*/
class AltosSerialReader implements Runnable {
InputStream serial_in;
- LinkedBlockingQueue<String> monitor_queue;
+ LinkedList<LinkedBlockingQueue<String>> monitors;
LinkedBlockingQueue<String> reply_queue;
Thread input_thread;
String line;
int c;
try {
- while ((c = serial_in.read()) != -1) {
+ for (;;) {
+ c = serial_in.read();
+ if (Thread.interrupted())
+ break;
+ if (c == -1)
+ continue;
if (c == '\r')
continue;
synchronized(this) {
if (c == '\n') {
if (line != "") {
- if (line.startsWith("VERSION"))
- monitor_queue.put(line);
- else
+ if (line.startsWith("VERSION")) {
+ for (int e = 0; e < monitors.size(); e++) {
+ LinkedBlockingQueue<String> q = monitors.get(e);
+ q.put(line);
+ }
+ } else
reply_queue.put(line);
line = "";
}
}
}
- public String get_telem() throws InterruptedException {
- return monitor_queue.take();
- }
-
public String get_reply() throws InterruptedException {
return reply_queue.take();
}
+ public void add_monitor(LinkedBlockingQueue<String> q) {
+ monitors.add(q);
+ }
+
+ public void remove_monitor(LinkedBlockingQueue<String> q) {
+ monitors.remove(q);
+ }
+
public void flush () {
synchronized(this) {
if (!"VERSION".startsWith(line) && !line.startsWith("VERSION"))
}
if (input_thread != null) {
try {
+ input_thread.interrupt();
input_thread.join();
} catch (InterruptedException e) {
}
}
public void open(CommPort c) throws IOException {
close();
+ try {
+ c.enableReceiveTimeout(1000); /* icky. the read method cannot be interrupted */
+ } catch (UnsupportedCommOperationException ee) {
+ }
serial_in = c.getInputStream();
input_thread = new Thread(this);
input_thread.start();
serial_in = null;
input_thread = null;
line = "";
- monitor_queue = new LinkedBlockingQueue<String> ();
+ monitors = new LinkedList<LinkedBlockingQueue<String>> ();
reply_queue = new LinkedBlockingQueue<String> ();
}
}
-public class AltosSerial implements Runnable {
+public class AltosSerial {
OutputStream serial_out = null;
- Thread monitor_thread = null;
AltosSerialReader reader = null;
- LinkedList<AltosSerialMonitor> callbacks;
-
- public void run() {
- try {
- for (;;) {
- String s = reader.get_telem();
- synchronized(callbacks) {
- Iterator<AltosSerialMonitor> i = callbacks.iterator();
- while (i.hasNext()) {
- i.next().data(s);
- }
- }
- }
- } catch (InterruptedException e) {
- }
- }
- boolean need_monitor() {
- return reader.opened() && !callbacks.isEmpty();
- }
-
- void maybe_stop_monitor() {
- if (!need_monitor() && monitor_thread != null) {
- monitor_thread.interrupt();
- try {
- monitor_thread.join();
- } catch (InterruptedException e) {
- } finally {
- monitor_thread = null;
- }
- }
- }
-
- void maybe_start_monitor() {
- if (need_monitor() && monitor_thread == null) {
- monitor_thread = new Thread(this);
- monitor_thread.start();
- }
- }
-
- public void monitor(AltosSerialMonitor monitor) {
- synchronized(callbacks) {
- callbacks.add(monitor);
- maybe_start_monitor();
- }
- }
-
-
- public void unmonitor(AltosSerialMonitor monitor) {
- synchronized(callbacks) {
- callbacks.remove(monitor);
- maybe_stop_monitor();
- }
- }
+ CommPort comm_port = null;
public void close() {
- synchronized(callbacks) {
- reader.close();
- maybe_stop_monitor();
+ try {
+ serial_out.close();
+ } catch (IOException ee) {
+ }
+ reader.close();
+ if (comm_port != null) {
+ comm_port.close();
}
}
serial_out = new FileOutputStream(serial_name);
}
- public void open(CommPort comm_port) throws IOException {
- reader.open(comm_port);
- serial_out = comm_port.getOutputStream();
+ public void open(CommPort c) throws IOException {
+ reader.open(c);
+ serial_out = c.getOutputStream();
}
public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
- System.out.printf("Opening serial port %s\n", port_name);
- CommPort comm_port = new RXTXPort(port_name);
-// CommPortIdentifier port_identifier = CommPortIdentifier.getPortIdentifier(port_name);
-// CommPort comm_port = port_identifier.open("Altos", 1000);
+ comm_port = new RXTXPort(port_name);
open(comm_port);
}
void init() {
reader = new AltosSerialReader();
- callbacks = new LinkedList<AltosSerialMonitor>();
+ }
+
+ public void add_monitor(LinkedBlockingQueue<String> q) {
+ reader.add_monitor(q);
+ }
+
+ public void remove_monitor(LinkedBlockingQueue<String> q) {
+ reader.remove_monitor(q);
}
public AltosSerial() {