1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
|
/*
* 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 altosui;
import java.lang.*;
import java.text.*;
public class AltosGPS {
final static int MISSING = AltosRecord.MISSING;
int nsat;
boolean locked;
boolean connected;
double lat; /* degrees (+N -S) */
double lon; /* degrees (+E -W) */
int alt; /* m */
int year;
int month;
int day;
int hour;
int minute;
int second;
double ground_speed; /* m/s */
int course; /* degrees */
double climb_rate; /* m/s */
double hdop; /* unitless */
double vdop; /* unitless */
int h_error; /* m */
int v_error; /* m */
AltosGPSSat[] cc_gps_sat; /* tracking data */
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]);
}
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]);
}
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 hour, int minute, int second) {
hour = hour;
minute = minute;
second = second;
}
public void set_date(int year, int month, int day) {
year = year;
month = month;
day = day;
}
public void set_flags(int flags) {
flags = flags;
}
public void set_altitude(int altitude) {
altitude = 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;
}
}
}
}
|
