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 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 import org.altusmetrum.AltosLib.*;
  35
  36 import libaltosJNI.*;
  37
  38 /*
  39  * This class reads from the serial port and places each received
  40  * line in a queue. Dealing with that queue is left up to other
  41  * threads.
  42  */
  43
  44 public class AltosSerial implements Runnable {
  45
  46         static java.util.List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
  47
  48         AltosDevice device;
  49         SWIGTYPE_p_altos_file altos;
  50         LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
  51         LinkedBlockingQueue<AltosLine> reply_queue;
  52         Thread input_thread;
  53         String line;
  54         byte[] line_bytes;
  55         int line_count;
  56         boolean monitor_mode;
  57         int telemetry;
  58         double frequency;
  59         public static boolean debug;
  60         boolean remote;
  61         LinkedList<String> pending_output = new LinkedList<String>();
  62         Frame frame;
  63         AltosConfigData config_data;
  64
  65         static void set_debug(boolean new_debug) {
  66                 debug = new_debug;
  67         }
  68
  69         public void run () {
  70                 int c;
  71
  72                 try {
  73                         for (;;) {
  74                                 c = libaltos.altos_getchar(altos, 0);
  75                                 if (Thread.interrupted())
  76                                         break;
  77                                 if (c == libaltosConstants.LIBALTOS_ERROR) {
  78                                         for (int e = 0; e < monitors.size(); e++) {
  79                                                 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  80                                                 q.put(new AltosLine());
  81                                         }
  82                                         reply_queue.put (new AltosLine());
  83                                         break;
  84                                 }
  85                                 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
  86                                         continue;
  87                                 if (c == '\r')
  88                                         continue;
  89                                 synchronized(this) {
  90                                         if (c == '\n') {
  91                                                 if (line_count != 0) {
  92                                                         try {
  93                                                                 line = new String(line_bytes, 0, line_count, "UTF-8");
  94                                                         } catch (UnsupportedEncodingException ue) {
  95                                                                 line = "";
  96                                                                 for (int i = 0; i < line_count; i++)
  97                                                                         line = line + line_bytes[i];
  98                                                         }
  99                                                         if (debug)
 100                                                                 System.out.printf("\t\t\t\t\t%s\n", line);
 101                                                         if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 102                                                                 for (int e = 0; e < monitors.size(); e++) {
 103                                                                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 104                                                                         q.put(new AltosLine (line));
 105                                                                 }
 106                                                         } else {
 107                                                                 reply_queue.put(new AltosLine (line));
 108                                                         }
 109                                                         line_count = 0;
 110                                                         line = "";
 111                                                 }
 112                                         } else {
 113                                                 if (line_bytes == null) {
 114                                                         line_bytes = new byte[256];
 115                                                 } else if (line_count == line_bytes.length) {
 116                                                         byte[] new_line_bytes = new byte[line_count * 2];
 117                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 118                                                         line_bytes = new_line_bytes;
 119                                                 }
 120                                                 line_bytes[line_count] = (byte) c;
 121                                                 line_count++;
 122                                         }
 123                                 }
 124                         }
 125                 } catch (InterruptedException e) {
 126                 }
 127         }
 128
 129         public void flush_output() {
 130                 if (altos != null) {
 131                         for (String s : pending_output)
 132                                 System.out.print(s);
 133                         pending_output.clear();
 134                         libaltos.altos_flush(altos);
 135                 }
 136         }
 137
 138         boolean         abort;
 139         JDialog         timeout_dialog;
 140         boolean timeout_started = false;
 141
 142         private void stop_timeout_dialog() {
 143                 if (timeout_started) {
 144                         timeout_started = false;
 145                         Runnable r = new Runnable() {
 146                                         public void run() {
 147                                                 timeout_dialog.setVisible(false);
 148                                         }
 149                                 };
 150                         SwingUtilities.invokeLater(r);
 151                 }
 152         }
 153
 154         private void start_timeout_dialog_internal() {
 155
 156                 Object[] options = { "Cancel" };
 157
 158                 JOptionPane     pane = new JOptionPane();
 159                 pane.setMessage(String.format("Connecting to %s, %7.3f MHz", device.toShortString(), frequency));
 160                 pane.setOptions(options);
 161                 pane.setInitialValue(null);
 162
 163                 timeout_dialog = pane.createDialog(frame, "Connecting...");
 164
 165                 timeout_dialog.setVisible(true);
 166
 167                 Object o = pane.getValue();
 168                 if (o == null)
 169                         return;
 170                 if (options[0].equals(o))
 171                         abort = true;
 172                 timeout_dialog.dispose();
 173                 timeout_dialog = null;
 174         }
 175
 176         private boolean check_timeout() {
 177                 if (!timeout_started && frame != null) {
 178                         if (!SwingUtilities.isEventDispatchThread()) {
 179                                 timeout_started = true;
 180                                 Runnable r = new Runnable() {
 181                                                 public void run() {
 182                                                         start_timeout_dialog_internal();
 183                                                 }
 184                                         };
 185                                 SwingUtilities.invokeLater(r);
 186                         }
 187                 }
 188                 return abort;
 189         }
 190
 191         public void flush_input() throws InterruptedException {
 192                 flush_output();
 193                 boolean got_some;
 194
 195                 int timeout = 100;
 196                 if (remote)
 197                         timeout = 500;
 198                 do {
 199                         Thread.sleep(timeout);
 200                         got_some = !reply_queue.isEmpty();
 201                         synchronized(this) {
 202                                 if (!"VERSION".startsWith(line) &&
 203                                     !line.startsWith("VERSION"))
 204                                         line = "";
 205                                 reply_queue.clear();
 206                         }
 207                 } while (got_some);
 208         }
 209
 210         int     in_reply;
 211
 212         public String get_reply(int timeout) throws InterruptedException {
 213                 boolean can_cancel = true;
 214                 String  reply = null;
 215
 216                 try {
 217                         ++in_reply;
 218
 219                         if (SwingUtilities.isEventDispatchThread()) {
 220                                 can_cancel = false;
 221                                 if (remote)
 222                                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 223                         }
 224                         flush_output();
 225                         if (remote && can_cancel) {
 226                                 timeout = 500;
 227                         }
 228                         abort = false;
 229                         timeout_started = false;
 230                         for (;;) {
 231                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 232                                 if (line != null) {
 233                                         stop_timeout_dialog();
 234                                         reply = line.line;
 235                                         break;
 236                                 }
 237                                 if (!remote || !can_cancel || check_timeout()) {
 238                                         reply = null;
 239                                         break;
 240                                 }
 241                         }
 242                 } finally {
 243                         --in_reply;
 244                 }
 245                 return reply;
 246         }
 247
 248         public String get_reply() throws InterruptedException {
 249                 return get_reply(5000);
 250         }
 251
 252         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
 253                 flush_output();
 254                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 255                 if (line != null)
 256                         return line.line;
 257                 return null;
 258         }
 259
 260         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 261                 set_monitor(true);
 262                 monitors.add(q);
 263         }
 264
 265         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 266                 monitors.remove(q);
 267                 if (monitors.isEmpty())
 268                         set_monitor(false);
 269         }
 270
 271         public void close() {
 272                 if (remote) {
 273                         try {
 274                                 stop_remote();
 275                         } catch (InterruptedException ie) {
 276                         }
 277                 }
 278                 if (in_reply != 0)
 279                         System.out.printf("Uh-oh. Closing active serial device\n");
 280
 281                 if (altos != null) {
 282                         libaltos.altos_close(altos);
 283                 }
 284                 if (input_thread != null) {
 285                         try {
 286                                 input_thread.interrupt();
 287                                 input_thread.join();
 288                         } catch (InterruptedException e) {
 289                         }
 290                         input_thread = null;
 291                 }
 292                 if (altos != null) {
 293                         libaltos.altos_free(altos);
 294                         altos = null;
 295                 }
 296                 synchronized (devices_opened) {
 297                         devices_opened.remove(device.getPath());
 298                 }
 299                 if (debug)
 300                         System.out.printf("Closing %s\n", device.getPath());
 301         }
 302
 303         private void putc(char c) {
 304                 if (altos != null)
 305                         libaltos.altos_putchar(altos, c);
 306         }
 307
 308         public void print(String data) {
 309                 if (debug)
 310                         pending_output.add(data);
 311                 for (int i = 0; i < data.length(); i++)
 312                         putc(data.charAt(i));
 313         }
 314
 315         public void printf(String format, Object ... arguments) {
 316                 print(String.format(format, arguments));
 317         }
 318
 319         private void open() throws FileNotFoundException, AltosSerialInUseException {
 320                 synchronized (devices_opened) {
 321                         if (devices_opened.contains(device.getPath()))
 322                                 throw new AltosSerialInUseException(device);
 323                         devices_opened.add(device.getPath());
 324                 }
 325                 altos = device.open();
 326                 if (altos == null) {
 327                         final String    message = device.getErrorString();
 328                         close();
 329                         throw new FileNotFoundException(String.format("%s (%s)",
 330                                                                       device.toShortString(), message));
 331                 }
 332                 if (debug)
 333                         System.out.printf("Open %s\n", device.getPath());
 334                 input_thread = new Thread(this);
 335                 input_thread.start();
 336                 print("~\nE 0\n");
 337                 set_monitor(false);
 338                 flush_output();
 339         }
 340
 341         private int telemetry_len() {
 342                 return Altos.telemetry_len(telemetry);
 343         }
 344
 345         private void set_channel(int channel) {
 346                 if (altos != null) {
 347                         if (monitor_mode)
 348                                 printf("m 0\nc r %d\nm %x\n",
 349                                        channel, telemetry_len());
 350                         else
 351                                 printf("c r %d\n", channel);
 352                         flush_output();
 353                 }
 354         }
 355
 356         private void set_radio_setting(int setting) {
 357                 if (altos != null) {
 358                         if (monitor_mode)
 359                                 printf("m 0\nc R %d\nm %x\n",
 360                                        setting, telemetry_len());
 361                         else
 362                                 printf("c R %d\n", setting);
 363                         flush_output();
 364                 }
 365         }
 366
 367         private void set_radio_freq(int frequency) {
 368                 if (altos != null) {
 369                         if (monitor_mode)
 370                                 printf("m 0\nc F %d\nm %x\n",
 371                                        frequency, telemetry_len());
 372                         else
 373                                 printf("c F %d\n", frequency);
 374                         flush_output();
 375                 }
 376         }
 377
 378         public void set_radio_frequency(double frequency,
 379                                         boolean has_frequency,
 380                                         boolean has_setting,
 381                                         int cal) {
 382                 if (debug)
 383                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 384                 if (frequency == 0)
 385                         return;
 386                 if (has_frequency)
 387                         set_radio_freq((int) Math.floor (frequency * 1000));
 388                 else if (has_setting)
 389                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 390                 else
 391                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 392         }
 393
 394         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 395                 frequency = in_frequency;
 396                 if (frequency == 0.0)
 397                         frequency = AltosPreferences.frequency(device.getSerial());
 398                 config_data();
 399                 set_radio_frequency(frequency,
 400                                     config_data.radio_frequency != 0,
 401                                     config_data.radio_setting != 0,
 402                                     config_data.radio_calibration);
 403         }
 404
 405         public void set_telemetry(int in_telemetry) {
 406                 telemetry = in_telemetry;
 407                 if (altos != null) {
 408                         if (monitor_mode)
 409                                 printf("m 0\nm %x\n", telemetry_len());
 410                         flush_output();
 411                 }
 412         }
 413
 414         void set_monitor(boolean monitor) {
 415                 monitor_mode = monitor;
 416                 if (altos != null) {
 417                         if (monitor)
 418                                 printf("m %x\n", telemetry_len());
 419                         else
 420                                 printf("m 0\n");
 421                         flush_output();
 422                 }
 423         }
 424
 425         public void set_callsign(String callsign) {
 426                 if (altos != null) {
 427                         printf ("c c %s\n", callsign);
 428                         flush_output();
 429                 }
 430         }
 431
 432         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 433                 if (config_data == null)
 434                         config_data = new AltosConfigData(this);
 435                 return config_data;
 436         }
 437
 438         public void start_remote() throws TimeoutException, InterruptedException {
 439                 if (debug)
 440                         System.out.printf("start remote %7.3f\n", frequency);
 441                 if (frequency == 0.0)
 442                         frequency = AltosUIPreferences.frequency(device.getSerial());
 443                 set_radio_frequency(frequency);
 444                 set_callsign(AltosUIPreferences.callsign());
 445                 printf("p\nE 0\n");
 446                 flush_input();
 447                 remote = true;
 448         }
 449
 450         public void stop_remote() throws InterruptedException {
 451                 if (debug)
 452                         System.out.printf("stop remote\n");
 453                 try {
 454                         flush_input();
 455                 } finally {
 456                         printf ("~\n");
 457                         flush_output();
 458                 }
 459                 remote = false;
 460         }
 461
 462         public void set_frame(Frame in_frame) {
 463                 frame = in_frame;
 464         }
 465
 466         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 467                 device = in_device;
 468                 line = "";
 469                 monitor_mode = false;
 470                 frame = null;
 471                 telemetry = Altos.ao_telemetry_standard;
 472                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 473                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 474                 open();
 475         }
 476 }