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              state;
  34         int                     old_state = AltosLib.ao_flight_invalid;
  35         boolean                 old_gps_ready = false;
  36         AltosListenerState      listener_state;
  37         AltosFlightDisplay      display;
  38
  39         synchronized void show_safely() {
  40                 final AltosState my_state = state;
  41                 final AltosListenerState my_listener_state = listener_state;
  42                 Runnable r = new Runnable() {
  43                                 public void run() {
  44                                         try {
  45                                                 display.show(my_state, my_listener_state);
  46                                         } catch (Exception ex) {
  47                                         }
  48                                 }
  49                         };
  50                 SwingUtilities.invokeLater(r);
  51         }
  52
  53         void reading_error_internal() {
  54                 JOptionPane.showMessageDialog(parent,
  55                                               String.format("Error reading from \"%s\"", reader.name),
  56                                               "Telemetry Read Error",
  57                                               JOptionPane.ERROR_MESSAGE);
  58         }
  59
  60         void reading_error_safely() {
  61                 Runnable r = new Runnable() {
  62                                 public void run() {
  63                                         try {
  64                                                 reading_error_internal();
  65                                         } catch (Exception ex) {
  66                                         }
  67                                 }
  68                         };
  69                 SwingUtilities.invokeLater(r);
  70         }
  71
  72         class IdleThread extends Thread {
  73
  74                 boolean started;
  75                 int     reported_landing;
  76                 int     report_interval;
  77                 long    report_time;
  78
  79                 public synchronized void report(boolean last) {
  80                         if (state == null)
  81                                 return;
  82
  83                         /* reset the landing count once we hear about a new flight */
  84                         if (state.state() < AltosLib.ao_flight_drogue)
  85                                 reported_landing = 0;
  86
  87                         /* Shut up once the rocket is on the ground */
  88                         if (reported_landing > 2) {
  89                                 return;
  90                         }
  91
  92                         /* If the rocket isn't on the pad, then report height */
  93                         if (AltosLib.ao_flight_drogue <= state.state() &&
  94                             state.state() < AltosLib.ao_flight_landed &&
  95                             state.from_pad != null &&
  96                             state.range >= 0)
  97                         {
  98                                 voice.speak("Height %s, bearing %s %d, elevation %d, distance %s.\n",
  99                                             AltosConvert.height.say(state.height()),
 100                                             state.from_pad.bearing_words(
 101                                                     AltosGreatCircle.BEARING_VOICE),
 102                                             (int) (state.from_pad.bearing + 0.5),
 103                                             (int) (state.elevation + 0.5),
 104                                             AltosConvert.distance.say(state.distance));
 105                         } else if (state.state() > AltosLib.ao_flight_pad && state.height() != AltosLib.MISSING) {
 106                                 voice.speak(AltosConvert.height.say_units(state.height()));
 107                         } else {
 108                                 reported_landing = 0;
 109                         }
 110
 111                         /* If the rocket is coming down, check to see if it has landed;
 112                          * either we've got a landed report or we haven't heard from it in
 113                          * a long time
 114                          */
 115                         if (state.state() != AltosLib.ao_flight_stateless &&
 116                             state.state() >= AltosLib.ao_flight_drogue &&
 117                             (last ||
 118                              System.currentTimeMillis() - state.received_time >= 15000 ||
 119                              state.state() == AltosLib.ao_flight_landed))
 120                         {
 121                                 if (Math.abs(state.speed()) < 20 && state.height() < 100)
 122                                         voice.speak("rocket landed safely");
 123                                 else
 124                                         voice.speak("rocket may have crashed");
 125                                 if (state.from_pad != null)
 126                                         voice.speak("Bearing %d degrees, distance %s.",
 127                                                     (int) (state.from_pad.bearing + 0.5),
 128                                                     AltosConvert.distance.say_units(state.from_pad.distance));
 129                                 ++reported_landing;
 130                         }
 131                 }
 132
 133                 long now () {
 134                         return System.currentTimeMillis();
 135                 }
 136
 137                 void set_report_time() {
 138                         report_time = now() + report_interval;
 139                 }
 140
 141                 public void run () {
 142                         try {
 143                                 for (;;) {
 144                                         if (reader.has_monitor_battery()) {
 145                                                 listener_state.battery = reader.monitor_battery();
 146                                                 show_safely();
 147                                         }
 148                                         set_report_time();
 149                                         for (;;) {
 150                                                 voice.drain();
 151                                                 synchronized (this) {
 152                                                         long    sleep_time = report_time - now();
 153                                                         if (sleep_time <= 0)
 154                                                                 break;
 155                                                         wait(sleep_time);
 156                                                 }
 157                                         }
 158
 159                                         report(false);
 160                                 }
 161                         } catch (InterruptedException ie) {
 162                                 try {
 163                                         voice.drain();
 164                                 } catch (InterruptedException iie) { }
 165                         }
 166                 }
 167
 168                 public synchronized void notice(boolean spoken) {
 169                         if (old_state != state.state()) {
 170                                 report_time = now();
 171                                 this.notify();
 172                         } else if (spoken)
 173                                 set_report_time();
 174                 }
 175
 176                 public IdleThread() {
 177                         reported_landing = 0;
 178                         report_interval = 10000;
 179                 }
 180         }
 181
 182         synchronized boolean tell() {
 183                 boolean ret = false;
 184                 if (old_state != state.state()) {
 185                         if (state.state() != AltosLib.ao_flight_stateless)
 186                                 voice.speak(state.state_name());
 187                         if ((old_state == AltosLib.ao_flight_invalid || old_state <= AltosLib.ao_flight_boost) &&
 188                             state.state() > AltosLib.ao_flight_boost) {
 189                                 if (state.max_speed() != AltosLib.MISSING)
 190                                         voice.speak("max speed: %s.",
 191                                                     AltosConvert.speed.say_units(state.max_speed() + 0.5));
 192                                 ret = true;
 193                         } else if ((old_state == AltosLib.ao_flight_invalid || old_state < AltosLib.ao_flight_drogue) &&
 194                                    state.state() >= AltosLib.ao_flight_drogue) {
 195                                 if (state.max_height() != AltosLib.MISSING)
 196                                         voice.speak("max height: %s.",
 197                                                     AltosConvert.height.say_units(state.max_height() + 0.5));
 198                                 ret = true;
 199                         }
 200                 }
 201                 if (old_gps_ready != state.gps_ready) {
 202                         if (state.gps_ready) {
 203                                 voice.speak("GPS ready");
 204                                 ret = true;
 205                         }
 206                         else if (old_gps_ready) {
 207                                 voice.speak("GPS lost");
 208                                 ret = true;
 209                         }
 210                 }
 211                 old_state = state.state();
 212                 old_gps_ready = state.gps_ready;
 213                 return ret;
 214         }
 215
 216         public void run() {
 217                 boolean         interrupted = false;
 218                 boolean         told;
 219
 220                 idle_thread = new IdleThread();
 221                 idle_thread.start();
 222
 223                 try {
 224                         for (;;) {
 225                                 try {
 226                                         state = reader.read();
 227                                         if (state == null) {
 228                                                 listener_state.running = false;
 229                                                 break;
 230                                         }
 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 }