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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_5;
  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() throws InterruptedException;
  30         public abstract void print(String data) throws InterruptedException;
  31         public abstract void putchar(byte c);
  32         public abstract void close() throws InterruptedException;
  33
  34         public static boolean debug = false;
  35         public static void set_debug(boolean in_debug) { debug = in_debug; }
  36
  37         public boolean has_error;
  38
  39         LinkedList<String> pending_output = new LinkedList<String>();
  40
  41         public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
  42         public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
  43         public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
  44
  45         public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
  46                 set_monitor(true);
  47                 monitors.add(q);
  48         }
  49
  50         public synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
  51                 monitors.remove(q);
  52                 if (monitors.isEmpty())
  53                         set_monitor(false);
  54         }
  55
  56         public void printf(String format, Object ... arguments) {
  57                 String  line = String.format(format, arguments);
  58                 if (debug)
  59                         pending_output.add(line);
  60                 try {
  61                         print(line);
  62                 } catch (InterruptedException ie) {
  63
  64                 }
  65         }
  66
  67         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
  68                 flush_output();
  69                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
  70                 if (line != null)
  71                         return line.line;
  72                 return null;
  73         }
  74
  75         public String get_reply() throws InterruptedException {
  76                 return get_reply(5000);
  77         }
  78
  79
  80         public abstract boolean can_cancel_reply();
  81         public abstract boolean show_reply_timeout();
  82         public abstract void hide_reply_timeout();
  83
  84         public boolean  reply_abort;
  85         public int      in_reply;
  86
  87         boolean         reply_timeout_shown = false;
  88
  89         private boolean check_reply_timeout() {
  90                 if (!reply_timeout_shown)
  91                         reply_timeout_shown = show_reply_timeout();
  92                 return reply_abort;
  93         }
  94
  95         private void cleanup_reply_timeout() {
  96                 if (reply_timeout_shown) {
  97                         reply_timeout_shown = false;
  98                         hide_reply_timeout();
  99                 }
 100         }
 101
 102         private int     len_read = 0;
 103
 104         public void run () {
 105                 int c;
 106                 byte[] line_bytes = null;
 107                 int line_count = 0;
 108
 109                 try {
 110                         for (;;) {
 111                                 c = getchar();
 112                                 if (Thread.interrupted()) {
 113                                         break;
 114                                 }
 115                                 if (c == ERROR) {
 116                                         if (debug)
 117                                                 System.out.printf("ERROR\n");
 118                                         has_error = true;
 119                                         add_telem (new AltosLine());
 120                                         add_reply (new AltosLine());
 121                                         break;
 122                                 }
 123                                 if (c == TIMEOUT) {
 124                                         if (debug)
 125                                                 System.out.printf("TIMEOUT\n");
 126                                         continue;
 127                                 }
 128                                 if (c == '\r' && len_read == 0)
 129                                         continue;
 130                                 synchronized(this) {
 131                                         if (c == '\n' && len_read == 0) {
 132                                                 if (line_count != 0) {
 133                                                         add_bytes(line_bytes, line_count);
 134                                                         line_count = 0;
 135                                                 }
 136                                         } else {
 137                                                 if (line_bytes == null) {
 138                                                         line_bytes = new byte[256];
 139                                                 } else if (line_count == line_bytes.length) {
 140                                                         byte[] new_line_bytes = new byte[line_count * 2];
 141                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 142                                                         line_bytes = new_line_bytes;
 143                                                 }
 144                                                 line_bytes[line_count] = (byte) c;
 145                                                 line_count++;
 146                                                 if (len_read !=0 && line_count == len_read) {
 147                                                         add_binary(line_bytes, line_count);
 148                                                         line_count = 0;
 149                                                         len_read = 0;
 150                                                 }
 151                                         }
 152                                 }
 153                         }
 154                 } catch (InterruptedException e) {
 155                 }
 156         }
 157
 158
 159         public String get_reply(int timeout) throws InterruptedException {
 160                 boolean can_cancel = can_cancel_reply();
 161                 String  reply = null;
 162
 163                 if (!can_cancel && remote)
 164                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 165
 166                 if (remote && can_cancel)
 167                         timeout = 500;
 168                 try {
 169                         ++in_reply;
 170
 171                         flush_output();
 172
 173                         reply_abort = false;
 174                         reply_timeout_shown = false;
 175                         for (;;) {
 176                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 177                                 if (line != null) {
 178                                         cleanup_reply_timeout();
 179                                         reply = line.line;
 180                                         break;
 181                                 }
 182                                 if (!remote || !can_cancel || check_reply_timeout()) {
 183                                         reply = null;
 184                                         break;
 185                                 }
 186                         }
 187                 } finally {
 188                         --in_reply;
 189                 }
 190                 return reply;
 191         }
 192
 193         public byte[] get_binary_reply(int timeout, int len) throws InterruptedException {
 194                 boolean can_cancel = can_cancel_reply();
 195                 byte[] bytes = null;
 196
 197                 synchronized(this) {
 198                         len_read = len;
 199                 }
 200                 try {
 201                         ++in_reply;
 202
 203                         flush_output();
 204
 205                         reply_abort = false;
 206                         reply_timeout_shown = false;
 207                         for (;;) {
 208                                 bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS);
 209                                 if (bytes != null) {
 210                                         cleanup_reply_timeout();
 211                                         break;
 212                                 }
 213                                 if (!remote || !can_cancel || check_reply_timeout()) {
 214                                         bytes = null;
 215                                         break;
 216                                 }
 217                         }
 218
 219                 } finally {
 220                         --in_reply;
 221                 }
 222                 return bytes;
 223         }
 224
 225         public void add_telem(AltosLine line) throws InterruptedException {
 226                 for (int e = 0; e < monitors.size(); e++) {
 227                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 228                         q.put(line);
 229                 }
 230         }
 231
 232         public void add_reply(AltosLine line) throws InterruptedException {
 233                 reply_queue.put (line);
 234         }
 235
 236         public void abort_reply() {
 237                 try {
 238                         add_telem (new AltosLine());
 239                         add_reply (new AltosLine());
 240                 } catch (InterruptedException ie) {
 241                 }
 242         }
 243
 244         public void add_string(String line) throws InterruptedException {
 245                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 246                         add_telem(new AltosLine(line));
 247                 } else {
 248                         add_reply(new AltosLine(line));
 249                 }
 250         }
 251
 252         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
 253                 String  line;
 254                 line = new String(bytes, 0, len, AltosLib.unicode_set);
 255                 if (debug)
 256                         System.out.printf("\t\t\t\t\t%s\n", line);
 257                 add_string(line);
 258         }
 259
 260         public void add_binary(byte[] bytes, int len) throws InterruptedException {
 261                 byte[] dup = new byte[len];
 262
 263                 if (debug)
 264                         System.out.printf ("\t\t\t\t\t%d:", len);
 265                 for(int i = 0; i < len; i++) {
 266                         dup[i] = bytes[i];
 267                         if (debug)
 268                                 System.out.printf(" %02x", dup[i]);
 269                 }
 270                 if (debug)
 271                         System.out.printf("\n");
 272
 273                 binary_queue.put(dup);
 274         }
 275
 276         public void flush_output() {
 277                 for (String s : pending_output)
 278                         System.out.print(s);
 279                 pending_output.clear();
 280         }
 281
 282         public void flush_input(int timeout) throws InterruptedException {
 283                 flush_output();
 284                 boolean got_some;
 285
 286                 do {
 287                         Thread.sleep(timeout);
 288                         got_some = !reply_queue.isEmpty();
 289                         reply_queue.clear();
 290                 } while (got_some);
 291         }
 292
 293
 294         public void flush_input() throws InterruptedException {
 295                 if (remote)
 296                         flush_input(500);
 297                 else
 298                         flush_input(100);
 299         }
 300
 301
 302         /*
 303          * Various command-level operations on
 304          * the link
 305          */
 306         public boolean monitor_mode = false;
 307         public int telemetry = AltosLib.ao_telemetry_standard;
 308         public double frequency;
 309         public String callsign;
 310         AltosConfigData config_data;
 311
 312         private Object config_data_lock = new Object();
 313
 314         private int telemetry_len() {
 315                 return AltosLib.telemetry_len(telemetry);
 316         }
 317
 318         private void set_radio_freq(int frequency) {
 319                 if (monitor_mode)
 320                         printf("m 0\nc F %d\nm %x\n",
 321                                frequency, telemetry_len());
 322                 else
 323                         printf("c F %d\n", frequency);
 324                 flush_output();
 325         }
 326
 327         public void set_radio_frequency(double frequency,
 328                                         boolean has_frequency,
 329                                         boolean has_setting,
 330                                         int cal) {
 331                 if (debug)
 332                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 333                 if (frequency == 0)
 334                         return;
 335                 if (has_frequency)
 336                         set_radio_freq((int) Math.floor (frequency * 1000));
 337                 else if (has_setting)
 338                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 339                 else
 340                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 341         }
 342
 343         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 344                 frequency = in_frequency;
 345                 config_data();
 346                 set_radio_frequency(frequency,
 347                                     config_data.radio_frequency > 0,
 348                                     config_data.radio_setting > 0,
 349                                     config_data.radio_calibration);
 350         }
 351
 352         public void set_telemetry(int in_telemetry) {
 353                 telemetry = in_telemetry;
 354                 if (monitor_mode)
 355                         printf("m 0\nm %x\n", telemetry_len());
 356                 flush_output();
 357         }
 358
 359         public void set_monitor(boolean monitor) {
 360                 monitor_mode = monitor;
 361                 if (monitor)
 362                         printf("m %x\n", telemetry_len());
 363                 else
 364                         printf("m 0\n");
 365                 flush_output();
 366         }
 367
 368         private void set_channel(int channel) {
 369                 if (monitor_mode)
 370                         printf("m 0\nc r %d\nm %x\n",
 371                                channel, telemetry_len());
 372                 else
 373                         printf("c r %d\n", channel);
 374                 flush_output();
 375         }
 376
 377         private void set_radio_setting(int setting) {
 378                 if (monitor_mode)
 379                         printf("m 0\nc R %d\nm %x\n",
 380                                setting, telemetry_len());
 381                 else
 382                         printf("c R %d\n", setting);
 383                 flush_output();
 384         }
 385
 386         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 387                 synchronized(config_data_lock) {
 388                         if (config_data == null) {
 389                                 printf("m 0\n");
 390                                 config_data = new AltosConfigData(this);
 391                                 if (monitor_mode)
 392                                         set_monitor(true);
 393                         }
 394                         return config_data;
 395                 }
 396         }
 397
 398         public void set_callsign(String callsign) {
 399                 this.callsign = callsign;
 400                 printf ("c c %s\n", callsign);
 401                 flush_output();
 402         }
 403
 404         public boolean is_loader() throws InterruptedException {
 405                 boolean ret = false;
 406                 printf("v\n");
 407                 for (;;) {
 408                         String line = get_reply();
 409
 410                         if (line == null)
 411                                 return false;
 412                         if (line.startsWith("software-version"))
 413                                 break;
 414                         if (line.startsWith("altos-loader"))
 415                                 ret = true;
 416                 }
 417                 return ret;
 418         }
 419
 420         public void to_loader() throws InterruptedException {
 421                 printf("X\n");
 422                 flush_output();
 423                 close();
 424                 Thread.sleep(1000);
 425         }
 426
 427         public boolean remote;
 428         public int serial;
 429         public String name;
 430
 431         public void start_remote() throws TimeoutException, InterruptedException {
 432                 if (frequency == 0.0)
 433                         frequency = AltosPreferences.frequency(serial);
 434                 if (debug)
 435                         System.out.printf("start remote %7.3f\n", frequency);
 436                 set_radio_frequency(frequency);
 437                 set_callsign(AltosPreferences.callsign());
 438                 printf("p\nE 0\n");
 439                 flush_input();
 440                 remote = true;
 441         }
 442
 443         public void stop_remote() throws InterruptedException {
 444                 if (debug)
 445                         System.out.printf("stop remote\n");
 446                 try {
 447                         flush_input();
 448                 } finally {
 449                         printf ("~\n");
 450                         flush_output();
 451                 }
 452                 remote = false;
 453         }
 454
 455         public int rssi() throws TimeoutException, InterruptedException {
 456                 if (remote)
 457                         return 0;
 458                 printf("s\n");
 459                 String line = get_reply_no_dialog(5000);
 460                 if (line == null)
 461                         throw new TimeoutException();
 462                 String[] items = line.split("\\s+");
 463                 if (items.length < 2)
 464                         return 0;
 465                 if (!items[0].equals("RSSI:"))
 466                         return 0;
 467                 int rssi = Integer.parseInt(items[1]);
 468                 return rssi;
 469         }
 470
 471         public String[] adc() throws TimeoutException, InterruptedException {
 472                 printf("a\n");
 473                 for (;;) {
 474                         String line = get_reply_no_dialog(5000);
 475                         if (line == null) {
 476                                 throw new TimeoutException();
 477                         }
 478                         if (!line.startsWith("tick:"))
 479                                 continue;
 480                         String[] items = line.split("\\s+");
 481                         return items;
 482                 }
 483         }
 484
 485         public boolean has_monitor_battery() {
 486                 return config_data.has_monitor_battery();
 487         }
 488
 489         public double monitor_battery() throws InterruptedException {
 490                 int monitor_batt = AltosLib.MISSING;
 491
 492                 if (config_data.has_monitor_battery()) {
 493                         try {
 494                         String[] items = adc();
 495                         for (int i = 0; i < items.length;) {
 496                                 if (items[i].equals("batt")) {
 497                                         monitor_batt = Integer.parseInt(items[i+1]);
 498                                         i += 2;
 499                                         continue;
 500                                 }
 501                                 i++;
 502                         }
 503                         } catch (TimeoutException te) {
 504                         }
 505                 }
 506                 if (monitor_batt == AltosLib.MISSING)
 507                         return AltosLib.MISSING;
 508                 return AltosConvert.cc_battery_to_voltage(monitor_batt);
 509         }
 510
 511         public AltosLink() {
 512                 callsign = "";
 513                 has_error = false;
 514         }
 515 }