2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
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.
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.
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.
19 * Deal with TeleDongle on a serial port
26 import java.util.concurrent.*;
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
37 public class AltosSerial implements Runnable {
39 static List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
42 SWIGTYPE_p_altos_file altos;
43 LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
44 LinkedBlockingQueue<AltosLine> reply_queue;
52 static void set_debug(boolean new_debug) {
61 c = libaltos.altos_getchar(altos, 0);
62 if (Thread.interrupted())
64 if (c == libaltosConstants.LIBALTOS_ERROR) {
65 for (int e = 0; e < monitors.size(); e++) {
66 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
67 q.put(new AltosLine());
69 reply_queue.put (new AltosLine());
72 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
78 if (line_count != 0) {
80 line = new String(line_bytes, 0, line_count, "UTF-8");
81 } catch (UnsupportedEncodingException ue) {
83 for (int i = 0; i < line_count; i++)
84 line = line + line_bytes[i];
86 if (line.startsWith("VERSION") || line.startsWith("CRC")) {
87 for (int e = 0; e < monitors.size(); e++) {
88 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
89 q.put(new AltosLine (line));
93 System.out.printf("\t\t\t\t\t%s\n", line);
94 reply_queue.put(new AltosLine (line));
100 if (line_bytes == null) {
101 line_bytes = new byte[256];
102 } else if (line_count == line_bytes.length) {
103 byte[] new_line_bytes = new byte[line_count * 2];
104 System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
105 line_bytes = new_line_bytes;
107 line_bytes[line_count] = (byte) c;
112 } catch (InterruptedException e) {
116 public void flush_output() {
118 libaltos.altos_flush(altos);
121 public void flush_input() {
127 } catch (InterruptedException ie) {
129 got_some = !reply_queue.isEmpty();
131 if (!"VERSION".startsWith(line) &&
132 !line.startsWith("VERSION"))
139 public String get_reply() throws InterruptedException {
141 AltosLine line = reply_queue.take();
145 public String get_reply(int timeout) throws InterruptedException {
147 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
153 public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
158 public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
160 if (monitors.isEmpty())
164 public void close() {
166 libaltos.altos_close(altos);
168 if (input_thread != null) {
170 input_thread.interrupt();
172 } catch (InterruptedException e) {
177 libaltos.altos_free(altos);
180 synchronized (devices_opened) {
181 devices_opened.remove(device.getPath());
185 private void putc(char c) {
187 libaltos.altos_putchar(altos, c);
190 public void print(String data) {
192 System.out.printf("%s", data);
193 for (int i = 0; i < data.length(); i++)
194 putc(data.charAt(i));
197 public void printf(String format, Object ... arguments) {
198 print(String.format(format, arguments));
201 private void open() throws FileNotFoundException, AltosSerialInUseException {
202 synchronized (devices_opened) {
203 if (devices_opened.contains(device.getPath()))
204 throw new AltosSerialInUseException(device);
205 devices_opened.add(device.getPath());
207 altos = libaltos.altos_open(device);
210 throw new FileNotFoundException(device.toShortString());
212 input_thread = new Thread(this);
213 input_thread.start();
219 public void set_radio() {
220 set_channel(AltosPreferences.channel(device.getSerial()));
221 set_callsign(AltosPreferences.callsign());
224 public void set_channel(int channel) {
227 printf("m 0\nc r %d\nm 1\n", channel);
229 printf("c r %d\n", channel);
234 void set_monitor(boolean monitor) {
235 monitor_mode = monitor;
245 public void set_callsign(String callsign) {
247 printf ("c c %s\n", callsign);
252 public void start_remote() {
258 public void stop_remote() {
263 public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
266 monitor_mode = false;
267 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
268 reply_queue = new LinkedBlockingQueue<AltosLine> ();