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/*
* Copyright © 2011 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.*;
import java.util.HashMap;
public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
int[] bytes;
int serial;
int tick;
int type;
final static int packet_type_TM_sensor = 0x01;
final static int packet_type_Tm_sensor = 0x02;
final static int packet_type_Tn_sensor = 0x03;
final static int packet_type_configuration = 0x04;
final static int packet_type_location = 0x05;
final static int packet_type_satellite = 0x06;
final static int packet_type_companion = 0x07;
final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
static boolean cksum(int[] bytes) {
int sum = 0x5a;
for (int i = 1; i < bytes.length - 1; i++)
sum += bytes[i];
sum &= 0xff;
return sum == bytes[bytes.length - 1];
}
public static AltosTelemetryRecord parse (String hex) throws ParseException, AltosCRCException {
AltosTelemetryRecord r;
int[] bytes;
try {
bytes = Altos.hexbytes(hex);
} catch (NumberFormatException ne) {
throw new ParseException(ne.getMessage(), 0);
}
/* one for length, one for checksum */
if (bytes[0] != bytes.length - 2)
throw new ParseException(String.format("invalid length %d != %d\n",
bytes[0],
bytes.length - 2), 0);
if (!cksum(bytes))
throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
int rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
int status = Altos.uint8(bytes, bytes.length - 2);
if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
throw new AltosCRCException(rssi);
/* length, data ..., rssi, status, checksum -- 4 bytes extra */
switch (bytes.length) {
case Altos.ao_telemetry_standard_len + 4:
int type = Altos.uint8(bytes, 4 + 1);
switch (type) {
case packet_type_TM_sensor:
case packet_type_Tm_sensor:
case packet_type_Tn_sensor:
r = new AltosTelemetryRecordSensor(bytes, rssi);
break;
case packet_type_configuration:
r = new AltosTelemetryRecordConfiguration(bytes);
break;
case packet_type_location:
r = new AltosTelemetryRecordLocation(bytes);
break;
case packet_type_satellite:
r = new AltosTelemetryRecordSatellite(bytes);
break;
case packet_type_companion:
r = new AltosTelemetryRecordCompanion(bytes);
break;
default:
r = new AltosTelemetryRecordRaw(bytes);
break;
}
break;
case Altos.ao_telemetry_0_9_len + 4:
r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
break;
case Altos.ao_telemetry_0_8_len + 4:
r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
break;
default:
throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
}
return r;
}
public int int8(int off) {
return Altos.int8(bytes, off + 1);
}
public int uint8(int off) {
return Altos.uint8(bytes, off + 1);
}
public int int16(int off) {
return Altos.int16(bytes, off + 1);
}
public int uint16(int off) {
return Altos.uint16(bytes, off + 1);
}
public int uint32(int off) {
return Altos.uint32(bytes, off + 1);
}
public String string(int off, int l) {
return Altos.string(bytes, off + 1, l);
}
public AltosTelemetryRecordRaw(int[] in_bytes) {
bytes = in_bytes;
serial = uint16(0);
tick = uint16(2);
type = uint8(4);
}
public AltosRecord update_state(AltosRecord previous) {
AltosRecord next;
if (previous != null) {
next = new AltosRecord(previous);
while (tick < previous.tick)
tick += 65536;
} else
next = new AltosRecord();
next.serial = serial;
next.tick = tick;
return next;
}
}
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