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