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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_8;
import java.text.*;
import java.io.*;
import java.util.concurrent.*;
public class AltosTelemetryReader extends AltosFlightReader {
AltosLink link;
AltosLog log;
double frequency;
int telemetry;
int telemetry_rate;
AltosState state = null;
LinkedBlockingQueue<AltosLine> telem;
public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
AltosLine l;
do {
l = telem.take();
if (l.line == null)
throw new IOException("IO error");
} while (!link.get_monitor());
AltosTelemetry telem = AltosTelemetry.parse(l.line);
if (state == null)
state = new AltosState();
else
state = state.clone();
telem.update_state(state);
return state;
}
public void flush() {
telem.clear();
}
public void reset() {
flush();
state = null;
}
public void close(boolean interrupted) {
link.remove_monitor(telem);
log.close();
try {
link.close();
} catch (InterruptedException ie) {
}
}
public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
frequency = in_frequency;
link.set_radio_frequency(frequency);
}
public boolean supports_telemetry(int telemetry) {
try {
/* Version 1.0 or later firmware supports all telemetry formats */
if (link.config_data().compare_version("1.0") >= 0)
return true;
/* Version 0.9 firmware only supports 0.9 telemetry */
if (link.config_data().compare_version("0.9") >= 0) {
if (telemetry == AltosLib.ao_telemetry_0_9)
return true;
else
return false;
}
/* Version 0.8 firmware only supports 0.8 telemetry */
if (telemetry == AltosLib.ao_telemetry_0_8)
return true;
else
return false;
} catch (InterruptedException ie) {
return false;
} catch (TimeoutException te) {
return true;
}
}
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);
}
public void set_telemetry(int in_telemetry) {
telemetry = in_telemetry;
link.set_telemetry(telemetry);
}
public void save_telemetry() {
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);
}
public File backing_file() {
return log.file();
}
public boolean has_monitor_battery() {
return link.has_monitor_battery();
}
public double monitor_battery() throws InterruptedException {
return link.monitor_battery();
}
public AltosTelemetryReader (AltosLink in_link)
throws IOException, InterruptedException, TimeoutException {
link = in_link;
boolean success = false;
try {
log = new AltosLog(link);
name = link.name;
telem = new LinkedBlockingQueue<AltosLine>();
frequency = AltosPreferences.frequency(link.serial);
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 {
if (!success)
close(true);
}
}
}
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