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

   1 package org.altusmetrum.AltosDroid;\r
   2 \r
   3 import java.text.*;\r
   4 import java.io.*;\r
   5 import java.util.concurrent.*;\r
   6 import android.util.Log;\r
   7 import android.os.Handler;\r
   8 \r
   9 import org.altusmetrum.AltosLib.*;\r
  10 \r
  11 \r
  12 public class TelemetryReader extends Thread {\r
  13 \r
  14         private static final String TAG = "TelemetryReader";\r
  15 \r
  16         int         crc_errors;\r
  17 \r
  18         Handler     handler;\r
  19 \r
  20         AltosLink   link;\r
  21         AltosRecord previous;\r
  22 \r
  23         LinkedBlockingQueue<AltosLine> telem;\r
  24 \r
  25         public AltosRecord read() throws ParseException, AltosCRCException, InterruptedException, IOException {\r
  26                 AltosLine l = telem.take();\r
  27                 if (l.line == null)\r
  28                         throw new IOException("IO error");\r
  29                 AltosRecord     next = AltosTelemetry.parse(l.line, previous);\r
  30                 previous = next;\r
  31                 return next;\r
  32         }\r
  33 \r
  34         public void close() {\r
  35                 previous = null;\r
  36                 link.remove_monitor(telem);\r
  37                 link = null;\r
  38                 telem.clear();\r
  39                 telem = null;\r
  40         }\r
  41 \r
  42         public void run() {\r
  43                 AltosState  state = null;\r
  44 \r
  45                 try {\r
  46                         for (;;) {\r
  47                                 try {\r
  48                                         AltosRecord record = read();\r
  49                                         if (record == null)\r
  50                                                 break;\r
  51                                         state = new AltosState(record, state);\r
  52 \r
  53                                         handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();\r
  54                                 } catch (ParseException pp) {\r
  55                                         Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));\r
  56                                 } catch (AltosCRCException ce) {\r
  57                                         ++crc_errors;\r
  58                                 }\r
  59                         }\r
  60                 } catch (InterruptedException ee) {\r
  61                 } catch (IOException ie) {\r
  62                 } finally {\r
  63                         close();\r
  64                 }\r
  65         }\r
  66 \r
  67         public TelemetryReader (AltosLink in_link, Handler in_handler) {\r
  68                 link    = in_link;\r
  69                 handler = in_handler;\r
  70 \r
  71                 previous = null;\r
  72                 telem = new LinkedBlockingQueue<AltosLine>();\r
  73                 link.add_monitor(telem);\r
  74         }\r
  75 }\r