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
  35         int         crc_errors;
  36
  37         Handler     handler;
  38
  39         AltosLink   link;
  40         AltosState  state = null;
  41
  42         AltosFlightReader       stacked;
  43
  44         LinkedBlockingQueue<AltosLine> telemQueue;
  45
  46         public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
  47                 if (stacked != null) {
  48                         state = stacked.read();
  49                         if (state != null)
  50                                 return state;
  51                         stacked = null;
  52                 }
  53                 AltosLine l = telemQueue.take();
  54                 if (l.line == null)
  55                         throw new IOException("IO error");
  56                 AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
  57                 if (state == null)
  58                         state = new AltosState();
  59                 else
  60                         state = state.clone();
  61                 telem.update_state(state);
  62                 return state;
  63         }
  64
  65         public void close() {
  66                 state = null;
  67                 if (stacked != null) {
  68                         stacked.close(false);
  69                         stacked = null;
  70                 }
  71                 link.remove_monitor(telemQueue);
  72                 link = null;
  73                 telemQueue.clear();
  74                 telemQueue = null;
  75         }
  76
  77         public void run() {
  78                 AltosState  state = null;
  79
  80                 try {
  81                         while (telemQueue != null) {
  82                                 try {
  83                                         state = read();
  84                                         handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
  85                                 } catch (ParseException pp) {
  86                                         Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));
  87                                 } catch (AltosCRCException ce) {
  88                                         ++crc_errors;
  89                                         handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();
  90                                 }
  91                         }
  92                 } catch (InterruptedException ee) {
  93                 } catch (IOException ie) {
  94                 } finally {
  95                         close();
  96                 }
  97         }
  98
  99         public TelemetryReader (AltosLink in_link, Handler in_handler, AltosFlightReader in_stacked) {
 100                 link    = in_link;
 101                 handler = in_handler;
 102                 stacked = in_stacked;
 103
 104                 state = null;
 105                 telemQueue = new LinkedBlockingQueue<AltosLine>();
 106                 link.add_monitor(telemQueue);
 107                 try {
 108                         link.set_radio_frequency(AltosPreferences.frequency(link.serial));
 109                         link.set_telemetry(AltosLib.ao_telemetry_standard);
 110                         link.set_telemetry_rate(AltosPreferences.telemetry_rate(link.serial));
 111                 } catch (InterruptedException ee) {
 112                         close();
 113                 } catch (TimeoutException te) {
 114                         close();
 115                 }
 116         }
 117
 118         private static AltosFlightReader existing_data(AltosLink link) {
 119                 if (link == null)
 120                         return null;
 121
 122                 File    file = AltosPreferences.logfile(link.serial);
 123                 if (file != null) {
 124                         AltosStateIterable      iterable = AltosStateIterable.iterable(file);
 125                         if (iterable != null)
 126                                 return new AltosReplayReader(iterable.iterator(), file, false);
 127                 }
 128                 return null;
 129         }
 130
 131         public TelemetryReader(AltosLink link, Handler handler) {
 132                 this(link, handler, existing_data(link));
 133         }
 134 }