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

   1 /*\r
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>\r
   3  * Copyright © 2012 Mike Beattie <mike@ethernal.org>\r
   4  *\r
   5  * This program is free software; you can redistribute it and/or modify\r
   6  * it under the terms of the GNU General Public License as published by\r
   7  * the Free Software Foundation; version 2 of the License.\r
   8  *\r
   9  * This program is distributed in the hope that it will be useful, but\r
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of\r
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\r
  12  * General Public License for more details.\r
  13  *\r
  14  * You should have received a copy of the GNU General Public License along\r
  15  * with this program; if not, write to the Free Software Foundation, Inc.,\r
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.\r
  17  */\r
  18 \r
  19 \r
  20 package org.altusmetrum.AltosDroid;\r
  21 \r
  22 import java.text.*;\r
  23 import java.io.*;\r
  24 import java.util.concurrent.*;\r
  25 import android.util.Log;\r
  26 import android.os.Handler;\r
  27 \r
  28 import org.altusmetrum.altoslib_1.*;\r
  29 \r
  30 \r
  31 public class TelemetryReader extends Thread {\r
  32 \r
  33         private static final String TAG = "TelemetryReader";\r
  34 \r
  35         int         crc_errors;\r
  36 \r
  37         Handler     handler;\r
  38 \r
  39         TelemetryService service;\r
  40         AltosLink   link;\r
  41         AltosRecord previous;\r
  42 \r
  43         LinkedBlockingQueue<AltosLine> telem;\r
  44 \r
  45         public AltosRecord read() throws ParseException, AltosCRCException, InterruptedException, IOException {\r
  46                 AltosLine l = telem.take();\r
  47                 if (l.line == null)\r
  48                         throw new IOException("IO error");\r
  49                 AltosRecord     next = AltosTelemetry.parse(l.line, previous);\r
  50                 previous = next;\r
  51                 return next;\r
  52         }\r
  53 \r
  54         public void close() {\r
  55                 previous = null;\r
  56                 link.remove_monitor(telem);\r
  57                 link = null;\r
  58                 telem.clear();\r
  59                 telem = null;\r
  60         }\r
  61 \r
  62         public void run() {\r
  63                 AltosState  state = null;\r
  64 \r
  65                 try {\r
  66                         for (;;) {\r
  67                                 try {\r
  68                                         AltosRecord record = read();\r
  69                                         if (record == null)\r
  70                                                 break;\r
  71                                         state = new AltosState(record, state);\r
  72                                         service.sendTelemetry(state);\r
  73                                 } catch (ParseException pp) {\r
  74                                         Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));\r
  75                                 } catch (AltosCRCException ce) {\r
  76                                         ++crc_errors;\r
  77                                         service.sendCrcErrors(crc_errors);\r
  78                                 }\r
  79                         }\r
  80                 } catch (InterruptedException ee) {\r
  81                 } catch (IOException ie) {\r
  82                 } finally {\r
  83                         close();\r
  84                 }\r
  85         }\r
  86 \r
  87         public TelemetryReader (TelemetryService in_service, AltosLink in_link, Handler in_handler) {\r
  88                 service = in_service;\r
  89                 link    = in_link;\r
  90                 handler = in_handler;\r
  91 \r
  92                 previous = null;\r
  93                 telem = new LinkedBlockingQueue<AltosLine>();\r
  94                 link.add_monitor(telem);\r
  95         }\r
  96 }\r