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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() {
 191                 flush_output();
 192                 boolean got_some;
 193
 194                 int timeout = 100;
 195                 if (remote)
 196                         timeout = 500;
 197                 do {
 198                         try {
 199                                 Thread.sleep(timeout);
 200                         } catch (InterruptedException ie) {
 201                         }
 202                         got_some = !reply_queue.isEmpty();
 203                         synchronized(this) {
 204                                 if (!"VERSION".startsWith(line) &&
 205                                     !line.startsWith("VERSION"))
 206                                         line = "";
 207                                 reply_queue.clear();
 208                         }
 209                 } while (got_some);
 210         }
 211
 212         int     in_reply;
 213
 214         public String get_reply(int timeout) throws InterruptedException {
 215                 boolean can_cancel = true;
 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                                 --in_reply;
 234                                 return line.line;
 235                         }
 236                         if (!remote || !can_cancel || check_timeout()) {
 237                                 --in_reply;
 238                                 return null;
 239                         }
 240                 }
 241         }
 242
 243         public String get_reply() throws InterruptedException {
 244                 return get_reply(5000);
 245         }
 246
 247         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
 248                 flush_output();
 249                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 250                 if (line != null)
 251                         return line.line;
 252                 return null;
 253         }
 254
 255         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 256                 set_monitor(true);
 257                 monitors.add(q);
 258         }
 259
 260         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 261                 monitors.remove(q);
 262                 if (monitors.isEmpty())
 263                         set_monitor(false);
 264         }
 265
 266         public void close() {
 267                 if (remote)
 268                         stop_remote();
 269                 if (in_reply != 0)
 270                         System.out.printf("Uh-oh. Closing active serial device\n");
 271
 272                 if (altos != null) {
 273                         libaltos.altos_close(altos);
 274                 }
 275                 if (input_thread != null) {
 276                         try {
 277                                 input_thread.interrupt();
 278                                 input_thread.join();
 279                         } catch (InterruptedException e) {
 280                         }
 281                         input_thread = null;
 282                 }
 283                 if (altos != null) {
 284                         libaltos.altos_free(altos);
 285                         altos = null;
 286                 }
 287                 synchronized (devices_opened) {
 288                         devices_opened.remove(device.getPath());
 289                 }
 290                 if (debug)
 291                         System.out.printf("Closing %s\n", device.getPath());
 292         }
 293
 294         private void putc(char c) {
 295                 if (altos != null)
 296                         libaltos.altos_putchar(altos, c);
 297         }
 298
 299         public void print(String data) {
 300                 if (debug)
 301                         pending_output.add(data);
 302                 for (int i = 0; i < data.length(); i++)
 303                         putc(data.charAt(i));
 304         }
 305
 306         public void printf(String format, Object ... arguments) {
 307                 print(String.format(format, arguments));
 308         }
 309
 310         private void open() throws FileNotFoundException, AltosSerialInUseException {
 311                 synchronized (devices_opened) {
 312                         if (devices_opened.contains(device.getPath()))
 313                                 throw new AltosSerialInUseException(device);
 314                         devices_opened.add(device.getPath());
 315                 }
 316                 altos = device.open();
 317                 if (altos == null) {
 318                         close();
 319                         throw new FileNotFoundException(device.toShortString());
 320                 }
 321                 if (debug)
 322                         System.out.printf("Open %s\n", device.getPath());
 323                 input_thread = new Thread(this);
 324                 input_thread.start();
 325                 print("~\nE 0\n");
 326                 set_monitor(false);
 327                 flush_output();
 328         }
 329
 330         private int telemetry_len() {
 331                 return Altos.telemetry_len(telemetry);
 332         }
 333
 334         private void set_channel(int channel) {
 335                 if (altos != null) {
 336                         if (monitor_mode)
 337                                 printf("m 0\nc r %d\nm %x\n",
 338                                        channel, telemetry_len());
 339                         else
 340                                 printf("c r %d\n", channel);
 341                         flush_output();
 342                 }
 343         }
 344
 345         private void set_radio_setting(int setting) {
 346                 if (altos != null) {
 347                         if (monitor_mode)
 348                                 printf("m 0\nc R %d\nc r 0\nm %x\n",
 349                                        setting, telemetry_len());
 350                         else
 351                                 printf("c R %d\nc r 0\n", setting);
 352                         flush_output();
 353                 }
 354         }
 355
 356         public void set_radio_frequency(double frequency,
 357                                         boolean has_setting,
 358                                         int cal) {
 359                 if (has_setting)
 360                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 361                 else
 362                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 363         }
 364
 365         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 366                 frequency = in_frequency;
 367                 config_data();
 368                 set_radio_frequency(frequency,
 369                                     config_data.radio_setting != 0,
 370                                     config_data.radio_calibration);
 371         }
 372
 373         public void set_telemetry(int in_telemetry) {
 374                 telemetry = in_telemetry;
 375                 if (altos != null) {
 376                         if (monitor_mode)
 377                                 printf("m 0\nm %x\n", telemetry_len());
 378                         flush_output();
 379                 }
 380         }
 381
 382         void set_monitor(boolean monitor) {
 383                 monitor_mode = monitor;
 384                 if (altos != null) {
 385                         if (monitor)
 386                                 printf("m %x\n", telemetry_len());
 387                         else
 388                                 printf("m 0\n");
 389                         flush_output();
 390                 }
 391         }
 392
 393         public void set_callsign(String callsign) {
 394                 if (altos != null) {
 395                         printf ("c c %s\n", callsign);
 396                         flush_output();
 397                 }
 398         }
 399
 400         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 401                 if (config_data == null)
 402                         config_data = new AltosConfigData(this);
 403                 return config_data;
 404         }
 405
 406         public void start_remote() throws TimeoutException, InterruptedException {
 407                 if (debug)
 408                         System.out.printf("start remote\n");
 409                 if (frequency == 0.0)
 410                         frequency = AltosPreferences.frequency(device.getSerial());
 411                 set_radio_frequency(frequency);
 412                 set_callsign(AltosPreferences.callsign());
 413                 printf("p\nE 0\n");
 414                 flush_input();
 415                 remote = true;
 416         }
 417
 418         public void stop_remote() {
 419                 if (debug)
 420                         System.out.printf("stop remote\n");
 421                 try {
 422                         flush_input();
 423                 } finally {
 424                         printf ("~\n");
 425                         flush_output();
 426                 }
 427                 remote = false;
 428         }
 429
 430         public void set_frame(Frame in_frame) {
 431                 frame = in_frame;
 432         }
 433
 434         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 435                 device = in_device;
 436                 line = "";
 437                 monitor_mode = false;
 438                 frame = null;
 439                 telemetry = Altos.ao_telemetry_standard;
 440                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 441                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 442                 open();
 443         }
 444 }