git.gag.com Git - fw/altos/blob - altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  * Copyright © 2012 Mike Beattie <mike@ethernal.org>
   4  *
   5  * This program is free software; you can redistribute it and/or modify
   6  * it under the terms of the GNU General Public License as published by
   7  * the Free Software Foundation; version 2 of the License.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19
  20 package org.altusmetrum.AltosDroid;
  21
  22 import java.text.*;
  23 import java.io.*;
  24 import java.util.concurrent.*;
  25 import android.os.Handler;
  26
  27 import org.altusmetrum.altoslib_7.*;
  28
  29
  30 public class TelemetryReader extends Thread {
  31
  32         int         crc_errors;
  33
  34         Handler     handler;
  35
  36         AltosLink   link;
  37         AltosState  state = null;
  38
  39         LinkedBlockingQueue<AltosLine> telemQueue;
  40
  41         public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
  42                 AltosLine l = telemQueue.take();
  43                 if (l.line == null)
  44                         throw new IOException("IO error");
  45                 AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
  46                 if (state == null)
  47                         state = new AltosState();
  48                 else
  49                         state = state.clone();
  50                 telem.update_state(state);
  51                 return state;
  52         }
  53
  54         public void close() {
  55                 state = null;
  56                 link.remove_monitor(telemQueue);
  57                 link = null;
  58                 telemQueue.clear();
  59                 telemQueue = null;
  60         }
  61
  62         public void run() {
  63                 AltosState  state = null;
  64
  65                 try {
  66                         AltosDebug.debug("starting loop");
  67                         while (telemQueue != null) {
  68                                 try {
  69                                         state = read();
  70                                         handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
  71                                 } catch (ParseException pp) {
  72                                         AltosDebug.error("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage());
  73                                 } catch (AltosCRCException ce) {
  74                                         ++crc_errors;
  75                                         handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();
  76                                 }
  77                         }
  78                 } catch (InterruptedException ee) {
  79                 } catch (IOException ie) {
  80                         AltosDebug.error("IO exception in telemetry reader");
  81                         handler.obtainMessage(TelemetryService.MSG_DISCONNECTED, link).sendToTarget();
  82                 } finally {
  83                         close();
  84                 }
  85         }
  86
  87         public TelemetryReader (AltosLink in_link, Handler in_handler, AltosState in_state) {
  88                 AltosDebug.debug("connected TelemetryReader create started");
  89                 link    = in_link;
  90                 handler = in_handler;
  91
  92                 state = in_state;
  93                 telemQueue = new LinkedBlockingQueue<AltosLine>();
  94                 link.add_monitor(telemQueue);
  95                 link.set_telemetry(AltosLib.ao_telemetry_standard);
  96
  97                 AltosDebug.debug("connected TelemetryReader created");
  98         }
  99 }