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   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 java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30
  31 public class AltosDisplayThread extends Thread {
  32
  33         Frame                   parent;
  34         IdleThread              idle_thread;
  35         AltosVoice              voice;
  36         String                  name;
  37         AltosFlightReader       reader;
  38         int                     crc_errors;
  39         AltosFlightDisplay      display;
  40
  41         void show_internal(AltosState state, int crc_errors) {
  42                 if (state != null)
  43                         display.show(state, crc_errors);
  44         }
  45
  46         void show_safely(AltosState in_state, int in_crc_errors) {
  47                 final AltosState state = in_state;
  48                 final int crc_errors = in_crc_errors;
  49                 Runnable r = new Runnable() {
  50                                 public void run() {
  51                                         try {
  52                                                 show_internal(state, crc_errors);
  53                                         } catch (Exception ex) {
  54                                         }
  55                                 }
  56                         };
  57                 SwingUtilities.invokeLater(r);
  58         }
  59
  60         void reading_error_internal(String name) {
  61                 JOptionPane.showMessageDialog(parent,
  62                                               String.format("Error reading from \"%s\"", name),
  63                                               "Telemetry Read Error",
  64                                               JOptionPane.ERROR_MESSAGE);
  65         }
  66
  67         void reading_error_safely(String in_name) {
  68                 final String name = in_name;
  69                 Runnable r = new Runnable() {
  70                                 public void run() {
  71                                         try {
  72                                                 reading_error_internal(name);
  73                                         } catch (Exception ex) {
  74                                         }
  75                                 }
  76                         };
  77                 SwingUtilities.invokeLater(r);
  78         }
  79
  80         class IdleThread extends Thread {
  81
  82                 boolean started;
  83                 private AltosState state;
  84                 int     reported_landing;
  85                 int     report_interval;
  86                 long    report_time;
  87
  88                 public synchronized void report(boolean last) {
  89                         if (state == null)
  90                                 return;
  91
  92                         /* reset the landing count once we hear about a new flight */
  93                         if (state.state < Altos.ao_flight_drogue)
  94                                 reported_landing = 0;
  95
  96                         /* Shut up once the rocket is on the ground */
  97                         if (reported_landing > 2) {
  98                                 return;
  99                         }
 100
 101                         /* If the rocket isn't on the pad, then report height */
 102                         if (Altos.ao_flight_drogue <= state.state &&
 103                             state.state < Altos.ao_flight_landed &&
 104                             state.range >= 0)
 105                         {
 106                                 voice.speak("Height %d, bearing %s %d, elevation %d, range %d.\n",
 107                                             (int) (state.height + 0.5),
 108                         state.from_pad.bearing_words(
 109                             AltosGreatCircle.BEARING_VOICE),
 110                                             (int) (state.from_pad.bearing + 0.5),
 111                                             (int) (state.elevation + 0.5),
 112                                             (int) (state.range + 0.5));
 113                         } else if (state.state > Altos.ao_flight_pad) {
 114                                 voice.speak("%d meters", (int) (state.height + 0.5));
 115                         } else {
 116                                 reported_landing = 0;
 117                         }
 118
 119                         /* If the rocket is coming down, check to see if it has landed;
 120                          * either we've got a landed report or we haven't heard from it in
 121                          * a long time
 122                          */
 123                         if (state.state >= Altos.ao_flight_drogue &&
 124                             (last ||
 125                              System.currentTimeMillis() - state.report_time >= 15000 ||
 126                              state.state == Altos.ao_flight_landed))
 127                         {
 128                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 129                                         voice.speak("rocket landed safely");
 130                                 else
 131                                         voice.speak("rocket may have crashed");
 132                                 if (state.from_pad != null)
 133                                         voice.speak("Bearing %d degrees, range %d meters.",
 134                                                     (int) (state.from_pad.bearing + 0.5),
 135                                                     (int) (state.from_pad.distance + 0.5));
 136                                 ++reported_landing;
 137                                 if (state.state != Altos.ao_flight_landed) {
 138                                         state.state = Altos.ao_flight_landed;
 139                                         show_safely(state, 0);
 140                                 }
 141                         }
 142                 }
 143
 144                 long now () {
 145                         return System.currentTimeMillis();
 146                 }
 147
 148                 void set_report_time() {
 149                         report_time = now() + report_interval;
 150                 }
 151
 152                 public void run () {
 153                         try {
 154                                 for (;;) {
 155                                         set_report_time();
 156                                         for (;;) {
 157                                                 voice.drain();
 158                                                 synchronized (this) {
 159                                                         long    sleep_time = report_time - now();
 160                                                         if (sleep_time <= 0)
 161                                                                 break;
 162                                                         wait(sleep_time);
 163                                                 }
 164                                         }
 165                                         report(false);
 166                                 }
 167                         } catch (InterruptedException ie) {
 168                                 try {
 169                                         voice.drain();
 170                                 } catch (InterruptedException iie) { }
 171                         }
 172                 }
 173
 174                 public synchronized void notice(AltosState new_state, boolean spoken) {
 175                         AltosState old_state = state;
 176                         state = new_state;
 177                         if (!started && state.state > Altos.ao_flight_pad) {
 178                                 started = true;
 179                                 start();
 180                         }
 181
 182                         if (state.state < Altos.ao_flight_drogue)
 183                                 report_interval = 10000;
 184                         else
 185                                 report_interval = 20000;
 186                         if (old_state != null && old_state.state != state.state) {
 187                                 report_time = now();
 188                                 this.notify();
 189                         } else if (spoken)
 190                                 set_report_time();
 191                 }
 192
 193                 public IdleThread() {
 194                         state = null;
 195                         reported_landing = 0;
 196                         report_interval = 10000;
 197                 }
 198         }
 199
 200         boolean tell(AltosState state, AltosState old_state) {
 201                 boolean ret = false;
 202                 if (old_state == null || old_state.state != state.state) {
 203                         voice.speak(state.data.state());
 204                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 205                             state.state > Altos.ao_flight_boost) {
 206                                 voice.speak("max speed: %d meters per second.",
 207                                             (int) (state.max_speed + 0.5));
 208                                 ret = true;
 209                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 210                                    state.state >= Altos.ao_flight_drogue) {
 211                                 voice.speak("max height: %d meters.",
 212                                             (int) (state.max_height + 0.5));
 213                                 ret = true;
 214                         }
 215                 }
 216                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 217                         if (state.gps_ready) {
 218                                 voice.speak("GPS ready");
 219                                 ret = true;
 220                         }
 221                         else if (old_state != null) {
 222                                 voice.speak("GPS lost");
 223                                 ret = true;
 224                         }
 225                 }
 226                 old_state = state;
 227                 return ret;
 228         }
 229
 230         public void run() {
 231                 boolean         interrupted = false;
 232                 String          line;
 233                 AltosState      state = null;
 234                 AltosState      old_state = null;
 235                 boolean         told;
 236
 237                 idle_thread = new IdleThread();
 238
 239                 try {
 240                         for (;;) {
 241                                 try {
 242                                         AltosRecord record = reader.read();
 243                                         if (record == null)
 244                                                 break;
 245                                         old_state = state;
 246                                         state = new AltosState(record, state);
 247                                         reader.update(state);
 248                                         show_safely(state, crc_errors);
 249                                         told = tell(state, old_state);
 250                                         idle_thread.notice(state, told);
 251                                 } catch (ParseException pp) {
 252                                         System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 253                                 } catch (AltosCRCException ce) {
 254                                         ++crc_errors;
 255                                         show_safely(state, crc_errors);
 256                                 }
 257                         }
 258                 } catch (InterruptedException ee) {
 259                         interrupted = true;
 260                 } catch (IOException ie) {
 261                         reading_error_safely(name);
 262                 } finally {
 263                         if (!interrupted)
 264                                 idle_thread.report(true);
 265                         reader.close(interrupted);
 266                         idle_thread.interrupt();
 267                         try {
 268                                 idle_thread.join();
 269                         } catch (InterruptedException ie) {}
 270                 }
 271         }
 272
 273         public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
 274                 parent = in_parent;
 275                 voice = in_voice;
 276                 display = in_display;
 277                 reader = in_reader;
 278                 display.reset();
 279         }
 280 }