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