - accel) / counts_per_mss;
+
+ /* Only look at accelerometer data under boost */
+ if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
+ max_acceleration = acceleration;
update_speed();
}
+ void update_time() {
+ if (tick != AltosRecord.MISSING) {
+ time = tick / 100.0;
+ if (prev_time != AltosRecord.MISSING)
+ time_change = time - prev_time;
+ }
+ }
+
+ void update_gps() {
+ elevation = 0;
+ range = -1;
+ gps_height = 0;
+
+ if (gps == null)
+ return;
+
+ if (gps.locked && gps.nsat >= 4) {
+ /* Track consecutive 'good' gps reports, waiting for 10 of them */
+ if (state == AltosLib.ao_flight_pad) {
+ set_npad(npad+1);
+ if (pad_lat != AltosRecord.MISSING) {
+ pad_lat = (pad_lat * 31 + gps.lat) / 32;
+ pad_lon = (pad_lon * 31 + gps.lon) / 32;
+ pad_alt = (pad_alt * 31 + gps.alt) / 32;
+ }
+ }
+ if (pad_lat == AltosRecord.MISSING) {
+ pad_lat = gps.lat;
+ pad_lon = gps.lon;
+ pad_alt = gps.alt;
+ }
+ }
+ if (gps.lat != 0 && gps.lon != 0 &&
+ pad_lat != AltosRecord.MISSING &&
+ pad_lon != AltosRecord.MISSING)
+ {
+ double h = height;
+
+ if (h == AltosRecord.MISSING)
+ h = 0;
+ from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+ elevation = from_pad.elevation;
+ range = from_pad.range;
+ gps_height = gps.alt - pad_alt;
+ }
+ }
+
public void set_tick(int tick) {
if (tick != AltosRecord.MISSING) {
if (this.tick != AltosRecord.MISSING) {
@@ -380,6 +476,15 @@ public class AltosState implements Cloneable {
}
}
+ public void set_boost_tick(int boost_tick) {
+ if (boost_tick != AltosRecord.MISSING)
+ this.boost_tick = boost_tick;
+ }
+
+ public String state_name() {
+ return AltosLib.state_name(state);
+ }
+
public void set_state(int state) {
if (state != AltosLib.ao_flight_invalid) {
this.state = state;
@@ -390,10 +495,47 @@ public class AltosState implements Cloneable {
}
+ public void set_flight(int flight) {
+
+ /* When the flight changes, reset the state */
+ if (flight != AltosRecord.MISSING) {
+ if (this.flight != AltosRecord.MISSING &&
+ this.flight != flight) {
+ init();
+ }
+ this.flight = flight;
+ }
+ }
+
+ public void set_serial(int serial) {
+ /* When the serial changes, reset the state */
+ if (serial != AltosRecord.MISSING) {
+ if (this.serial != AltosRecord.MISSING &&
+ this.serial != serial) {
+ init();
+ }
+ this.serial = serial;
+ }
+ }
+
+ public int rssi() {
+ if (rssi == AltosRecord.MISSING)
+ return 0;
+ return rssi;
+ }
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosRecord.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
+ }
+
public void set_altitude(double altitude) {
if (altitude != AltosRecord.MISSING) {
this.altitude = altitude;
update_vertical_pos();
+ set |= set_position;
}
}
@@ -404,11 +546,24 @@ public class AltosState implements Cloneable {
}
}
+ public void set_ground_pressure (double pressure) {
+ if (pressure != AltosRecord.MISSING) {
+ this.ground_pressure = pressure;
+ set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
+ update_vertical_pos();
+ }
+ }
+
public void set_gps(AltosGPS gps, int sequence) {
if (gps != null) {
+ System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n",
+ gps.year, gps.month, gps.day,
+ gps.hour, gps.minute, gps.second);
this.gps = gps.clone();
gps_sequence = sequence;
+ update_gps();
update_vertical_pos();
+ set |= set_gps;
}
}
@@ -417,7 +572,6 @@ public class AltosState implements Cloneable {
kalman_height = height;
kalman_speed = speed;
kalman_acceleration = acceleration;
- baro_speed = accel_speed = speed;
update_vertical_pos();
}
}
@@ -429,6 +583,29 @@ public class AltosState implements Cloneable {
}
}
+ public void make_baro() {
+ if (baro == null)
+ baro = new AltosMs5607();
+ }
+
+ public void set_ms5607(int pres, int temp) {
+ if (baro != null) {
+ baro.set(pres, temp);
+
+ set_pressure(baro.pa);
+ set_temperature(baro.cc / 100.0);
+ }
+ }
+
+ public void make_companion (int nchannels) {
+ if (companion == null)
+ companion = new AltosRecordCompanion(nchannels);
+ }
+
+ public void set_companion(AltosRecordCompanion companion) {
+ this.companion = companion;
+ }
+
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
if (accel_plus_g != AltosRecord.MISSING) {
this.accel_plus_g = accel_plus_g;
@@ -451,36 +628,77 @@ public class AltosState implements Cloneable {
}
public void set_temperature(double temperature) {
- if (temperature != AltosRecord.MISSING)
+ if (temperature != AltosRecord.MISSING) {
this.temperature = temperature;
+ set |= set_data;
+ }
}
public void set_battery_voltage(double battery_voltage) {
- if (battery_voltage != AltosRecord.MISSING)
+ if (battery_voltage != AltosRecord.MISSING) {
this.battery_voltage = battery_voltage;
+ set |= set_data;
+ }
}
public void set_pyro_voltage(double pyro_voltage) {
- if (pyro_voltage != AltosRecord.MISSING)
+ if (pyro_voltage != AltosRecord.MISSING) {
this.pyro_voltage = pyro_voltage;
+ set |= set_data;
+ }
}
public void set_apogee_voltage(double apogee_voltage) {
- if (apogee_voltage != AltosRecord.MISSING)
+ if (apogee_voltage != AltosRecord.MISSING) {
this.apogee_voltage = apogee_voltage;
+ set |= set_data;
+ }
}
public void set_main_voltage(double main_voltage) {
- if (main_voltage != AltosRecord.MISSING)
+ if (main_voltage != AltosRecord.MISSING) {
this.main_voltage = main_voltage;
+ set |= set_data;
+ }
+ }
+
+
+ public double time_since_boost() {
+ if (tick == AltosRecord.MISSING)
+ return 0.0;
+
+ if (boost_tick != AltosRecord.MISSING) {
+ return (tick - boost_tick) / 100.0;
+ }
+ return tick / 100.0;
+ }
+
+ public boolean valid() {
+ return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
+ }
+
+ public AltosGPS make_temp_gps() {
+ if (temp_gps == null) {
+ temp_gps = new AltosGPS(gps);
+ temp_gps.cc_gps_sat = null;
+ }
+ gps_pending = true;
+ return temp_gps;
+ }
+
+ public void set_temp_gps() {
+ set_gps(temp_gps, gps_sequence + 1);
+ gps_pending = false;
+ temp_gps = null;
}
public void init (AltosRecord cur, AltosState prev_state) {
+ System.out.printf ("init\n");
if (cur == null)
cur = new AltosRecord();
- data = cur;
+ record = cur;
/* Discard previous state if it was for a different board */
if (prev_state != null && prev_state.serial != cur.serial)
@@ -488,146 +706,35 @@ public class AltosState implements Cloneable {
copy(prev_state);
- set_ground_altitude(data.ground_altitude());
- set_altitude(data.altitude());
+ set_ground_altitude(cur.ground_altitude());
+ set_altitude(cur.altitude());
- set_kalman(data.kalman_height, data.kalman_speed, data.kalman_acceleration);
+ set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
report_time = System.currentTimeMillis();
- set_temperature(data.temperature());
- set_apogee_voltage(data.drogue_voltage());
- set_main_voltage(data.main_voltage());
- set_battery_voltage(data.battery_voltage());
-
- set_pressure(data.pressure());
-
- set_tick(data.tick);
- set_state(data.state);
+ set_temperature(cur.temperature());
+ set_apogee_voltage(cur.drogue_voltage());
+ set_main_voltage(cur.main_voltage());
+ set_battery_voltage(cur.battery_voltage());
- set_accel_g (data.accel_minus_g, data.accel_plus_g);
- set_ground_accel(data.ground_accel);
- set_accel (data.accel);
+ set_pressure(cur.pressure());
- set_gps(data.gps, data.gps_sequence);
+ set_tick(cur.tick);
+ set_state(cur.state);
- if (prev_state != null) {
+ set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
+ set_ground_accel(cur.ground_accel);
+ set_accel (cur.accel);
- if (data.kalman_speed != AltosRecord.MISSING) {
- baro_speed = accel_speed = data.kalman_speed;
- } else {
- /* compute barometric speed */
-
- double height_change = height - prev_state.height;
-
- double prev_baro_speed = prev_state.baro_speed;
- if (prev_baro_speed == AltosRecord.MISSING)
- prev_baro_speed = 0;
-
- if (time_change > 0)
- baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
- else
- baro_speed = prev_state.baro_speed;
+ if (cur.gps_sequence != gps_sequence)
+ set_gps(cur.gps, cur.gps_sequence);
- double prev_accel_speed = prev_state.accel_speed;
-
- if (prev_accel_speed == AltosRecord.MISSING)
- prev_accel_speed = 0;
-
- if (acceleration == AltosRecord.MISSING) {
- /* Fill in mising acceleration value */
- accel_speed = baro_speed;
-
- if (time_change > 0 && accel_speed != AltosRecord.MISSING)
- acceleration = (accel_speed - prev_accel_speed) / time_change;
- else
- acceleration = prev_state.acceleration;
- } else {
- /* compute accelerometer speed */
- accel_speed = prev_accel_speed + acceleration * time_change;
- }
- }
- } else {
- npad = 0;
- ngps = 0;
- gps = null;
- gps_sequence = 0;
- baro_speed = AltosRecord.MISSING;
- accel_speed = AltosRecord.MISSING;
- pad_alt = AltosRecord.MISSING;
- max_baro_speed = 0;
- max_accel_speed = 0;
- max_height = 0;
- max_acceleration = 0;
- time_change = 0;
- baro = new AltosMs5607();
- callsign = "";
- accel_plus_g = AltosRecord.MISSING;
- accel_minus_g = AltosRecord.MISSING;
- log_format = AltosRecord.MISSING;
- serial = AltosRecord.MISSING;
- }
-
- time = tick / 100.0;
-
- if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
-
- /* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
- set_npad(npad+1);
- else
- set_npad(0);
-
- /* Average GPS data while on the pad */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
- if (ngps > 1 && state == AltosLib.ao_flight_pad) {
- /* filter pad position */
- pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
- pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
- pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
- } else {
- pad_lat = data.gps.lat;
- pad_lon = data.gps.lon;
- pad_alt = data.gps.alt;
- }
- ngps++;
- }
- } else {
- if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
- pad_alt = ground_altitude;
- }
-
- gps_sequence = data.gps_sequence;
-
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
- max_acceleration = acceleration;
- if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
- max_accel_speed = accel_speed;
- if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
- max_baro_speed = baro_speed;
-
- if (height != AltosRecord.MISSING && height > max_height)
- max_height = height;
- elevation = 0;
- range = -1;
- gps_height = 0;
- if (data.gps != null) {
- gps = data.gps;
- if (ngps > 0 && gps.locked) {
- double h = height;
-
- if (h == AltosRecord.MISSING) h = 0;
- from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
- elevation = from_pad.elevation;
- range = from_pad.range;
- gps_height = gps.alt - pad_alt;
- }
- }
}
public AltosState clone() {
- AltosState s = new AltosState(data, this);
+ AltosState s = new AltosState();
+ s.copy(this);
return s;
}
@@ -638,4 +745,8 @@ public class AltosState implements Cloneable {
public AltosState (AltosRecord cur, AltosState prev) {
init(cur, prev);
}
+
+ public AltosState () {
+ init();
+ }
}
diff --git a/altoslib/AltosStateIterable.java b/altoslib/AltosStateIterable.java
new file mode 100644
index 00000000..db4a2568
--- /dev/null
+++ b/altoslib/AltosStateIterable.java
@@ -0,0 +1,29 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.altoslib_1;
+
+import java.io.*;
+import java.util.*;
+
+public abstract class AltosStateIterable implements Iterable<AltosState> {
+
+ public void write_comments (PrintStream out) {
+ }
+
+ public abstract void write(PrintStream out);
+}
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index b4293c73..3915927c 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -27,16 +27,18 @@ public class AltosTelemetryReader extends AltosFlightReader {
AltosRecord previous;
double frequency;
int telemetry;
+ AltosState state = null;
LinkedBlockingQueue<AltosLine> telem;
- public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
AltosLine l = telem.take();
if (l.line == null)
throw new IOException("IO error");
AltosRecord next = AltosTelemetry.parse(l.line, previous);
previous = next;
- return next;
+ state = new AltosState (next, state);
+ return state;
}
public void flush() {
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 8a41b90c..bbcca906 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -20,6 +20,7 @@ altoslib_JAVA = \
AltosEeprom.java \
AltosEepromChunk.java \
AltosEepromFile.java \
+ AltosEepromTM.java \
AltosEepromHeader.java \
AltosEepromIterable.java \
AltosEepromLog.java \
@@ -28,7 +29,6 @@ altoslib_JAVA = \
AltosEepromRecord.java \
AltosEepromTeleScience.java \
AltosEepromMini.java \
- AltosEepromMiniIterable.java \
AltosEepromOldIterable.java \
AltosFile.java \
AltosFlash.java \
@@ -69,6 +69,7 @@ altoslib_JAVA = \
AltosSensorMM.java \
AltosSensorTM.java \
AltosState.java \
+ AltosStateIterable.java \
AltosStateUpdate.java \
AltosTelemetry.java \
AltosTelemetryIterable.java \
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-17 16:57:33 +0000