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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() throws InterruptedException {
  64                 return get_reply(5000);
  65         }
  66
  67
  68         public abstract boolean can_cancel_reply();
  69         public abstract boolean show_reply_timeout();
  70         public abstract void hide_reply_timeout();
  71
  72         public boolean  reply_abort;
  73         public int      in_reply;
  74
  75         boolean         reply_timeout_shown = false;
  76
  77         private boolean check_reply_timeout() {
  78                 if (!reply_timeout_shown)
  79                         reply_timeout_shown = show_reply_timeout();
  80                 return reply_abort;
  81         }
  82
  83         private void cleanup_reply_timeout() {
  84                 if (reply_timeout_shown) {
  85                         reply_timeout_shown = false;
  86                         hide_reply_timeout();
  87                 }
  88         }
  89
  90
  91         public String get_reply(int timeout) throws InterruptedException {
  92                 boolean can_cancel = can_cancel_reply();
  93                 String  reply = null;
  94
  95                 if (!can_cancel && remote)
  96                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
  97
  98                 if (remote && can_cancel)
  99                         timeout = 500;
 100                 try {
 101                         ++in_reply;
 102
 103                         flush_output();
 104
 105                         reply_abort = false;
 106                         reply_timeout_shown = false;
 107                         for (;;) {
 108                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 109                                 if (line != null) {
 110                                         cleanup_reply_timeout();
 111                                         reply = line.line;
 112                                         break;
 113                                 }
 114                                 if (!remote || !can_cancel || check_reply_timeout()) {
 115                                         reply = null;
 116                                         break;
 117                                 }
 118                         }
 119                 } finally {
 120                         --in_reply;
 121                 }
 122                 return reply;
 123         }
 124
 125         public void add_telem(AltosLine line) throws InterruptedException {
 126                 for (int e = 0; e < monitors.size(); e++) {
 127                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 128                         q.put(line);
 129                 }
 130         }
 131
 132         public void add_reply(AltosLine line) throws InterruptedException {
 133                 reply_queue.put (line);
 134         }
 135
 136         public void add_string(String line) throws InterruptedException {
 137                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 138                         add_telem(new AltosLine(line));
 139                 } else {
 140                         add_reply(new AltosLine(line));
 141                 }
 142         }
 143
 144         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
 145                 String  line;
 146                 try {
 147                         line = new String(bytes, 0, len, "UTF-8");
 148                 } catch (UnsupportedEncodingException ue) {
 149                         line = "";
 150                         for (int i = 0; i < len; i++)
 151                                 line = line + bytes[i];
 152                 }
 153                 if (debug)
 154                         System.out.printf("\t\t\t\t\t%s\n", line);
 155                 add_string(line);
 156         }
 157
 158         public void flush_output() {
 159                 for (String s : pending_output)
 160                         System.out.print(s);
 161                 pending_output.clear();
 162         }
 163
 164         public void flush_input(int timeout) throws InterruptedException {
 165                 flush_output();
 166                 boolean got_some;
 167
 168                 do {
 169                         Thread.sleep(timeout);
 170                         got_some = !reply_queue.isEmpty();
 171                         reply_queue.clear();
 172                 } while (got_some);
 173         }
 174
 175
 176         public void flush_input() throws InterruptedException {
 177                 if (remote)
 178                         flush_input(500);
 179                 else
 180                         flush_input(100);
 181         }
 182
 183
 184         /*
 185          * Various command-level operations on
 186          * the link
 187          */
 188         public boolean monitor_mode = false;
 189         public int telemetry = AltosLib.ao_telemetry_standard;
 190         public double frequency;
 191         AltosConfigData config_data;
 192
 193         private int telemetry_len() {
 194                 return AltosLib.telemetry_len(telemetry);
 195         }
 196
 197         private void set_radio_freq(int frequency) {
 198                 if (monitor_mode)
 199                         printf("m 0\nc F %d\nm %x\n",
 200                                frequency, telemetry_len());
 201                 else
 202                         printf("c F %d\n", frequency);
 203                 flush_output();
 204         }
 205
 206         public void set_radio_frequency(double frequency,
 207                                         boolean has_frequency,
 208                                         boolean has_setting,
 209                                         int cal) {
 210                 if (debug)
 211                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 212                 if (frequency == 0)
 213                         return;
 214                 if (has_frequency)
 215                         set_radio_freq((int) Math.floor (frequency * 1000));
 216                 else if (has_setting)
 217                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 218                 else
 219                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 220         }
 221
 222         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 223                 frequency = in_frequency;
 224                 config_data();
 225                 set_radio_frequency(frequency,
 226                                     config_data.radio_frequency != 0,
 227                                     config_data.radio_setting != 0,
 228                                     config_data.radio_calibration);
 229         }
 230
 231         public void set_telemetry(int in_telemetry) {
 232                 telemetry = in_telemetry;
 233                 if (monitor_mode)
 234                         printf("m 0\nm %x\n", telemetry_len());
 235                 flush_output();
 236         }
 237
 238         public void set_monitor(boolean monitor) {
 239                 monitor_mode = monitor;
 240                 if (monitor)
 241                         printf("m %x\n", telemetry_len());
 242                 else
 243                         printf("m 0\n");
 244                 flush_output();
 245         }
 246
 247         private void set_channel(int channel) {
 248                 if (monitor_mode)
 249                         printf("m 0\nc r %d\nm %x\n",
 250                                channel, telemetry_len());
 251                 else
 252                         printf("c r %d\n", channel);
 253                 flush_output();
 254         }
 255
 256         private void set_radio_setting(int setting) {
 257                 if (monitor_mode)
 258                         printf("m 0\nc R %d\nm %x\n",
 259                                setting, telemetry_len());
 260                 else
 261                         printf("c R %d\n", setting);
 262                 flush_output();
 263         }
 264
 265         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 266                 if (config_data == null)
 267                         config_data = new AltosConfigData(this);
 268                 return config_data;
 269         }
 270
 271         public void set_callsign(String callsign) {
 272                 printf ("c c %s\n", callsign);
 273                 flush_output();
 274         }
 275
 276         public boolean remote;
 277         public int serial;
 278         public String name;
 279
 280         public void start_remote() throws TimeoutException, InterruptedException {
 281                 if (debug)
 282                         System.out.printf("start remote %7.3f\n", frequency);
 283                 if (frequency == 0.0)
 284                         frequency = AltosPreferences.frequency(serial);
 285                 set_radio_frequency(frequency);
 286                 set_callsign(AltosPreferences.callsign());
 287                 printf("p\nE 0\n");
 288                 flush_input();
 289                 remote = true;
 290         }
 291
 292         public void stop_remote() throws InterruptedException {
 293                 if (debug)
 294                         System.out.printf("stop remote\n");
 295                 try {
 296                         flush_input();
 297                 } finally {
 298                         printf ("~\n");
 299                         flush_output();
 300                 }
 301                 remote = false;
 302         }
 303
 304         public AltosLink() {
 305         }
 306 }