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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_5;
import java.text.*;
/*
* Telemetry data contents
*/
public abstract class AltosTelemetry implements AltosStateUpdate {
/* All telemetry packets have these fields */
public int tick;
public int serial;
public int rssi;
public int status;
/* Mark when we received the packet */
long received_time;
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 void update_state(AltosState state) {
state.set_serial(serial);
if (state.state == AltosLib.ao_flight_invalid)
state.set_state(AltosLib.ao_flight_startup);
state.set_tick(tick);
state.set_rssi(rssi, status);
state.set_received_time(received_time);
}
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;
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 packet_type_mega_sensor = 0x08;
final static int packet_type_mega_data = 0x09;
final static int packet_type_metrum_sensor = 0x0a;
final static int packet_type_metrum_data = 0x0b;
final static int packet_type_mini = 0x10;
static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
AltosTelemetry telem = null;
int[] bytes;
try {
bytes = AltosLib.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 = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
int status = AltosLib.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 AltosLib.ao_telemetry_standard_len + 4:
telem = AltosTelemetryStandard.parse_hex(bytes);
break;
case AltosLib.ao_telemetry_0_9_len + 4:
telem = new AltosTelemetryLegacy(bytes);
break;
case AltosLib.ao_telemetry_0_8_len + 4:
telem = new AltosTelemetryLegacy(bytes);
break;
default:
throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
}
if (telem != null) {
telem.received_time = System.currentTimeMillis();
telem.rssi = rssi;
telem.status = status;
}
return telem;
}
public static int extend_height(AltosState state, int height_16) {
double compare_height;
int height = height_16;
if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
compare_height = state.gps_height();
} else {
compare_height = state.height();
}
if (compare_height != AltosLib.MISSING) {
int high_bits = (int) Math.floor (compare_height / 65536.0);
height = (high_bits << 16) | (height_16 & 0xffff);
if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
height += 65536;
else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
height -= 65536;
}
return height;
}
public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
String[] word = line.split("\\s+");
int i =0;
if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
i += 2;
AltosParse.word(word[i++], "RSSI");
throw new AltosCRCException(AltosParse.parse_int(word[i++]));
}
AltosTelemetry telem;
if (word[i].equals("TELEM")) {
telem = parse_hex(word[i+1]);
} else {
telem = new AltosTelemetryLegacy(line);
}
return telem;
}
}
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