320 lines
12 KiB
Java
320 lines
12 KiB
Java
/*
|
|
* Copyright © 2012 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.util.*;
|
|
import java.text.*;
|
|
import java.util.concurrent.*;
|
|
|
|
public class AltosPyro {
|
|
public static final int pyro_none = 0x00000000;
|
|
|
|
public static final int pyro_accel_less = 0x00000001;
|
|
public static final int pyro_accel_greater = 0x00000002;
|
|
public static final String pyro_accel_less_string = "a<";
|
|
public static final String pyro_accel_greater_string = "a>";
|
|
public static final String pyro_accel_less_name = "Vertical acceleration less than";
|
|
public static final String pyro_accel_greater_name = "Vertical acceleration greater than";
|
|
public static final double pyro_accel_scale = 16.0;
|
|
|
|
public static final int pyro_speed_less = 0x00000004;
|
|
public static final int pyro_speed_greater = 0x00000008;
|
|
public static final String pyro_speed_less_string = "s<";
|
|
public static final String pyro_speed_greater_string = "s>";
|
|
public static final String pyro_speed_less_name = "Ascent rate less than";
|
|
public static final String pyro_speed_greater_name = "Ascent rate greater than";
|
|
public static final double pyro_speed_scale = 16.0;
|
|
|
|
public static final int pyro_height_less = 0x00000010;
|
|
public static final int pyro_height_greater = 0x00000020;
|
|
public static final String pyro_height_less_string = "h<";
|
|
public static final String pyro_height_greater_string = "h>";
|
|
public static final String pyro_height_less_name = "Height above pad less than";
|
|
public static final String pyro_height_greater_name = "Height above pad greater than";
|
|
public static final double pyro_height_scale = 1.0;
|
|
|
|
public static final int pyro_orient_less = 0x00000040;
|
|
public static final int pyro_orient_greater = 0x00000080;
|
|
public static final String pyro_orient_less_string = "o<";
|
|
public static final String pyro_orient_greater_string = "o>";
|
|
public static final String pyro_orient_less_name = "Angle from vertical less than (degrees)";
|
|
public static final String pyro_orient_greater_name = "Angle from vertical greater than (degrees)";
|
|
public static final double pyro_orient_scale = 1.0;
|
|
|
|
public static final int pyro_time_less = 0x00000100;
|
|
public static final int pyro_time_greater = 0x00000200;
|
|
public static final String pyro_time_less_string = "t<";
|
|
public static final String pyro_time_greater_string = "t>";
|
|
public static final String pyro_time_less_name = "Time since launch less than (s)";
|
|
public static final String pyro_time_greater_name = "Time since launch greater than (s)";
|
|
public static final double pyro_time_scale = 100.0;
|
|
|
|
public static final int pyro_ascending = 0x00000400;
|
|
public static final int pyro_descending = 0x00000800;
|
|
public static final String pyro_ascending_string = "A";
|
|
public static final String pyro_descending_string = "D";
|
|
public static final String pyro_ascending_name = "Ascending";
|
|
public static final String pyro_descending_name = "Descending";
|
|
|
|
public static final int pyro_after_motor = 0x00001000;
|
|
public static final String pyro_after_motor_string = "m";
|
|
public static final String pyro_after_motor_name = "After motor number";
|
|
public static final double pyro_after_motor_scale = 1.0;
|
|
|
|
public static final int pyro_delay = 0x00002000;
|
|
public static final String pyro_delay_string = "d";
|
|
public static final String pyro_delay_name = "Delay after other conditions (s)";
|
|
public static final double pyro_delay_scale = 100.0;
|
|
|
|
public static final int pyro_state_less = 0x00004000;
|
|
public static final int pyro_state_greater_or_equal = 0x00008000;
|
|
public static final String pyro_state_less_string = "f<";
|
|
public static final String pyro_state_greater_or_equal_string = "f>=";
|
|
public static final String pyro_state_less_name = "Flight state before";
|
|
public static final String pyro_state_greater_or_equal_name = "Flight state after";
|
|
public static final double pyro_state_scale = 1.0;
|
|
|
|
public static final int pyro_deprecate = pyro_ascending | pyro_descending;
|
|
|
|
public static final int pyro_all = 0x0000ffff;
|
|
public static final int pyro_all_useful = pyro_all ^ pyro_deprecate;
|
|
|
|
public static final int pyro_no_value = (pyro_ascending |
|
|
pyro_descending);
|
|
|
|
public static final int pyro_state_value = pyro_state_less | pyro_state_greater_or_equal;
|
|
|
|
private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
|
|
|
|
private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
|
|
|
|
private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
|
|
|
|
private static HashMap<Integer,AltosUnits> pyro_to_units = new HashMap<Integer,AltosUnits>();
|
|
|
|
private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
|
|
|
|
private static void insert_map(int flag, String string, String name, AltosUnits units, double scale) {
|
|
string_to_pyro.put(string, flag);
|
|
pyro_to_string.put(flag, string);
|
|
pyro_to_name.put(flag, name);
|
|
if (units != null)
|
|
pyro_to_units.put(flag, units);
|
|
pyro_to_scale.put(flag, scale);
|
|
}
|
|
|
|
public static int string_to_pyro(String name) {
|
|
if (string_to_pyro.containsKey(name))
|
|
return string_to_pyro.get(name);
|
|
return pyro_none;
|
|
}
|
|
|
|
public static String pyro_to_string(int flag) {
|
|
if (pyro_to_string.containsKey(flag))
|
|
return pyro_to_string.get(flag);
|
|
return null;
|
|
}
|
|
|
|
public static String pyro_to_name(int flag) {
|
|
String name;
|
|
AltosUnits units = null;
|
|
if (!pyro_to_name.containsKey(flag))
|
|
return null;
|
|
|
|
name = pyro_to_name.get(flag);
|
|
if (pyro_to_units.containsKey(flag))
|
|
units = pyro_to_units.get(flag);
|
|
if (units == null)
|
|
return name;
|
|
return String.format ("%s (%s)", name, units.parse_units());
|
|
}
|
|
|
|
public static AltosUnits pyro_to_units(int flag) {
|
|
if (pyro_to_units.containsKey(flag))
|
|
return pyro_to_units.get(flag);
|
|
return null;
|
|
}
|
|
|
|
public static double pyro_to_scale(int flag) {
|
|
if (pyro_to_scale.containsKey(flag))
|
|
return pyro_to_scale.get(flag);
|
|
return 1.0;
|
|
}
|
|
|
|
private static void initialize_maps() {
|
|
insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, AltosConvert.accel, pyro_accel_scale);
|
|
insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, AltosConvert.accel, pyro_accel_scale);
|
|
|
|
insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, AltosConvert.speed, pyro_speed_scale);
|
|
insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, AltosConvert.speed, pyro_speed_scale);
|
|
|
|
insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, AltosConvert.height, pyro_height_scale);
|
|
insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, AltosConvert.height, pyro_height_scale);
|
|
|
|
insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, null, pyro_orient_scale);
|
|
insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, null, pyro_orient_scale);
|
|
|
|
insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, null, pyro_time_scale);
|
|
insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, null, pyro_time_scale);
|
|
|
|
insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, null, 1.0);
|
|
insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, null, 1.0);
|
|
|
|
insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, null, 1.0);
|
|
insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, null, pyro_delay_scale);
|
|
|
|
insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, null, 1.0);
|
|
insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, null, 1.0);
|
|
}
|
|
|
|
{
|
|
initialize_maps();
|
|
}
|
|
|
|
public int channel;
|
|
public int flags;
|
|
public int accel_less, accel_greater;
|
|
public int speed_less, speed_greater;
|
|
public int height_less, height_greater;
|
|
public int orient_less, orient_greater;
|
|
public int time_less, time_greater;
|
|
public int delay;
|
|
public int state_less, state_greater_or_equal;
|
|
public int motor;
|
|
|
|
public AltosPyro(int in_channel) {
|
|
channel = in_channel;
|
|
flags = 0;
|
|
}
|
|
|
|
private boolean set_ivalue(int flag, int value) {
|
|
switch (flag) {
|
|
case pyro_accel_less: accel_less = value; break;
|
|
case pyro_accel_greater: accel_greater = value; break;
|
|
case pyro_speed_less: speed_less = value; break;
|
|
case pyro_speed_greater: speed_greater = value; break;
|
|
case pyro_height_less: height_less = value; break;
|
|
case pyro_height_greater: height_greater = value; break;
|
|
case pyro_orient_less: orient_less = value; break;
|
|
case pyro_orient_greater: orient_greater = value; break;
|
|
case pyro_time_less: time_less = value; break;
|
|
case pyro_time_greater: time_greater = value; break;
|
|
case pyro_after_motor: motor = value; break;
|
|
case pyro_delay: delay = value; break;
|
|
case pyro_state_less: state_less = value; break;
|
|
case pyro_state_greater_or_equal: state_greater_or_equal = value; break;
|
|
default:
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
public boolean set_value(int flag, double dvalue) {
|
|
return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
|
|
}
|
|
|
|
private int get_ivalue (int flag) {
|
|
int value;
|
|
|
|
switch (flag) {
|
|
case pyro_accel_less: value = accel_less; break;
|
|
case pyro_accel_greater: value = accel_greater; break;
|
|
case pyro_speed_less: value = speed_less; break;
|
|
case pyro_speed_greater: value = speed_greater; break;
|
|
case pyro_height_less: value = height_less; break;
|
|
case pyro_height_greater: value = height_greater; break;
|
|
case pyro_orient_less: value = orient_less; break;
|
|
case pyro_orient_greater: value = orient_greater; break;
|
|
case pyro_time_less: value = time_less; break;
|
|
case pyro_time_greater: value = time_greater; break;
|
|
case pyro_after_motor: value = motor; break;
|
|
case pyro_delay: value = delay; break;
|
|
case pyro_state_less: value = state_less; break;
|
|
case pyro_state_greater_or_equal: value = state_greater_or_equal; break;
|
|
default: value = 0; break;
|
|
}
|
|
return value;
|
|
}
|
|
|
|
public double get_value(int flag) {
|
|
return get_ivalue(flag) / pyro_to_scale(flag);
|
|
}
|
|
|
|
public AltosPyro(int in_channel, String line) throws ParseException {
|
|
String[] tokens = line.split("\\s+");
|
|
|
|
channel = in_channel;
|
|
flags = 0;
|
|
|
|
int i = 0;
|
|
if (tokens[i].equals("Pyro"))
|
|
i += 2;
|
|
|
|
for (; i < tokens.length; i++) {
|
|
|
|
if (tokens[i].equals("<disabled>"))
|
|
break;
|
|
|
|
int flag = string_to_pyro(tokens[i]);
|
|
if (flag == pyro_none)
|
|
throw new ParseException(String.format("Invalid pyro token \"%s\"",
|
|
tokens[i]), i);
|
|
flags |= flag;
|
|
|
|
if ((flag & pyro_no_value) == 0) {
|
|
int value = 0;
|
|
++i;
|
|
try {
|
|
value = (int) AltosLib.fromdec(tokens[i]);
|
|
} catch (NumberFormatException n) {
|
|
throw new ParseException(String.format("Invalid pyro value \"%s\"",
|
|
tokens[i]), i);
|
|
}
|
|
if (!set_ivalue(flag, value))
|
|
throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
|
|
tokens[i-1], tokens[i]), i-1);
|
|
}
|
|
}
|
|
}
|
|
|
|
public AltosPyro() {
|
|
this(0);
|
|
}
|
|
|
|
public String toString() {
|
|
String ret = String.format("%d", channel);
|
|
|
|
for (int flag = 1; flag <= flags; flag <<= 1) {
|
|
if ((flags & flag) != 0) {
|
|
String add;
|
|
if ((flag & pyro_no_value) == 0) {
|
|
add = String.format(" %s %d",
|
|
pyro_to_string.get(flag),
|
|
get_ivalue(flag));
|
|
} else {
|
|
add = String.format(" %s",
|
|
pyro_to_string.get(flag));
|
|
}
|
|
ret = ret.concat(add);
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
}
|