GlobalsatDg100.java

// License: GPL. For details, see LICENSE file.
/**
 * Communicate with a GlobalSat DG-100 GPS mouse and data logger.
 * @author Stefan Kaintoch, Raphael Mack
 * license: GPLv3 or any later version
 */
package org.openstreetmap.josm.plugins.globalsat;

import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
import java.util.List;

import org.kaintoch.gps.globalsat.dg100.ByteHelper;
import org.kaintoch.gps.globalsat.dg100.Dg100Config;
import org.kaintoch.gps.globalsat.dg100.FileInfoRec;
import org.kaintoch.gps.globalsat.dg100.GpsRec;
import org.kaintoch.gps.globalsat.dg100.Response;
import org.openstreetmap.josm.data.coor.LatLon;
import org.openstreetmap.josm.data.gpx.GpxData;
import org.openstreetmap.josm.data.gpx.ImmutableGpxTrack;
import org.openstreetmap.josm.data.gpx.WayPoint;
import org.openstreetmap.josm.gui.progress.ProgressMonitor;

import gnu.io.CommPortIdentifier;
import gnu.io.PortInUseException;
import gnu.io.SerialPort;
import gnu.io.UnsupportedCommOperationException;

/**
 * @author ramack
 *
 */
public class GlobalsatDg100 {

    public class ConnectionException extends Exception {
        ConnectionException(Exception cause) {
            super(cause);
        }

        ConnectionException(String msg) {
            super(msg);
        }
    }

    public static final int TIMEOUT = 2000;
    public static final int TRACK_TYPE = 1;

    /** delete file: A0 A2 00 02 BC 01 00 BD B0 B3 */
    /*private static byte dg100CmdSwitch2Nmea[] =
    { (byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x18, (byte) 0x81,
      (byte) 0x02, (byte) 0x01, (byte) 0x01, (byte) 0x00, (byte) 0x01,
      (byte) 0x01, (byte) 0x01, (byte) 0x05, (byte) 0x01, (byte) 0x01,
      (byte) 0x01, (byte) 0x00, (byte) 0x01, (byte) 0x00, (byte) 0x01,
      (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x01, (byte) 0x00,
      (byte) 0x00, (byte) 0x25, (byte) 0x80, (byte) 0x00, (byte) 0x00,
      (byte) 0xB0, (byte) 0xB3
    };*/
    /** delete file: A0 A2 00 02 BC 01 00 BD B0 B3 */
    /*private static byte dg100CmdEnterGMouse[] =
    { (byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x02, (byte) 0xBC
      , (byte) 0x01, (byte) 0x00, (byte) 0xBD, (byte) 0xB0, (byte) 0xB3
    };*/
    /** delete file: A0 A2 00 03 BA FF FF 02 B8 B0 B3 */
    private static byte[] dg100CmdDelFile =
    {(byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x03, (byte) 0xBA,
     (byte) 0xFF, (byte) 0xFF, (byte) 0x02, (byte) 0xB8, (byte) 0xB0, (byte) 0xB3
    };
    /** get file info: A0 A2 00 03 BB 00 00 00 BB B0 B3 */
    private static byte[] dg100CmdGetFileInfo =
    {(byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x03, (byte) 0xBB,
     (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0xBB, (byte) 0xB0, (byte) 0xB3
    };
    /** get gps recs: A0 A2 00 03 B5 00 02 00 B7 B0 B3 */
    private static byte[] dg100CmdGetGpsRecs =
    {(byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x03, (byte) 0xB5,
     (byte) 0x00, (byte) 0x02, (byte) 0x00, (byte) 0xB7, (byte) 0xB0, (byte) 0xB3
    };
    /** read config: A0 A2 00 01 B7 00 B7 B0 B3 */
    private static byte[] dg100CmdGetConfig =
    {(byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x01, (byte) 0xB7,
     (byte) 0x00, (byte) 0xB7, (byte) 0xB0, (byte) 0xB3 };
    /** set config: A0 A2 00 2A B8 jj kk ll ll ll ll mm nn nn nn nn
        aa aa aa aa bb bb bb bb cc cc cc cc 00 00 gg hh
        ii dd dd dd dd ee ee ee ee ff ff ff ff 01 xx xx
        B0 B3 */
    private static byte[] dg100CmdSetConfig =
    {(byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x2A, (byte) 0xB8,
     (byte) 0x02,
     (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00,
     (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00,
     (byte) 0x00, (byte) 0x00, (byte) 0x03, (byte) 0xE8,
     (byte) 0x00, (byte) 0x00, (byte) 0x03, (byte) 0xE8,
     (byte) 0x00, (byte) 0x00, (byte) 0x03, (byte) 0xE8,
     (byte) 0x00, (byte) 0x00,
     (byte) 0x00, (byte) 0x00, (byte) 0x00,
     (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00,
     (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00,
     (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00,
     (byte) 0x01,
     (byte) 0x00, (byte) 0x00, (byte) 0xB0, (byte) 0xB3
    };
    /** read config: A0 A2 00 01 BF 00 BF B0 B3 */
    /*private static byte dg100CmdGetId[] =
    { (byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x01, (byte) 0xBF
      , (byte) 0x00, (byte) 0xBF, (byte) 0xB0, (byte) 0xB3 };*/
    /** read config: A0 A2 00 01 BF 00 BF B0 B3 */
    /*private static byte dg100CmdSetId[] =
    { (byte) 0xA0, (byte) 0xA2, (byte) 0x00, (byte) 0x09, (byte) 0xC0
      , (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00
      , (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00
      , (byte) 0x00, (byte) 0xC0, (byte) 0xB0, (byte) 0xB3};*/

    private byte[] response = new byte[65536];

    private CommPortIdentifier portIdentifier;
    private SerialPort port = null;

    private boolean canceled = false;

    public GlobalsatDg100(CommPortIdentifier portId) {
        this.portIdentifier = portId;
    }

    public void cancel() {
        canceled = true;
        disconnect();
    }

    /**
     * Export DG-100's complete data to a GPX file.
     * @param port DG-100 is connected to port.
     */
    public GpxData readData(ProgressMonitor progressMonitor) throws ConnectionException {
        progressMonitor.beginTask(null);
        try {
            GpxData result = null;
            canceled = false;
            if (port == null) {
                connect();
            }

            List<FileInfoRec> fileInfoList = readFileInfoList();
            List<GpsRec> gpsRecList = readGpsRecList(fileInfoList);

            progressMonitor.setTicksCount(gpsRecList.size());
            if (gpsRecList.size() > 0) {
                GpsRec last = null;
                result = new GpxData();
                Collection<WayPoint> seg = new ArrayList<>(100);
                for (GpsRec r:gpsRecList) {
                    if (canceled) {
                        return result;
                    }
                    WayPoint p = wayPointFrom(r);
                    if (r.equals(last)) {
                        result.waypoints.add(p);
                    } else {
                        seg.add(p);
                    }
                    last = r;
                    progressMonitor.worked(1);
                }
                result.tracks.add(new ImmutableGpxTrack(Collections.singleton(seg), Collections.<String, Object>emptyMap()));
            }
            return result;
        } finally {
            progressMonitor.finishTask();
        }
    }

    private WayPoint wayPointFrom(GpsRec r) {
        LatLon l = new LatLon(r.getLatitude(), r.getLongitude());
        WayPoint result = new WayPoint(l);
        result.attr.put("time", "" + r.getStringZuluTime());
        result.attr.put("speed", "" + r.getSpeed());
        if (r.getDg100TypeOfCurRec() > 1)
            result.attr.put("ele", "" + r.getAltitude());
        return result;
    }

    public void deleteData() throws ConnectionException {
        if (port == null) {
            connect();
        }
        try {
            sendCmdDelFiles();
        } catch (Exception e) {
            throw new ConnectionException(e);
        }
    }

    public void disconnect() {
        if (port != null) {
            port.close();
            port = null;
        }
    }

    private void connect() throws ConnectionException {
        try {
            port = (SerialPort) portIdentifier.open("DG100", TIMEOUT);
            port.setSerialPortParams(115200, SerialPort.DATABITS_8,
                                     SerialPort.STOPBITS_2, SerialPort.PARITY_NONE);
            port.notifyOnOutputEmpty(false);

        } catch (PortInUseException e) {
            throw new ConnectionException(e);
        } catch (UnsupportedCommOperationException e) {
            throw new ConnectionException(e);
        }
    }

    private List<FileInfoRec> readFileInfoList() throws ConnectionException {
        int nextIdx = 0;
        List<FileInfoRec> result = new ArrayList<>(64);
        try {
            do {
                Response<FileInfoRec> response = sendCmdGetFileInfo(nextIdx);
                nextIdx = response.getNextIdx();
                result.addAll(response.getRecs());
            } while (nextIdx > 0);
            return result;
        } catch (Exception e) {
            throw new ConnectionException(e);
        }
    }

    public List<GpsRec> readGpsRecList(List<FileInfoRec> fileInfoList) throws ConnectionException {
        List<GpsRec> result = new ArrayList<>(200);

        try {
            for (FileInfoRec fileInfoRec:fileInfoList) {
                Response<GpsRec> response = sendCmdGetGpsRecs(fileInfoRec.getIdx());
                result.addAll(response.getRecs());
            }
            return result;
        } catch (Exception e) {
            throw new ConnectionException(e);
        }
    }

    private Response<?> sendCmdDelFiles() throws IOException, UnsupportedCommOperationException {
        System.out.println("deleting data...");
        int len = sendCmd(dg100CmdDelFile, response, -1);
        return Response.parseResponse(response, len);
    }

    @SuppressWarnings("unchecked")
    private Response<FileInfoRec> sendCmdGetFileInfo(int idx) throws IOException, UnsupportedCommOperationException {
        byte[] src = dg100CmdGetFileInfo;
        ByteBuffer buf = ByteBuffer.wrap(src);
        buf.position(5);
        buf.putShort((short) idx); // index of first file info rec to be read
        updateCheckSum(buf);
        int len = sendCmd(src, response, -1);
        return (Response<FileInfoRec>) Response.parseResponse(response, len);
    }

    private Response<?> sendCmdGetConfig() throws IOException, UnsupportedCommOperationException {
        byte[] src = dg100CmdGetConfig;
        int len = sendCmd(src, response, -1);
        return Response.parseResponse(response, len);
    }

    public Dg100Config getConfig() throws ConnectionException {
        try {
            if (port == null) {
                connect();
            }
            return sendCmdGetConfig().getConfig();
        } catch (Exception e) {
            throw new ConnectionException(e);
        }
    }

    private void sendCmdSetConfig(Dg100Config config) throws IOException, UnsupportedCommOperationException {
        byte[] src = dg100CmdSetConfig;
        ByteBuffer buf = ByteBuffer.wrap(src);
        if (config != null) {
            config.write(buf);
        }
        updateCheckSum(buf);
        int len = sendCmd(src, response, -1);

        Response.parseResponse(response, len);
    }

    public void setConfig(Dg100Config conf) throws ConnectionException {
        try {
            sendCmdSetConfig(conf);
        } catch (Exception e) {
            throw new ConnectionException(e);
        }
    }

    public boolean isCanceled() {
        return canceled;
    }

    @SuppressWarnings("unchecked")
    private Response<GpsRec> sendCmdGetGpsRecs(int idx) throws IOException, UnsupportedCommOperationException {
        byte[] src = dg100CmdGetGpsRecs;
        ByteBuffer buf = ByteBuffer.wrap(src);
        buf.position(5);
        buf.putShort((short) idx); // index of first chunk of gps recs to be read
        updateCheckSum(buf);
        int len = sendCmd(src, response, 2074);
        return (Response<GpsRec>) Response.parseResponse(response, len);
    }

    private void updateCheckSum(ByteBuffer buf) {
        buf.position(2);
        short len = buf.getShort();
        int sum = 0;
        for (int ii = 0; ii < len; ++ii) {
            sum += ByteHelper.byte2IntUnsigned(buf.get());
        }
        sum = sum & 0x7FFF;
        buf.putShort((short) sum);
    }

    private int sendCmd(byte[] cmdAndArgs, byte[] response, int bytesToRead) throws IOException, UnsupportedCommOperationException {

        int cntBytTot = 0;

        OutputStream outputStream = null;
        outputStream = port.getOutputStream();
        outputStream.write(cmdAndArgs);
        outputStream.flush();

        cntBytTot = readResponse(response, bytesToRead);
        return cntBytTot;
    }

    private int readResponse(byte[] response, int bytesToRead) throws IOException, UnsupportedCommOperationException {
        byte[] readBuffer = new byte[200];
        int responsePos = 0;
        boolean headerReceived = false;

        port.enableReceiveTimeout(TIMEOUT);
        int cntBytTot = 0;
        InputStream inputStream = port.getInputStream();
        if (inputStream != null) {
            ByteBuffer buf = ByteBuffer.wrap(response);
            port.enableReceiveThreshold(2); // read at least 2 byte
            boolean a0A2Received = false;
            while (!a0A2Received) {
                response[0] = response[1];
                int rcvd = inputStream.read(response, 1, 1);
                if (rcvd == 0) {
                    return 0;
                }
                a0A2Received = (response[0] == (byte) 0xa0 && response[1] == (byte) 0xa2);
            }
            // we already have read 2 bytes
            responsePos = 2;
            cntBytTot = 2;
            // read interesting data
            port.enableReceiveThreshold(2); // read at least 2 bytes
            while (bytesToRead < 0 || (bytesToRead >= 0 && cntBytTot < bytesToRead)) {
                int cntBytAct = 0;
                cntBytAct = inputStream.read(readBuffer);
                cntBytTot += cntBytAct;
                // copy readBuffer to response
                responsePos = ByteHelper.copyByteArr2ByteArr(readBuffer, 0, cntBytAct, response, responsePos);
                if (!headerReceived && cntBytTot >= 4) {
                    // do we have enough bytes to extract bytesToRead
                    if (bytesToRead == -1) {
                        // get bytesToRead from response
                        buf.position(2); // here starts length of payload
                        bytesToRead = buf.getShort() + 4;
                    }
                    port.enableReceiveThreshold(1); // read at least 1 byte
                    headerReceived = true;
                }
                if (cntBytAct == 0) {
                    break;
                }
            }
            return ((cntBytTot > bytesToRead) ? bytesToRead : cntBytTot);
    }
        return -1;
    }
} // class GlobalsatDg100