package org.altusmetrum.AltosLib;
-import java.lang.*;
import java.io.*;
import java.util.concurrent.*;
import java.util.*;
-import java.text.*;
-public abstract class AltosLink {
+public abstract class AltosLink implements Runnable {
+
+ public final static int ERROR = -1;
+ public final static int TIMEOUT = -2;
+
+ public abstract int getchar();
public abstract void print(String data);
public abstract void close();
return null;
}
- public String get_reply(int timeout) throws InterruptedException {
+ public String get_reply() throws InterruptedException {
+ return get_reply(5000);
+ }
+
+
+ public abstract boolean can_cancel_reply();
+ public abstract boolean show_reply_timeout();
+ public abstract void hide_reply_timeout();
+
+ public boolean reply_abort;
+ public int in_reply;
+
+ boolean reply_timeout_shown = false;
+
+ private boolean check_reply_timeout() {
+ if (!reply_timeout_shown)
+ reply_timeout_shown = show_reply_timeout();
+ return reply_abort;
+ }
+
+ private void cleanup_reply_timeout() {
+ if (reply_timeout_shown) {
+ reply_timeout_shown = false;
+ hide_reply_timeout();
+ }
+ }
+
+
+ public void run () {
+ int c;
+ byte[] line_bytes = null;
+ int line_count = 0;
+
try {
- return get_reply_no_dialog(timeout);
- } catch (TimeoutException te) {
- return null;
+ for (;;) {
+ c = getchar();
+ if (Thread.interrupted()) {
+ if (debug)
+ System.out.printf("INTERRUPTED\n");
+ break;
+ }
+ if (c == ERROR) {
+ if (debug)
+ System.out.printf("ERROR\n");
+ add_telem (new AltosLine());
+ add_reply (new AltosLine());
+ break;
+ }
+ if (c == TIMEOUT) {
+ if (debug)
+ System.out.printf("TIMEOUT\n");
+ continue;
+ }
+ if (c == '\r')
+ continue;
+ synchronized(this) {
+ if (c == '\n') {
+ if (line_count != 0) {
+ add_bytes(line_bytes, line_count);
+ line_count = 0;
+ }
+ } else {
+ if (line_bytes == null) {
+ line_bytes = new byte[256];
+ } else if (line_count == line_bytes.length) {
+ byte[] new_line_bytes = new byte[line_count * 2];
+ System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
+ line_bytes = new_line_bytes;
+ }
+ line_bytes[line_count] = (byte) c;
+ line_count++;
+ }
+ }
+ }
+ } catch (InterruptedException e) {
}
}
- public String get_reply() throws InterruptedException {
- return get_reply(5000);
+ public String get_reply(int timeout) throws InterruptedException {
+ boolean can_cancel = can_cancel_reply();
+ String reply = null;
+
+ if (!can_cancel && remote)
+ System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
+
+ if (remote && can_cancel)
+ timeout = 500;
+ try {
+ ++in_reply;
+
+ flush_output();
+
+ reply_abort = false;
+ reply_timeout_shown = false;
+ for (;;) {
+ AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+ if (line != null) {
+ cleanup_reply_timeout();
+ reply = line.line;
+ break;
+ }
+ if (!remote || !can_cancel || check_reply_timeout()) {
+ reply = null;
+ break;
+ }
+ }
+ } finally {
+ --in_reply;
+ }
+ return reply;
}
public void add_telem(AltosLine line) throws InterruptedException {
reply_queue.put (line);
}
+ public void abort_reply() {
+ try {
+ add_telem (new AltosLine());
+ add_reply (new AltosLine());
+ } catch (InterruptedException e) {
+ }
+ }
+
public void add_string(String line) throws InterruptedException {
if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
add_telem(new AltosLine(line));
public void flush_input() throws InterruptedException {
- flush_input(100);
+ if (remote)
+ flush_input(500);
+ else
+ flush_input(100);
}
return AltosLib.telemetry_len(telemetry);
}
+ private void set_radio_freq(int frequency) {
+ if (monitor_mode)
+ printf("m 0\nc F %d\nm %x\n",
+ frequency, telemetry_len());
+ else
+ printf("c F %d\n", frequency);
+ flush_output();
+ }
+
+ public void set_radio_frequency(double frequency,
+ boolean has_frequency,
+ boolean has_setting,
+ int cal) {
+ if (debug)
+ System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
+ if (frequency == 0)
+ return;
+ if (has_frequency)
+ set_radio_freq((int) Math.floor (frequency * 1000));
+ else if (has_setting)
+ set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
+ else
+ set_channel(AltosConvert.radio_frequency_to_channel(frequency));
+ }
+
+ public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
+ frequency = in_frequency;
+ config_data();
+ set_radio_frequency(frequency,
+ config_data.radio_frequency > 0,
+ config_data.radio_setting > 0,
+ config_data.radio_calibration);
+ }
+
public void set_telemetry(int in_telemetry) {
telemetry = in_telemetry;
if (monitor_mode)
flush_output();
}
- public void set_radio_frequency(double frequency,
- boolean has_setting,
- int cal) {
- if (debug)
- System.out.printf("set_radio_frequency %7.3f %b %d\n", frequency, has_setting, cal);
- if (has_setting)
- set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
- else
- set_channel(AltosConvert.radio_frequency_to_channel(frequency));
- }
-
public AltosConfigData config_data() throws InterruptedException, TimeoutException {
if (config_data == null)
config_data = new AltosConfigData(this);
return config_data;
}
- public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
- frequency = in_frequency;
- config_data();
- set_radio_frequency(frequency,
- config_data.radio_setting != 0,
- config_data.radio_calibration);
- }
-
public void set_callsign(String callsign) {
printf ("c c %s\n", callsign);
flush_output();
public String name;
public void start_remote() throws TimeoutException, InterruptedException {
- if (debug)
- System.out.printf("start remote %7.3f\n", frequency);
if (frequency == 0.0)
frequency = AltosPreferences.frequency(serial);
+ if (debug)
+ System.out.printf("start remote %7.3f\n", frequency);
set_radio_frequency(frequency);
set_callsign(AltosPreferences.callsign());
printf("p\nE 0\n");