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/*
* Copyright © 2010 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
package org.altusmetrum.AltosLib;
import java.text.*;
public class AltosGPS {
public final static int MISSING = AltosRecord.MISSING;
public int nsat;
public boolean locked;
public boolean connected;
public double lat; /* degrees (+N -S) */
public double lon; /* degrees (+E -W) */
public int alt; /* m */
public int year;
public int month;
public int day;
public int hour;
public int minute;
public int second;
public double ground_speed; /* m/s */
public int course; /* degrees */
public double climb_rate; /* m/s */
public double hdop; /* unitless */
public double vdop; /* unitless */
public int h_error; /* m */
public int v_error; /* m */
public AltosGPSSat[] cc_gps_sat; /* tracking data */
public void ParseGPSDate(String date) throws ParseException {
String[] ymd = date.split("-");
if (ymd.length != 3)
throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
year = AltosParse.parse_int(ymd[0]);
month = AltosParse.parse_int(ymd[1]);
day = AltosParse.parse_int(ymd[2]);
}
public void ParseGPSTime(String time) throws ParseException {
String[] hms = time.split(":");
if (hms.length != 3)
throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
hour = AltosParse.parse_int(hms[0]);
minute = AltosParse.parse_int(hms[1]);
second = AltosParse.parse_int(hms[2]);
}
public void ClearGPSTime() {
year = month = day = 0;
hour = minute = second = 0;
}
public AltosGPS(AltosTelemetryMap map) throws ParseException {
String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
connected = true;
locked = true;
lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
if (year != MISSING)
year += 2000;
month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
AltosRecord.MISSING, 1/100.0);
course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
AltosRecord.MISSING);
hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
} else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
connected = true;
locked = false;
} else {
connected = false;
locked = false;
}
}
public AltosGPS(String[] words, int i, int version) throws ParseException {
AltosParse.word(words[i++], "GPS");
nsat = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "sat");
connected = false;
locked = false;
lat = lon = 0;
alt = 0;
ClearGPSTime();
if ((words[i]).equals("unlocked")) {
connected = true;
i++;
} else if ((words[i]).equals("not-connected")) {
i++;
} else if (words.length >= 40) {
locked = true;
connected = true;
if (version > 1)
ParseGPSDate(words[i++]);
else
year = month = day = 0;
ParseGPSTime(words[i++]);
lat = AltosParse.parse_coord(words[i++]);
lon = AltosParse.parse_coord(words[i++]);
alt = AltosParse.parse_int(words[i++]);
if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
course = AltosParse.parse_int(words[i++]);
climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
h_error = AltosParse.parse_int(words[i++]);
v_error = AltosParse.parse_int(words[i++]);
}
} else {
i++;
}
if (i < words.length) {
AltosParse.word(words[i++], "SAT");
int tracking_channels = 0;
if (words[i].equals("not-connected"))
tracking_channels = 0;
else
tracking_channels = AltosParse.parse_int(words[i]);
i++;
cc_gps_sat = new AltosGPSSat[tracking_channels];
for (int chan = 0; chan < tracking_channels; chan++) {
cc_gps_sat[chan] = new AltosGPSSat();
cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
/* Older versions included SiRF status bits */
if (version < 2)
i++;
cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
}
} else
cc_gps_sat = new AltosGPSSat[0];
}
public void set_latitude(int in_lat) {
lat = in_lat / 10.0e7;
}
public void set_longitude(int in_lon) {
lon = in_lon / 10.0e7;
}
public void set_time(int in_hour, int in_minute, int in_second) {
hour = in_hour;
minute = in_minute;
second = in_second;
}
public void set_date(int in_year, int in_month, int in_day) {
year = in_year;
month = in_month;
day = in_day;
}
/*
public void set_flags(int in_flags) {
flags = in_flags;
}
*/
public void set_altitude(int in_altitude) {
alt = in_altitude;
}
public void add_sat(int svid, int c_n0) {
if (cc_gps_sat == null) {
cc_gps_sat = new AltosGPSSat[1];
} else {
AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
for (int i = 0; i < cc_gps_sat.length; i++)
new_gps_sat[i] = cc_gps_sat[i];
cc_gps_sat = new_gps_sat;
}
AltosGPSSat sat = new AltosGPSSat();
sat.svid = svid;
sat.c_n0 = c_n0;
cc_gps_sat[cc_gps_sat.length - 1] = sat;
}
public AltosGPS() {
ClearGPSTime();
cc_gps_sat = null;
}
public AltosGPS(AltosGPS old) {
nsat = old.nsat;
locked = old.locked;
connected = old.connected;
lat = old.lat; /* degrees (+N -S) */
lon = old.lon; /* degrees (+E -W) */
alt = old.alt; /* m */
year = old.year;
month = old.month;
day = old.day;
hour = old.hour;
minute = old.minute;
second = old.second;
ground_speed = old.ground_speed; /* m/s */
course = old.course; /* degrees */
climb_rate = old.climb_rate; /* m/s */
hdop = old.hdop; /* unitless? */
h_error = old.h_error; /* m */
v_error = old.v_error; /* m */
if (old.cc_gps_sat != null) {
cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
for (int i = 0; i < old.cc_gps_sat.length; i++) {
cc_gps_sat[i] = new AltosGPSSat();
cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
}
}
}
}
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