git.gag.com Git - fw/altos/blob - altosui/AltosDisplayThread.java

   1 /*
   2  * Copyright © 2010 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 altosui;
  19
  20 import java.awt.*;
  21 import javax.swing.*;
  22 import java.io.*;
  23 import java.text.*;
  24 import org.altusmetrum.AltosLib.*;
  25
  26 public class AltosDisplayThread extends Thread {
  27
  28         Frame                   parent;
  29         IdleThread              idle_thread;
  30         AltosVoice              voice;
  31         AltosFlightReader       reader;
  32         int                     crc_errors;
  33         AltosFlightDisplay      display;
  34
  35         void show_internal(AltosState state, int crc_errors) {
  36                 if (state != null)
  37                         display.show(state, crc_errors);
  38         }
  39
  40         void show_safely(AltosState in_state, int in_crc_errors) {
  41                 final AltosState state = in_state;
  42                 final int crc_errors = in_crc_errors;
  43                 Runnable r = new Runnable() {
  44                                 public void run() {
  45                                         try {
  46                                                 show_internal(state, crc_errors);
  47                                         } catch (Exception ex) {
  48                                         }
  49                                 }
  50                         };
  51                 SwingUtilities.invokeLater(r);
  52         }
  53
  54         void reading_error_internal() {
  55                 JOptionPane.showMessageDialog(parent,
  56                                               String.format("Error reading from \"%s\"", reader.name),
  57                                               "Telemetry Read Error",
  58                                               JOptionPane.ERROR_MESSAGE);
  59         }
  60
  61         void reading_error_safely() {
  62                 Runnable r = new Runnable() {
  63                                 public void run() {
  64                                         try {
  65                                                 reading_error_internal();
  66                                         } catch (Exception ex) {
  67                                         }
  68                                 }
  69                         };
  70                 SwingUtilities.invokeLater(r);
  71         }
  72
  73         class IdleThread extends Thread {
  74
  75                 boolean started;
  76                 private AltosState state;
  77                 int     reported_landing;
  78                 int     report_interval;
  79                 long    report_time;
  80
  81                 public synchronized void report(boolean last) {
  82                         if (state == null)
  83                                 return;
  84
  85                         /* reset the landing count once we hear about a new flight */
  86                         if (state.state < Altos.ao_flight_drogue)
  87                                 reported_landing = 0;
  88
  89                         /* Shut up once the rocket is on the ground */
  90                         if (reported_landing > 2) {
  91                                 return;
  92                         }
  93
  94                         /* If the rocket isn't on the pad, then report height */
  95                         if (Altos.ao_flight_drogue <= state.state &&
  96                             state.state < Altos.ao_flight_landed &&
  97                             state.range >= 0)
  98                         {
  99                                 voice.speak("Height %s, bearing %s %d, elevation %d, range %s.\n",
 100                                             AltosConvert.height.say(state.height),
 101                                             state.from_pad.bearing_words(
 102                                                     AltosGreatCircle.BEARING_VOICE),
 103                                             (int) (state.from_pad.bearing + 0.5),
 104                                             (int) (state.elevation + 0.5),
 105                                             AltosConvert.distance.say(state.range));
 106                         } else if (state.state > Altos.ao_flight_pad) {
 107                                 voice.speak(AltosConvert.height.say_units(state.height));
 108                         } else {
 109                                 reported_landing = 0;
 110                         }
 111
 112                         /* If the rocket is coming down, check to see if it has landed;
 113                          * either we've got a landed report or we haven't heard from it in
 114                          * a long time
 115                          */
 116                         if (state.state >= Altos.ao_flight_drogue &&
 117                             (last ||
 118                              System.currentTimeMillis() - state.report_time >= 15000 ||
 119                              state.state == Altos.ao_flight_landed))
 120                         {
 121                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 122                                         voice.speak("rocket landed safely");
 123                                 else
 124                                         voice.speak("rocket may have crashed");
 125                                 if (state.from_pad != null)
 126                                         voice.speak("Bearing %d degrees, range %s.",
 127                                                     (int) (state.from_pad.bearing + 0.5),
 128                                                     AltosConvert.distance.say_units(state.from_pad.distance));
 129                                 ++reported_landing;
 130                                 if (state.state != Altos.ao_flight_landed) {
 131                                         state.state = Altos.ao_flight_landed;
 132                                         show_safely(state, 0);
 133                                 }
 134                         }
 135                 }
 136
 137                 long now () {
 138                         return System.currentTimeMillis();
 139                 }
 140
 141                 void set_report_time() {
 142                         report_time = now() + report_interval;
 143                 }
 144
 145                 public void run () {
 146                         try {
 147                                 for (;;) {
 148                                         set_report_time();
 149                                         for (;;) {
 150                                                 voice.drain();
 151                                                 synchronized (this) {
 152                                                         long    sleep_time = report_time - now();
 153                                                         if (sleep_time <= 0)
 154                                                                 break;
 155                                                         wait(sleep_time);
 156                                                 }
 157                                         }
 158                                         report(false);
 159                                 }
 160                         } catch (InterruptedException ie) {
 161                                 try {
 162                                         voice.drain();
 163                                 } catch (InterruptedException iie) { }
 164                         }
 165                 }
 166
 167                 public synchronized void notice(AltosState new_state, boolean spoken) {
 168                         AltosState old_state = state;
 169                         state = new_state;
 170                         if (!started && state.state > Altos.ao_flight_pad) {
 171                                 started = true;
 172                                 start();
 173                         }
 174
 175                         if (state.state < Altos.ao_flight_drogue)
 176                                 report_interval = 10000;
 177                         else
 178                                 report_interval = 20000;
 179                         if (old_state != null && old_state.state != state.state) {
 180                                 report_time = now();
 181                                 this.notify();
 182                         } else if (spoken)
 183                                 set_report_time();
 184                 }
 185
 186                 public IdleThread() {
 187                         state = null;
 188                         reported_landing = 0;
 189                         report_interval = 10000;
 190                 }
 191         }
 192
 193         boolean tell(AltosState state, AltosState old_state) {
 194                 boolean ret = false;
 195                 if (old_state == null || old_state.state != state.state) {
 196                         voice.speak(state.data.state());
 197                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 198                             state.state > Altos.ao_flight_boost) {
 199                                 voice.speak("max speed: %s.",
 200                                             AltosConvert.speed.say_units(state.max_accel_speed + 0.5));
 201                                 ret = true;
 202                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 203                                    state.state >= Altos.ao_flight_drogue) {
 204                                 voice.speak("max height: %s.",
 205                                             AltosConvert.height.say_units(state.max_height + 0.5));
 206                                 ret = true;
 207                         }
 208                 }
 209                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 210                         if (state.gps_ready) {
 211                                 voice.speak("GPS ready");
 212                                 ret = true;
 213                         }
 214                         else if (old_state != null) {
 215                                 voice.speak("GPS lost");
 216                                 ret = true;
 217                         }
 218                 }
 219                 old_state = state;
 220                 return ret;
 221         }
 222
 223         public void run() {
 224                 boolean         interrupted = false;
 225                 //String                line;
 226                 AltosState      state = null;
 227                 AltosState      old_state = null;
 228                 boolean         told;
 229
 230                 idle_thread = new IdleThread();
 231
 232                 try {
 233                         for (;;) {
 234                                 try {
 235                                         AltosRecord record = reader.read();
 236                                         if (record == null)
 237                                                 break;
 238                                         old_state = state;
 239                                         state = new AltosState(record, state);
 240                                         reader.update(state);
 241                                         show_safely(state, crc_errors);
 242                                         told = tell(state, old_state);
 243                                         idle_thread.notice(state, told);
 244                                 } catch (ParseException pp) {
 245                                         System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 246                                 } catch (AltosCRCException ce) {
 247                                         ++crc_errors;
 248                                         show_safely(state, crc_errors);
 249                                 }
 250                         }
 251                 } catch (InterruptedException ee) {
 252                         interrupted = true;
 253                 } catch (IOException ie) {
 254                         reading_error_safely();
 255                 } finally {
 256                         if (!interrupted)
 257                                 idle_thread.report(true);
 258                         reader.close(interrupted);
 259                         idle_thread.interrupt();
 260                         try {
 261                                 idle_thread.join();
 262                         } catch (InterruptedException ie) {}
 263                 }
 264         }
 265
 266         public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
 267                 parent = in_parent;
 268                 voice = in_voice;
 269                 display = in_display;
 270                 reader = in_reader;
 271                 display.reset();
 272         }
 273 }