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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
  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         int telemetry;
  51         int channel;
  52         static boolean debug;
  53         boolean remote;
  54         LinkedList<String> pending_output = new LinkedList<String>();
  55
  56         static void set_debug(boolean new_debug) {
  57                 debug = new_debug;
  58         }
  59
  60         public void run () {
  61                 int c;
  62
  63                 try {
  64                         for (;;) {
  65                                 c = libaltos.altos_getchar(altos, 0);
  66                                 if (Thread.interrupted())
  67                                         break;
  68                                 if (c == libaltosConstants.LIBALTOS_ERROR) {
  69                                         for (int e = 0; e < monitors.size(); e++) {
  70                                                 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  71                                                 q.put(new AltosLine());
  72                                         }
  73                                         reply_queue.put (new AltosLine());
  74                                         break;
  75                                 }
  76                                 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
  77                                         continue;
  78                                 if (c == '\r')
  79                                         continue;
  80                                 synchronized(this) {
  81                                         if (c == '\n') {
  82                                                 if (line_count != 0) {
  83                                                         try {
  84                                                                 line = new String(line_bytes, 0, line_count, "UTF-8");
  85                                                         } catch (UnsupportedEncodingException ue) {
  86                                                                 line = "";
  87                                                                 for (int i = 0; i < line_count; i++)
  88                                                                         line = line + line_bytes[i];
  89                                                         }
  90                                                         if (debug)
  91                                                                 System.out.printf("\t\t\t\t\t%s\n", line);
  92                                                         if (line.startsWith("VERSION") || line.startsWith("CRC")) {
  93                                                                 for (int e = 0; e < monitors.size(); e++) {
  94                                                                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  95                                                                         q.put(new AltosLine (line));
  96                                                                 }
  97                                                         } else {
  98                                                                 reply_queue.put(new AltosLine (line));
  99                                                         }
 100                                                         line_count = 0;
 101                                                         line = "";
 102                                                 }
 103                                         } else {
 104                                                 if (line_bytes == null) {
 105                                                         line_bytes = new byte[256];
 106                                                 } else if (line_count == line_bytes.length) {
 107                                                         byte[] new_line_bytes = new byte[line_count * 2];
 108                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 109                                                         line_bytes = new_line_bytes;
 110                                                 }
 111                                                 line_bytes[line_count] = (byte) c;
 112                                                 line_count++;
 113                                         }
 114                                 }
 115                         }
 116                 } catch (InterruptedException e) {
 117                 }
 118         }
 119
 120         public void flush_output() {
 121                 if (altos != null) {
 122                         for (String s : pending_output)
 123                                 System.out.print(s);
 124                         pending_output.clear();
 125                         libaltos.altos_flush(altos);
 126                 }
 127         }
 128
 129         public void flush_input() {
 130                 flush_output();
 131                 boolean got_some;
 132
 133                 int timeout = 100;
 134                 if (remote)
 135                         timeout = 300;
 136                 do {
 137                         try {
 138                                 Thread.sleep(timeout);
 139                         } catch (InterruptedException ie) {
 140                         }
 141                         got_some = !reply_queue.isEmpty();
 142                         synchronized(this) {
 143                                 if (!"VERSION".startsWith(line) &&
 144                                     !line.startsWith("VERSION"))
 145                                         line = "";
 146                                 reply_queue.clear();
 147                         }
 148                 } while (got_some);
 149         }
 150
 151         public String get_reply() throws InterruptedException {
 152                 flush_output();
 153                 AltosLine line = reply_queue.take();
 154                 return line.line;
 155         }
 156
 157         public String get_reply(int timeout) throws InterruptedException {
 158                 flush_output();
 159                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 160                 if (line == null)
 161                         return null;
 162                 return line.line;
 163         }
 164
 165         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 166                 set_monitor(true);
 167                 monitors.add(q);
 168         }
 169
 170         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 171                 monitors.remove(q);
 172                 if (monitors.isEmpty())
 173                         set_monitor(false);
 174         }
 175
 176         public void close() {
 177                 if (altos != null) {
 178                         libaltos.altos_close(altos);
 179                 }
 180                 if (input_thread != null) {
 181                         try {
 182                                 input_thread.interrupt();
 183                                 input_thread.join();
 184                         } catch (InterruptedException e) {
 185                         }
 186                         input_thread = null;
 187                 }
 188                 if (altos != null) {
 189                         libaltos.altos_free(altos);
 190                         altos = null;
 191                 }
 192                 synchronized (devices_opened) {
 193                         devices_opened.remove(device.getPath());
 194                 }
 195                 if (debug)
 196                         System.out.printf("Closing %s\n", device.getPath());
 197         }
 198
 199         private void putc(char c) {
 200                 if (altos != null)
 201                         libaltos.altos_putchar(altos, c);
 202         }
 203
 204         public void print(String data) {
 205                 if (debug)
 206                         pending_output.add(data);
 207                 for (int i = 0; i < data.length(); i++)
 208                         putc(data.charAt(i));
 209         }
 210
 211         public void printf(String format, Object ... arguments) {
 212                 print(String.format(format, arguments));
 213         }
 214
 215         private void open() throws FileNotFoundException, AltosSerialInUseException {
 216                 synchronized (devices_opened) {
 217                         if (devices_opened.contains(device.getPath()))
 218                                 throw new AltosSerialInUseException(device);
 219                         devices_opened.add(device.getPath());
 220                 }
 221                 altos = libaltos.altos_open(device);
 222                 if (altos == null) {
 223                         close();
 224                         throw new FileNotFoundException(device.toShortString());
 225                 }
 226                 if (debug)
 227                         System.out.printf("Open %s\n", device.getPath());
 228                 input_thread = new Thread(this);
 229                 input_thread.start();
 230                 print("~\nE 0\n");
 231                 set_monitor(false);
 232                 flush_output();
 233         }
 234
 235         public void set_radio() {
 236                 telemetry = AltosPreferences.telemetry(device.getSerial());
 237                 channel = AltosPreferences.channel(device.getSerial());
 238                 set_channel(channel);
 239                 set_callsign(AltosPreferences.callsign());
 240         }
 241
 242         public void set_channel(int in_channel) {
 243                 channel = in_channel;
 244                 if (altos != null) {
 245                         if (monitor_mode)
 246                                 printf("m 0\nc r %d\nm %d\n", channel, telemetry);
 247                         else
 248                                 printf("c r %d\n", channel);
 249                         flush_output();
 250                 }
 251         }
 252
 253         public void set_telemetry(int in_telemetry) {
 254                 telemetry = in_telemetry;
 255                 if (altos != null) {
 256                         if (monitor_mode)
 257                                 printf("m 0\nm %d\n", telemetry);
 258                         flush_output();
 259                 }
 260         }
 261
 262         void set_monitor(boolean monitor) {
 263                 monitor_mode = monitor;
 264                 if (altos != null) {
 265                         if (monitor)
 266                                 printf("m %d\n", telemetry);
 267                         else
 268                                 printf("m 0\n");
 269                         flush_output();
 270                 }
 271         }
 272
 273         public void set_callsign(String callsign) {
 274                 if (altos != null) {
 275                         printf ("c c %s\n", callsign);
 276                         flush_output();
 277                 }
 278         }
 279
 280         public void start_remote() {
 281                 if (debug)
 282                         System.out.printf("start remote\n");
 283                 set_radio();
 284                 printf("p\nE 0\n");
 285                 flush_input();
 286                 remote = true;
 287         }
 288
 289         public void stop_remote() {
 290                 if (debug)
 291                         System.out.printf("stop remote\n");
 292                 flush_input();
 293                 printf ("~");
 294                 flush_output();
 295                 remote = false;
 296         }
 297
 298         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 299                 device = in_device;
 300                 line = "";
 301                 monitor_mode = false;
 302                 telemetry = Altos.ao_telemetry_full;
 303                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 304                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 305                 open();
 306         }
 307 }