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; either version 2 of the License, or
   7  * (at your option) any later version.
   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 package org.altusmetrum.altoslib_12;
  20
  21 import java.io.*;
  22 import java.util.concurrent.*;
  23 import java.util.*;
  24
  25 public abstract class AltosLink implements Runnable {
  26
  27         public final static int ERROR = -1;
  28         public final static int TIMEOUT = -2;
  29
  30         public abstract int getchar() throws InterruptedException;
  31         public abstract void print(String data) throws InterruptedException;
  32         public abstract void putchar(byte c);
  33         public abstract void close() throws InterruptedException;
  34
  35         public static boolean debug = false;
  36         public static void set_debug(boolean in_debug) { debug = in_debug; }
  37
  38         public boolean has_error;
  39
  40         LinkedList<String> pending_output = new LinkedList<String>();
  41
  42         public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
  43         public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
  44         public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
  45
  46         private String match_string = null;
  47
  48         public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
  49                 set_monitor(true);
  50                 monitors.add(q);
  51         }
  52
  53         public synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
  54                 monitors.remove(q);
  55                 if (monitors.isEmpty())
  56                         set_monitor(false);
  57         }
  58
  59         public void printf(String format, Object ... arguments) {
  60                 String  line = String.format(format, arguments);
  61                 if (debug) {
  62                         synchronized (pending_output) {
  63                                 pending_output.add(line);
  64                         }
  65                 }
  66                 try {
  67                         print(line);
  68                 } catch (InterruptedException ie) {
  69
  70                 }
  71         }
  72
  73         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
  74                 flush_output();
  75                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
  76                 if (line != null)
  77                         return line.line;
  78                 return null;
  79         }
  80
  81         public String get_reply() throws InterruptedException {
  82                 return get_reply(5000);
  83         }
  84
  85
  86         public abstract boolean can_cancel_reply();
  87         public abstract boolean show_reply_timeout();
  88         public abstract void hide_reply_timeout();
  89
  90         public boolean  reply_abort;
  91         public int      in_reply;
  92         boolean cancel_enable = true;
  93
  94         public void set_cancel_enable(boolean e) {
  95                 cancel_enable = e;
  96         }
  97
  98         boolean         reply_timeout_shown = false;
  99
 100         private boolean check_reply_timeout() {
 101                 if (!cancel_enable)
 102                         return false;
 103                 if (!reply_timeout_shown)
 104                         reply_timeout_shown = show_reply_timeout();
 105                 return reply_abort;
 106         }
 107
 108         private void cleanup_reply_timeout() {
 109                 if (reply_timeout_shown) {
 110                         reply_timeout_shown = false;
 111                         hide_reply_timeout();
 112                 }
 113         }
 114
 115         private int     len_read = 0;
 116
 117         private boolean match_bytes(byte[] bytes, int byte_count, String match) {
 118                 if (byte_count < match.length())
 119                         return false;
 120                 String  line = new String(bytes, 0, byte_count, AltosLib.unicode_set);
 121                 if (line == null)
 122                         return false;
 123                 return line.indexOf(match) >= 0;
 124         }
 125
 126         public void run () {
 127                 int c;
 128                 byte[] line_bytes = null;
 129                 int line_count = 0;
 130
 131                 try {
 132                         for (;;) {
 133                                 c = getchar();
 134                                 if (Thread.interrupted()) {
 135                                         break;
 136                                 }
 137                                 if (c == ERROR) {
 138                                         if (debug)
 139                                                 System.out.printf("ERROR\n");
 140                                         has_error = true;
 141                                         add_telem (new AltosLine());
 142                                         add_reply (new AltosLine());
 143                                         break;
 144                                 }
 145                                 if (c == TIMEOUT) {
 146                                         if (debug)
 147                                                 System.out.printf("TIMEOUT\n");
 148                                         continue;
 149                                 }
 150                                 if (c == '\r' && len_read == 0)
 151                                         continue;
 152                                 synchronized(this) {
 153                                         if (c == '\n' && len_read == 0) {
 154                                                 if (line_count != 0) {
 155                                                         add_bytes(line_bytes, line_count);
 156                                                         line_count = 0;
 157                                                 }
 158                                         } else {
 159                                                 if (line_bytes == null) {
 160                                                         line_bytes = new byte[256];
 161                                                 } else if (line_count == line_bytes.length) {
 162                                                         byte[] new_line_bytes = new byte[line_count * 2];
 163                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 164                                                         line_bytes = new_line_bytes;
 165                                                 }
 166                                                 line_bytes[line_count] = (byte) c;
 167                                                 line_count++;
 168                                                 if (len_read !=0 && line_count == len_read) {
 169                                                         add_binary(line_bytes, line_count);
 170                                                         line_count = 0;
 171                                                         len_read = 0;
 172                                                 }
 173                                                 if (match_string != null && match_bytes(line_bytes, line_count, match_string)) {
 174                                                         match_string = null;
 175                                                         add_bytes(line_bytes, line_count);
 176                                                         line_count = 0;
 177                                                 }
 178                                         }
 179                                 }
 180                         }
 181                 } catch (InterruptedException e) {
 182                 }
 183         }
 184
 185         public void set_match(String match) {
 186                 match_string = match;
 187         }
 188
 189         public String get_reply(int timeout) throws InterruptedException {
 190                 boolean can_cancel = can_cancel_reply();
 191                 String  reply = null;
 192
 193 //              if (!can_cancel && remote)
 194 //                      System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 195
 196                 if (remote && can_cancel) {
 197                         timeout = 500;
 198                         switch (telemetry_rate) {
 199                         case AltosLib.ao_telemetry_rate_38400:
 200                         default:
 201                                 timeout = 500;
 202                                 break;
 203                         case AltosLib.ao_telemetry_rate_9600:
 204                                 timeout = 2000;
 205                                 break;
 206                         case AltosLib.ao_telemetry_rate_2400:
 207                                 timeout = 8000;
 208                                 break;
 209                         }
 210                 }
 211                 try {
 212                         ++in_reply;
 213
 214                         flush_output();
 215
 216                         reply_abort = false;
 217                         reply_timeout_shown = false;
 218                         for (;;) {
 219                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 220                                 if (line != null) {
 221                                         cleanup_reply_timeout();
 222                                         reply = line.line;
 223                                         break;
 224                                 }
 225                                 if (!remote || !can_cancel || check_reply_timeout()) {
 226                                         reply = null;
 227                                         break;
 228                                 }
 229                         }
 230                 } finally {
 231                         --in_reply;
 232                 }
 233                 return reply;
 234         }
 235
 236         public byte[] get_binary_reply(int timeout, int len) throws InterruptedException {
 237                 boolean can_cancel = can_cancel_reply();
 238                 byte[] bytes = null;
 239
 240                 synchronized(this) {
 241                         len_read = len;
 242                 }
 243                 try {
 244                         ++in_reply;
 245
 246                         flush_output();
 247
 248                         reply_abort = false;
 249                         reply_timeout_shown = false;
 250                         for (;;) {
 251                                 bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS);
 252                                 if (bytes != null) {
 253                                         cleanup_reply_timeout();
 254                                         break;
 255                                 }
 256                                 if (!remote || !can_cancel || check_reply_timeout()) {
 257                                         bytes = null;
 258                                         break;
 259                                 }
 260                         }
 261
 262                 } finally {
 263                         --in_reply;
 264                 }
 265                 return bytes;
 266         }
 267
 268         public void add_telem(AltosLine line) throws InterruptedException {
 269                 for (int e = 0; e < monitors.size(); e++) {
 270                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 271                         q.put(line);
 272                 }
 273         }
 274
 275         public void add_reply(AltosLine line) throws InterruptedException {
 276                 reply_queue.put (line);
 277         }
 278
 279         public void abort_reply() {
 280                 try {
 281                         add_telem (new AltosLine());
 282                         add_reply (new AltosLine());
 283                 } catch (InterruptedException ie) {
 284                 }
 285         }
 286
 287         public void add_string(String line) throws InterruptedException {
 288                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 289                         add_telem(new AltosLine(line));
 290                 } else {
 291                         add_reply(new AltosLine(line));
 292                 }
 293         }
 294
 295         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
 296                 String  line;
 297                 line = new String(bytes, 0, len, AltosLib.unicode_set);
 298                 if (debug)
 299                         System.out.printf("\t\t\t\t\t%s\n", line);
 300                 add_string(line);
 301         }
 302
 303         public void add_binary(byte[] bytes, int len) throws InterruptedException {
 304                 byte[] dup = new byte[len];
 305
 306                 if (debug)
 307                         System.out.printf ("\t\t\t\t\t%d:", len);
 308                 for(int i = 0; i < len; i++) {
 309                         dup[i] = bytes[i];
 310                         if (debug)
 311                                 System.out.printf(" %02x", dup[i]);
 312                 }
 313                 if (debug)
 314                         System.out.printf("\n");
 315
 316                 binary_queue.put(dup);
 317         }
 318
 319         public synchronized void flush_output() {
 320                 if (pending_output == null)
 321                         return;
 322                 synchronized (pending_output) {
 323                         for (String s : pending_output)
 324                                 System.out.print(s);
 325                         pending_output.clear();
 326                 }
 327         }
 328
 329         public void flush_input(int timeout) throws InterruptedException {
 330                 flush_output();
 331                 boolean got_some;
 332
 333                 do {
 334                         Thread.sleep(timeout);
 335                         got_some = !reply_queue.isEmpty();
 336                         reply_queue.clear();
 337                 } while (got_some);
 338         }
 339
 340
 341         public void flush_input() throws InterruptedException {
 342                 if (remote)
 343                         flush_input(500);
 344                 else
 345                         flush_input(100);
 346         }
 347
 348
 349         /*
 350          * Various command-level operations on
 351          * the link
 352          */
 353         public boolean monitor_mode = false;
 354         public int telemetry = AltosLib.ao_telemetry_standard;
 355         public int telemetry_rate = -1;
 356         public double frequency;
 357         public String callsign;
 358         private AltosConfigData config_data_local;
 359         private AltosConfigData config_data_remote;
 360
 361         private Object config_data_lock = new Object();
 362
 363         private int telemetry_len() {
 364                 return AltosLib.telemetry_len(telemetry);
 365         }
 366
 367         private void set_radio_freq(int frequency) {
 368                 if (monitor_mode)
 369                         printf("m 0\nc F %d\nm %x\n",
 370                                frequency, telemetry_len());
 371                 else
 372                         printf("c F %d\n", frequency);
 373                 flush_output();
 374         }
 375
 376         public void set_radio_frequency(double frequency,
 377                                         boolean has_frequency,
 378                                         boolean has_setting,
 379                                         int cal) {
 380                 if (debug)
 381                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 382                 if (frequency == 0)
 383                         return;
 384                 if (has_frequency)
 385                         set_radio_freq((int) Math.floor (frequency * 1000 + 0.5));
 386                 else if (has_setting)
 387                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 388                 else
 389                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 390         }
 391
 392         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 393                 frequency = in_frequency;
 394                 AltosConfigData config_data = config_data();
 395                 set_radio_frequency(frequency,
 396                                     config_data.radio_frequency > 0,
 397                                     config_data.radio_setting > 0,
 398                                     config_data.radio_calibration);
 399         }
 400
 401         public void set_telemetry(int in_telemetry) {
 402                 telemetry = in_telemetry;
 403                 if (monitor_mode)
 404                         printf("m 0\nm %x\n", telemetry_len());
 405                 flush_output();
 406         }
 407
 408         public void set_telemetry_rate(int in_telemetry_rate) {
 409                 telemetry_rate = in_telemetry_rate;
 410                 if (monitor_mode)
 411                         printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len());
 412                 else
 413                         printf("c T %d\n", telemetry_rate);
 414                 flush_output();
 415         }
 416
 417         public synchronized void set_monitor(boolean monitor) {
 418                 monitor_mode = monitor;
 419                 if (monitor)
 420                         printf("m %x\n", telemetry_len());
 421                 else
 422                         printf("m 0\n");
 423                 flush_output();
 424         }
 425
 426         public synchronized boolean get_monitor() {
 427                 return monitor_mode;
 428         }
 429
 430         private void set_channel(int channel) {
 431                 if (monitor_mode)
 432                         printf("m 0\nc r %d\nm %x\n",
 433                                channel, telemetry_len());
 434                 else
 435                         printf("c r %d\n", channel);
 436                 flush_output();
 437         }
 438
 439         private void set_radio_setting(int setting) {
 440                 if (monitor_mode)
 441                         printf("m 0\nc R %d\nm %x\n",
 442                                setting, telemetry_len());
 443                 else
 444                         printf("c R %d\n", setting);
 445                 flush_output();
 446         }
 447
 448         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 449                 synchronized(config_data_lock) {
 450                         AltosConfigData config_data;
 451
 452                         if (remote) {
 453                                 if (config_data_remote == null) {
 454                                         printf("m 0\n");
 455                                         config_data_remote = new AltosConfigData(this);
 456                                         if (monitor_mode)
 457                                                 set_monitor(true);
 458                                 }
 459                                 config_data = config_data_remote;
 460                         } else {
 461                                 if (config_data_local == null) {
 462                                         printf("m 0\n");
 463                                         config_data_local = new AltosConfigData(this);
 464                                         if (monitor_mode)
 465                                                 set_monitor(true);
 466                                 }
 467                                 config_data = config_data_local;
 468                         }
 469                         return config_data;
 470                 }
 471         }
 472
 473         public void set_callsign(String callsign) {
 474                 this.callsign = callsign;
 475                 if (callsign != null) {
 476                         printf ("c c %s\n", callsign);
 477                         flush_output();
 478                 }
 479         }
 480
 481         public boolean is_loader() throws InterruptedException {
 482                 boolean ret = false;
 483                 printf("v\n");
 484                 for (;;) {
 485                         String line = get_reply();
 486
 487                         if (line == null)
 488                                 return false;
 489                         if (line.startsWith("software-version"))
 490                                 break;
 491                         if (line.startsWith("altos-loader"))
 492                                 ret = true;
 493                 }
 494                 return ret;
 495         }
 496
 497         public void to_loader() throws InterruptedException {
 498                 printf("X\n");
 499                 flush_output();
 500                 close();
 501                 Thread.sleep(1000);
 502         }
 503
 504         public boolean remote;
 505         public int serial;
 506         public String name;
 507
 508         public void start_remote() throws TimeoutException, InterruptedException {
 509                 if (frequency == 0.0)
 510                         frequency = AltosPreferences.frequency(serial);
 511                 if (debug)
 512                         System.out.printf("start remote %7.3f\n", frequency);
 513                 set_radio_frequency(frequency);
 514                 if (telemetry_rate < 0)
 515                         telemetry_rate = AltosPreferences.telemetry_rate(serial);
 516                 set_telemetry_rate(telemetry_rate);
 517                 if (callsign == null || callsign.equals(""))
 518                         callsign = AltosPreferences.callsign();
 519                 set_callsign(callsign);
 520                 printf("p\nE 0\n");
 521                 flush_input();
 522                 remote = true;
 523         }
 524
 525         public void stop_remote() throws InterruptedException {
 526                 if (debug)
 527                         System.out.printf("stop remote\n");
 528                 try {
 529                         flush_input();
 530                 } finally {
 531                         printf ("~\n");
 532                         flush_output();
 533                 }
 534                 remote = false;
 535         }
 536
 537         public int rssi() throws TimeoutException, InterruptedException {
 538                 if (remote)
 539                         return 0;
 540                 printf("s\n");
 541                 String line = get_reply_no_dialog(5000);
 542                 if (line == null)
 543                         throw new TimeoutException();
 544                 String[] items = line.split("\\s+");
 545                 if (items.length < 2)
 546                         return 0;
 547                 if (!items[0].equals("RSSI:"))
 548                         return 0;
 549                 int rssi = Integer.parseInt(items[1]);
 550                 return rssi;
 551         }
 552
 553         public String[] adc() throws TimeoutException, InterruptedException {
 554                 printf("a\n");
 555                 for (;;) {
 556                         String line = get_reply_no_dialog(5000);
 557                         if (line == null) {
 558                                 throw new TimeoutException();
 559                         }
 560                         if (!line.startsWith("tick:"))
 561                                 continue;
 562                         String[] items = line.split("\\s+");
 563                         return items;
 564                 }
 565         }
 566
 567         public boolean has_monitor_battery() {
 568                 try {
 569                         return config_data().has_monitor_battery();
 570                 } catch (InterruptedException ie) {
 571                         return false;
 572                 } catch (TimeoutException te) {
 573                         return false;
 574                 }
 575         }
 576
 577         public double monitor_battery() throws InterruptedException {
 578                 double  volts = AltosLib.MISSING;
 579
 580                 try {
 581                         AltosConfigData config_data = config_data();
 582                         int monitor_batt = AltosLib.MISSING;
 583
 584                         if (config_data.has_monitor_battery()) {
 585                                 String[] items = adc();
 586                                 for (int i = 0; i < items.length;) {
 587                                         if (items[i].equals("batt")) {
 588                                                 monitor_batt = Integer.parseInt(items[i+1]);
 589                                                 i += 2;
 590                                                 continue;
 591                                         }
 592                                         i++;
 593                                 }
 594                         }
 595                         if (monitor_batt != AltosLib.MISSING) {
 596                                 if (config_data.product.startsWith("TeleBT-v3") || config_data.product.startsWith("TeleBT-v4")) {
 597                                         volts = AltosConvert.tele_bt_3_battery(monitor_batt);
 598                                 } else {
 599                                         volts = AltosConvert.cc_battery_to_voltage(monitor_batt);
 600                                 }
 601                         }
 602
 603                 } catch (TimeoutException te) {
 604                 }
 605                 return volts;
 606         }
 607
 608         public AltosLink() {
 609                 callsign = "";
 610                 has_error = false;
 611         }
 612 }