git.gag.com Git - fw/altos/blob - altosuilib/AltosDisplayThread.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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altosuilib_11;
  20
  21 import java.awt.*;
  22 import javax.swing.*;
  23 import java.io.*;
  24 import java.text.*;
  25 import org.altusmetrum.altoslib_11.*;
  26
  27 public class AltosDisplayThread extends Thread {
  28
  29         Frame                   parent;
  30         IdleThread              idle_thread;
  31         AltosVoice              voice;
  32         AltosFlightReader       reader;
  33         AltosState              old_state, state;
  34         AltosListenerState      listener_state;
  35         AltosFlightDisplay      display;
  36
  37         synchronized void show_safely() {
  38                 final AltosState my_state = state;
  39                 final AltosListenerState my_listener_state = listener_state;
  40                 Runnable r = new Runnable() {
  41                                 public void run() {
  42                                         try {
  43                                                 display.show(my_state, my_listener_state);
  44                                         } catch (Exception ex) {
  45                                         }
  46                                 }
  47                         };
  48                 SwingUtilities.invokeLater(r);
  49         }
  50
  51         void reading_error_internal() {
  52                 JOptionPane.showMessageDialog(parent,
  53                                               String.format("Error reading from \"%s\"", reader.name),
  54                                               "Telemetry Read Error",
  55                                               JOptionPane.ERROR_MESSAGE);
  56         }
  57
  58         void reading_error_safely() {
  59                 Runnable r = new Runnable() {
  60                                 public void run() {
  61                                         try {
  62                                                 reading_error_internal();
  63                                         } catch (Exception ex) {
  64                                         }
  65                                 }
  66                         };
  67                 SwingUtilities.invokeLater(r);
  68         }
  69
  70         class IdleThread extends Thread {
  71
  72                 boolean started;
  73                 int     reported_landing;
  74                 int     report_interval;
  75                 long    report_time;
  76
  77                 public synchronized void report(boolean last) {
  78                         if (state == null)
  79                                 return;
  80
  81                         /* reset the landing count once we hear about a new flight */
  82                         if (state.state() < AltosLib.ao_flight_drogue)
  83                                 reported_landing = 0;
  84
  85                         /* Shut up once the rocket is on the ground */
  86                         if (reported_landing > 2) {
  87                                 return;
  88                         }
  89
  90                         /* If the rocket isn't on the pad, then report height */
  91                         if (AltosLib.ao_flight_drogue <= state.state() &&
  92                             state.state() < AltosLib.ao_flight_landed &&
  93                             state.from_pad != null &&
  94                             state.range >= 0)
  95                         {
  96                                 voice.speak("Height %s, bearing %s %d, elevation %d, range %s.\n",
  97                                             AltosConvert.height.say(state.height()),
  98                                             state.from_pad.bearing_words(
  99                                                     AltosGreatCircle.BEARING_VOICE),
 100                                             (int) (state.from_pad.bearing + 0.5),
 101                                             (int) (state.elevation + 0.5),
 102                                             AltosConvert.distance.say(state.range));
 103                         } else if (state.state() > AltosLib.ao_flight_pad && state.height() != AltosLib.MISSING) {
 104                                 voice.speak(AltosConvert.height.say_units(state.height()));
 105                         } else {
 106                                 reported_landing = 0;
 107                         }
 108
 109                         /* If the rocket is coming down, check to see if it has landed;
 110                          * either we've got a landed report or we haven't heard from it in
 111                          * a long time
 112                          */
 113                         if (state.state() != AltosLib.ao_flight_stateless &&
 114                             state.state() >= AltosLib.ao_flight_drogue &&
 115                             (last ||
 116                              System.currentTimeMillis() - state.received_time >= 15000 ||
 117                              state.state() == AltosLib.ao_flight_landed))
 118                         {
 119                                 if (Math.abs(state.speed()) < 20 && state.height() < 100)
 120                                         voice.speak("rocket landed safely");
 121                                 else
 122                                         voice.speak("rocket may have crashed");
 123                                 if (state.from_pad != null)
 124                                         voice.speak("Bearing %d degrees, range %s.",
 125                                                     (int) (state.from_pad.bearing + 0.5),
 126                                                     AltosConvert.distance.say_units(state.from_pad.distance));
 127                                 ++reported_landing;
 128                         }
 129                 }
 130
 131                 long now () {
 132                         return System.currentTimeMillis();
 133                 }
 134
 135                 void set_report_time() {
 136                         report_time = now() + report_interval;
 137                 }
 138
 139                 public void run () {
 140                         try {
 141                                 for (;;) {
 142                                         if (reader.has_monitor_battery()) {
 143                                                 listener_state.battery = reader.monitor_battery();
 144                                                 show_safely();
 145                                         }
 146                                         set_report_time();
 147                                         for (;;) {
 148                                                 voice.drain();
 149                                                 synchronized (this) {
 150                                                         long    sleep_time = report_time - now();
 151                                                         if (sleep_time <= 0)
 152                                                                 break;
 153                                                         wait(sleep_time);
 154                                                 }
 155                                         }
 156
 157                                         report(false);
 158                                 }
 159                         } catch (InterruptedException ie) {
 160                                 try {
 161                                         voice.drain();
 162                                 } catch (InterruptedException iie) { }
 163                         }
 164                 }
 165
 166                 public synchronized void notice(boolean spoken) {
 167                         if (old_state != null && old_state.state() != state.state()) {
 168                                 report_time = now();
 169                                 this.notify();
 170                         } else if (spoken)
 171                                 set_report_time();
 172                 }
 173
 174                 public IdleThread() {
 175                         reported_landing = 0;
 176                         report_interval = 10000;
 177                 }
 178         }
 179
 180         synchronized boolean tell() {
 181                 boolean ret = false;
 182                 if (old_state == null || old_state.state() != state.state()) {
 183                         if (state.state() != AltosLib.ao_flight_stateless)
 184                                 voice.speak(state.state_name());
 185                         if ((old_state == null || old_state.state() <= AltosLib.ao_flight_boost) &&
 186                             state.state() > AltosLib.ao_flight_boost) {
 187                                 if (state.max_speed() != AltosLib.MISSING)
 188                                         voice.speak("max speed: %s.",
 189                                                     AltosConvert.speed.say_units(state.max_speed() + 0.5));
 190                                 ret = true;
 191                         } else if ((old_state == null || old_state.state() < AltosLib.ao_flight_drogue) &&
 192                                    state.state() >= AltosLib.ao_flight_drogue) {
 193                                 if (state.max_height() != AltosLib.MISSING)
 194                                         voice.speak("max height: %s.",
 195                                                     AltosConvert.height.say_units(state.max_height() + 0.5));
 196                                 ret = true;
 197                         }
 198                 }
 199                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 200                         if (state.gps_ready) {
 201                                 voice.speak("GPS ready");
 202                                 ret = true;
 203                         }
 204                         else if (old_state != null) {
 205                                 voice.speak("GPS lost");
 206                                 ret = true;
 207                         }
 208                 }
 209                 old_state = state;
 210                 return ret;
 211         }
 212
 213         public void run() {
 214                 boolean         interrupted = false;
 215                 boolean         told;
 216
 217                 idle_thread = new IdleThread();
 218                 idle_thread.start();
 219
 220                 try {
 221                         for (;;) {
 222                                 try {
 223                                         AltosState new_state = reader.read();
 224                                         if (new_state == null) {
 225                                                 state = null;
 226                                                 listener_state.running = false;
 227                                                 break;
 228                                         }
 229                                         reader.update(new_state);
 230                                         state = new_state;
 231                                         show_safely();
 232                                         told = tell();
 233                                         idle_thread.notice(told);
 234                                 } catch (ParseException pp) {
 235                                         System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 236                                 } catch (AltosCRCException ce) {
 237                                         ++listener_state.crc_errors;
 238                                         show_safely();
 239                                 }
 240                         }
 241                 } catch (InterruptedException ee) {
 242                         interrupted = true;
 243                 } catch (IOException ie) {
 244                         reading_error_safely();
 245                 } finally {
 246                         if (!interrupted)
 247                                 idle_thread.report(true);
 248                         reader.close(interrupted);
 249                         idle_thread.interrupt();
 250                         try {
 251                                 idle_thread.join();
 252                         } catch (InterruptedException ie) {}
 253                 }
 254         }
 255
 256         public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
 257                 listener_state = new AltosListenerState();
 258                 parent = in_parent;
 259                 voice = in_voice;
 260                 display = in_display;
 261                 reader = in_reader;
 262                 display.reset();
 263         }
 264 }