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