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   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 altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30
  31 public class AltosDisplayThread extends Thread {
  32
  33         Frame                   parent;
  34         IdleThread              idle_thread;
  35         AltosVoice              voice;
  36         String                  name;
  37         AltosFlightReader       reader;
  38         int                     crc_errors;
  39         AltosFlightDisplay      display;
  40
  41         synchronized void show(AltosState state, int crc_errors) {
  42                 if (state != null)
  43                         display.show(state, crc_errors);
  44         }
  45
  46         class IdleThread extends Thread {
  47
  48                 boolean started;
  49                 private AltosState state;
  50                 int     reported_landing;
  51                 int     report_interval;
  52                 long    report_time;
  53
  54                 public synchronized void report(boolean last) {
  55                         if (state == null)
  56                                 return;
  57
  58                         /* reset the landing count once we hear about a new flight */
  59                         if (state.state < Altos.ao_flight_drogue)
  60                                 reported_landing = 0;
  61
  62                         /* Shut up once the rocket is on the ground */
  63                         if (reported_landing > 2) {
  64                                 return;
  65                         }
  66
  67                         /* If the rocket isn't on the pad, then report height */
  68                         if (Altos.ao_flight_drogue <= state.state &&
  69                             state.state < Altos.ao_flight_landed &&
  70                             state.range >= 0)
  71                         {
  72                                 voice.speak("Height %d, bearing %s %d, elevation %d, range %d.\n",
  73                                             (int) (state.height + 0.5),
  74                         state.from_pad.bearing_words(
  75                             AltosGreatCircle.BEARING_VOICE),
  76                                             (int) (state.from_pad.bearing + 0.5),
  77                                             (int) (state.elevation + 0.5),
  78                                             (int) (state.range + 0.5));
  79                         } else if (state.state > Altos.ao_flight_pad) {
  80                                 voice.speak("%d meters", (int) (state.height + 0.5));
  81                         } else {
  82                                 reported_landing = 0;
  83                         }
  84
  85                         /* If the rocket is coming down, check to see if it has landed;
  86                          * either we've got a landed report or we haven't heard from it in
  87                          * a long time
  88                          */
  89                         if (state.state >= Altos.ao_flight_drogue &&
  90                             (last ||
  91                              System.currentTimeMillis() - state.report_time >= 15000 ||
  92                              state.state == Altos.ao_flight_landed))
  93                         {
  94                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
  95                                         voice.speak("rocket landed safely");
  96                                 else
  97                                         voice.speak("rocket may have crashed");
  98                                 if (state.from_pad != null)
  99                                         voice.speak("Bearing %d degrees, range %d meters.",
 100                                                     (int) (state.from_pad.bearing + 0.5),
 101                                                     (int) (state.from_pad.distance + 0.5));
 102                                 ++reported_landing;
 103                                 if (state.state != Altos.ao_flight_landed) {
 104                                         state.state = Altos.ao_flight_landed;
 105                                         show(state, 0);
 106                                 }
 107                         }
 108                 }
 109
 110                 long now () {
 111                         return System.currentTimeMillis();
 112                 }
 113
 114                 void set_report_time() {
 115                         report_time = now() + report_interval;
 116                 }
 117
 118                 public void run () {
 119
 120                         reported_landing = 0;
 121                         state = null;
 122                         report_interval = 10000;
 123                         try {
 124                                 for (;;) {
 125                                         set_report_time();
 126                                         for (;;) {
 127                                                 voice.drain();
 128                                                 synchronized (this) {
 129                                                         long    sleep_time = report_time - now();
 130                                                         if (sleep_time <= 0)
 131                                                                 break;
 132                                                         wait(sleep_time);
 133                                                 }
 134                                         }
 135                                         report(false);
 136                                 }
 137                         } catch (InterruptedException ie) {
 138                                 try {
 139                                         voice.drain();
 140                                 } catch (InterruptedException iie) { }
 141                         }
 142                 }
 143
 144                 public synchronized void notice(AltosState new_state, boolean spoken) {
 145                         AltosState old_state = state;
 146                         state = new_state;
 147                         if (!started && state.state > Altos.ao_flight_pad) {
 148                                 started = true;
 149                                 start();
 150                         }
 151
 152                         if (state.state < Altos.ao_flight_drogue)
 153                                 report_interval = 10000;
 154                         else
 155                                 report_interval = 20000;
 156                         if (old_state != null && old_state.state != state.state) {
 157                                 report_time = now();
 158                                 this.notify();
 159                         } else if (spoken)
 160                                 set_report_time();
 161                 }
 162         }
 163
 164         boolean tell(AltosState state, AltosState old_state) {
 165                 boolean ret = false;
 166                 if (old_state == null || old_state.state != state.state) {
 167                         voice.speak(state.data.state());
 168                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 169                             state.state > Altos.ao_flight_boost) {
 170                                 voice.speak("max speed: %d meters per second.",
 171                                             (int) (state.max_speed + 0.5));
 172                                 ret = true;
 173                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 174                                    state.state >= Altos.ao_flight_drogue) {
 175                                 voice.speak("max height: %d meters.",
 176                                             (int) (state.max_height + 0.5));
 177                                 ret = true;
 178                         }
 179                 }
 180                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 181                         if (state.gps_ready) {
 182                                 voice.speak("GPS ready");
 183                                 ret = true;
 184                         }
 185                         else if (old_state != null) {
 186                                 voice.speak("GPS lost");
 187                                 ret = true;
 188                         }
 189                 }
 190                 old_state = state;
 191                 return ret;
 192         }
 193
 194         public void run() {
 195                 boolean         interrupted = false;
 196                 String          line;
 197                 AltosState      state = null;
 198                 AltosState      old_state = null;
 199                 boolean         told;
 200
 201                 idle_thread = new IdleThread();
 202
 203                 display.reset();
 204                 try {
 205                         for (;;) {
 206                                 try {
 207                                         AltosRecord record = reader.read();
 208                                         if (record == null)
 209                                                 break;
 210                                         old_state = state;
 211                                         state = new AltosState(record, state);
 212                                         reader.update(state);
 213                                         show(state, crc_errors);
 214                                         told = tell(state, old_state);
 215                                         idle_thread.notice(state, told);
 216                                 } catch (ParseException pp) {
 217                                         System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 218                                 } catch (AltosCRCException ce) {
 219                                         ++crc_errors;
 220                                         show(state, crc_errors);
 221                                 }
 222                         }
 223                 } catch (InterruptedException ee) {
 224                         interrupted = true;
 225                 } catch (IOException ie) {
 226                         JOptionPane.showMessageDialog(parent,
 227                                                       String.format("Error reading from \"%s\"", name),
 228                                                       "Telemetry Read Error",
 229                                                       JOptionPane.ERROR_MESSAGE);
 230                 } finally {
 231                         if (!interrupted)
 232                                 idle_thread.report(true);
 233                         reader.close(interrupted);
 234                         idle_thread.interrupt();
 235                         try {
 236                                 idle_thread.join();
 237                         } catch (InterruptedException ie) {}
 238                 }
 239         }
 240
 241         public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
 242                 parent = in_parent;
 243                 voice = in_voice;
 244                 display = in_display;
 245                 reader = in_reader;
 246         }
 247 }