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