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
  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         static boolean debug;
  51         LinkedList<String> pending_output = new LinkedList<String>();
  52
  53         static void set_debug(boolean new_debug) {
  54                 debug = new_debug;
  55         }
  56
  57         public void run () {
  58                 int c;
  59
  60                 try {
  61                         for (;;) {
  62                                 c = libaltos.altos_getchar(altos, 0);
  63                                 if (Thread.interrupted())
  64                                         break;
  65                                 if (c == libaltosConstants.LIBALTOS_ERROR) {
  66                                         for (int e = 0; e < monitors.size(); e++) {
  67                                                 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  68                                                 q.put(new AltosLine());
  69                                         }
  70                                         reply_queue.put (new AltosLine());
  71                                         break;
  72                                 }
  73                                 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
  74                                         continue;
  75                                 if (c == '\r')
  76                                         continue;
  77                                 synchronized(this) {
  78                                         if (c == '\n') {
  79                                                 if (line_count != 0) {
  80                                                         try {
  81                                                                 line = new String(line_bytes, 0, line_count, "UTF-8");
  82                                                         } catch (UnsupportedEncodingException ue) {
  83                                                                 line = "";
  84                                                                 for (int i = 0; i < line_count; i++)
  85                                                                         line = line + line_bytes[i];
  86                                                         }
  87                                                         if (debug)
  88                                                                 System.out.printf("\t\t\t\t\t%s\n", line);
  89                                                         if (line.startsWith("VERSION") || line.startsWith("CRC")) {
  90                                                                 for (int e = 0; e < monitors.size(); e++) {
  91                                                                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  92                                                                         q.put(new AltosLine (line));
  93                                                                 }
  94                                                         } else {
  95                                                                 reply_queue.put(new AltosLine (line));
  96                                                         }
  97                                                         line_count = 0;
  98                                                         line = "";
  99                                                 }
 100                                         } else {
 101                                                 if (line_bytes == null) {
 102                                                         line_bytes = new byte[256];
 103                                                 } else if (line_count == line_bytes.length) {
 104                                                         byte[] new_line_bytes = new byte[line_count * 2];
 105                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 106                                                         line_bytes = new_line_bytes;
 107                                                 }
 108                                                 line_bytes[line_count] = (byte) c;
 109                                                 line_count++;
 110                                         }
 111                                 }
 112                         }
 113                 } catch (InterruptedException e) {
 114                 }
 115         }
 116
 117         public void flush_output() {
 118                 if (altos != null) {
 119                         for (String s : pending_output)
 120                                 System.out.print(s);
 121                         pending_output.clear();
 122                         libaltos.altos_flush(altos);
 123                 }
 124         }
 125
 126         public void flush_input() {
 127                 flush_output();
 128                 boolean got_some;
 129                 do {
 130                         try {
 131                                 Thread.sleep(100);
 132                         } catch (InterruptedException ie) {
 133                         }
 134                         got_some = !reply_queue.isEmpty();
 135                         synchronized(this) {
 136                                 if (!"VERSION".startsWith(line) &&
 137                                     !line.startsWith("VERSION"))
 138                                         line = "";
 139                                 reply_queue.clear();
 140                         }
 141                 } while (got_some);
 142         }
 143
 144         public String get_reply() throws InterruptedException {
 145                 flush_output();
 146                 AltosLine line = reply_queue.take();
 147                 return line.line;
 148         }
 149
 150         public String get_reply(int timeout) throws InterruptedException {
 151                 flush_output();
 152                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 153                 if (line == null)
 154                         return null;
 155                 return line.line;
 156         }
 157
 158         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 159                 set_monitor(true);
 160                 monitors.add(q);
 161         }
 162
 163         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 164                 monitors.remove(q);
 165                 if (monitors.isEmpty())
 166                         set_monitor(false);
 167         }
 168
 169         public void close() {
 170                 if (altos != null) {
 171                         libaltos.altos_close(altos);
 172                 }
 173                 if (input_thread != null) {
 174                         try {
 175                                 input_thread.interrupt();
 176                                 input_thread.join();
 177                         } catch (InterruptedException e) {
 178                         }
 179                         input_thread = null;
 180                 }
 181                 if (altos != null) {
 182                         libaltos.altos_free(altos);
 183                         altos = null;
 184                 }
 185                 synchronized (devices_opened) {
 186                         devices_opened.remove(device.getPath());
 187                 }
 188                 if (debug)
 189                         System.out.printf("Closing %s\n", device.getPath());
 190         }
 191
 192         private void putc(char c) {
 193                 if (altos != null)
 194                         libaltos.altos_putchar(altos, c);
 195         }
 196
 197         public void print(String data) {
 198                 if (debug)
 199                         pending_output.add(data);
 200                 for (int i = 0; i < data.length(); i++)
 201                         putc(data.charAt(i));
 202         }
 203
 204         public void printf(String format, Object ... arguments) {
 205                 print(String.format(format, arguments));
 206         }
 207
 208         private void open() throws FileNotFoundException, AltosSerialInUseException {
 209                 synchronized (devices_opened) {
 210                         if (devices_opened.contains(device.getPath()))
 211                                 throw new AltosSerialInUseException(device);
 212                         devices_opened.add(device.getPath());
 213                 }
 214                 altos = libaltos.altos_open(device);
 215                 if (altos == null) {
 216                         close();
 217                         throw new FileNotFoundException(device.toShortString());
 218                 }
 219                 if (debug)
 220                         System.out.printf("Open %s\n", device.getPath());
 221                 input_thread = new Thread(this);
 222                 input_thread.start();
 223                 print("~\nE 0\n");
 224                 set_monitor(false);
 225                 flush_output();
 226         }
 227
 228         public void set_radio() {
 229                 set_channel(AltosPreferences.channel(device.getSerial()));
 230                 set_callsign(AltosPreferences.callsign());
 231         }
 232
 233         public void set_channel(int channel) {
 234                 if (altos != null) {
 235                         if (monitor_mode)
 236                                 printf("m 0\nc r %d\nm 1\n", channel);
 237                         else
 238                                 printf("c r %d\n", channel);
 239                         flush_output();
 240                 }
 241         }
 242
 243         void set_monitor(boolean monitor) {
 244                 monitor_mode = monitor;
 245                 if (altos != null) {
 246                         if (monitor)
 247                                 printf("m 1\n");
 248                         else
 249                                 printf("m 0\n");
 250                         flush_output();
 251                 }
 252         }
 253
 254         public void set_callsign(String callsign) {
 255                 if (altos != null) {
 256                         printf ("c c %s\n", callsign);
 257                         flush_output();
 258                 }
 259         }
 260
 261         public void start_remote() {
 262                 set_radio();
 263                 printf("p\nE 0\n");
 264                 flush_input();
 265         }
 266
 267         public void stop_remote() {
 268                 printf ("~");
 269                 flush_output();
 270         }
 271
 272         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 273                 device = in_device;
 274                 line = "";
 275                 monitor_mode = false;
 276                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 277                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 278                 open();
 279         }
 280 }