2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_11;
22 import java.util.concurrent.*;
25 public abstract class AltosLink implements Runnable {
27 public final static int ERROR = -1;
28 public final static int TIMEOUT = -2;
30 public abstract int getchar() throws InterruptedException;
31 public abstract void print(String data) throws InterruptedException;
32 public abstract void putchar(byte c);
33 public abstract void close() throws InterruptedException;
35 public static boolean debug = false;
36 public static void set_debug(boolean in_debug) { debug = in_debug; }
38 public boolean has_error;
40 LinkedList<String> pending_output = new LinkedList<String>();
42 public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
43 public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
44 public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
46 public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
51 public synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
53 if (monitors.isEmpty())
57 public void printf(String format, Object ... arguments) {
58 String line = String.format(format, arguments);
60 synchronized (pending_output) {
61 pending_output.add(line);
66 } catch (InterruptedException ie) {
71 public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
73 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
79 public String get_reply() throws InterruptedException {
80 return get_reply(5000);
84 public abstract boolean can_cancel_reply();
85 public abstract boolean show_reply_timeout();
86 public abstract void hide_reply_timeout();
88 public boolean reply_abort;
90 boolean cancel_enable = true;
92 public void set_cancel_enable(boolean e) {
96 boolean reply_timeout_shown = false;
98 private boolean check_reply_timeout() {
101 if (!reply_timeout_shown)
102 reply_timeout_shown = show_reply_timeout();
106 private void cleanup_reply_timeout() {
107 if (reply_timeout_shown) {
108 reply_timeout_shown = false;
109 hide_reply_timeout();
113 private int len_read = 0;
117 byte[] line_bytes = null;
123 if (Thread.interrupted()) {
128 System.out.printf("ERROR\n");
130 add_telem (new AltosLine());
131 add_reply (new AltosLine());
136 System.out.printf("TIMEOUT\n");
139 if (c == '\r' && len_read == 0)
142 if (c == '\n' && len_read == 0) {
143 if (line_count != 0) {
144 add_bytes(line_bytes, line_count);
148 if (line_bytes == null) {
149 line_bytes = new byte[256];
150 } else if (line_count == line_bytes.length) {
151 byte[] new_line_bytes = new byte[line_count * 2];
152 System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
153 line_bytes = new_line_bytes;
155 line_bytes[line_count] = (byte) c;
157 if (len_read !=0 && line_count == len_read) {
158 add_binary(line_bytes, line_count);
165 } catch (InterruptedException e) {
170 public String get_reply(int timeout) throws InterruptedException {
171 boolean can_cancel = can_cancel_reply();
174 // if (!can_cancel && remote)
175 // System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
177 if (remote && can_cancel) {
179 switch (telemetry_rate) {
180 case AltosLib.ao_telemetry_rate_38400:
184 case AltosLib.ao_telemetry_rate_9600:
187 case AltosLib.ao_telemetry_rate_2400:
198 reply_timeout_shown = false;
200 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
202 cleanup_reply_timeout();
206 if (!remote || !can_cancel || check_reply_timeout()) {
217 public byte[] get_binary_reply(int timeout, int len) throws InterruptedException {
218 boolean can_cancel = can_cancel_reply();
230 reply_timeout_shown = false;
232 bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS);
234 cleanup_reply_timeout();
237 if (!remote || !can_cancel || check_reply_timeout()) {
249 public void add_telem(AltosLine line) throws InterruptedException {
250 for (int e = 0; e < monitors.size(); e++) {
251 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
256 public void add_reply(AltosLine line) throws InterruptedException {
257 reply_queue.put (line);
260 public void abort_reply() {
262 add_telem (new AltosLine());
263 add_reply (new AltosLine());
264 } catch (InterruptedException ie) {
268 public void add_string(String line) throws InterruptedException {
269 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
270 add_telem(new AltosLine(line));
272 add_reply(new AltosLine(line));
276 public void add_bytes(byte[] bytes, int len) throws InterruptedException {
278 line = new String(bytes, 0, len, AltosLib.unicode_set);
280 System.out.printf("\t\t\t\t\t%s\n", line);
284 public void add_binary(byte[] bytes, int len) throws InterruptedException {
285 byte[] dup = new byte[len];
288 System.out.printf ("\t\t\t\t\t%d:", len);
289 for(int i = 0; i < len; i++) {
292 System.out.printf(" %02x", dup[i]);
295 System.out.printf("\n");
297 binary_queue.put(dup);
300 public synchronized void flush_output() {
301 if (pending_output == null)
303 synchronized (pending_output) {
304 for (String s : pending_output)
306 pending_output.clear();
310 public void flush_input(int timeout) throws InterruptedException {
315 Thread.sleep(timeout);
316 got_some = !reply_queue.isEmpty();
322 public void flush_input() throws InterruptedException {
331 * Various command-level operations on
334 public boolean monitor_mode = false;
335 public int telemetry = AltosLib.ao_telemetry_standard;
336 public int telemetry_rate = -1;
337 public double frequency;
338 public String callsign;
339 AltosConfigData config_data;
341 private Object config_data_lock = new Object();
343 private int telemetry_len() {
344 return AltosLib.telemetry_len(telemetry);
347 private void set_radio_freq(int frequency) {
349 printf("m 0\nc F %d\nm %x\n",
350 frequency, telemetry_len());
352 printf("c F %d\n", frequency);
356 public void set_radio_frequency(double frequency,
357 boolean has_frequency,
361 System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
365 set_radio_freq((int) Math.floor (frequency * 1000 + 0.5));
366 else if (has_setting)
367 set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
369 set_channel(AltosConvert.radio_frequency_to_channel(frequency));
372 public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
373 frequency = in_frequency;
375 set_radio_frequency(frequency,
376 config_data.radio_frequency > 0,
377 config_data.radio_setting > 0,
378 config_data.radio_calibration);
381 public void set_telemetry(int in_telemetry) {
382 telemetry = in_telemetry;
384 printf("m 0\nm %x\n", telemetry_len());
388 public void set_telemetry_rate(int in_telemetry_rate) {
389 telemetry_rate = in_telemetry_rate;
391 printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len());
393 printf("c T %d\n", telemetry_rate);
397 public synchronized void set_monitor(boolean monitor) {
398 monitor_mode = monitor;
400 printf("m %x\n", telemetry_len());
406 public synchronized boolean get_monitor() {
410 private void set_channel(int channel) {
412 printf("m 0\nc r %d\nm %x\n",
413 channel, telemetry_len());
415 printf("c r %d\n", channel);
419 private void set_radio_setting(int setting) {
421 printf("m 0\nc R %d\nm %x\n",
422 setting, telemetry_len());
424 printf("c R %d\n", setting);
428 public AltosConfigData config_data() throws InterruptedException, TimeoutException {
429 synchronized(config_data_lock) {
430 if (config_data == null) {
432 config_data = new AltosConfigData(this);
440 public void set_callsign(String callsign) {
441 this.callsign = callsign;
442 if (callsign != null) {
443 printf ("c c %s\n", callsign);
448 public boolean is_loader() throws InterruptedException {
452 String line = get_reply();
456 if (line.startsWith("software-version"))
458 if (line.startsWith("altos-loader"))
464 public void to_loader() throws InterruptedException {
471 public boolean remote;
475 public void start_remote() throws TimeoutException, InterruptedException {
476 if (frequency == 0.0)
477 frequency = AltosPreferences.frequency(serial);
479 System.out.printf("start remote %7.3f\n", frequency);
480 set_radio_frequency(frequency);
481 if (telemetry_rate < 0)
482 telemetry_rate = AltosPreferences.telemetry_rate(serial);
483 set_telemetry_rate(telemetry_rate);
484 if (callsign == null || callsign.equals(""))
485 callsign = AltosPreferences.callsign();
486 set_callsign(callsign);
492 public void stop_remote() throws InterruptedException {
494 System.out.printf("stop remote\n");
504 public int rssi() throws TimeoutException, InterruptedException {
508 String line = get_reply_no_dialog(5000);
510 throw new TimeoutException();
511 String[] items = line.split("\\s+");
512 if (items.length < 2)
514 if (!items[0].equals("RSSI:"))
516 int rssi = Integer.parseInt(items[1]);
520 public String[] adc() throws TimeoutException, InterruptedException {
523 String line = get_reply_no_dialog(5000);
525 throw new TimeoutException();
527 if (!line.startsWith("tick:"))
529 String[] items = line.split("\\s+");
534 public boolean has_monitor_battery() {
535 return config_data.has_monitor_battery();
538 public double monitor_battery() throws InterruptedException {
539 int monitor_batt = AltosLib.MISSING;
541 if (config_data.has_monitor_battery()) {
543 String[] items = adc();
544 for (int i = 0; i < items.length;) {
545 if (items[i].equals("batt")) {
546 monitor_batt = Integer.parseInt(items[i+1]);
552 } catch (TimeoutException te) {
555 if (monitor_batt == AltosLib.MISSING)
556 return AltosLib.MISSING;
558 double volts = AltosLib.MISSING;
559 if (config_data.product.startsWith("TeleBT-v3")) {
560 volts = AltosConvert.tele_bt_3_battery(monitor_batt);
562 volts = AltosConvert.cc_battery_to_voltage(monitor_batt);