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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 /*
  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 import java.text.*;
  29 import java.awt.*;
  30 import java.awt.event.*;
  31 import javax.swing.*;
  32 import javax.swing.filechooser.FileNameExtensionFilter;
  33 import javax.swing.table.*;
  34
  35 import libaltosJNI.*;
  36
  37 /*
  38  * This class reads from the serial port and places each received
  39  * line in a queue. Dealing with that queue is left up to other
  40  * threads.
  41  */
  42
  43 public class AltosSerial implements Runnable {
  44
  45         static java.util.List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
  46
  47         AltosDevice device;
  48         SWIGTYPE_p_altos_file altos;
  49         LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
  50         LinkedBlockingQueue<AltosLine> reply_queue;
  51         Thread input_thread;
  52         String line;
  53         byte[] line_bytes;
  54         int line_count;
  55         boolean monitor_mode;
  56         int telemetry;
  57         double frequency;
  58         static boolean debug;
  59         boolean remote;
  60         LinkedList<String> pending_output = new LinkedList<String>();
  61         Frame frame;
  62         AltosConfigData config_data;
  63
  64         static void set_debug(boolean new_debug) {
  65                 debug = new_debug;
  66         }
  67
  68         public void run () {
  69                 int c;
  70
  71                 try {
  72                         for (;;) {
  73                                 c = libaltos.altos_getchar(altos, 0);
  74                                 if (Thread.interrupted())
  75                                         break;
  76                                 if (c == libaltosConstants.LIBALTOS_ERROR) {
  77                                         for (int e = 0; e < monitors.size(); e++) {
  78                                                 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  79                                                 q.put(new AltosLine());
  80                                         }
  81                                         reply_queue.put (new AltosLine());
  82                                         break;
  83                                 }
  84                                 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
  85                                         continue;
  86                                 if (c == '\r')
  87                                         continue;
  88                                 synchronized(this) {
  89                                         if (c == '\n') {
  90                                                 if (line_count != 0) {
  91                                                         try {
  92                                                                 line = new String(line_bytes, 0, line_count, "UTF-8");
  93                                                         } catch (UnsupportedEncodingException ue) {
  94                                                                 line = "";
  95                                                                 for (int i = 0; i < line_count; i++)
  96                                                                         line = line + line_bytes[i];
  97                                                         }
  98                                                         if (debug)
  99                                                                 System.out.printf("\t\t\t\t\t%s\n", line);
 100                                                         if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 101                                                                 for (int e = 0; e < monitors.size(); e++) {
 102                                                                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 103                                                                         q.put(new AltosLine (line));
 104                                                                 }
 105                                                         } else {
 106                                                                 reply_queue.put(new AltosLine (line));
 107                                                         }
 108                                                         line_count = 0;
 109                                                         line = "";
 110                                                 }
 111                                         } else {
 112                                                 if (line_bytes == null) {
 113                                                         line_bytes = new byte[256];
 114                                                 } else if (line_count == line_bytes.length) {
 115                                                         byte[] new_line_bytes = new byte[line_count * 2];
 116                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 117                                                         line_bytes = new_line_bytes;
 118                                                 }
 119                                                 line_bytes[line_count] = (byte) c;
 120                                                 line_count++;
 121                                         }
 122                                 }
 123                         }
 124                 } catch (InterruptedException e) {
 125                 }
 126         }
 127
 128         public void flush_output() {
 129                 if (altos != null) {
 130                         for (String s : pending_output)
 131                                 System.out.print(s);
 132                         pending_output.clear();
 133                         libaltos.altos_flush(altos);
 134                 }
 135         }
 136
 137         boolean         abort;
 138         JDialog         timeout_dialog;
 139         boolean timeout_started = false;
 140
 141         private void stop_timeout_dialog() {
 142                 if (timeout_started) {
 143                         timeout_started = false;
 144                         Runnable r = new Runnable() {
 145                                         public void run() {
 146                                                 timeout_dialog.setVisible(false);
 147                                         }
 148                                 };
 149                         SwingUtilities.invokeLater(r);
 150                 }
 151         }
 152
 153         private void start_timeout_dialog_internal() {
 154
 155                 Object[] options = { "Cancel" };
 156
 157                 JOptionPane     pane = new JOptionPane();
 158                 pane.setMessage(String.format("Connecting to %s, %7.3f MHz", device.toShortString(), frequency));
 159                 pane.setOptions(options);
 160                 pane.setInitialValue(null);
 161
 162                 timeout_dialog = pane.createDialog(frame, "Connecting...");
 163
 164                 timeout_dialog.setVisible(true);
 165
 166                 Object o = pane.getValue();
 167                 if (o == null)
 168                         return;
 169                 if (options[0].equals(o))
 170                         abort = true;
 171                 timeout_dialog.dispose();
 172                 timeout_dialog = null;
 173         }
 174
 175         private boolean check_timeout() {
 176                 if (!timeout_started && frame != null) {
 177                         if (!SwingUtilities.isEventDispatchThread()) {
 178                                 timeout_started = true;
 179                                 Runnable r = new Runnable() {
 180                                                 public void run() {
 181                                                         start_timeout_dialog_internal();
 182                                                 }
 183                                         };
 184                                 SwingUtilities.invokeLater(r);
 185                         }
 186                 }
 187                 return abort;
 188         }
 189
 190         public void flush_input() throws InterruptedException {
 191                 flush_output();
 192                 boolean got_some;
 193
 194                 int timeout = 100;
 195                 if (remote)
 196                         timeout = 500;
 197                 do {
 198                         Thread.sleep(timeout);
 199                         got_some = !reply_queue.isEmpty();
 200                         synchronized(this) {
 201                                 if (!"VERSION".startsWith(line) &&
 202                                     !line.startsWith("VERSION"))
 203                                         line = "";
 204                                 reply_queue.clear();
 205                         }
 206                 } while (got_some);
 207         }
 208
 209         int     in_reply;
 210
 211         public String get_reply(int timeout) throws InterruptedException {
 212                 boolean can_cancel = true;
 213                 String  reply = null;
 214
 215                 try {
 216                         ++in_reply;
 217
 218                         if (SwingUtilities.isEventDispatchThread()) {
 219                                 can_cancel = false;
 220                                 if (remote)
 221                                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 222                         }
 223                         flush_output();
 224                         if (remote && can_cancel) {
 225                                 timeout = 500;
 226                         }
 227                         abort = false;
 228                         timeout_started = false;
 229                         for (;;) {
 230                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 231                                 if (line != null) {
 232                                         stop_timeout_dialog();
 233                                         reply = line.line;
 234                                         break;
 235                                 }
 236                                 if (!remote || !can_cancel || check_timeout()) {
 237                                         reply = null;
 238                                         break;
 239                                 }
 240                         }
 241                 } finally {
 242                         --in_reply;
 243                 }
 244                 return reply;
 245         }
 246
 247         public String get_reply() throws InterruptedException {
 248                 return get_reply(5000);
 249         }
 250
 251         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
 252                 flush_output();
 253                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 254                 if (line != null)
 255                         return line.line;
 256                 return null;
 257         }
 258
 259         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 260                 set_monitor(true);
 261                 monitors.add(q);
 262         }
 263
 264         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 265                 monitors.remove(q);
 266                 if (monitors.isEmpty())
 267                         set_monitor(false);
 268         }
 269
 270         public void close() {
 271                 if (remote) {
 272                         try {
 273                                 stop_remote();
 274                         } catch (InterruptedException ie) {
 275                         }
 276                 }
 277                 if (in_reply != 0)
 278                         System.out.printf("Uh-oh. Closing active serial device\n");
 279
 280                 if (altos != null) {
 281                         libaltos.altos_close(altos);
 282                 }
 283                 if (input_thread != null) {
 284                         try {
 285                                 input_thread.interrupt();
 286                                 input_thread.join();
 287                         } catch (InterruptedException e) {
 288                         }
 289                         input_thread = null;
 290                 }
 291                 if (altos != null) {
 292                         libaltos.altos_free(altos);
 293                         altos = null;
 294                 }
 295                 synchronized (devices_opened) {
 296                         devices_opened.remove(device.getPath());
 297                 }
 298                 if (debug)
 299                         System.out.printf("Closing %s\n", device.getPath());
 300         }
 301
 302         private void putc(char c) {
 303                 if (altos != null)
 304                         libaltos.altos_putchar(altos, c);
 305         }
 306
 307         public void print(String data) {
 308                 if (debug)
 309                         pending_output.add(data);
 310                 for (int i = 0; i < data.length(); i++)
 311                         putc(data.charAt(i));
 312         }
 313
 314         public void printf(String format, Object ... arguments) {
 315                 print(String.format(format, arguments));
 316         }
 317
 318         private void open() throws FileNotFoundException, AltosSerialInUseException {
 319                 synchronized (devices_opened) {
 320                         if (devices_opened.contains(device.getPath()))
 321                                 throw new AltosSerialInUseException(device);
 322                         devices_opened.add(device.getPath());
 323                 }
 324                 altos = device.open();
 325                 if (altos == null) {
 326                         final String    message = device.getErrorString();
 327                         close();
 328                         throw new FileNotFoundException(String.format("%s (%s)",
 329                                                                       device.toShortString(), message));
 330                 }
 331                 if (debug)
 332                         System.out.printf("Open %s\n", device.getPath());
 333                 input_thread = new Thread(this);
 334                 input_thread.start();
 335                 print("~\nE 0\n");
 336                 set_monitor(false);
 337                 flush_output();
 338         }
 339
 340         private int telemetry_len() {
 341                 return Altos.telemetry_len(telemetry);
 342         }
 343
 344         private void set_channel(int channel) {
 345                 if (altos != null) {
 346                         if (monitor_mode)
 347                                 printf("m 0\nc r %d\nm %x\n",
 348                                        channel, telemetry_len());
 349                         else
 350                                 printf("c r %d\n", channel);
 351                         flush_output();
 352                 }
 353         }
 354
 355         private void set_radio_setting(int setting) {
 356                 if (altos != null) {
 357                         if (monitor_mode)
 358                                 printf("m 0\nc R %d\nm %x\n",
 359                                        setting, telemetry_len());
 360                         else
 361                                 printf("c R %d\n", setting);
 362                         flush_output();
 363                 }
 364         }
 365
 366         public void set_radio_frequency(double frequency,
 367                                         boolean has_setting,
 368                                         int cal) {
 369                 if (debug)
 370                         System.out.printf("set_radio_frequency %7.3f %b %d\n", frequency, has_setting, cal);
 371                 if (has_setting)
 372                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 373                 else
 374                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 375         }
 376
 377         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 378                 frequency = in_frequency;
 379                 config_data();
 380                 set_radio_frequency(frequency,
 381                                     config_data.radio_setting != 0,
 382                                     config_data.radio_calibration);
 383         }
 384
 385         public void set_telemetry(int in_telemetry) {
 386                 telemetry = in_telemetry;
 387                 if (altos != null) {
 388                         if (monitor_mode)
 389                                 printf("m 0\nm %x\n", telemetry_len());
 390                         flush_output();
 391                 }
 392         }
 393
 394         void set_monitor(boolean monitor) {
 395                 monitor_mode = monitor;
 396                 if (altos != null) {
 397                         if (monitor)
 398                                 printf("m %x\n", telemetry_len());
 399                         else
 400                                 printf("m 0\n");
 401                         flush_output();
 402                 }
 403         }
 404
 405         public void set_callsign(String callsign) {
 406                 if (altos != null) {
 407                         printf ("c c %s\n", callsign);
 408                         flush_output();
 409                 }
 410         }
 411
 412         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 413                 if (config_data == null)
 414                         config_data = new AltosConfigData(this);
 415                 return config_data;
 416         }
 417
 418         public void start_remote() throws TimeoutException, InterruptedException {
 419                 if (debug)
 420                         System.out.printf("start remote %7.3f\n", frequency);
 421                 if (frequency == 0.0)
 422                         frequency = AltosPreferences.frequency(device.getSerial());
 423                 set_radio_frequency(frequency);
 424                 set_callsign(AltosPreferences.callsign());
 425                 printf("p\nE 0\n");
 426                 flush_input();
 427                 remote = true;
 428         }
 429
 430         public void stop_remote() throws InterruptedException {
 431                 if (debug)
 432                         System.out.printf("stop remote\n");
 433                 try {
 434                         flush_input();
 435                 } finally {
 436                         printf ("~\n");
 437                         flush_output();
 438                 }
 439                 remote = false;
 440         }
 441
 442         public void set_frame(Frame in_frame) {
 443                 frame = in_frame;
 444         }
 445
 446         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 447                 device = in_device;
 448                 line = "";
 449                 monitor_mode = false;
 450                 frame = null;
 451                 telemetry = Altos.ao_telemetry_standard;
 452                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 453                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 454                 open();
 455         }
 456 }