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.util.Log;
  26 import android.os.Handler;
  27
  28 import org.altusmetrum.altoslib_5.*;
  29
  30
  31 public class TelemetryReader extends Thread {
  32
  33         private static final String TAG = "TelemetryReader";
  34         private static final boolean D = true;
  35
  36         int         crc_errors;
  37
  38         Handler     handler;
  39
  40         AltosLink   link;
  41         AltosState  state = null;
  42
  43         AltosFlightReader       stacked;
  44
  45         LinkedBlockingQueue<AltosLine> telemQueue;
  46
  47         public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
  48                 AltosLine l = telemQueue.take();
  49                 if (l.line == null)
  50                         throw new IOException("IO error");
  51                 AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
  52                 if (state == null)
  53                         state = new AltosState();
  54                 else
  55                         state = state.clone();
  56                 telem.update_state(state);
  57                 return state;
  58         }
  59
  60         public void close() {
  61                 state = null;
  62                 if (stacked != null) {
  63                         stacked.close(false);
  64                         stacked = null;
  65                 }
  66                 link.remove_monitor(telemQueue);
  67                 link = null;
  68                 telemQueue.clear();
  69                 telemQueue = null;
  70         }
  71
  72         public void run() {
  73                 AltosState  state = null;
  74
  75                 try {
  76                         if (D) Log.d(TAG, "starting reader");
  77                         while (stacked != null) {
  78                                 AltosState      stacked_state = null;
  79                                 try {
  80                                         stacked_state = stacked.read();
  81                                 } catch (ParseException pe) {
  82                                         continue;
  83                                 } catch (AltosCRCException ce) {
  84                                         continue;
  85                                 }
  86                                 if (stacked_state != null)
  87                                         state = stacked_state;
  88                                 else
  89                                         stacked = null;
  90                         }
  91                         if (state != null) {
  92                                 if (D) Log.d(TAG, "Send initial state");
  93                                 handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
  94                         }
  95                         if (D) Log.d(TAG, "starting loop");
  96                         while (telemQueue != null) {
  97                                 try {
  98                                         state = read();
  99                                         handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
 100                                 } catch (ParseException pp) {
 101                                         Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));
 102                                 } catch (AltosCRCException ce) {
 103                                         ++crc_errors;
 104                                         handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();
 105                                 }
 106                         }
 107                 } catch (InterruptedException ee) {
 108                 } catch (IOException ie) {
 109                 } finally {
 110                         close();
 111                 }
 112         }
 113
 114         public TelemetryReader (AltosLink in_link, Handler in_handler, AltosFlightReader in_stacked) {
 115                 if (D) Log.d(TAG, "connected TelemetryReader create started");
 116                 link    = in_link;
 117                 handler = in_handler;
 118                 stacked = in_stacked;
 119
 120                 state = null;
 121                 telemQueue = new LinkedBlockingQueue<AltosLine>();
 122                 link.add_monitor(telemQueue);
 123                 link.set_telemetry(AltosLib.ao_telemetry_standard);
 124
 125                 if (D) Log.d(TAG, "connected TelemetryReader created");
 126         }
 127
 128         private static AltosFlightReader existing_data(AltosLink link) {
 129                 if (link == null)
 130                         return null;
 131
 132                 File    file = AltosPreferences.logfile(link.serial);
 133                 if (file != null) {
 134                         AltosStateIterable      iterable = AltosStateIterable.iterable(file);
 135                         if (iterable != null)
 136                                 return new AltosReplayReader(iterable.iterator(), file, false);
 137                 }
 138                 return null;
 139         }
 140
 141         public TelemetryReader(AltosLink link, Handler handler) {
 142                 this(link, handler, existing_data(link));
 143         }
 144 }