git.gag.com Git - fw/altos/blob - ao-tools/altosui/AltosSerial.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 /*
  19  * Deal with TeleDongle on a serial port
  20  */
  21
  22 package altosui;
  23
  24 import java.lang.*;
  25 import java.io.*;
  26 import java.util.concurrent.LinkedBlockingQueue;
  27 import java.util.LinkedList;
  28 import java.util.Iterator;
  29 import gnu.io.*;
  30 import altosui.AltosSerialMonitor;
  31
  32 /*
  33  * This class reads from the serial port and places each received
  34  * line in a queue. Dealing with that queue is left up to other
  35  * threads.
  36  */
  37 class AltosSerialReader implements Runnable {
  38         InputStream     serial_in;
  39         LinkedBlockingQueue<String> monitor_queue;
  40         LinkedBlockingQueue<String> reply_queue;
  41         Thread input_thread;
  42         String line;
  43
  44         public void run () {
  45                 int c;
  46
  47                 try {
  48                         while ((c = serial_in.read()) != -1) {
  49                                 if (c == '\r')
  50                                         continue;
  51                                 synchronized(this) {
  52                                         if (c == '\n') {
  53                                                 if (line != "") {
  54                                                         if (line.startsWith("VERSION"))
  55                                                                 monitor_queue.put(line);
  56                                                         else
  57                                                                 reply_queue.put(line);
  58                                                         line = "";
  59                                                 }
  60                                         } else {
  61                                                 line = line + (char) c;
  62                                         }
  63                                 }
  64                         }
  65                 } catch (IOException e) {
  66                 } catch (InterruptedException e) {
  67                 }
  68         }
  69
  70         public String get_telem() throws InterruptedException {
  71                 return monitor_queue.take();
  72         }
  73
  74         public String get_reply() throws InterruptedException {
  75                 return reply_queue.take();
  76         }
  77
  78         public void flush () {
  79                 synchronized(this) {
  80                         if (!"VERSION".startsWith(line) && !line.startsWith("VERSION"))
  81                                 line = "";
  82                         reply_queue.clear();
  83                 }
  84         }
  85
  86         public boolean opened() {
  87                 return serial_in != null;
  88         }
  89
  90         public void close() {
  91                 if (serial_in != null) {
  92                         try {
  93                                 serial_in.close();
  94                         } catch (IOException e) {
  95                         }
  96                         serial_in = null;
  97                 }
  98                 if (input_thread != null) {
  99                         try {
 100                                 input_thread.join();
 101                         } catch (InterruptedException e) {
 102                         }
 103                         input_thread = null;
 104                 }
 105         }
 106
 107         public void open(File name) throws FileNotFoundException {
 108                 close();
 109                 serial_in = new FileInputStream(name);
 110                 input_thread = new Thread(this);
 111                 input_thread.start();
 112         }
 113         public void open(CommPort c) throws IOException {
 114                 close();
 115                 serial_in = c.getInputStream();
 116                 input_thread = new Thread(this);
 117                 input_thread.start();
 118         }
 119         public AltosSerialReader () {
 120                 serial_in = null;
 121                 input_thread = null;
 122                 line = "";
 123                 monitor_queue = new LinkedBlockingQueue<String> ();
 124                 reply_queue = new LinkedBlockingQueue<String> ();
 125         }
 126
 127 }
 128
 129 public class AltosSerial implements Runnable {
 130         OutputStream serial_out = null;
 131         Thread monitor_thread = null;
 132         AltosSerialReader reader = null;
 133         LinkedList<AltosSerialMonitor> callbacks;
 134
 135         public void run() {
 136                 try {
 137                         for (;;) {
 138                                 String s = reader.get_telem();
 139                                 synchronized(callbacks) {
 140                                         Iterator<AltosSerialMonitor> i = callbacks.iterator();
 141                                         while (i.hasNext()) {
 142                                                 i.next().data(s);
 143                                         }
 144                                 }
 145                         }
 146                 } catch (InterruptedException e) {
 147                 }
 148         }
 149
 150         boolean need_monitor() {
 151                 return reader.opened() && !callbacks.isEmpty();
 152         }
 153
 154         void maybe_stop_monitor() {
 155                 if (!need_monitor() && monitor_thread != null) {
 156                         monitor_thread.interrupt();
 157                         try {
 158                                 monitor_thread.join();
 159                         } catch (InterruptedException e) {
 160                         } finally {
 161                                 monitor_thread = null;
 162                         }
 163                 }
 164         }
 165
 166         void maybe_start_monitor() {
 167                 if (need_monitor() && monitor_thread == null) {
 168                         monitor_thread = new Thread(this);
 169                         monitor_thread.start();
 170                 }
 171         }
 172
 173         public void monitor(AltosSerialMonitor monitor) {
 174                 synchronized(callbacks) {
 175                         callbacks.add(monitor);
 176                         maybe_start_monitor();
 177                 }
 178         }
 179
 180
 181         public void unmonitor(AltosSerialMonitor monitor) {
 182                 synchronized(callbacks) {
 183                         callbacks.remove(monitor);
 184                         maybe_stop_monitor();
 185                 }
 186         }
 187
 188         public void close() {
 189                 synchronized(callbacks) {
 190                         reader.close();
 191                         maybe_stop_monitor();
 192                 }
 193         }
 194
 195         public void open(File serial_name) throws FileNotFoundException {
 196                 reader.open(serial_name);
 197                 serial_out = new FileOutputStream(serial_name);
 198         }
 199
 200         public void open(CommPort comm_port) throws IOException {
 201                 reader.open(comm_port);
 202                 serial_out = comm_port.getOutputStream();
 203         }
 204
 205         public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
 206                 System.out.printf("Opening serial port %s\n", port_name);
 207                 CommPort comm_port = new RXTXPort(port_name);
 208 //              CommPortIdentifier port_identifier = CommPortIdentifier.getPortIdentifier(port_name);
 209 //              CommPort comm_port = port_identifier.open("Altos", 1000);
 210                 open(comm_port);
 211         }
 212
 213         void init() {
 214                 reader = new AltosSerialReader();
 215                 callbacks = new LinkedList<AltosSerialMonitor>();
 216         }
 217
 218         public AltosSerial() {
 219                 init();
 220         }
 221
 222         public AltosSerial(File serial_name) throws FileNotFoundException {
 223                 init();
 224                 open(serial_name);
 225         }
 226
 227         public AltosSerial(CommPort comm_port) throws IOException {
 228                 init();
 229                 open(comm_port);
 230         }
 231 }