2 * Copyright © 2010 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; version 2 of the License.
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.
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.
24 import org.altusmetrum.altoslib_2.*;
26 public class AltosDisplayThread extends Thread {
29 IdleThread idle_thread;
31 AltosFlightReader reader;
32 AltosState old_state, state;
33 AltosListenerState listener_state;
34 AltosFlightDisplay display;
36 synchronized void show_safely() {
37 final AltosState my_state = state;
38 final AltosListenerState my_listener_state = listener_state;
39 Runnable r = new Runnable() {
42 display.show(my_state, my_listener_state);
43 } catch (Exception ex) {
47 SwingUtilities.invokeLater(r);
50 void reading_error_internal() {
51 JOptionPane.showMessageDialog(parent,
52 String.format("Error reading from \"%s\"", reader.name),
53 "Telemetry Read Error",
54 JOptionPane.ERROR_MESSAGE);
57 void reading_error_safely() {
58 Runnable r = new Runnable() {
61 reading_error_internal();
62 } catch (Exception ex) {
66 SwingUtilities.invokeLater(r);
69 class IdleThread extends Thread {
76 public synchronized void report(boolean last) {
80 /* reset the landing count once we hear about a new flight */
81 if (state.state < Altos.ao_flight_drogue)
84 /* Shut up once the rocket is on the ground */
85 if (reported_landing > 2) {
89 /* If the rocket isn't on the pad, then report height */
90 if (Altos.ao_flight_drogue <= state.state &&
91 state.state < Altos.ao_flight_landed &&
94 voice.speak("Height %s, bearing %s %d, elevation %d, range %s.\n",
95 AltosConvert.height.say(state.height()),
96 state.from_pad.bearing_words(
97 AltosGreatCircle.BEARING_VOICE),
98 (int) (state.from_pad.bearing + 0.5),
99 (int) (state.elevation + 0.5),
100 AltosConvert.distance.say(state.range));
101 } else if (state.state > Altos.ao_flight_pad) {
102 voice.speak(AltosConvert.height.say_units(state.height()));
104 reported_landing = 0;
107 /* If the rocket is coming down, check to see if it has landed;
108 * either we've got a landed report or we haven't heard from it in
111 if (state.state >= Altos.ao_flight_drogue &&
113 System.currentTimeMillis() - state.received_time >= 15000 ||
114 state.state == Altos.ao_flight_landed))
116 if (Math.abs(state.speed()) < 20 && state.height() < 100)
117 voice.speak("rocket landed safely");
119 voice.speak("rocket may have crashed");
120 if (state.from_pad != null)
121 voice.speak("Bearing %d degrees, range %s.",
122 (int) (state.from_pad.bearing + 0.5),
123 AltosConvert.distance.say_units(state.from_pad.distance));
125 if (state.state != Altos.ao_flight_landed) {
126 state.state = Altos.ao_flight_landed;
133 return System.currentTimeMillis();
136 void set_report_time() {
137 report_time = now() + report_interval;
143 if (reader.has_monitor_battery()) {
144 listener_state.battery = reader.monitor_battery();
150 synchronized (this) {
151 long sleep_time = report_time - now();
160 } catch (InterruptedException ie) {
163 } catch (InterruptedException iie) { }
167 public synchronized void notice(boolean spoken) {
168 if (old_state != null && old_state.state != state.state) {
175 public IdleThread() {
176 reported_landing = 0;
177 report_interval = 10000;
181 synchronized boolean tell() {
183 if (old_state == null || old_state.state != state.state) {
184 voice.speak(state.state_name());
185 if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
186 state.state > Altos.ao_flight_boost) {
187 voice.speak("max speed: %s.",
188 AltosConvert.speed.say_units(state.max_speed() + 0.5));
190 } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
191 state.state >= Altos.ao_flight_drogue) {
192 voice.speak("max height: %s.",
193 AltosConvert.height.say_units(state.max_height() + 0.5));
197 if (old_state == null || old_state.gps_ready != state.gps_ready) {
198 if (state.gps_ready) {
199 voice.speak("GPS ready");
202 else if (old_state != null) {
203 voice.speak("GPS lost");
212 boolean interrupted = false;
215 idle_thread = new IdleThread();
221 state = reader.read();
224 reader.update(state);
227 idle_thread.notice(told);
228 } catch (ParseException pp) {
229 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
230 } catch (AltosCRCException ce) {
231 ++listener_state.crc_errors;
235 } catch (InterruptedException ee) {
237 } catch (IOException ie) {
238 reading_error_safely();
241 idle_thread.report(true);
242 reader.close(interrupted);
243 idle_thread.interrupt();
246 } catch (InterruptedException ie) {}
250 public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
251 listener_state = new AltosListenerState();
254 display = in_display;