// import javax.swing.*; // This is the final package name. import com.sun.java.swing.*; // This is the JDK 1.1 Swing beta package import java.awt.*; import java.awt.event.*; import java.util.*; import java.text.*; import java.io.*; class TelemetryReader implements Runnable { private AcousticGui _gui; private BufferedReader _reader; private Thread _readerThread = null; private int _idNo; public TelemetryReader(AcousticGui gui, String filename, int idNo) { super(); _gui = gui; _idNo = idNo; try { _reader = new BufferedReader( new InputStreamReader( new FileInputStream(filename))); } catch (FileNotFoundException e) { System.out.println("Couldn't open telemetry file \"" + filename + "\""); return; } _readerThread = new Thread(this, "readerThread"); _readerThread.start(); } public void run() { // Create a packet buffer StringBuffer buf = new StringBuffer(512); while (_readerThread != null) { try { while (_reader.ready()) { char c = (char )_reader.read(); if (c != '\n') // Still in packet; append character to packet buf buf.append(c); else { // Finished packet; update telemetry gui if (buf.length() > 0) { _gui.telemetryPage.update(buf.toString()); // Re-initialize packet buf buf.setLength(0); } } } } catch (Exception e) { // Exception handling here } // No characters available; sleep for a bit before trying again try { _readerThread.sleep(500); } catch (InterruptedException e) { // Exception handling here } } } // Cause the run() method to terminate public void stop() { System.out.println("TelemetryReader.stop() - idno=" + _idNo); _readerThread = null; } }; class CommandButton { private int _nPendingReplies = 0; private JLabel _seqNoLabel; private JLabel _pendingLabel; protected JButton _button; private int _commandType = AcousticGui.NAVIGATION; private AcousticGui _app; private int _sequenceNo = 0; public JButton button; CommandButton(JPanel parent, String label, AcousticGui app, int commandType) { _app = app; _commandType = commandType; JPanel pane = new JPanel(); pane.setLayout(new BoxLayout(pane, BoxLayout.X_AXIS)); _button = new JButton(label); _button.setAlignmentY(Component.TOP_ALIGNMENT); _button.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { _nPendingReplies++; // Sequence number cycles between 1 and 9 if (_sequenceNo < 9) _sequenceNo++; else _sequenceNo = 1; CommandPacket packet = new CommandPacket(_commandType, _sequenceNo, new Date()); packet.print(); // Write command file try { System.out.println("Selected transponder: " + _app.commsPage.selectedTransponder()); FileOutputStream output = new FileOutputStream("command.out"); output.write(packet.buffer().getBytes()); output.write('\n'); output.close(); } catch (IOException exception) { System.out.println("TelemetryRequestButton eventListener"); System.out.println(exception.toString()); } update(); } }); pane.add(_button); pane.add(Box.createRigidArea(new Dimension(10, 10))); JPanel subPane = new JPanel(); subPane.setLayout(new GridLayout(1, 0)); _seqNoLabel = new JLabel("Seq #: "); _seqNoLabel.setVisible(false); _pendingLabel = new JLabel("#Pending replies: xxxx"); subPane.add(_seqNoLabel); subPane.add(_pendingLabel); _nPendingReplies = 0; update(); pane.add(subPane); parent.add(pane); }; void acknowledgeReply() { if (_nPendingReplies > 0) _nPendingReplies--; update(); } void update() { if (_nPendingReplies > 0) _pendingLabel.setVisible(true); else _pendingLabel.setVisible(false); _pendingLabel.setText("#Pending replies: " + _nPendingReplies); } } public class AcousticGui extends JFrame { // These "enumerated values" must match those in AcousticMessage.h (C++) static final int NAVIGATION = 0; static final int MISSIONSTATE = 1; static final int CTD = 2; static final int ABORT = 3; // These "enumerated values" must match those in LayeredControlIF.h (C++) static final int INITIAL_STATE = 0; static final int NORMAL_STATE = 1; static final int ABORTING_STATE = 2; static final int SHUTTINGDOWN_STATE = 3; static final int DONE_STATE = 4; static final String TELEMETRY_FILE_NAME = "telemetry.dat"; private TelemetryReader _telemetryReader; private String _telemetryFilename; private int _readerNo = 0; public TelemetryPage telemetryPage; public CommsPage commsPage; public CommandPage commandPage; public Component contents; AcousticGui _guiInstance; public AcousticGui(String telemetryFilename) { _guiInstance = this; JMenuBar menuBar; JMenu menu; JMenuItem menuItem; // Create the menu bar menuBar = new JMenuBar(); setJMenuBar(menuBar); menu = new JMenu("File"); menuBar.add(menu); menuItem = new JMenuItem("Open telemetry"); menuItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { System.out.println("Open telemetry file"); } }); // End of inner class menu.add(menuItem); menuItem = new JMenuItem("Refresh telemetry"); menuItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { System.out.println("Restart telemetry reader on file" + _telemetryFilename); _telemetryReader.stop(); _telemetryReader = new TelemetryReader(_guiInstance, _telemetryFilename, _readerNo++); } }); // End of inner class menu.add(menuItem); menuItem = new JMenuItem("Exit"); menuItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { System.exit(0); } }); // End of inner class menu.add(menuItem); contents = createContents(); _telemetryFilename = telemetryFilename; _telemetryReader = new TelemetryReader(this, _telemetryFilename, _readerNo++); } // Create telemetry page public Component createTelemetry() { JPanel pane = new JPanel(); telemetryPage = new TelemetryPage(pane, this); return pane; } // Create Comms page public Component createComms() { JPanel pane = new JPanel(); commsPage = new CommsPage(pane); return pane; } // Create commands page public Component createCommands() { JPanel pane = new JPanel(); commandPage = new CommandPage(pane, this); return pane; }; // Create GUI contents private Component createContents() { JPanel pane = new JPanel(); pane.setLayout(new BoxLayout(pane, BoxLayout.Y_AXIS)); JTabbedPane tabbedPane = new JTabbedPane(); tabbedPane.addTab("Telemetry", createTelemetry()); tabbedPane.addTab("Comms", createComms()); tabbedPane.addTab("Control", createCommands()); pane.add(tabbedPane); return pane; } public static void main(String[] args) { try { UIManager.setLookAndFeel( UIManager.getCrossPlatformLookAndFeelClassName()); } catch (Exception e) { } String telemetryFilename; if (args.length == 1) telemetryFilename = args[0]; else telemetryFilename = TELEMETRY_FILE_NAME; //Create the top-level container and add contents to it. AcousticGui app = new AcousticGui(telemetryFilename); Component contents; contents = app.contents; app.getContentPane().add(contents, BorderLayout.NORTH); //Finish setting up the frame, and show it. app.addWindowListener(new WindowAdapter() { public void windowClosing(WindowEvent e) { System.exit(0); } }); app.pack(); app.setVisible(true); } } class TelemetryPage { private AcousticGui _app; private JLabel _navUtc; private JLabel _latLon; private JLabel _heading; private JLabel _depth; private JLabel _altitude; private JLabel _statusUtc; private JLabel _missionTime; private JLabel _missionState; private JLabel _behavior; private JLabel _battery; private JLabel _speed; private JLabel _pitch; private JLabel _ctdUtc; private JLabel _conductivity; private JLabel _temperature; private DateFormat _dateFormat; private CommandButton _requestNavButton; private CommandButton _requestStatusButton; private CommandButton _requestCtdButton; public TelemetryPage (JPanel parent, AcousticGui app) { _app = app; // Create DateFormat for later use _dateFormat = DateFormat.getDateTimeInstance(); JPanel telemetryPane = new JPanel(); telemetryPane.setLayout(new GridLayout(0, 1)); JPanel pane1; JPanel nameColumn; JPanel valueColumn; JLabel label; JPanel statusPane = new JPanel(); statusPane.setBorder(BorderFactory.createTitledBorder("Status")); statusPane.setLayout(new BoxLayout(statusPane, BoxLayout.Y_AXIS)); pane1 = new JPanel(); // pane1.setLayout(new BoxLayout(pane1, BoxLayout.X_AXIS)); pane1.setLayout(new GridLayout(1, 0)); // Create first column (data names) nameColumn = new JPanel(); nameColumn.setLayout(new BoxLayout(nameColumn, BoxLayout.Y_AXIS)); nameColumn.setBorder(BorderFactory.createTitledBorder("nameColumn")); nameColumn.setBorder(BorderFactory.createEmptyBorder(30, //top 30, //left 10, //bottom 10) //right ); label = new JLabel("UTC: "); nameColumn.add(label); label = new JLabel("Mission time (sec): "); nameColumn.add(label); label = new JLabel("Mission state: "); nameColumn.add(label); label = new JLabel("Behavior: "); nameColumn.add(label); label = new JLabel("Battery: "); nameColumn.add(label); pane1.add(nameColumn); // Create second column (data values) valueColumn = new JPanel(); valueColumn.setLayout(new BoxLayout(valueColumn, BoxLayout.Y_AXIS)); valueColumn.setBorder(BorderFactory.createEmptyBorder(30, //top 30, //left 10, //bottom 10) //right ); _statusUtc = new JLabel("status utc"); valueColumn.add(_statusUtc); _missionTime = new JLabel("missionTime "); valueColumn.add(_missionTime); _missionState = new JLabel("missionState"); valueColumn.add(_missionState); _behavior = new JLabel("behaviorName"); valueColumn.add(_behavior); _battery = new JLabel("battery"); valueColumn.add(_battery); pane1.add(valueColumn); statusPane.add(pane1); _requestStatusButton = new CommandButton(statusPane, "Request", _app, AcousticGui.MISSIONSTATE); JPanel navigationPane = new JPanel(); navigationPane.setBorder(BorderFactory.createTitledBorder("Navigation")); navigationPane.setLayout(new BoxLayout(navigationPane, BoxLayout.Y_AXIS)); pane1 = new JPanel(); pane1.setLayout(new GridLayout(1, 0)); // Create first column (data names) nameColumn = new JPanel(); nameColumn.setLayout(new BoxLayout(nameColumn, BoxLayout.Y_AXIS)); nameColumn.setBorder(BorderFactory.createEmptyBorder(30, //top 30, //left 10, //bottom 10) //right ); label = new JLabel("UTC: "); nameColumn.add(label); label = new JLabel("Lat/lon: "); nameColumn.add(label); label = new JLabel("Depth (m): "); nameColumn.add(label); label = new JLabel("Altitude (m): "); nameColumn.add(label); label = new JLabel("Heading (deg): "); nameColumn.add(label); label = new JLabel("Speed (m/s): "); nameColumn.add(label); label = new JLabel("Pitch (deg): "); nameColumn.add(label); pane1.add(nameColumn); // Create second column (data values) valueColumn = new JPanel(); valueColumn.setLayout(new BoxLayout(valueColumn, BoxLayout.Y_AXIS)); valueColumn.setBorder(BorderFactory.createEmptyBorder(30, //top 30, //left 10, //bottom 10) //right ); _navUtc = new JLabel("nav utc"); valueColumn.add(_navUtc); _latLon = new JLabel("lat/lon"); valueColumn.add(_latLon); _depth = new JLabel("depth"); valueColumn.add(_depth); _altitude = new JLabel("altitude"); valueColumn.add(_altitude); _heading = new JLabel("heading"); valueColumn.add(_heading); _speed = new JLabel("speed"); valueColumn.add(_speed); _pitch = new JLabel("pitch"); valueColumn.add(_pitch); pane1.add(valueColumn); navigationPane.add(pane1); _requestNavButton = new CommandButton(navigationPane, "Request", _app, AcousticGui.NAVIGATION); JPanel ctdPane = new JPanel(); ctdPane.setBorder(BorderFactory.createTitledBorder("CTD")); ctdPane.setLayout(new BoxLayout(ctdPane, BoxLayout.Y_AXIS)); pane1 = new JPanel(); pane1.setLayout(new GridLayout(1, 0)); // Create first column (data names) nameColumn = new JPanel(); nameColumn.setLayout(new BoxLayout(nameColumn, BoxLayout.Y_AXIS)); nameColumn.setBorder(BorderFactory.createEmptyBorder(30, //top 30, //left 10, //bottom 10) //right ); label = new JLabel("UTC: "); nameColumn.add(label); label = new JLabel("Conductivity: "); nameColumn.add(label); label = new JLabel("Temperature: "); nameColumn.add(label); pane1.add(nameColumn); // Create second column (data values) valueColumn = new JPanel(); valueColumn.setLayout(new BoxLayout(valueColumn, BoxLayout.Y_AXIS)); valueColumn.setBorder(BorderFactory.createEmptyBorder(30, //top 30, //left 10, //bottom 10) //right ); _ctdUtc = new JLabel("CTD utc"); valueColumn.add(_ctdUtc); _conductivity = new JLabel("conductivity "); valueColumn.add(_conductivity); _temperature = new JLabel("temperature"); valueColumn.add(_temperature); pane1.add(valueColumn); ctdPane.add(pane1); _requestCtdButton = new CommandButton(ctdPane, "Request", _app, AcousticGui.CTD); // Add status and navigation panes to parent telemetryPane.add(statusPane); telemetryPane.add(navigationPane); telemetryPane.add(ctdPane); parent.add(telemetryPane); } synchronized void update(String recordBuffer) { AcousticRecord record = new AcousticRecord(recordBuffer); // Update comms information _app.commsPage.update(record); if (!record.containsAuvPacket()) { System.out.println("No AUV packet contained in " + record.string()); return; } String packetBuffer; try { packetBuffer = record.packetString(); } catch (Exception e) { System.out.println("Caught exception trying to extract packet from " + record.string()); System.out.println(e.toString()); return; } NumberFormat formatter = NumberFormat.getNumberInstance(); double value; int typeCode; try { // Get type code for packet typeCode = Integer.parseInt(packetBuffer.substring(0, 1)); } catch (Exception e) { System.out.println("updateTelemetry() - couldn't parse type from:" + packetBuffer); System.out.println(e.toString()); return; } AcousticPacket packet; Date utc; if (typeCode == AcousticGui.MISSIONSTATE) { try { packet = new StatusPacket(packetBuffer); packet.nextToken(); // Skip packet type packet.nextToken(); // Skip sequence number utc = new Date((long )Integer.parseInt(packet.nextToken().trim()) * 1000); _statusUtc.setText(_dateFormat.format(utc)); // Have to pad for some reason to get proper sizing??? _missionTime.setText(packet.nextToken() + " "); switch (Integer.parseInt(packet.nextToken().trim())) { case AcousticGui.INITIAL_STATE: _missionState.setText("Initial"); break; case AcousticGui.NORMAL_STATE: _missionState.setText("Normal"); break; case AcousticGui.ABORTING_STATE: _missionState.setText("Aborting"); break; case AcousticGui.SHUTTINGDOWN_STATE: _missionState.setText("Shutting down"); break; case AcousticGui.DONE_STATE: _missionState.setText("Done"); break; default: _missionState.setText("???"); } // Behavior index String index = packet.nextToken().trim(); _behavior.setText(packet.nextToken().trim() + " (#" + index + ")"); int current = Integer.parseInt(packet.nextToken().trim()); double voltage = Integer.parseInt(packet.nextToken().trim()) / 10.; formatter.setMinimumFractionDigits(1); formatter.setMaximumFractionDigits(1); _battery.setText(formatter.format(current) + " mA, " + formatter.format(voltage) + " V"); // Acknowledge this packet as a "reply" to a status request. // This is a bit hokey, as we don't really know if this packet // results from an explicit request. _requestStatusButton.acknowledgeReply(); } catch (Exception e) { System.out.println("Exception while processing StatusPacket"); System.out.println(e.toString()); } } else if (typeCode == AcousticGui.NAVIGATION) { try { packet = new NavigationPacket(packetBuffer); packet.nextToken(); // Skip packet type packet.nextToken(); // Skip sequence number utc = new Date((long )Integer.parseInt(packet.nextToken().trim()) * 1000); _navUtc.setText(_dateFormat.format(utc)); double latitude = Integer.parseInt(packet.nextToken().trim()) / 10000.; double longitude = Integer.parseInt(packet.nextToken().trim()) / 10000.; formatter.setMinimumFractionDigits(4); formatter.setMaximumFractionDigits(4); _latLon.setText(formatter.format(latitude) + ", " + formatter.format(longitude)); _depth.setText(packet.nextToken()); _altitude.setText(packet.nextToken()); formatter.setMaximumFractionDigits(1); formatter.setMinimumFractionDigits(1); value = Integer.parseInt(packet.nextToken().trim()) / 10.; _heading.setText(formatter.format(value)); value = Integer.parseInt(packet.nextToken().trim()) / 10.; _speed.setText(formatter.format(value)); value = Integer.parseInt(packet.nextToken().trim()) / 10.; _pitch.setText(formatter.format(value)); // Acknowledge this packet as a "reply" to a navigation request. // This is a bit hokey, as we don't really know if this packet // results from an explicit request. _requestNavButton.acknowledgeReply(); } catch (Exception e) { System.out.println("Exception while processing NavigationPacket"); System.out.println(e.toString()); } } else if (typeCode == AcousticGui.CTD) { try { packet = new CtdPacket(packetBuffer); packet.nextToken(); // Skip packet type packet.nextToken(); // Skip sequence number utc = new Date((long )Integer.parseInt(packet.nextToken().trim()) * 1000); _ctdUtc.setText(_dateFormat.format(utc)); value = Integer.parseInt(packet.nextToken().trim()) / 1000.; formatter.setMaximumFractionDigits(4); formatter.setMinimumFractionDigits(4); _conductivity.setText(formatter.format(value)); value = Integer.parseInt(packet.nextToken().trim()) / 100.; formatter.setMaximumFractionDigits(2); formatter.setMinimumFractionDigits(2); _temperature.setText(formatter.format(value)); _requestCtdButton.acknowledgeReply(); } catch (Exception e) { System.out.println("Exception while processing CtdPacket"); System.out.println(e.toString()); } } else { System.out.println("Unknown telemetry packet code: " + packetBuffer); } // if (packet.hasMoreTokens()) { // System.out.println("Too many tokens in packet? " + packetBuffer); // } } } class CommandPage { CommandPage(JPanel parent, AcousticGui app) { new CommandButton(parent, "Abort Mission", app, AcousticGui.ABORT); } } class CommsPage { private ButtonGroup _transponderSelect; Vector _transponders; JTextArea _packets; // Transponder signal info and selection button static class Transponder { private JProgressBar _signal; static final double _MaxSignal = 99999.; private String _name; private boolean selected = false; private JRadioButton _select; private JLabel _metaData1; private JLabel _metaData2; Transponder(String name, JPanel parent, ButtonGroup selections, boolean select) { _name = name; JPanel pane = new JPanel(); pane.setLayout(new BoxLayout(pane, BoxLayout.Y_AXIS)); pane.setBorder(BorderFactory.createTitledBorder("Transponder " + name + ":")); _metaData1 = new JLabel(""); pane.add(_metaData1); _metaData2 = new JLabel(""); pane.add(_metaData2); JPanel subPane = new JPanel(); subPane.add(new JLabel("Power:")); _signal = new JProgressBar(); _signal.setMinimum(0); _signal.setMaximum(convertSignal(_MaxSignal)); subPane.add(_signal); _select = new JRadioButton("Use", select); selected = select; _select.addItemListener(new ItemListener() { public void itemStateChanged(ItemEvent event) { if (_select.isSelected()) selected = true; else selected = false; } }); // Add to ButtonGroup selections.add(_select); subPane.add(_select); pane.add(subPane); parent.add(pane); } public String name() { return _name; } // Update display public void update(AcousticRecord.MetaData data) { _metaData1.setText("Rcvd at: " + data.time + ", mooring " + data.receiver + ", transp " + data.transmitter); _metaData2.setText("Rcv power: " + data.receivedPower); _signal.setValue(convertSignal(data.receivedPower)); } // Convert floating point signal strength to integer value for display // in progress bar private int convertSignal(double signal) { // Just return for now... return (int )signal; } } public CommsPage(JPanel parent) { _transponderSelect = new ButtonGroup(); _transponders = new Vector(); JPanel pane = new JPanel(); pane.setLayout(new GridLayout(0, 1)); _transponders.addElement(new Transponder("M1", pane, _transponderSelect, true)); _transponders.addElement(new Transponder("M2", pane, _transponderSelect, false)); _transponders.addElement(new Transponder("M3", pane, _transponderSelect, false)); _transponders.addElement(new Transponder("M4", pane, _transponderSelect, false)); JPanel subPane = new JPanel(); subPane.setBorder(BorderFactory.createTitledBorder("Rcvd Packets")); _packets = new JTextArea(5, 30); JScrollPane scrollPane = new JScrollPane(_packets); subPane.add(scrollPane); pane.add(subPane); parent.add(pane); } public void update(AcousticRecord record) { // Update packet display _packets.append(record.string() + "\n"); if (!record.containsAuvPacket()) return; AcousticRecord.MetaData data = new AcousticRecord.MetaData(); try { record.metaData(data); } catch (Exception e) { System.out.println("Error extracting metadata from " + record.string()); System.out.println(e.toString()); return; } // Get receiver name String name = "M" + Integer.toString(data.receiver); // Get signal strength double strength = data.receivedPower; // Find transponder and update it for (int i = 0; i < _transponders.size(); i++) { Transponder transponder = (Transponder )_transponders.elementAt(i); if (name.compareTo(transponder.name()) == 0) { // Found transponder transponder.update(data); break; } } } public String selectedTransponder() { for (int i = 0; i < _transponders.size(); i++) { Transponder transponder = (Transponder )_transponders.elementAt(i); if (transponder.selected) return transponder.name(); } return ""; } } /* AcousticRecord consists of a header, followed by the actual AcousticPacket */ class AcousticRecord { static final int _AuvTransmitter = 66; static final String _ValidPrefix = "RX"; static final char _PacketDelimiter = '"'; String _buffer; static class MetaData { String time; int receiver; int transmitter; int receivedPower; }; AcousticRecord(String record) { _buffer = record; } // Extract transponder #, received power, etc. void metaData(MetaData data) throws Exception { if (!_buffer.substring(0, _ValidPrefix.length()).equals(_ValidPrefix)) { // Doesn't contain a packet throw new Exception("Record does not contain packet"); } int nTokens = 0; StringTokenizer stream = new StringTokenizer(_buffer, " "); boolean done = false; while (stream.hasMoreTokens() && !done) { String token = stream.nextToken(); switch (nTokens) { case 0: // "RX", "TO", etc break; case 1: // Transponder number data.receiver = Integer.parseInt(token); break; case 2: // Date/time data.time = token; break; case 3: // Received power data.receivedPower = Integer.parseInt(token); break; case 4: // Transmitter id data.transmitter = Integer.parseInt(token); done = true; break; } nTokens++; } } // Return string representation String string() { return _buffer; } // Return true if record contains acoustic packet data boolean containsPacket() { if (_buffer.substring(0, _ValidPrefix.length()).equals(_ValidPrefix)) return true; else return false; } boolean containsAuvPacket() { if (!containsPacket()) return false; MetaData data = new MetaData(); try { metaData(data); } catch (Exception e) { return false; } if (data.transmitter == _AuvTransmitter) return true; else return false; } // Return acoustic packet string String packetString() throws Exception { int startIndex; int endIndex; if ((startIndex = _buffer.indexOf(_PacketDelimiter)) == -1) { throw new Exception("Start of packet not found in record"); } if ((endIndex = _buffer.indexOf(_PacketDelimiter, startIndex + 1)) == -1) { throw new Exception("End of packet not found in record"); } return _buffer.substring(startIndex+1, endIndex-1); } } /* The following AcousticPacket class and subclasses should probably be in a separate package. */ class AcousticPacket { // Number of bytes in acoustic packet public static final int _Nbytes = 50; // These must match field widths in C++ header file static final int _TypeFieldLength = 1; static final int _SequenceNoFieldLength = 1; static final int _TimeTagFieldLength = 10; StringBuffer _buffer; Vector _fields; int _currentField; int _startIndex; public AcousticPacket(String buffer) { _fields = new Vector(); _buffer = new StringBuffer(buffer); addField(_TypeFieldLength); addField(_SequenceNoFieldLength); addField(_TimeTagFieldLength); reset(); } // Add a field void addField(int fieldWidth) { _fields.addElement(new Integer(fieldWidth)); } // Restart tokenizing public void reset() { _currentField = 0; _startIndex = 0; } public int nFields() { return _fields.size(); } void advance() { if (_currentField < _fields.size()) { Integer w = (Integer )_fields.elementAt(_currentField); int width = w.intValue(); _startIndex += width; _currentField++; } else { // Throw some exception here? System.out.println("AcousticPacket::advance() - at end of packet"); return; } } // Return token in current field, then advance current field public synchronized String nextToken() { if (_currentField >= _fields.size()) { // Should throw some kinda exception here... System.out.println("AcousticPacket::nextToken() - at end of packet"); return ""; } // Get width of current field Integer w = (Integer )_fields.elementAt(_currentField); int width = w.intValue(); // Extract substring of specified width String token = _buffer.toString().substring(_startIndex, _startIndex + width); advance(); return token; } // Set token in next field, then advance field public void setNextToken(String token) { // Get width of current field Integer w = (Integer )_fields.elementAt(_currentField); int width = w.intValue(); if (token.length() > width) { // Throw some exception here return; } _buffer.insert(_startIndex, token); advance(); } public String buffer() { return _buffer.toString(); } public void print() { System.out.println(_buffer); } } class CtdPacket extends AcousticPacket { // These must match field widths in C++ header file static final int _ConductivityFieldWidth = 7; static final int _TemperatureFieldWidth = 4; static final int _DepthFieldWidth = 4; public CtdPacket(String buffer) { super(buffer); addField(_ConductivityFieldWidth); addField(_TemperatureFieldWidth); addField(_DepthFieldWidth); } } class NavigationPacket extends AcousticPacket { // These must match field widths in C++ header file static final int _LatitudeFieldWidth = 7; static final int _LongitudeFieldWidth = 8; static final int _DepthFieldWidth = 4; static final int _AltitudeFieldWidth = 4; static final int _HeadingFieldWidth = 5; static final int _SpeedFieldWidth = 3; static final int _PitchFieldWidth = 4; public NavigationPacket(String buffer) { super(buffer); addField(_LatitudeFieldWidth); addField(_LongitudeFieldWidth); addField(_DepthFieldWidth); addField(_AltitudeFieldWidth); addField(_HeadingFieldWidth); addField(_SpeedFieldWidth); addField(_PitchFieldWidth); } } class StatusPacket extends AcousticPacket { // These must match field widths in C++ header file static final int _MissionTimeFieldWidth = 6; static final int _MissionStateFieldWidth = 2; static final int _BehaviorIndexFieldWidth = 3; static final int _BehaviorFieldWidth = 15; static final int _BatteryCurrentFieldWidth = 5; static final int _BatteryVoltageFieldWidth = 5; public StatusPacket(String buffer) { super(buffer); addField(_MissionTimeFieldWidth); addField(_MissionStateFieldWidth); addField(_BehaviorIndexFieldWidth); addField(_BehaviorFieldWidth); addField(_BatteryCurrentFieldWidth); addField(_BatteryVoltageFieldWidth); } } class CommandPacket extends AcousticPacket { public CommandPacket(int commandType, int sequenceNo, Date utc) { super(new String(" ")); // Initialize to all blanks _buffer.setLength(_Nbytes); for (int i = 0; i < _Nbytes; i++) _buffer.setCharAt(i, ' '); // Set command type setNextToken(Integer.toString(commandType)); // Set command sequence setNextToken(Integer.toString(sequenceNo)); // Time-tag setNextToken(Long.toString(utc.getTime() / 1000)); } }