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