altosdroid: initial implementation of telemetry logging.

[fw/altos] / altoslib / AltosLink.java

diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index a39204ac3ba26e8892f6c79658625ca7f036067a..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();
 
@@ -60,16 +63,116 @@ public abstract class AltosLink {
                return null;
        }
 
-       public String get_reply(int timeout) throws InterruptedException {
+       public String get_reply() throws InterruptedException {
+               return get_reply(5000);
+       }
+
+               
+       public abstract boolean can_cancel_reply();
+       public abstract boolean show_reply_timeout();
+       public abstract void hide_reply_timeout();
+
+       public boolean  reply_abort;
+       public int      in_reply;
+
+       boolean         reply_timeout_shown = false;
+
+       private boolean check_reply_timeout() {
+               if (!reply_timeout_shown)
+                       reply_timeout_shown = show_reply_timeout();
+               return reply_abort;
+       }
+
+       private void cleanup_reply_timeout() {
+               if (reply_timeout_shown) {
+                       reply_timeout_shown = false;
+                       hide_reply_timeout();
+               }
+       }
+
+
+       public void run () {
+               int c;
+               byte[] line_bytes = null;
+               int line_count = 0;
+
                try {
-                       return get_reply_no_dialog(timeout);
-               } catch (TimeoutException te) {
-                       return null;
+                       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() throws InterruptedException {
-               return get_reply(5000);
+       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)
+                       timeout = 500;
+               try {
+                       ++in_reply;
+
+                       flush_output();
+
+                       reply_abort = false;
+                       reply_timeout_shown = false;
+                       for (;;) {
+                               AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+                               if (line != null) {
+                                       cleanup_reply_timeout();
+                                       reply = line.line;
+                                       break;
+                               }
+                               if (!remote || !can_cancel || check_reply_timeout()) {
+                                       reply = null;
+                                       break;
+                               }
+                       }
+               } finally {
+                       --in_reply;
+               }
+               return reply;
        }
 
        public void add_telem(AltosLine line) throws InterruptedException {
@@ -83,6 +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));
@@ -124,7 +235,10 @@ public abstract class AltosLink {
 
 
        public void flush_input() throws InterruptedException {
-               flush_input(100);
+               if (remote)
+                       flush_input(500);
+               else
+                       flush_input(100);
        }