package altimeter;
import gnu.io.CommPortIdentifier;
import gnu.io.PortInUseException;
import gnu.io.SerialPort;
import gnu.io.UnsupportedCommOperationException;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.ArrayList;
import java.util.Enumeration;
/**
* Class to interface the PerfectFlite Alt15K/WD altimeter.
*
* Also includes a main method that retrieves all flight profiles and saves them to files.
*
* @author Sampo Niskanen <sampo.niskanen@iki.fi>
*/
public class RotationLogger {
private static final boolean DEBUG = false;
private static final int BYTES = 65536;
private final CommPortIdentifier portID;
private SerialPort port = null;
private InputStream is = null;
private OutputStream os = null;
public static String[] getNames() {
ArrayList<String> list = new ArrayList<String>();;
Enumeration<?> pids = CommPortIdentifier.getPortIdentifiers();
while (pids.hasMoreElements()) {
CommPortIdentifier pid = (CommPortIdentifier) pids.nextElement();
if (pid.getPortType() == CommPortIdentifier.PORT_SERIAL)
list.add(pid.getName());
}
return list.toArray(new String[0]);
}
public RotationLogger(String name) throws IOException {
CommPortIdentifier myPortID = null;
Enumeration<?> portIdentifiers = CommPortIdentifier.getPortIdentifiers();
while (portIdentifiers.hasMoreElements()) {
CommPortIdentifier pid = (CommPortIdentifier) portIdentifiers.nextElement();
if(pid.getPortType() == CommPortIdentifier.PORT_SERIAL &&
pid.getName().equals(name)) {
myPortID = pid;
break;
}
}
if (myPortID == null) {
throw new IOException("Port '"+name+"' not found.");
}
this.portID = myPortID ;
}
public void readData() throws IOException, PortInUseException {
int c;
int[] data = new int[BYTES];
FileOutputStream rawdump = null;
try {
open();
System.err.println("Sending dump mode command...");
for (int i=0; i<16; i++) {
os.write('D');
try {
Thread.sleep(10);
} catch (InterruptedException ignore) { }
}
System.err.println("Waiting for response...");
while (true) {
c = is.read();
if (c == 'K') {
break;
} else {
System.err.printf("Received spurious c=%d\n",c);
}
}
System.err.println("Received response.");
System.err.println("Opening 'rawdump'...");
rawdump = new FileOutputStream("rawdump");
System.err.println("Performing dump...");
os.write('A');
byte[] buffer = new byte[1024];
int printCount = 0;
for (int count=0; count < BYTES; ) {
if ((BYTES-count) < buffer.length) {
buffer = new byte[BYTES-count];
}
int n = is.read(buffer);
if (n < 0) {
System.err.println("Error condition, n="+n);
return;
}
rawdump.write(buffer, 0, n);
for (int i=0; i<n; i++) {
data[count+i] = unsign(buffer[i]);
}
count += n;
if (count - printCount > 1024) {
System.err.println("Read "+count+" bytes...");
printCount = count;
}
}
System.err.println("Verifying checksum...");
int reported = is.read();
byte computed = 0;
for (int i=0; i < data.length; i++) {
computed += data[i];
}
if (computed == reported) {
System.err.println("Checksum ok ("+computed+")");
} else {
System.err.println("Error in checksum, computed="+computed+
" reported="+reported);
}
System.err.println("Communication done.");
} catch (UnsupportedCommOperationException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} finally {
close();
if (rawdump != null)
rawdump.close();
}
convertData(data);
}
//////////// Data interpretation //////////////
private static void convertData(int[] data) {
System.err.println("Converting data...");
int lastBuffer = data[0xffff];
if (lastBuffer < 0 || lastBuffer > 3) {
System.err.println("Illegal last accessed buffer: "+lastBuffer);
return;
}
System.err.println("Last used buffer: "+lastBuffer);
for (int i=4; i>0; i--) {
int n = (lastBuffer + i) % 4;
int bufNumber = 4-i;
convertBuffer(data, n * (BYTES/4), bufNumber);
}
}
private static void convertBuffer(int[] data, int position, int bufNumber) {
int startPosition;
startPosition = data[position + 0xfd] << 8 + data[position+0xfe];
// 50 samples per 128 bytes
int startTime = (startPosition -position) * 50 / 128;
System.err.println(" Buffer "+ bufNumber + " (at position "+position+")...");
System.err.println(" Start position "+startPosition+" time "+startTime);
System.out.println("# Buffer "+bufNumber);
System.out.println("# Start position t="+startTime);
int t = 0;
for (int page = 0; page < 128; page++) {
int pageStart = position + page * 128;
if (pageStart == startPosition) {
System.out.println("# ---clip---");
}
for (int i=0; i<125; i += 5) {
int sample1, sample2;
int start = pageStart + i;
// System.err.println("page="+page+" i="+i+
// " position="+position+" pageStart="+pageStart+" start="+start);
sample1 = (data[start] << 2) + (data[start+1] >> 6);
sample2 = ((data[start+1] & 0x3f) << 4) + (data[start+2] >> 4);
System.out.printf("%d %4d %4d %4d\n", bufNumber, t, sample1, sample2);
t++;
sample1 = ((data[start+2] & 0x0f) << 6) + (data[start+3] >> 2);
sample2 = ((data[start+3] & 3) << 8) + data[start+4];
System.out.printf("%d %4d %4d %4d\n", bufNumber, t, sample1, sample2);
t++;
}
}
}
private void open() throws PortInUseException, IOException,
UnsupportedCommOperationException {
if (port != null) {
System.err.println("ERROR: open() called with port="+port);
Thread.dumpStack();
close();
}
if (DEBUG) {
System.err.println(" Opening port...");
}
port = (SerialPort)portID.open("OpenRocket",1000);
port.setSerialPortParams(9600, SerialPort.DATABITS_8, SerialPort.STOPBITS_1,
SerialPort.PARITY_NONE);
port.setInputBufferSize(1);
port.setOutputBufferSize(1);
is = port.getInputStream();
os = port.getOutputStream();
}
private void close() {
if (DEBUG)
System.err.println(" Closing port");
SerialPort p = port;
port = null;
is = null;
if (p != null)
p.close();
}
private static int unsign(byte b) {
if (b >= 0)
return b;
else
return 256 + b;
}
public static void main(String[] arg) throws Exception {
if (arg.length > 2) {
System.err.println("Illegal arguments.");
return;
}
if (arg.length == 1) {
FileInputStream is = new FileInputStream(arg[0]);
byte[] buffer = new byte[BYTES];
int n = is.read(buffer);
if (n != BYTES) {
System.err.println("Could read only "+n+" bytes");
return;
}
int[] data = new int[BYTES];
for (int i=0; i<BYTES; i++) {
data[i] = unsign(buffer[i]);
}
int checksum=0;
for (int i=0; i<BYTES; i++) {
checksum += data[i];
}
checksum = checksum%256;
System.err.println("Checksum: "+checksum);
convertData(data);
return;
}
String device = null;
String[] devices = RotationLogger.getNames();
for (int i=0; i<devices.length; i++) {
if (devices[i].matches(".*USB.*")) {
device = devices[i];
break;
}
}
if (device == null) {
System.err.println("Device not found.");
return;
}
System.err.println("Selected device "+device);
RotationLogger p = new RotationLogger(device);
p.readData();
}
}