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   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.lang.*;
  21 import java.io.*;
  22 import java.util.concurrent.*;
  23 import java.util.*;
  24 import java.text.*;
  25
  26 public abstract class AltosLink implements Runnable {
  27
  28         public final static int ERROR = -1;
  29         public final static int TIMEOUT = -2;
  30
  31         public abstract int getchar();
  32         public abstract void print(String data);
  33         public abstract void close();
  34
  35         public static boolean debug = false;
  36         public static void set_debug(boolean in_debug) { debug = in_debug; }
  37         LinkedList<String> pending_output = new LinkedList<String>();
  38
  39         public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
  40         public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
  41
  42         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
  43                 set_monitor(true);
  44                 monitors.add(q);
  45         }
  46
  47         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
  48                 monitors.remove(q);
  49                 if (monitors.isEmpty())
  50                         set_monitor(false);
  51         }
  52
  53         public void printf(String format, Object ... arguments) {
  54                 String  line = String.format(format, arguments);
  55                 if (debug)
  56                         pending_output.add(line);
  57                 print(line);
  58         }
  59
  60         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
  61                 flush_output();
  62                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
  63                 if (line != null)
  64                         return line.line;
  65                 return null;
  66         }
  67
  68         public String get_reply() throws InterruptedException {
  69                 return get_reply(5000);
  70         }
  71
  72
  73         public abstract boolean can_cancel_reply();
  74         public abstract boolean show_reply_timeout();
  75         public abstract void hide_reply_timeout();
  76
  77         public boolean  reply_abort;
  78         public int      in_reply;
  79
  80         boolean         reply_timeout_shown = false;
  81
  82         private boolean check_reply_timeout() {
  83                 if (!reply_timeout_shown)
  84                         reply_timeout_shown = show_reply_timeout();
  85                 return reply_abort;
  86         }
  87
  88         private void cleanup_reply_timeout() {
  89                 if (reply_timeout_shown) {
  90                         reply_timeout_shown = false;
  91                         hide_reply_timeout();
  92                 }
  93         }
  94
  95
  96         public void run () {
  97                 int c;
  98                 byte[] line_bytes = null;
  99                 int line_count = 0;
 100
 101                 try {
 102                         for (;;) {
 103                                 c = getchar();
 104                                 if (Thread.interrupted()) {
 105                                         if (debug)
 106                                                 System.out.printf("INTERRUPTED\n");
 107                                         break;
 108                                 }
 109                                 if (c == ERROR) {
 110                                         if (debug)
 111                                                 System.out.printf("ERROR\n");
 112                                         add_telem (new AltosLine());
 113                                         add_reply (new AltosLine());
 114                                         break;
 115                                 }
 116                                 if (c == TIMEOUT) {
 117                                         if (debug)
 118                                                 System.out.printf("TIMEOUT\n");
 119                                         continue;
 120                                 }
 121                                 if (c == '\r')
 122                                         continue;
 123                                 synchronized(this) {
 124                                         if (c == '\n') {
 125                                                 if (line_count != 0) {
 126                                                         add_bytes(line_bytes, line_count);
 127                                                         line_count = 0;
 128                                                 }
 129                                         } else {
 130                                                 if (line_bytes == null) {
 131                                                         line_bytes = new byte[256];
 132                                                 } else if (line_count == line_bytes.length) {
 133                                                         byte[] new_line_bytes = new byte[line_count * 2];
 134                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 135                                                         line_bytes = new_line_bytes;
 136                                                 }
 137                                                 line_bytes[line_count] = (byte) c;
 138                                                 line_count++;
 139                                         }
 140                                 }
 141                         }
 142                 } catch (InterruptedException e) {
 143                 }
 144         }
 145
 146         public String get_reply(int timeout) throws InterruptedException {
 147                 boolean can_cancel = can_cancel_reply();
 148                 String  reply = null;
 149
 150                 if (!can_cancel && remote)
 151                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 152
 153                 if (remote && can_cancel)
 154                         timeout = 500;
 155                 try {
 156                         ++in_reply;
 157
 158                         flush_output();
 159
 160                         reply_abort = false;
 161                         reply_timeout_shown = false;
 162                         for (;;) {
 163                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 164                                 if (line != null) {
 165                                         cleanup_reply_timeout();
 166                                         reply = line.line;
 167                                         break;
 168                                 }
 169                                 if (!remote || !can_cancel || check_reply_timeout()) {
 170                                         reply = null;
 171                                         break;
 172                                 }
 173                         }
 174                 } finally {
 175                         --in_reply;
 176                 }
 177                 return reply;
 178         }
 179
 180         public void add_telem(AltosLine line) throws InterruptedException {
 181                 for (int e = 0; e < monitors.size(); e++) {
 182                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 183                         q.put(line);
 184                 }
 185         }
 186
 187         public void add_reply(AltosLine line) throws InterruptedException {
 188                 reply_queue.put (line);
 189         }
 190
 191         public void abort_reply() {
 192                 try {
 193                         add_telem (new AltosLine());
 194                         add_reply (new AltosLine());
 195                 } catch (InterruptedException e) {
 196                 }
 197         }
 198
 199         public void add_string(String line) throws InterruptedException {
 200                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 201                         add_telem(new AltosLine(line));
 202                 } else {
 203                         add_reply(new AltosLine(line));
 204                 }
 205         }
 206
 207         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
 208                 String  line;
 209                 try {
 210                         line = new String(bytes, 0, len, "UTF-8");
 211                 } catch (UnsupportedEncodingException ue) {
 212                         line = "";
 213                         for (int i = 0; i < len; i++)
 214                                 line = line + bytes[i];
 215                 }
 216                 if (debug)
 217                         System.out.printf("\t\t\t\t\t%s\n", line);
 218                 add_string(line);
 219         }
 220
 221         public void flush_output() {
 222                 for (String s : pending_output)
 223                         System.out.print(s);
 224                 pending_output.clear();
 225         }
 226
 227         public void flush_input(int timeout) throws InterruptedException {
 228                 flush_output();
 229                 boolean got_some;
 230
 231                 do {
 232                         Thread.sleep(timeout);
 233                         got_some = !reply_queue.isEmpty();
 234                         reply_queue.clear();
 235                 } while (got_some);
 236         }
 237
 238
 239         public void flush_input() throws InterruptedException {
 240                 if (remote)
 241                         flush_input(500);
 242                 else
 243                         flush_input(100);
 244         }
 245
 246
 247         /*
 248          * Various command-level operations on
 249          * the link
 250          */
 251         public boolean monitor_mode = false;
 252         public int telemetry = AltosLib.ao_telemetry_standard;
 253         public double frequency;
 254         AltosConfigData config_data;
 255
 256         private int telemetry_len() {
 257                 return AltosLib.telemetry_len(telemetry);
 258         }
 259
 260         private void set_radio_freq(int frequency) {
 261                 if (monitor_mode)
 262                         printf("m 0\nc F %d\nm %x\n",
 263                                frequency, telemetry_len());
 264                 else
 265                         printf("c F %d\n", frequency);
 266                 flush_output();
 267         }
 268
 269         public void set_radio_frequency(double frequency,
 270                                         boolean has_frequency,
 271                                         boolean has_setting,
 272                                         int cal) {
 273                 if (debug)
 274                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 275                 if (frequency == 0)
 276                         return;
 277                 if (has_frequency)
 278                         set_radio_freq((int) Math.floor (frequency * 1000));
 279                 else if (has_setting)
 280                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 281                 else
 282                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 283         }
 284
 285         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 286                 frequency = in_frequency;
 287                 config_data();
 288                 set_radio_frequency(frequency,
 289                                     config_data.radio_frequency != 0,
 290                                     config_data.radio_setting != 0,
 291                                     config_data.radio_calibration);
 292         }
 293
 294         public void set_telemetry(int in_telemetry) {
 295                 telemetry = in_telemetry;
 296                 if (monitor_mode)
 297                         printf("m 0\nm %x\n", telemetry_len());
 298                 flush_output();
 299         }
 300
 301         public void set_monitor(boolean monitor) {
 302                 monitor_mode = monitor;
 303                 if (monitor)
 304                         printf("m %x\n", telemetry_len());
 305                 else
 306                         printf("m 0\n");
 307                 flush_output();
 308         }
 309
 310         private void set_channel(int channel) {
 311                 if (monitor_mode)
 312                         printf("m 0\nc r %d\nm %x\n",
 313                                channel, telemetry_len());
 314                 else
 315                         printf("c r %d\n", channel);
 316                 flush_output();
 317         }
 318
 319         private void set_radio_setting(int setting) {
 320                 if (monitor_mode)
 321                         printf("m 0\nc R %d\nm %x\n",
 322                                setting, telemetry_len());
 323                 else
 324                         printf("c R %d\n", setting);
 325                 flush_output();
 326         }
 327
 328         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 329                 if (config_data == null)
 330                         config_data = new AltosConfigData(this);
 331                 return config_data;
 332         }
 333
 334         public void set_callsign(String callsign) {
 335                 printf ("c c %s\n", callsign);
 336                 flush_output();
 337         }
 338
 339         public boolean remote;
 340         public int serial;
 341         public String name;
 342
 343         public void start_remote() throws TimeoutException, InterruptedException {
 344                 if (debug)
 345                         System.out.printf("start remote %7.3f\n", frequency);
 346                 if (frequency == 0.0)
 347                         frequency = AltosPreferences.frequency(serial);
 348                 set_radio_frequency(frequency);
 349                 set_callsign(AltosPreferences.callsign());
 350                 printf("p\nE 0\n");
 351                 flush_input();
 352                 remote = true;
 353         }
 354
 355         public void stop_remote() throws InterruptedException {
 356                 if (debug)
 357                         System.out.printf("stop remote\n");
 358                 try {
 359                         flush_input();
 360                 } finally {
 361                         printf ("~\n");
 362                         flush_output();
 363                 }
 364                 remote = false;
 365         }
 366
 367         public AltosLink() {
 368         }
 369 }