*
* 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;
+package org.altusmetrum.altoslib_11;
import java.io.*;
import java.util.concurrent.*;
-class AltosSensorTM extends AltosRecordTM {
-
- public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
- super();
- link.printf("a\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("tick:"))
- continue;
- String[] items = line.split("\\s+");
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("accel:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("pres:")) {
- pres = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("temp:")) {
- temp = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("batt:")) {
- batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("drogue:")) {
- drogue = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("main:")) {
- main = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
- }
- break;
- }
- ground_accel = config_data.accel_cal_plus;
- ground_pres = pres;
- accel_plus_g = config_data.accel_cal_plus;
- accel_minus_g = config_data.accel_cal_minus;
- }
-}
-
-class AltosSensorMM {
- int tick;
- int sense[];
- int v_batt;
- int v_pyro;
- int accel;
- int accel_ref;
-
- public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("a\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("tick:"))
- continue;
- String[] items = line.split("\\s+");
- sense = new int[6];
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("0:")) {
- sense[0] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("1:")) {
- sense[1] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("2:")) {
- sense[2] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("3:")) {
- sense[3] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("4:")) {
- sense[4] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("5:")) {
- sense[5] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("6:")) {
- v_batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("7:")) {
- v_pyro = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("8:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("9:")) {
- accel_ref = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
- }
- break;
- }
- }
-}
-
-class AltosIMUQuery extends AltosIMU {
-
- public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("I\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("Accel:"))
- continue;
- String[] items = line.split("\\s+");
- if (items.length >= 8) {
- accel_x = Integer.parseInt(items[1]);
- accel_y = Integer.parseInt(items[2]);
- accel_z = Integer.parseInt(items[3]);
- gyro_x = Integer.parseInt(items[5]);
- gyro_y = Integer.parseInt(items[6]);
- gyro_z = Integer.parseInt(items[7]);
- }
- break;
- }
- }
-}
-
-class AltosMs5607Query extends AltosMs5607 {
- public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("v\nB\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- String[] items = line.split("\\s+");
- if (line.startsWith("Pressure:")) {
- if (items.length >= 2)
- raw_pres = Integer.parseInt(items[1]);
- } else if (line.startsWith("Temperature:")) {
- if (items.length >= 2)
- raw_temp = Integer.parseInt(items[1]);
- } else if (line.startsWith("ms5607 reserved:")) {
- if (items.length >= 3)
- reserved = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 sens:")) {
- if (items.length >= 3)
- sens = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 off:")) {
- if (items.length >= 3)
- off = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tcs:")) {
- if (items.length >= 3)
- tcs = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tco:")) {
- if (items.length >= 3)
- tco = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tref:")) {
- if (items.length >= 3)
- tref = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 tempsens:")) {
- if (items.length >= 3)
- tempsens = Integer.parseInt(items[2]);
- } else if (line.startsWith("ms5607 crc:")) {
- if (items.length >= 3)
- crc = Integer.parseInt(items[2]);
- } else if (line.startsWith("Altitude"))
- break;
- }
- convert();
- }
-}
public class AltosIdleMonitor extends Thread {
AltosLink link;
AltosIdleMonitorListener listener;
- AltosState state;
+
+ AltosIdleFetch fetch;
+
boolean remote;
+ boolean close_on_exit;
double frequency;
- AltosState previous_state;
+ String callsign;
+
+ 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;
+ void start_link() throws InterruptedException, TimeoutException {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.set_callsign(callsign);
+ link.start_remote();
+ } else
+ link.flush_input();
}
- void update_state() throws InterruptedException, TimeoutException {
- AltosRecord record = null;
-
- try {
- if (remote) {
- link.set_radio_frequency(frequency);
- link.start_remote();
- } else
- link.flush_input();
- config_data = new AltosConfigData(link);
- if (config_data.product.startsWith("TeleMetrum")) {
- record = new AltosSensorTM(link, config_data);
- } else if (config_data.product.startsWith("MegaMetrum")) {
- 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;
-
- record = record_mm;
- } else
- record = new AltosRecord();
+ boolean stop_link() throws InterruptedException, TimeoutException {
+ if (remote)
+ link.stop_remote();
+ return link.reply_abort;
+ }
- gps = new AltosGPSQuery(link, config_data);
+ boolean update_state(AltosState state) throws InterruptedException, TimeoutException, AltosUnknownProduct {
+ boolean worked = false;
+ boolean aborted = false;
- 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);
+ try {
+ 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) {
frequency = in_frequency;
+ link.abort_reply();
+ }
+
+ public void set_callsign(String in_callsign) {
+ callsign = in_callsign;
+ link.abort_reply();
}
- public void post_state() {
- listener.update(state);
+ public void abort() throws InterruptedException {
+ while (isAlive()) {
+ interrupt();
+ link.abort_reply();
+ 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