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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 /*
  19  * Deal with TeleDongle on a serial port
  20  */
  21
  22 package altosui;
  23
  24 import java.lang.*;
  25 import java.io.*;
  26 import java.util.concurrent.LinkedBlockingQueue;
  27 import java.util.LinkedList;
  28 import java.util.Iterator;
  29 import altosui.AltosSerialMonitor;
  30
  31 /*
  32  * This class reads from the serial port and places each received
  33  * line in a queue. Dealing with that queue is left up to other
  34  * threads.
  35  */
  36 class AltosSerialReader implements Runnable {
  37         FileInputStream serial_in;
  38         LinkedBlockingQueue<String> monitor_queue;
  39         LinkedBlockingQueue<String> reply_queue;
  40         Thread input_thread;
  41         String line;
  42
  43         public void run () {
  44                 int c;
  45
  46                 try {
  47                         while ((c = serial_in.read()) != -1) {
  48                                 if (c == '\r')
  49                                         continue;
  50                                 synchronized(this) {
  51                                         if (c == '\n') {
  52                                                 if (line != "") {
  53                                                         if (line.startsWith("VERSION"))
  54                                                                 monitor_queue.put(line);
  55                                                         else
  56                                                                 reply_queue.put(line);
  57                                                         line = "";
  58                                                 }
  59                                         } else {
  60                                                 line = line + (char) c;
  61                                         }
  62                                 }
  63                         }
  64                 } catch (IOException e) {
  65                 } catch (InterruptedException e) {
  66                 }
  67         }
  68
  69         public String get_telem() throws InterruptedException {
  70                 return monitor_queue.take();
  71         }
  72
  73         public String get_reply() throws InterruptedException {
  74                 return reply_queue.take();
  75         }
  76
  77         public void flush () {
  78                 synchronized(this) {
  79                         if (!"VERSION".startsWith(line) && !line.startsWith("VERSION"))
  80                                 line = "";
  81                         reply_queue.clear();
  82                 }
  83         }
  84
  85         public boolean opened() {
  86                 return serial_in != null;
  87         }
  88
  89         public void close() {
  90                 if (serial_in != null) {
  91                         try {
  92                                 serial_in.close();
  93                         } catch (IOException e) {
  94                         }
  95                         serial_in = null;
  96                 }
  97                 if (input_thread != null) {
  98                         try {
  99                                 input_thread.join();
 100                         } catch (InterruptedException e) {
 101                         }
 102                         input_thread = null;
 103                 }
 104         }
 105
 106         public void open(File name) throws FileNotFoundException {
 107                 close();
 108                 serial_in = new FileInputStream(name);
 109                 input_thread = new Thread(this);
 110                 input_thread.start();
 111         }
 112         public AltosSerialReader () {
 113                 serial_in = null;
 114                 input_thread = null;
 115                 line = "";
 116                 monitor_queue = new LinkedBlockingQueue<String> ();
 117                 reply_queue = new LinkedBlockingQueue<String> ();
 118         }
 119
 120 }
 121
 122 public class AltosSerial implements Runnable {
 123         FileOutputStream serial_out = null;
 124         Thread monitor_thread = null;
 125         AltosSerialReader reader = null;
 126         LinkedList<AltosSerialMonitor> callbacks;
 127
 128         public void run() {
 129                 try {
 130                         for (;;) {
 131                                 String s = reader.get_telem();
 132                                 synchronized(callbacks) {
 133                                         Iterator<AltosSerialMonitor> i = callbacks.iterator();
 134                                         while (i.hasNext()) {
 135                                                 i.next().data(s);
 136                                         }
 137                                 }
 138                         }
 139                 } catch (InterruptedException e) {
 140                 }
 141         }
 142
 143         boolean need_monitor() {
 144                 return reader.opened() && !callbacks.isEmpty();
 145         }
 146
 147         void maybe_stop_monitor() {
 148                 if (!need_monitor() && monitor_thread != null) {
 149                         monitor_thread.interrupt();
 150                         try {
 151                                 monitor_thread.join();
 152                         } catch (InterruptedException e) {
 153                         } finally {
 154                                 monitor_thread = null;
 155                         }
 156                 }
 157         }
 158
 159         void maybe_start_monitor() {
 160                 if (need_monitor() && monitor_thread == null) {
 161                         monitor_thread = new Thread(this);
 162                         monitor_thread.start();
 163                 }
 164         }
 165
 166         public void monitor(AltosSerialMonitor monitor) {
 167                 synchronized(callbacks) {
 168                         callbacks.add(monitor);
 169                         maybe_start_monitor();
 170                 }
 171         }
 172
 173
 174         public void unmonitor(AltosSerialMonitor monitor) {
 175                 synchronized(callbacks) {
 176                         callbacks.remove(monitor);
 177                         maybe_stop_monitor();
 178                 }
 179         }
 180
 181         public void close() {
 182                 synchronized(callbacks) {
 183                         reader.close();
 184                         maybe_stop_monitor();
 185                 }
 186         }
 187
 188         public void open(File serial_name) throws FileNotFoundException {
 189                 reader.open(serial_name);
 190                 serial_out = new FileOutputStream(serial_name);
 191                 try {
 192                         serial_out.write('?');
 193                         serial_out.write('\r');
 194                 } catch (IOException e) {
 195                 }
 196         }
 197
 198         void init() {
 199                 reader = new AltosSerialReader();
 200                 callbacks = new LinkedList<AltosSerialMonitor>();
 201         }
 202
 203         public AltosSerial() {
 204                 init();
 205         }
 206
 207         public AltosSerial(File serial_name) throws FileNotFoundException {
 208                 init();
 209                 open(serial_name);
 210         }
 211 }