git.gag.com Git - fw/altos/blob - altosui/AltosSerial.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 /*
  19  * Deal with TeleDongle on a serial port
  20  */
  21
  22 package altosui;
  23
  24 import java.lang.*;
  25 import java.io.*;
  26 import java.util.concurrent.*;
  27 import java.util.*;
  28
  29 import libaltosJNI.*;
  30
  31 /*
  32  * This class reads from the serial port and places each received
  33  * line in a queue. Dealing with that queue is left up to other
  34  * threads.
  35  */
  36
  37 public class AltosSerial implements Runnable {
  38
  39         static List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
  40
  41         AltosDevice device;
  42         SWIGTYPE_p_altos_file altos;
  43         LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
  44         LinkedBlockingQueue<AltosLine> reply_queue;
  45         Thread input_thread;
  46         String line;
  47         byte[] line_bytes;
  48         int line_count;
  49         boolean monitor_mode;
  50         static boolean debug;
  51
  52         static void set_debug(boolean new_debug) {
  53                 debug = new_debug;
  54         }
  55
  56         public void run () {
  57                 int c;
  58
  59                 try {
  60                         for (;;) {
  61                                 c = libaltos.altos_getchar(altos, 0);
  62                                 if (Thread.interrupted())
  63                                         break;
  64                                 if (c == libaltosConstants.LIBALTOS_ERROR) {
  65                                         for (int e = 0; e < monitors.size(); e++) {
  66                                                 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  67                                                 q.put(new AltosLine());
  68                                         }
  69                                         reply_queue.put (new AltosLine());
  70                                         break;
  71                                 }
  72                                 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
  73                                         continue;
  74                                 if (c == '\r')
  75                                         continue;
  76                                 synchronized(this) {
  77                                         if (c == '\n') {
  78                                                 if (line_count != 0) {
  79                                                         try {
  80                                                                 line = new String(line_bytes, 0, line_count, "UTF-8");
  81                                                         } catch (UnsupportedEncodingException ue) {
  82                                                                 line = "";
  83                                                                 for (int i = 0; i < line_count; i++)
  84                                                                         line = line + line_bytes[i];
  85                                                         }
  86                                                         if (line.startsWith("VERSION") || line.startsWith("CRC")) {
  87                                                                 for (int e = 0; e < monitors.size(); e++) {
  88                                                                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  89                                                                         q.put(new AltosLine (line));
  90                                                                 }
  91                                                         } else {
  92                                                                 if (debug)
  93                                                                         System.out.printf("\t\t\t\t\t%s\n", line);
  94                                                                 reply_queue.put(new AltosLine (line));
  95                                                         }
  96                                                         line_count = 0;
  97                                                         line = "";
  98                                                 }
  99                                         } else {
 100                                                 if (line_bytes == null) {
 101                                                         line_bytes = new byte[256];
 102                                                 } else if (line_count == line_bytes.length) {
 103                                                         byte[] new_line_bytes = new byte[line_count * 2];
 104                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 105                                                         line_bytes = new_line_bytes;
 106                                                 }
 107                                                 line_bytes[line_count] = (byte) c;
 108                                                 line_count++;
 109                                         }
 110                                 }
 111                         }
 112                 } catch (InterruptedException e) {
 113                 }
 114         }
 115
 116         public void flush_output() {
 117                 if (altos != null)
 118                         libaltos.altos_flush(altos);
 119         }
 120
 121         public void flush_input() {
 122                 flush_output();
 123                 boolean got_some;
 124                 do {
 125                         try {
 126                                 Thread.sleep(100);
 127                         } catch (InterruptedException ie) {
 128                         }
 129                         got_some = !reply_queue.isEmpty();
 130                         synchronized(this) {
 131                                 if (!"VERSION".startsWith(line) &&
 132                                     !line.startsWith("VERSION"))
 133                                         line = "";
 134                                 reply_queue.clear();
 135                         }
 136                 } while (got_some);
 137         }
 138
 139         public String get_reply() throws InterruptedException {
 140                 flush_output();
 141                 AltosLine line = reply_queue.take();
 142                 return line.line;
 143         }
 144
 145         public String get_reply(int timeout) throws InterruptedException {
 146                 flush_output();
 147                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 148                 if (line == null)
 149                         return null;
 150                 return line.line;
 151         }
 152
 153         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 154                 set_monitor(true);
 155                 monitors.add(q);
 156         }
 157
 158         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 159                 monitors.remove(q);
 160                 if (monitors.isEmpty())
 161                         set_monitor(false);
 162         }
 163
 164         public void close() {
 165                 if (altos != null) {
 166                         libaltos.altos_close(altos);
 167                 }
 168                 if (input_thread != null) {
 169                         try {
 170                                 input_thread.interrupt();
 171                                 input_thread.join();
 172                         } catch (InterruptedException e) {
 173                         }
 174                         input_thread = null;
 175                 }
 176                 if (altos != null) {
 177                         libaltos.altos_free(altos);
 178                         altos = null;
 179                 }
 180                 synchronized (devices_opened) {
 181                         devices_opened.remove(device.getPath());
 182                 }
 183         }
 184
 185         private void putc(char c) {
 186                 if (altos != null)
 187                         libaltos.altos_putchar(altos, c);
 188         }
 189
 190         public void print(String data) {
 191                 if (debug)
 192                         System.out.printf("%s", data);
 193                 for (int i = 0; i < data.length(); i++)
 194                         putc(data.charAt(i));
 195         }
 196
 197         public void printf(String format, Object ... arguments) {
 198                 print(String.format(format, arguments));
 199         }
 200
 201         private void open() throws FileNotFoundException, AltosSerialInUseException {
 202                 synchronized (devices_opened) {
 203                         if (devices_opened.contains(device.getPath()))
 204                                 throw new AltosSerialInUseException(device);
 205                         devices_opened.add(device.getPath());
 206                 }
 207                 altos = libaltos.altos_open(device);
 208                 if (altos == null) {
 209                         close();
 210                         throw new FileNotFoundException(device.toShortString());
 211                 }
 212                 input_thread = new Thread(this);
 213                 input_thread.start();
 214                 print("~\nE 0\n");
 215                 set_monitor(false);
 216                 flush_output();
 217         }
 218
 219         public void set_radio() {
 220                 set_channel(AltosPreferences.channel(device.getSerial()));
 221                 set_callsign(AltosPreferences.callsign());
 222         }
 223
 224         public void set_channel(int channel) {
 225                 if (altos != null) {
 226                         if (monitor_mode)
 227                                 printf("m 0\nc r %d\nm 1\n", channel);
 228                         else
 229                                 printf("c r %d\n", channel);
 230                         flush_output();
 231                 }
 232         }
 233
 234         void set_monitor(boolean monitor) {
 235                 monitor_mode = monitor;
 236                 if (altos != null) {
 237                         if (monitor)
 238                                 printf("m 1\n");
 239                         else
 240                                 printf("m 0\n");
 241                         flush_output();
 242                 }
 243         }
 244
 245         public void set_callsign(String callsign) {
 246                 if (altos != null) {
 247                         printf ("c c %s\n", callsign);
 248                         flush_output();
 249                 }
 250         }
 251
 252         public void start_remote() {
 253                 set_radio();
 254                 printf("p\nE 0\n");
 255                 flush_input();
 256         }
 257
 258         public void stop_remote() {
 259                 printf ("~");
 260                 flush_output();
 261         }
 262
 263         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 264                 device = in_device;
 265                 line = "";
 266                 monitor_mode = false;
 267                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 268                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 269                 open();
 270         }
 271 }