git.gag.com Git - fw/altos/blob - altoslib/AltosLink.java

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosLib;
  19
  20 import java.io.*;
  21 import java.util.concurrent.*;
  22 import java.util.*;
  23
  24 public abstract class AltosLink implements Runnable {
  25
  26         public final static int ERROR = -1;
  27         public final static int TIMEOUT = -2;
  28
  29         public abstract int getchar();
  30         public abstract void print(String data);
  31         public abstract void close();
  32
  33         public static boolean debug = false;
  34         public static void set_debug(boolean in_debug) { debug = in_debug; }
  35         LinkedList<String> pending_output = new LinkedList<String>();
  36
  37         public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
  38         public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
  39
  40         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
  41                 set_monitor(true);
  42                 monitors.add(q);
  43         }
  44
  45         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
  46                 monitors.remove(q);
  47                 if (monitors.isEmpty())
  48                         set_monitor(false);
  49         }
  50
  51         public void printf(String format, Object ... arguments) {
  52                 String  line = String.format(format, arguments);
  53                 if (debug)
  54                         pending_output.add(line);
  55                 print(line);
  56         }
  57
  58         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
  59                 flush_output();
  60                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
  61                 if (line != null)
  62                         return line.line;
  63                 return null;
  64         }
  65
  66         public String get_reply() throws InterruptedException {
  67                 return get_reply(5000);
  68         }
  69
  70
  71         public abstract boolean can_cancel_reply();
  72         public abstract boolean show_reply_timeout();
  73         public abstract void hide_reply_timeout();
  74
  75         public boolean  reply_abort;
  76         public int      in_reply;
  77
  78         boolean         reply_timeout_shown = false;
  79
  80         private boolean check_reply_timeout() {
  81                 if (!reply_timeout_shown)
  82                         reply_timeout_shown = show_reply_timeout();
  83                 return reply_abort;
  84         }
  85
  86         private void cleanup_reply_timeout() {
  87                 if (reply_timeout_shown) {
  88                         reply_timeout_shown = false;
  89                         hide_reply_timeout();
  90                 }
  91         }
  92
  93
  94         public void run () {
  95                 int c;
  96                 byte[] line_bytes = null;
  97                 int line_count = 0;
  98
  99                 try {
 100                         for (;;) {
 101                                 c = getchar();
 102                                 if (Thread.interrupted()) {
 103                                         if (debug)
 104                                                 System.out.printf("INTERRUPTED\n");
 105                                         break;
 106                                 }
 107                                 if (c == ERROR) {
 108                                         if (debug)
 109                                                 System.out.printf("ERROR\n");
 110                                         add_telem (new AltosLine());
 111                                         add_reply (new AltosLine());
 112                                         break;
 113                                 }
 114                                 if (c == TIMEOUT) {
 115                                         if (debug)
 116                                                 System.out.printf("TIMEOUT\n");
 117                                         continue;
 118                                 }
 119                                 if (c == '\r')
 120                                         continue;
 121                                 synchronized(this) {
 122                                         if (c == '\n') {
 123                                                 if (line_count != 0) {
 124                                                         add_bytes(line_bytes, line_count);
 125                                                         line_count = 0;
 126                                                 }
 127                                         } else {
 128                                                 if (line_bytes == null) {
 129                                                         line_bytes = new byte[256];
 130                                                 } else if (line_count == line_bytes.length) {
 131                                                         byte[] new_line_bytes = new byte[line_count * 2];
 132                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 133                                                         line_bytes = new_line_bytes;
 134                                                 }
 135                                                 line_bytes[line_count] = (byte) c;
 136                                                 line_count++;
 137                                         }
 138                                 }
 139                         }
 140                 } catch (InterruptedException e) {
 141                 }
 142         }
 143
 144         public String get_reply(int timeout) throws InterruptedException {
 145                 boolean can_cancel = can_cancel_reply();
 146                 String  reply = null;
 147
 148                 if (!can_cancel && remote)
 149                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 150
 151                 if (remote && can_cancel)
 152                         timeout = 500;
 153                 try {
 154                         ++in_reply;
 155
 156                         flush_output();
 157
 158                         reply_abort = false;
 159                         reply_timeout_shown = false;
 160                         for (;;) {
 161                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 162                                 if (line != null) {
 163                                         cleanup_reply_timeout();
 164                                         reply = line.line;
 165                                         break;
 166                                 }
 167                                 if (!remote || !can_cancel || check_reply_timeout()) {
 168                                         reply = null;
 169                                         break;
 170                                 }
 171                         }
 172                 } finally {
 173                         --in_reply;
 174                 }
 175                 return reply;
 176         }
 177
 178         public void add_telem(AltosLine line) throws InterruptedException {
 179                 for (int e = 0; e < monitors.size(); e++) {
 180                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 181                         q.put(line);
 182                 }
 183         }
 184
 185         public void add_reply(AltosLine line) throws InterruptedException {
 186                 reply_queue.put (line);
 187         }
 188
 189         public void abort_reply() {
 190                 try {
 191                         add_telem (new AltosLine());
 192                         add_reply (new AltosLine());
 193                 } catch (InterruptedException e) {
 194                 }
 195         }
 196
 197         public void add_string(String line) throws InterruptedException {
 198                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 199                         add_telem(new AltosLine(line));
 200                 } else {
 201                         add_reply(new AltosLine(line));
 202                 }
 203         }
 204
 205         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
 206                 String  line;
 207                 try {
 208                         line = new String(bytes, 0, len, "UTF-8");
 209                 } catch (UnsupportedEncodingException ue) {
 210                         line = "";
 211                         for (int i = 0; i < len; i++)
 212                                 line = line + bytes[i];
 213                 }
 214                 if (debug)
 215                         System.out.printf("\t\t\t\t\t%s\n", line);
 216                 add_string(line);
 217         }
 218
 219         public void flush_output() {
 220                 for (String s : pending_output)
 221                         System.out.print(s);
 222                 pending_output.clear();
 223         }
 224
 225         public void flush_input(int timeout) throws InterruptedException {
 226                 flush_output();
 227                 boolean got_some;
 228
 229                 do {
 230                         Thread.sleep(timeout);
 231                         got_some = !reply_queue.isEmpty();
 232                         reply_queue.clear();
 233                 } while (got_some);
 234         }
 235
 236
 237         public void flush_input() throws InterruptedException {
 238                 if (remote)
 239                         flush_input(500);
 240                 else
 241                         flush_input(100);
 242         }
 243
 244
 245         /*
 246          * Various command-level operations on
 247          * the link
 248          */
 249         public boolean monitor_mode = false;
 250         public int telemetry = AltosLib.ao_telemetry_standard;
 251         public double frequency;
 252         AltosConfigData config_data;
 253
 254         private int telemetry_len() {
 255                 return AltosLib.telemetry_len(telemetry);
 256         }
 257
 258         private void set_radio_freq(int frequency) {
 259                 if (monitor_mode)
 260                         printf("m 0\nc F %d\nm %x\n",
 261                                frequency, telemetry_len());
 262                 else
 263                         printf("c F %d\n", frequency);
 264                 flush_output();
 265         }
 266
 267         public void set_radio_frequency(double frequency,
 268                                         boolean has_frequency,
 269                                         boolean has_setting,
 270                                         int cal) {
 271                 if (debug)
 272                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 273                 if (frequency == 0)
 274                         return;
 275                 if (has_frequency)
 276                         set_radio_freq((int) Math.floor (frequency * 1000));
 277                 else if (has_setting)
 278                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 279                 else
 280                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 281         }
 282
 283         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 284                 frequency = in_frequency;
 285                 config_data();
 286                 set_radio_frequency(frequency,
 287                                     config_data.radio_frequency > 0,
 288                                     config_data.radio_setting > 0,
 289                                     config_data.radio_calibration);
 290         }
 291
 292         public void set_telemetry(int in_telemetry) {
 293                 telemetry = in_telemetry;
 294                 if (monitor_mode)
 295                         printf("m 0\nm %x\n", telemetry_len());
 296                 flush_output();
 297         }
 298
 299         public void set_monitor(boolean monitor) {
 300                 monitor_mode = monitor;
 301                 if (monitor)
 302                         printf("m %x\n", telemetry_len());
 303                 else
 304                         printf("m 0\n");
 305                 flush_output();
 306         }
 307
 308         private void set_channel(int channel) {
 309                 if (monitor_mode)
 310                         printf("m 0\nc r %d\nm %x\n",
 311                                channel, telemetry_len());
 312                 else
 313                         printf("c r %d\n", channel);
 314                 flush_output();
 315         }
 316
 317         private void set_radio_setting(int setting) {
 318                 if (monitor_mode)
 319                         printf("m 0\nc R %d\nm %x\n",
 320                                setting, telemetry_len());
 321                 else
 322                         printf("c R %d\n", setting);
 323                 flush_output();
 324         }
 325
 326         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 327                 if (config_data == null)
 328                         config_data = new AltosConfigData(this);
 329                 return config_data;
 330         }
 331
 332         public void set_callsign(String callsign) {
 333                 printf ("c c %s\n", callsign);
 334                 flush_output();
 335         }
 336
 337         public boolean remote;
 338         public int serial;
 339         public String name;
 340
 341         public void start_remote() throws TimeoutException, InterruptedException {
 342                 if (frequency == 0.0)
 343                         frequency = AltosPreferences.frequency(serial);
 344                 if (debug)
 345                         System.out.printf("start remote %7.3f\n", frequency);
 346                 set_radio_frequency(frequency);
 347                 set_callsign(AltosPreferences.callsign());
 348                 printf("p\nE 0\n");
 349                 flush_input();
 350                 remote = true;
 351         }
 352
 353         public void stop_remote() throws InterruptedException {
 354                 if (debug)
 355                         System.out.printf("stop remote\n");
 356                 try {
 357                         flush_input();
 358                 } finally {
 359                         printf ("~\n");
 360                         flush_output();
 361                 }
 362                 remote = false;
 363         }
 364
 365         public AltosLink() {
 366         }
 367 }