altosdroid: initial implementation of telemetry logging.

[fw/altos] / altoslib / AltosLink.java

diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 779c849606dfe22dfabe2e87b20d538a98ce38f5..6d510563c5d32622bfbc3cfb854da885c21b4f27 100644 (file)
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -17,13 +17,16 @@
 
 package org.altusmetrum.AltosLib;
 
-import java.lang.*;
 import java.io.*;
 import java.util.concurrent.*;
 import java.util.*;
-import java.text.*;
 
-public abstract class AltosLink {
+public abstract class AltosLink implements Runnable {
+
+       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();
 
@@ -88,6 +91,56 @@ public abstract class AltosLink {
        }
 
 
+       public void run () {
+               int c;
+               byte[] line_bytes = null;
+               int line_count = 0;
+
+               try {
+                       for (;;) {
+                               c = getchar();
+                               if (Thread.interrupted()) {
+                                       if (debug)
+                                               System.out.printf("INTERRUPTED\n");
+                                       break;
+                               }
+                               if (c == ERROR) {
+                                       if (debug)
+                                               System.out.printf("ERROR\n");
+                                       add_telem (new AltosLine());
+                                       add_reply (new AltosLine());
+                                       break;
+                               }
+                               if (c == TIMEOUT) {
+                                       if (debug)
+                                               System.out.printf("TIMEOUT\n");
+                                       continue;
+                               }
+                               if (c == '\r')
+                                       continue;
+                               synchronized(this) {
+                                       if (c == '\n') {
+                                               if (line_count != 0) {
+                                                       add_bytes(line_bytes, line_count);
+                                                       line_count = 0;
+                                               }
+                                       } else {
+                                               if (line_bytes == null) {
+                                                       line_bytes = new byte[256];
+                                               } else if (line_count == line_bytes.length) {
+                                                       byte[] new_line_bytes = new byte[line_count * 2];
+                                                       System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
+                                                       line_bytes = new_line_bytes;
+                                               }
+                                               line_bytes[line_count] = (byte) c;
+                                               line_count++;
+                                       }
+                               }
+                       }
+               } catch (InterruptedException e) {
+               }
+       }
+
        public String get_reply(int timeout) throws InterruptedException {
                boolean can_cancel = can_cancel_reply();
                String  reply = null;
@@ -133,6 +186,14 @@ public abstract class AltosLink {
                reply_queue.put (line);
        }
 
+       public void abort_reply() {
+               try {
+                       add_telem (new AltosLine());
+                       add_reply (new AltosLine());
+               } catch (InterruptedException e) {
+               }
+       }
+
        public void add_string(String line) throws InterruptedException {
                if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
                        add_telem(new AltosLine(line));