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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 /*
  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                         for (;;) {
  49                                 c = serial_in.read();
  50                                 if (Thread.interrupted())
  51                                         break;
  52                                 if (c == -1)
  53                                         continue;
  54                                 if (c == '\r')
  55                                         continue;
  56                                 synchronized(this) {
  57                                         if (c == '\n') {
  58                                                 if (line != "") {
  59                                                         if (line.startsWith("VERSION"))
  60                                                                 monitor_queue.put(line);
  61                                                         else
  62                                                                 reply_queue.put(line);
  63                                                         line = "";
  64                                                 }
  65                                         } else {
  66                                                 line = line + (char) c;
  67                                         }
  68                                 }
  69                         }
  70                 } catch (IOException e) {
  71                 } catch (InterruptedException e) {
  72                 }
  73         }
  74
  75         public String get_telem() throws InterruptedException {
  76                 String s = monitor_queue.take();
  77                 System.out.println(s);
  78                 return s;
  79         }
  80
  81         public String get_reply() throws InterruptedException {
  82                 return reply_queue.take();
  83         }
  84
  85         public void flush () {
  86                 synchronized(this) {
  87                         if (!"VERSION".startsWith(line) && !line.startsWith("VERSION"))
  88                                 line = "";
  89                         reply_queue.clear();
  90                 }
  91         }
  92
  93         public boolean opened() {
  94                 return serial_in != null;
  95         }
  96
  97         public void close() {
  98                 if (serial_in != null) {
  99                         try {
 100                                 serial_in.close();
 101                         } catch (IOException e) {
 102                         }
 103                         serial_in = null;
 104                 }
 105                 if (input_thread != null) {
 106                         try {
 107                                 input_thread.interrupt();
 108                                 input_thread.join();
 109                         } catch (InterruptedException e) {
 110                         }
 111                         input_thread = null;
 112                 }
 113         }
 114
 115         public void open(File name) throws FileNotFoundException {
 116                 close();
 117                 serial_in = new FileInputStream(name);
 118                 input_thread = new Thread(this);
 119                 input_thread.start();
 120         }
 121         public void open(CommPort c) throws IOException {
 122                 close();
 123                 try {
 124                 c.enableReceiveTimeout(1000);   /* icky. the read method cannot be interrupted */
 125                 } catch (UnsupportedCommOperationException ee) {
 126                 }
 127                 serial_in = c.getInputStream();
 128                 input_thread = new Thread(this);
 129                 input_thread.start();
 130         }
 131         public AltosSerialReader () {
 132                 serial_in = null;
 133                 input_thread = null;
 134                 line = "";
 135                 monitor_queue = new LinkedBlockingQueue<String> ();
 136                 reply_queue = new LinkedBlockingQueue<String> ();
 137         }
 138
 139 }
 140
 141 public class AltosSerial {
 142         OutputStream serial_out = null;
 143         AltosSerialReader reader = null;
 144
 145         public String get_telem() throws InterruptedException {
 146                 return reader.get_telem();
 147         }
 148
 149         CommPort comm_port = null;
 150
 151         public void close() {
 152                 try {
 153                         serial_out.close();
 154                 } catch (IOException ee) {
 155                 }
 156                 reader.close();
 157                 if (comm_port != null) {
 158                         comm_port.close();
 159                 }
 160         }
 161
 162         public void open(File serial_name) throws FileNotFoundException {
 163                 reader.open(serial_name);
 164                 serial_out = new FileOutputStream(serial_name);
 165         }
 166
 167         public void open(CommPort c) throws IOException {
 168                 reader.open(c);
 169                 serial_out = c.getOutputStream();
 170         }
 171
 172         public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
 173                 comm_port = new RXTXPort(port_name);
 174                 open(comm_port);
 175         }
 176
 177         void init() {
 178                 reader = new AltosSerialReader();
 179         }
 180
 181         public AltosSerial() {
 182                 init();
 183         }
 184
 185         public AltosSerial(File serial_name) throws FileNotFoundException {
 186                 init();
 187                 open(serial_name);
 188         }
 189
 190         public AltosSerial(CommPort comm_port) throws IOException {
 191                 init();
 192                 open(comm_port);
 193         }
 194 }