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
|
/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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_14;
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;
private AltosState state = null;
private AltosCalData cal_data = 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(cal_data());
telem.provide_data(state);
return state;
}
public AltosCalData cal_data() {
if (cal_data == null)
cal_data = new AltosCalData();
return cal_data;
}
public void flush() {
telem.clear();
}
public void reset() {
flush();
state = null;
cal_data = 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);
}
}
}
|
