* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_6;
import java.io.*;
import java.util.concurrent.*;
public final static int ERROR = -1;
public final static int TIMEOUT = -2;
- public abstract int getchar();
- public abstract void print(String data);
- public abstract void close();
+ public abstract int getchar() throws InterruptedException;
+ public abstract void print(String data) throws InterruptedException;
+ public abstract void putchar(byte c);
+ public abstract void close() throws InterruptedException;
public static boolean debug = false;
public static void set_debug(boolean in_debug) { debug = in_debug; }
+
+ public boolean has_error;
+
LinkedList<String> pending_output = new LinkedList<String>();
public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
+ public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
- public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
+ public
synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
set_monitor(true);
monitors.add(q);
}
- public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
+ public
synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
monitors.remove(q);
if (monitors.isEmpty())
set_monitor(false);
public void printf(String format, Object ... arguments) {
String line = String.format(format, arguments);
- if (debug)
- pending_output.add(line);
- print(line);
+ if (debug) {
+ synchronized (pending_output) {
+ pending_output.add(line);
+ }
+ }
+ try {
+ print(line);
+ } catch (InterruptedException ie) {
+
+ }
}
public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
return get_reply(5000);
}
-
+
public abstract boolean can_cancel_reply();
public abstract boolean show_reply_timeout();
public abstract void hide_reply_timeout();
}
}
+ private int len_read = 0;
public void run () {
int c;
for (;;) {
c = getchar();
if (Thread.interrupted()) {
- if (debug)
- System.out.printf("INTERRUPTED\n");
break;
}
if (c == ERROR) {
if (debug)
System.out.printf("ERROR\n");
+ has_error = true;
add_telem (new AltosLine());
add_reply (new AltosLine());
break;
System.out.printf("TIMEOUT\n");
continue;
}
- if (c == '\r')
+ if (c == '\r' && len_read == 0)
continue;
synchronized(this) {
- if (c == '\n') {
+ if (c == '\n' && len_read == 0) {
if (line_count != 0) {
add_bytes(line_bytes, line_count);
line_count = 0;
}
line_bytes[line_count] = (byte) c;
line_count++;
+ if (len_read !=0 && line_count == len_read) {
+ add_binary(line_bytes, line_count);
+ line_count = 0;
+ len_read = 0;
+ }
}
}
}
}
}
+
public String get_reply(int timeout) throws InterruptedException {
boolean can_cancel = can_cancel_reply();
String reply = null;
if (!can_cancel && remote)
System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
- if (remote && can_cancel)
+ if (remote && can_cancel) {
timeout = 500;
+ switch (telemetry_rate) {
+ case AltosLib.ao_telemetry_rate_38400:
+ default:
+ timeout = 500;
+ break;
+ case AltosLib.ao_telemetry_rate_9600:
+ timeout = 2000;
+ break;
+ case AltosLib.ao_telemetry_rate_2400:
+ timeout = 8000;
+ break;
+ }
+ }
try {
++in_reply;
return reply;
}
+ public byte[] get_binary_reply(int timeout, int len) throws InterruptedException {
+ boolean can_cancel = can_cancel_reply();
+ byte[] bytes = null;
+
+ synchronized(this) {
+ len_read = len;
+ }
+ try {
+ ++in_reply;
+
+ flush_output();
+
+ reply_abort = false;
+ reply_timeout_shown = false;
+ for (;;) {
+ bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS);
+ if (bytes != null) {
+ cleanup_reply_timeout();
+ break;
+ }
+ if (!remote || !can_cancel || check_reply_timeout()) {
+ bytes = null;
+ break;
+ }
+ }
+
+ } finally {
+ --in_reply;
+ }
+ return bytes;
+ }
+
public void add_telem(AltosLine line) throws InterruptedException {
for (int e = 0; e < monitors.size(); e++) {
LinkedBlockingQueue<AltosLine> q = monitors.get(e);
try {
add_telem (new AltosLine());
add_reply (new AltosLine());
- } catch (InterruptedException e) {
+ } catch (InterruptedException ie) {
}
}
public void add_bytes(byte[] bytes, int len) throws InterruptedException {
String line;
- try {
- line = new String(bytes, 0, len, "UTF-8");
- } catch (UnsupportedEncodingException ue) {
- line = "";
- for (int i = 0; i < len; i++)
- line = line + bytes[i];
- }
+ line = new String(bytes, 0, len, AltosLib.unicode_set);
if (debug)
System.out.printf("\t\t\t\t\t%s\n", line);
add_string(line);
}
- public void flush_output() {
- for (String s : pending_output)
- System.out.print(s);
- pending_output.clear();
+ public void add_binary(byte[] bytes, int len) throws InterruptedException {
+ byte[] dup = new byte[len];
+
+ if (debug)
+ System.out.printf ("\t\t\t\t\t%d:", len);
+ for(int i = 0; i < len; i++) {
+ dup[i] = bytes[i];
+ if (debug)
+ System.out.printf(" %02x", dup[i]);
+ }
+ if (debug)
+ System.out.printf("\n");
+
+ binary_queue.put(dup);
+ }
+
+ public synchronized void flush_output() {
+ if (pending_output == null)
+ return;
+ synchronized (pending_output) {
+ for (String s : pending_output)
+ System.out.print(s);
+ pending_output.clear();
+ }
}
public void flush_input(int timeout) throws InterruptedException {
*/
public boolean monitor_mode = false;
public int telemetry = AltosLib.ao_telemetry_standard;
+ public int telemetry_rate = -1;
public double frequency;
+ public String callsign;
AltosConfigData config_data;
+ private Object config_data_lock = new Object();
+
private int telemetry_len() {
return AltosLib.telemetry_len(telemetry);
}
if (frequency == 0)
return;
if (has_frequency)
- set_radio_freq((int) Math.floor (frequency * 1000));
+ set_radio_freq((int) Math.floor (frequency * 1000 + 0.5));
else if (has_setting)
set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
else
flush_output();
}
- public void set_monitor(boolean monitor) {
+ public void set_telemetry_rate(int in_telemetry_rate) {
+ telemetry_rate = in_telemetry_rate;
+ if (monitor_mode)
+ printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len());
+ else
+ printf("c T %d\n", telemetry_rate);
+ flush_output();
+ }
+
+ public synchronized void set_monitor(boolean monitor) {
monitor_mode = monitor;
if (monitor)
printf("m %x\n", telemetry_len());
flush_output();
}
+ public synchronized boolean get_monitor() {
+ return monitor_mode;
+ }
+
private void set_channel(int channel) {
if (monitor_mode)
printf("m 0\nc r %d\nm %x\n",
flush_output();
}
- public AltosConfigData config_data() throws InterruptedException, TimeoutException {
- if (config_data == null)
- config_data = new AltosConfigData(this);
- return config_data;
+ public AltosConfigData config_data() throws InterruptedException, TimeoutException {
+ synchronized(config_data_lock) {
+ if (config_data == null) {
+ printf("m 0\n");
+ config_data = new AltosConfigData(this);
+ if (monitor_mode)
+ set_monitor(true);
+ }
+ return config_data;
+ }
}
public void set_callsign(String callsign) {
- printf ("c c %s\n", callsign);
+ this.callsign = callsign;
+ if (callsign != null) {
+ printf ("c c %s\n", callsign);
+ flush_output();
+ }
+ }
+
+ public boolean is_loader() throws InterruptedException {
+ boolean ret = false;
+ printf("v\n");
+ for (;;) {
+ String line = get_reply();
+
+ if (line == null)
+ return false;
+ if (line.startsWith("software-version"))
+ break;
+ if (line.startsWith("altos-loader"))
+ ret = true;
+ }
+ return ret;
+ }
+
+ public void to_loader() throws InterruptedException {
+ printf("X\n");
flush_output();
+ close();
+ Thread.sleep(1000);
}
public boolean remote;
if (debug)
System.out.printf("start remote %7.3f\n", frequency);
set_radio_frequency(frequency);
- set_callsign(AltosPreferences.callsign());
+ if (telemetry_rate < 0)
+ telemetry_rate = AltosPreferences.telemetry_rate(serial);
+ set_telemetry_rate(telemetry_rate);
+ if (callsign == null || callsign.equals(""))
+ callsign = AltosPreferences.callsign();
+ set_callsign(callsign);
printf("p\nE 0\n");
flush_input();
remote = true;
remote = false;
}
+ public int rssi() throws TimeoutException, InterruptedException {
+ if (remote)
+ return 0;
+ printf("s\n");
+ String line = 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;
+ }
+
+ public String[] adc() throws TimeoutException, InterruptedException {
+ printf("a\n");
+ for (;;) {
+ String line = get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ return items;
+ }
+ }
+
+ public boolean has_monitor_battery() {
+ return config_data.has_monitor_battery();
+ }
+
+ public double monitor_battery() throws InterruptedException {
+ int monitor_batt = AltosLib.MISSING;
+
+ if (config_data.has_monitor_battery()) {
+ try {
+ String[] items = adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("batt")) {
+ monitor_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ } catch (TimeoutException te) {
+ }
+ }
+ if (monitor_batt == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosConvert.cc_battery_to_voltage(monitor_batt);
+ }
+
public AltosLink() {
+ callsign = "";
+ has_error = false;
}
}
projects / fw / altos / blobdiff