import org.altusmetrum.altoslib_6.*;
-public class AltosBluetooth extends AltosLink {
+public class AltosBluetooth extends AltosDroidLink {
// Debugging
private static final String TAG = "AltosBluetooth";
private static final boolean D = true;
private ConnectThread connect_thread = null;
- private Thread input_thread = null;
-
- private Handler handler;
private BluetoothAdapter adapter;
- private BluetoothDevice device;
private BluetoothSocket socket;
private InputStream input;
private OutputStream output;
// Constructor
- public AltosBluetooth(BluetoothDevice in_device, Handler in_handler) {
+ public AltosBluetooth(BluetoothDevice device, Handler handler) {
+ super(handler);
// set_debug(D);
adapter = BluetoothAdapter.getDefaultAdapter();
- device = in_device;
- handler = in_handler;
+ this.handler = handler;
- connect_thread = new ConnectThread(device);
+ create_socket(device);
+ connect_thread = new ConnectThread();
connect_thread.start();
-
}
- private void connected() {
+ void connected() {
+ if (closed()) {
+ if (D) Log.d(TAG, "connected after closed");
+ return;
+ }
+
try {
synchronized(this) {
if (socket != null) {
input = socket.getInputStream();
output = socket.getOutputStream();
-
- input_thread = new Thread(this);
- input_thread.start();
-
- // Configure the newly connected device for telemetry
- print("~\nE 0\n");
- set_monitor(false);
- if (D) Log.d(TAG, "ConnectThread: connected");
-
- /* Let TelemetryService know we're connected
- */
- handler.obtainMessage(TelemetryService.MSG_CONNECTED).sendToTarget();
-
- /* Notify other waiting threads that we're connected now
- */
- notifyAll();
+ super.connected();
}
}
+ } catch (InterruptedException ie) {
+ connect_failed();
} catch (IOException io) {
connect_failed();
}
}
private void connect_failed() {
- synchronized (this) {
- if (socket != null) {
- try {
- socket.close();
- } catch (IOException e2) {
- if (D) Log.e(TAG, "ConnectThread: Failed to close() socket after failed connection");
- }
- socket = null;
- }
- input = null;
- output = null;
- handler.obtainMessage(TelemetryService.MSG_CONNECT_FAILED).sendToTarget();
- if (D) Log.e(TAG, "ConnectThread: Failed to establish connection");
+ if (closed()) {
+ if (D) Log.d(TAG, "connect_failed after closed");
+ return;
}
+
+ close_device();
+ input = null;
+ output = null;
+ handler.obtainMessage(TelemetryService.MSG_CONNECT_FAILED, this).sendToTarget();
+ if (D) Log.e(TAG, "ConnectThread: Failed to establish connection");
}
- private Object closing_lock = new Object();
- private boolean closing = false;
+ void close_device() {
+ BluetoothSocket tmp_socket;
+
+ synchronized(this) {
+ tmp_socket = socket;
+ socket = null;
+ }
- private void disconnected() {
- synchronized(closing_lock) {
- if (D) Log.e(TAG, String.format("Connection lost during I/O. Closing %b", closing));
- if (!closing) {
- if (D) Log.d(TAG, "Sending disconnected message");
- handler.obtainMessage(TelemetryService.MSG_DISCONNECTED).sendToTarget();
+ if (tmp_socket != null) {
+ try {
+ tmp_socket.close();
+ } catch (IOException e) {
+ if (D) Log.e(TAG, "close_socket failed");
}
}
}
- private class ConnectThread extends Thread {
- private final UUID SPP_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
+ public void close() {
+ super.close();
+ input = null;
+ output = null;
+ }
- public ConnectThread(BluetoothDevice device) {
- BluetoothSocket tmp_socket = null;
+ private final UUID SPP_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
- try {
- tmp_socket = device.createInsecureRfcommSocketToServiceRecord(SPP_UUID);
- } catch (IOException e) {
- e.printStackTrace();
- }
+ private void create_socket(BluetoothDevice device) {
+
+ BluetoothSocket tmp_socket = null;
+
+ try {
+ tmp_socket = device.createInsecureRfcommSocketToServiceRecord(SPP_UUID);
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ if (socket != null) {
+ if (D) Log.d(TAG, String.format("Socket already allocated %s", socket.toString()));
+ close_device();
+ }
+ synchronized (this) {
socket = tmp_socket;
}
+ }
+
+ private class ConnectThread extends Thread {
public void run() {
if (D) Log.d(TAG, "ConnectThread: BEGIN");
setName("ConnectThread");
// Always cancel discovery because it will slow down a connection
- adapter.cancelDiscovery();
+ try {
+ adapter.cancelDiscovery();
+ } catch (Exception e) {
+ if (D) Log.d(TAG, String.format("cancelDiscovery exception %s", e.toString()));
+ }
- BluetoothSocket local_socket;
+ BluetoothSocket local_socket = null;
- try {
- synchronized (AltosBluetooth.this) {
+ synchronized (AltosBluetooth.this) {
+ if (!closed())
local_socket = socket;
- }
+ }
- if (local_socket != null) {
+ if (local_socket != null) {
+ try {
// Make a connection to the BluetoothSocket
// This is a blocking call and will only return on a
// successful connection or an exception
local_socket.connect();
+ } catch (IOException e) {
+ if (D) Log.d(TAG, String.format("Connect exception %s", e.toString()));
+ local_socket = null;
}
+ }
+ if (local_socket != null) {
connected();
-
- } catch (IOException e) {
+ } else {
connect_failed();
}
- synchronized (AltosBluetooth.this) {
- /* Reset the ConnectThread because we're done
- */
- connect_thread = null;
- }
- if (D) Log.d(TAG, "ConnectThread: Connect completed");
- }
-
- public void cancel() {
- try {
- BluetoothSocket local_socket;
- synchronized(AltosBluetooth.this) {
- local_socket = socket;
- socket = null;
- }
- if (local_socket != null)
- local_socket.close();
-
- } catch (IOException e) {
- if (D) Log.e(TAG, "ConnectThread: close() of connect socket failed", e);
- }
+ if (D) Log.d(TAG, "ConnectThread: completed");
}
}
- public double frequency() {
- return frequency;
- }
-
- public int telemetry_rate() {
- return telemetry_rate;
- }
-
- public void save_frequency() {
- AltosPreferences.set_frequency(0, frequency);
- }
-
- public void save_telemetry_rate() {
- AltosPreferences.set_telemetry_rate(0, telemetry_rate);
- }
-
private synchronized void wait_connected() throws InterruptedException, IOException {
if (input == null && socket != null) {
if (D) Log.d(TAG, "wait_connected...");
throw new IOException();
}
- public void print(String data) {
- byte[] bytes = data.getBytes();
- if (D) Log.d(TAG, "print(): begin");
+ int write(byte[] buffer, int len) {
try {
- wait_connected();
- output.write(bytes);
- if (D) Log.d(TAG, "print(): Wrote bytes: '" + data.replace('\n', '\\') + "'");
- } catch (IOException e) {
- disconnected();
- } catch (InterruptedException e) {
- disconnected();
+ output.write(buffer, 0, len);
+ } catch (IOException ie) {
+ return -1;
}
+ return len;
}
- public void putchar(byte c) {
- byte[] bytes = { c };
- if (D) Log.d(TAG, "print(): begin");
+ int read(byte[] buffer, int len) {
try {
- wait_connected();
- output.write(bytes);
- if (D) Log.d(TAG, "print(): Wrote byte: '" + c + "'");
- } catch (IOException e) {
- disconnected();
- } catch (InterruptedException e) {
- disconnected();
- }
- }
-
- private static final int buffer_size = 1024;
-
- private byte[] buffer = new byte[buffer_size];
- private int buffer_len = 0;
- private int buffer_off = 0;
-
- public int getchar() {
- while (buffer_off == buffer_len) {
- try {
- wait_connected();
- buffer_len = input.read(buffer);
- buffer_off = 0;
- } catch (IOException e) {
- if (D) Log.d(TAG, "getchar IOException");
- disconnected();
- return AltosLink.ERROR;
- } catch (java.lang.InterruptedException e) {
- if (D) Log.d(TAG, "getchar Interrupted");
- disconnected();
- return AltosLink.ERROR;
- }
- }
- return buffer[buffer_off++];
- }
-
- public void closing() {
- synchronized(closing_lock) {
- if (D) Log.d(TAG, "Marked closing true");
- closing = true;
- }
- }
-
-
- public void close() {
- if (D) Log.d(TAG, "close(): begin");
-
- closing();
-
- synchronized(this) {
- if (D) Log.d(TAG, "close(): synched");
-
- if (socket != null) {
- if (D) Log.d(TAG, "close(): Closing socket");
- try {
- socket.close();
- } catch (IOException e) {
- if (D) Log.e(TAG, "close(): unable to close() socket");
- }
- socket = null;
- }
- connect_thread = null;
- if (input_thread != null) {
- if (D) Log.d(TAG, "close(): stopping input_thread");
- try {
- if (D) Log.d(TAG, "close(): input_thread.interrupt().....");
- input_thread.interrupt();
- if (D) Log.d(TAG, "close(): input_thread.join().....");
- input_thread.join();
- } catch (Exception e) {}
- input_thread = null;
- }
- input = null;
- output = null;
- notifyAll();
+ return input.read(buffer, 0, len);
+ } catch (IOException ie) {
+ return -1;
}
}
-
- // We override this method so that we can add some debugging. Not 100% elegant, but more useful
- // than debugging one char at a time above in getchar()!
- public void add_reply(AltosLine line) throws InterruptedException {
- if (D) Log.d(TAG, String.format("Got REPLY: %s", line.line));
- super.add_reply(line);
- }
-
- //public void flush_output() { super.flush_output(); }
-
// Stubs of required methods when extending AltosLink
public boolean can_cancel_reply() { return false; }
public boolean show_reply_timeout() { return true; }
projects / fw / altos / blobdiff