package altosui;
-import java.lang.String;
-import java.lang.System;
-import java.lang.Character;
-import java.io.FileInputStream;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.io.FileNotFoundException;
+import java.lang.*;
+import java.io.*;
import java.util.concurrent.LinkedBlockingQueue;
-import java.lang.InterruptedException;
import java.util.LinkedList;
-import altosui.AltosSerialMonitor;
import java.util.Iterator;
+import gnu.io.*;
+import altosui.AltosSerialMonitor;
/*
* This class reads from the serial port and places each received
* threads.
*/
class AltosSerialReader implements Runnable {
- FileInputStream serial_in;
+ InputStream serial_in;
LinkedBlockingQueue<String> monitor_queue;
LinkedBlockingQueue<String> reply_queue;
+ Thread input_thread;
String line;
public void run () {
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) {
}
}
- public String get_telem() {
- try {
- return monitor_queue.take();
- } catch (InterruptedException e) {
- return "";
- }
+ public String get_telem() throws InterruptedException {
+ String s = monitor_queue.take();
+ System.out.println(s);
+ return s;
}
- public String get_reply() {
- try {
- return reply_queue.take();
- } catch (InterruptedException e) {
- return "";
- }
+ public String get_reply() throws InterruptedException {
+ return reply_queue.take();
}
public void flush () {
reply_queue.clear();
}
}
- public AltosSerialReader (FileInputStream in) {
- serial_in = in;
- monitor_queue = new LinkedBlockingQueue<String> ();
- reply_queue = new LinkedBlockingQueue<String> ();
- line = "";
- }
-}
+ public boolean opened() {
+ return serial_in != null;
+ }
-public class AltosSerial implements Runnable {
- FileInputStream serial_in = null;
- FileOutputStream serial_out = null;
- AltosSerialReader reader;
- LinkedList<AltosSerialMonitor> callbacks;
-
- public void run() {
- for (;;) {
- String s = reader.get_reply();
- synchronized(callbacks) {
- Iterator<AltosSerialMonitor> i = callbacks.iterator();
- while (i.hasNext()) {
- i.next().data(s);
- }
+ public void close() {
+ if (serial_in != null) {
+ try {
+ serial_in.close();
+ } catch (IOException e) {
}
+ serial_in = null;
+ }
+ if (input_thread != null) {
+ try {
+ input_thread.interrupt();
+ input_thread.join();
+ } catch (InterruptedException e) {
+ }
+ input_thread = null;
}
}
- public void start () {
+ public void open(File name) throws FileNotFoundException {
+ close();
+ serial_in = new FileInputStream(name);
+ input_thread = new Thread(this);
+ input_thread.start();
+ }
+ public void open(CommPort c) throws IOException {
+ close();
try {
- serial_out.write('?');
- serial_out.write('\r');
- } catch (IOException e) {
+ c.enableReceiveTimeout(1000); /* icky. the read method cannot be interrupted */
+ } catch (UnsupportedCommOperationException ee) {
}
- (new Thread(reader)).start();
- (new Thread(this)).start();
+ serial_in = c.getInputStream();
+ input_thread = new Thread(this);
+ input_thread.start();
+ }
+ public AltosSerialReader () {
+ serial_in = null;
+ input_thread = null;
+ line = "";
+ monitor_queue = new LinkedBlockingQueue<String> ();
+ reply_queue = new LinkedBlockingQueue<String> ();
}
- public void monitor(AltosSerialMonitor monitor) {
- synchronized(callbacks) {
- callbacks.add(monitor);
- }
+}
+
+public class AltosSerial {
+ OutputStream serial_out = null;
+ AltosSerialReader reader = null;
+
+ public String get_telem() throws InterruptedException {
+ return reader.get_telem();
}
- public AltosSerial(String serial_name) {
+ CommPort comm_port = null;
+
+ public void close() {
try {
- serial_in = new FileInputStream(serial_name);
- serial_out = new FileOutputStream(serial_name);
- reader = new AltosSerialReader(serial_in);
- callbacks = new LinkedList<AltosSerialMonitor>();
- } catch (FileNotFoundException e) {
+ serial_out.close();
+ } catch (IOException ee) {
+ }
+ reader.close();
+ if (comm_port != null) {
+ comm_port.close();
}
}
+
+ public void open(File serial_name) throws FileNotFoundException {
+ reader.open(serial_name);
+ serial_out = new FileOutputStream(serial_name);
+ }
+
+ public void open(CommPort c) throws IOException {
+ reader.open(c);
+ serial_out = c.getOutputStream();
+ }
+
+ public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
+ comm_port = new RXTXPort(port_name);
+ open(comm_port);
+ }
+
+ void init() {
+ reader = new AltosSerialReader();
+ }
+
+ public AltosSerial() {
+ init();
+ }
+
+ public AltosSerial(File serial_name) throws FileNotFoundException {
+ init();
+ open(serial_name);
+ }
+
+ public AltosSerial(CommPort comm_port) throws IOException {
+ init();
+ open(comm_port);
+ }
}