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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 {
  27         public abstract void print(String data);
  28         public abstract void close();
  29
  30         public static boolean debug = false;
  31         public static void set_debug(boolean in_debug) { debug = in_debug; }
  32         LinkedList<String> pending_output = new LinkedList<String>();
  33
  34         public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
  35         public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
  36
  37         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
  38                 set_monitor(true);
  39                 monitors.add(q);
  40         }
  41
  42         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
  43                 monitors.remove(q);
  44                 if (monitors.isEmpty())
  45                         set_monitor(false);
  46         }
  47
  48         public void printf(String format, Object ... arguments) {
  49                 String  line = String.format(format, arguments);
  50                 if (debug)
  51                         pending_output.add(line);
  52                 print(line);
  53         }
  54
  55         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
  56                 flush_output();
  57                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
  58                 if (line != null)
  59                         return line.line;
  60                 return null;
  61         }
  62
  63         public String get_reply(int timeout) throws InterruptedException {
  64                 try {
  65                         return get_reply_no_dialog(timeout);
  66                 } catch (TimeoutException te) {
  67                         return null;
  68                 }
  69         }
  70
  71         public String get_reply() throws InterruptedException {
  72                 return get_reply(5000);
  73         }
  74
  75         public void add_telem(AltosLine line) throws InterruptedException {
  76                 for (int e = 0; e < monitors.size(); e++) {
  77                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  78                         q.put(line);
  79                 }
  80         }
  81
  82         public void add_reply(AltosLine line) throws InterruptedException {
  83                 reply_queue.put (line);
  84         }
  85
  86         public void add_string(String line) throws InterruptedException {
  87                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
  88                         add_telem(new AltosLine(line));
  89                 } else {
  90                         add_reply(new AltosLine(line));
  91                 }
  92         }
  93
  94         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
  95                 String  line;
  96                 try {
  97                         line = new String(bytes, 0, len, "UTF-8");
  98                 } catch (UnsupportedEncodingException ue) {
  99                         line = "";
 100                         for (int i = 0; i < len; i++)
 101                                 line = line + bytes[i];
 102                 }
 103                 if (debug)
 104                         System.out.printf("\t\t\t\t\t%s\n", line);
 105                 add_string(line);
 106         }
 107
 108         public void flush_output() {
 109                 for (String s : pending_output)
 110                         System.out.print(s);
 111                 pending_output.clear();
 112         }
 113
 114         public void flush_input(int timeout) throws InterruptedException {
 115                 flush_output();
 116                 boolean got_some;
 117
 118                 do {
 119                         Thread.sleep(timeout);
 120                         got_some = !reply_queue.isEmpty();
 121                         reply_queue.clear();
 122                 } while (got_some);
 123         }
 124
 125
 126         public void flush_input() throws InterruptedException {
 127                 flush_input(100);
 128         }
 129
 130
 131         /*
 132          * Various command-level operations on
 133          * the link
 134          */
 135         public boolean monitor_mode = false;
 136         public int telemetry = AltosLib.ao_telemetry_standard;
 137         public double frequency;
 138         AltosConfigData config_data;
 139
 140         private int telemetry_len() {
 141                 return AltosLib.telemetry_len(telemetry);
 142         }
 143
 144         private void set_radio_freq(int frequency) {
 145                 if (monitor_mode)
 146                         printf("m 0\nc F %d\nm %x\n",
 147                                frequency, telemetry_len());
 148                 else
 149                         printf("c F %d\n", frequency);
 150                 flush_output();
 151         }
 152
 153         public void set_radio_frequency(double frequency,
 154                                         boolean has_frequency,
 155                                         boolean has_setting,
 156                                         int cal) {
 157                 if (debug)
 158                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 159                 if (frequency == 0)
 160                         return;
 161                 if (has_frequency)
 162                         set_radio_freq((int) Math.floor (frequency * 1000));
 163                 else if (has_setting)
 164                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 165                 else
 166                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 167         }
 168
 169         public void set_telemetry(int in_telemetry) {
 170                 telemetry = in_telemetry;
 171                 if (monitor_mode)
 172                         printf("m 0\nm %x\n", telemetry_len());
 173                 flush_output();
 174         }
 175
 176         public void set_monitor(boolean monitor) {
 177                 monitor_mode = monitor;
 178                 if (monitor)
 179                         printf("m %x\n", telemetry_len());
 180                 else
 181                         printf("m 0\n");
 182                 flush_output();
 183         }
 184
 185         private void set_channel(int channel) {
 186                 if (monitor_mode)
 187                         printf("m 0\nc r %d\nm %x\n",
 188                                channel, telemetry_len());
 189                 else
 190                         printf("c r %d\n", channel);
 191                 flush_output();
 192         }
 193
 194         private void set_radio_setting(int setting) {
 195                 if (monitor_mode)
 196                         printf("m 0\nc R %d\nm %x\n",
 197                                setting, telemetry_len());
 198                 else
 199                         printf("c R %d\n", setting);
 200                 flush_output();
 201         }
 202
 203         public void set_radio_frequency(double frequency,
 204                                         boolean has_setting,
 205                                         int cal) {
 206                 if (debug)
 207                         System.out.printf("set_radio_frequency %7.3f %b %d\n", frequency, has_setting, cal);
 208                 if (has_setting)
 209                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 210                 else
 211                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 212         }
 213
 214         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 215                 if (config_data == null)
 216                         config_data = new AltosConfigData(this);
 217                 return config_data;
 218         }
 219
 220         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 221                 frequency = in_frequency;
 222                 config_data();
 223                 set_radio_frequency(frequency,
 224                                     config_data.radio_setting != 0,
 225                                     config_data.radio_calibration);
 226         }
 227
 228         public void set_callsign(String callsign) {
 229                 printf ("c c %s\n", callsign);
 230                 flush_output();
 231         }
 232
 233         public boolean remote;
 234         public int serial;
 235         public String name;
 236
 237         public void start_remote() throws TimeoutException, InterruptedException {
 238                 if (debug)
 239                         System.out.printf("start remote %7.3f\n", frequency);
 240                 if (frequency == 0.0)
 241                         frequency = AltosPreferences.frequency(serial);
 242                 set_radio_frequency(frequency);
 243                 set_callsign(AltosPreferences.callsign());
 244                 printf("p\nE 0\n");
 245                 flush_input();
 246                 remote = true;
 247         }
 248
 249         public void stop_remote() throws InterruptedException {
 250                 if (debug)
 251                         System.out.printf("stop remote\n");
 252                 try {
 253                         flush_input();
 254                 } finally {
 255                         printf ("~\n");
 256                         flush_output();
 257                 }
 258                 remote = false;
 259         }
 260
 261         public AltosLink() {
 262         }
 263 }