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; 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 package org.altusmetrum.altosuilib_7;
  19
  20 import java.awt.*;
  21 import javax.swing.*;
  22 import java.io.*;
  23 import java.text.*;
  24 import org.altusmetrum.altoslib_7.*;
  25
  26 public class AltosDisplayThread extends Thread {
  27
  28         Frame                   parent;
  29         IdleThread              idle_thread;
  30         AltosVoice              voice;
  31         AltosFlightReader       reader;
  32         AltosState              old_state, state;
  33         AltosListenerState      listener_state;
  34         AltosFlightDisplay      display;
  35
  36         synchronized void show_safely() {
  37                 final AltosState my_state = state;
  38                 final AltosListenerState my_listener_state = listener_state;
  39                 Runnable r = new Runnable() {
  40                                 public void run() {
  41                                         try {
  42                                                 display.show(my_state, my_listener_state);
  43                                         } catch (Exception ex) {
  44                                         }
  45                                 }
  46                         };
  47                 SwingUtilities.invokeLater(r);
  48         }
  49
  50         void reading_error_internal() {
  51                 JOptionPane.showMessageDialog(parent,
  52                                               String.format("Error reading from \"%s\"", reader.name),
  53                                               "Telemetry Read Error",
  54                                               JOptionPane.ERROR_MESSAGE);
  55         }
  56
  57         void reading_error_safely() {
  58                 Runnable r = new Runnable() {
  59                                 public void run() {
  60                                         try {
  61                                                 reading_error_internal();
  62                                         } catch (Exception ex) {
  63                                         }
  64                                 }
  65                         };
  66                 SwingUtilities.invokeLater(r);
  67         }
  68
  69         class IdleThread extends Thread {
  70
  71                 boolean started;
  72                 int     reported_landing;
  73                 int     report_interval;
  74                 long    report_time;
  75
  76                 public synchronized void report(boolean last) {
  77                         if (state == null)
  78                                 return;
  79
  80                         /* reset the landing count once we hear about a new flight */
  81                         if (state.state < AltosLib.ao_flight_drogue)
  82                                 reported_landing = 0;
  83
  84                         /* Shut up once the rocket is on the ground */
  85                         if (reported_landing > 2) {
  86                                 return;
  87                         }
  88
  89                         /* If the rocket isn't on the pad, then report height */
  90                         if (AltosLib.ao_flight_drogue <= state.state &&
  91                             state.state < AltosLib.ao_flight_landed &&
  92                             state.from_pad != null &&
  93                             state.range >= 0)
  94                         {
  95                                 voice.speak("Height %s, bearing %s %d, elevation %d, range %s.\n",
  96                                             AltosConvert.height.say(state.height()),
  97                                             state.from_pad.bearing_words(
  98                                                     AltosGreatCircle.BEARING_VOICE),
  99                                             (int) (state.from_pad.bearing + 0.5),
 100                                             (int) (state.elevation + 0.5),
 101                                             AltosConvert.distance.say(state.range));
 102                         } else if (state.state > AltosLib.ao_flight_pad && state.height() != AltosLib.MISSING) {
 103                                 voice.speak(AltosConvert.height.say_units(state.height()));
 104                         } else {
 105                                 reported_landing = 0;
 106                         }
 107
 108                         /* If the rocket is coming down, check to see if it has landed;
 109                          * either we've got a landed report or we haven't heard from it in
 110                          * a long time
 111                          */
 112                         if (state.state != AltosLib.ao_flight_stateless &&
 113                             state.state >= AltosLib.ao_flight_drogue &&
 114                             (last ||
 115                              System.currentTimeMillis() - state.received_time >= 15000 ||
 116                              state.state == AltosLib.ao_flight_landed))
 117                         {
 118                                 if (Math.abs(state.speed()) < 20 && state.height() < 100)
 119                                         voice.speak("rocket landed safely");
 120                                 else
 121                                         voice.speak("rocket may have crashed");
 122                                 if (state.from_pad != null)
 123                                         voice.speak("Bearing %d degrees, range %s.",
 124                                                     (int) (state.from_pad.bearing + 0.5),
 125                                                     AltosConvert.distance.say_units(state.from_pad.distance));
 126                                 ++reported_landing;
 127                                 if (state.state != AltosLib.ao_flight_landed) {
 128                                         state.state = AltosLib.ao_flight_landed;
 129                                         show_safely();
 130                                 }
 131                         }
 132                 }
 133
 134                 long now () {
 135                         return System.currentTimeMillis();
 136                 }
 137
 138                 void set_report_time() {
 139                         report_time = now() + report_interval;
 140                 }
 141
 142                 public void run () {
 143                         try {
 144                                 for (;;) {
 145                                         if (reader.has_monitor_battery()) {
 146                                                 listener_state.battery = reader.monitor_battery();
 147                                                 show_safely();
 148                                         }
 149                                         set_report_time();
 150                                         for (;;) {
 151                                                 voice.drain();
 152                                                 synchronized (this) {
 153                                                         long    sleep_time = report_time - now();
 154                                                         if (sleep_time <= 0)
 155                                                                 break;
 156                                                         wait(sleep_time);
 157                                                 }
 158                                         }
 159
 160                                         report(false);
 161                                 }
 162                         } catch (InterruptedException ie) {
 163                                 try {
 164                                         voice.drain();
 165                                 } catch (InterruptedException iie) { }
 166                         }
 167                 }
 168
 169                 public synchronized void notice(boolean spoken) {
 170                         if (old_state != null && old_state.state != state.state) {
 171                                 report_time = now();
 172                                 this.notify();
 173                         } else if (spoken)
 174                                 set_report_time();
 175                 }
 176
 177                 public IdleThread() {
 178                         reported_landing = 0;
 179                         report_interval = 10000;
 180                 }
 181         }
 182
 183         synchronized boolean tell() {
 184                 boolean ret = false;
 185                 if (old_state == null || old_state.state != state.state) {
 186                         if (state.state != AltosLib.ao_flight_stateless)
 187                                 voice.speak(state.state_name());
 188                         if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&
 189                             state.state > AltosLib.ao_flight_boost) {
 190                                 if (state.max_speed() != AltosLib.MISSING)
 191                                         voice.speak("max speed: %s.",
 192                                                     AltosConvert.speed.say_units(state.max_speed() + 0.5));
 193                                 ret = true;
 194                         } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&
 195                                    state.state >= AltosLib.ao_flight_drogue) {
 196                                 if (state.max_height() != AltosLib.MISSING)
 197                                         voice.speak("max height: %s.",
 198                                                     AltosConvert.height.say_units(state.max_height() + 0.5));
 199                                 ret = true;
 200                         }
 201                 }
 202                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 203                         if (state.gps_ready) {
 204                                 voice.speak("GPS ready");
 205                                 ret = true;
 206                         }
 207                         else if (old_state != null) {
 208                                 voice.speak("GPS lost");
 209                                 ret = true;
 210                         }
 211                 }
 212                 old_state = state;
 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                                         reader.update(state);
 232                                         show_safely();
 233                                         told = tell();
 234                                         idle_thread.notice(told);
 235                                 } catch (ParseException pp) {
 236                                         System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 237                                 } catch (AltosCRCException ce) {
 238                                         ++listener_state.crc_errors;
 239                                         show_safely();
 240                                 }
 241                         }
 242                 } catch (InterruptedException ee) {
 243                         interrupted = true;
 244                 } catch (IOException ie) {
 245                         reading_error_safely();
 246                 } finally {
 247                         if (!interrupted)
 248                                 idle_thread.report(true);
 249                         reader.close(interrupted);
 250                         idle_thread.interrupt();
 251                         try {
 252                                 idle_thread.join();
 253                         } catch (InterruptedException ie) {}
 254                 }
 255         }
 256
 257         public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
 258                 listener_state = new AltosListenerState();
 259                 parent = in_parent;
 260                 voice = in_voice;
 261                 display = in_display;
 262                 reader = in_reader;
 263                 display.reset();
 264         }
 265 }