testing did is sane (1cf71ddd) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/ims/Did_ins.java

+41 −0

Original line number	Original line	Diff line number	Diff line
	@@ -17,9 +17,22 @@ public abstract class Did_ins <T extends Did_ins <T>>{
	/** WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters) */		/** WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters) */
	public double [] lla = new double [3];		public double [] lla = new double [3];

			/** for DID_INS verification */
			public static int eHdwStatusFlags_mask = 0xffffffd0;
			public static int eHdwStatusFlags_data = 0x0008007f;
			// public static int eInsStatusFlags_mask = 0x8c0059ee;
			// public static int eInsStatusFlags_mask = 0x8c00596e; // once in 300-400 - GPS aided heading
			public static int eInsStatusFlags_mask = 0x8800596e; // once in 300-400 - INS_STATUS_RTK_COMPASSING_VALID
			//
			public static int eInsStatusFlags_data = 0x00635177;
			public static int MIN_WEEK = 1766; // -10 yrs
			public static int MAX_WEEK = 2806; // +10 yrs


	static int interpolateInt(double frac, int v_this, int v_next) {		static int interpolateInt(double frac, int v_this, int v_next) {
	return (int) Math.round(frac * v_next + (1.0 - frac) * v_this);		return (int) Math.round(frac * v_next + (1.0 - frac) * v_this);
	}		}

	static float interpolateFloat(double frac, float v_this, float v_next) {		static float interpolateFloat(double frac, float v_this, float v_next) {
	return (float) (frac * v_next + (1.0 - frac) * v_this);		return (float) (frac * v_next + (1.0 - frac) * v_this);
	}		}
	@@ -36,6 +49,34 @@ public abstract class Did_ins <T extends Did_ins <T>>{
	return new int [] { week, (int)Math.round(timeOfWeek * 1000.0)};		return new int [] { week, (int)Math.round(timeOfWeek * 1000.0)};
	}		}

			public boolean isDidSane() {
			if ((week < MIN_WEEK) \|\| (week > MAX_WEEK)) {
			System.out.println("isDidSane(): bad week = "+week+
			" - should be in range ["+MIN_WEEK+","+MAX_WEEK+"]");
			return false;
			}
			if ((timeOfWeek < 0) \|\| (timeOfWeek > WEEK_SECONDS)) {
			System.out.println("isDidSane(): bad timeOfWeek = "+timeOfWeek+
			" - should be in range [0,"+WEEK_SECONDS+"]");
			return false;
			}
			if (((hdwStatus ^ eHdwStatusFlags_data) & eHdwStatusFlags_mask) != 0) {
			System.out.println(String.format("isDidSane(): bad hdwStatus=0x%08x"+
			" (0x%08x ^ 0x%08x) & 0x%08x = 0x%08x",
			hdwStatus, hdwStatus, eHdwStatusFlags_data,eHdwStatusFlags_mask,
			(hdwStatus ^ eHdwStatusFlags_data) & eHdwStatusFlags_mask));
			return false;
			}
			if (((insStatus ^ eInsStatusFlags_data) & eInsStatusFlags_mask) != 0) {
			System.out.println(String.format("isDidSane(): bad insStatus=0x%08x"+
			" (0x%08x ^ 0x%08x) & 0x%08x = 0x%08x",
			insStatus, insStatus, eInsStatusFlags_data,eInsStatusFlags_mask,
			(insStatus ^ eInsStatusFlags_data) & eInsStatusFlags_mask));
			return false;
			}
			return true;
			}

	//https://www.swtestacademy.com/return-subclass-instance-java-generics/		//https://www.swtestacademy.com/return-subclass-instance-java-generics/
	public void interpolateBase(double frac, T next_did, T new_did) {		public void interpolateBase(double frac, T next_did, T new_did) {
	new_did.week = this.week;		new_did.week = this.week;

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