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