*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_11;
import java.io.*;
import java.util.concurrent.*;
public class AltosIdleMonitor extends Thread {
AltosLink link;
AltosIdleMonitorListener listener;
- AltosState state;
+
+ AltosIdleFetch fetch;
+
boolean remote;
+ boolean close_on_exit;
double frequency;
String callsign;
- AltosState previous_state;
+
+ AltosListenerState listener_state;
AltosConfigData config_data;
AltosGPS gps;
- int AltosRSSI() throws TimeoutException, InterruptedException {
- link.printf("s\n");
- String line = link.get_reply_no_dialog(5000);
- if (line == null)
- throw new TimeoutException();
- String[] items = line.split("\\s+");
- if (items.length < 2)
- return 0;
- if (!items[0].equals("RSSI:"))
- return 0;
- int rssi = Integer.parseInt(items[1]);
- return rssi;
- }
-
- boolean has_sensor_tm(AltosConfigData config_data) {
- return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMini");
- }
-
- boolean has_sensor_mm(AltosConfigData config_data) {
- return config_data.product.startsWith("MegaMetrum");
+ void start_link() throws InterruptedException, TimeoutException {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.set_callsign(callsign);
+ link.start_remote();
+ } else
+ link.flush_input();
}
- boolean has_gps(AltosConfigData config_data) {
- return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("MegaMetrum");
- }
-
- AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
- AltosRecordMM record_mm = new AltosRecordMM();
- AltosSensorMM sensor = new AltosSensorMM(link);
- AltosMs5607 ms5607 = new AltosMs5607Query(link);
- AltosIMU imu = new AltosIMUQuery(link);
-
- record_mm.accel_plus_g = config_data.accel_cal_plus;
- record_mm.accel_minus_g = config_data.accel_cal_minus;
-
- record_mm.ground_accel = sensor.accel;
- record_mm.accel = sensor.accel;
- record_mm.ground_pres = ms5607.pa;
- record_mm.pres = ms5607.pa;
- record_mm.temp = ms5607.cc;
-
- record_mm.v_batt = sensor.v_batt;
- record_mm.v_pyro = sensor.v_pyro;
- record_mm.sense = sensor.sense;
-
- record_mm.imu = imu;
-
- return record_mm;
+ boolean stop_link() throws InterruptedException, TimeoutException {
+ if (remote)
+ link.stop_remote();
+ return link.reply_abort;
}
- void update_state() throws InterruptedException, TimeoutException {
- AltosRecord record = null;
+ boolean update_state(AltosState state) throws InterruptedException, TimeoutException, AltosUnknownProduct {
+ boolean worked = false;
+ boolean aborted = false;
try {
- if (remote) {
- link.set_radio_frequency(frequency);
- link.set_callsign(callsign);
- link.start_remote();
- } else
- link.flush_input();
- config_data = new AltosConfigData(link);
-
- if (has_sensor_tm(config_data))
- record = new AltosSensorTM(link, config_data);
- else if (has_sensor_mm(config_data))
- record = sensor_mm(config_data);
- else
- record = new AltosRecordNone();
-
- if (has_gps(config_data))
- gps = new AltosGPSQuery(link, config_data);
-
- record.version = 0;
- record.callsign = config_data.callsign;
- record.serial = config_data.serial;
- record.flight = config_data.log_available() > 0 ? 255 : 0;
- record.status = 0;
- record.state = AltosLib.ao_flight_idle;
- record.gps = gps;
- record.new_gps = true;
- state = new AltosState (record, state);
+ start_link();
+ fetch.update_state(state);
+ if (!link.has_error && !link.reply_abort)
+ worked = true;
} finally {
- if (remote) {
- link.stop_remote();
- if (record != null)
- record.rssi = AltosRSSI();
- } else {
- if (record != null)
- record.rssi = 0;
+ aborted = stop_link();
+ if (worked) {
+ if (remote)
+ state.set_rssi(link.rssi(), 0);
+ listener_state.battery = link.monitor_battery();
}
}
-
+ return aborted;
}
public void set_frequency(double in_frequency) {
link.abort_reply();
}
- public void post_state() {
- listener.update(state);
- }
-
- public void abort() {
- if (isAlive()) {
+ public void abort() throws InterruptedException {
+ while (isAlive()) {
interrupt();
link.abort_reply();
- try {
- join();
- } catch (InterruptedException ie) {
- }
+ Thread.sleep(100);
}
+ join();
}
public void run() {
+ AltosState state = new AltosState();
try {
for (;;) {
try {
- update_state();
- post_state();
+ link.config_data();
+ update_state(state);
+ listener.update(state, listener_state);
} catch (TimeoutException te) {
+ } catch (AltosUnknownProduct ae) {
+ listener.error(String.format("Unknown product \"%s\"", ae.product));
+ }
+ if (link.has_error || link.reply_abort) {
+ listener.failed();
+ break;
}
Thread.sleep(1000);
}
} catch (InterruptedException ie) {
- link.close();
+ }
+ if (close_on_exit) {
+ try {
+ link.close();
+ } catch (InterruptedException ie) {
+ }
}
}
- public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
- throws FileNotFoundException, InterruptedException, TimeoutException {
+ public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote, boolean in_close_on_exit) {
listener = in_listener;
link = in_link;
remote = in_remote;
- state = null;
+ close_on_exit = in_close_on_exit;
+ listener_state = new AltosListenerState();
+ fetch = new AltosIdleFetch(link);
+ }
+
+ public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote) {
+ this(in_listener, in_link, in_remote, true);
}
}
+
projects / fw / altos / blobdiff