--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public class AltosDisplayThread extends Thread {
+
+ Frame parent;
+ IdleThread idle_thread;
+ AltosVoice voice;
+ String name;
+ AltosFlightReader reader;
+ int crc_errors;
+ AltosFlightDisplay display;
+
+ synchronized void show(AltosState state, int crc_errors) {
+ if (state != null)
+ display.show(state, crc_errors);
+ }
+
+ class IdleThread extends Thread {
+
+ boolean started;
+ private AltosState state;
+ int reported_landing;
+ int report_interval;
+ long report_time;
+
+ public synchronized void report(boolean last) {
+ if (state == null)
+ return;
+
+ /* reset the landing count once we hear about a new flight */
+ if (state.state < Altos.ao_flight_drogue)
+ reported_landing = 0;
+
+ /* Shut up once the rocket is on the ground */
+ if (reported_landing > 2) {
+ return;
+ }
+
+ /* If the rocket isn't on the pad, then report height */
+ if (Altos.ao_flight_drogue <= state.state &&
+ state.state < Altos.ao_flight_landed &&
+ state.range >= 0)
+ {
+ voice.speak("Height %d, bearing %s %d, elevation %d, range %d.\n",
+ (int) (state.height + 0.5),
+ state.from_pad.bearing_words(
+ AltosGreatCircle.BEARING_VOICE),
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.elevation + 0.5),
+ (int) (state.range + 0.5));
+ } else if (state.state > Altos.ao_flight_pad) {
+ voice.speak("%d meters", (int) (state.height + 0.5));
+ } else {
+ reported_landing = 0;
+ }
+
+ /* If the rocket is coming down, check to see if it has landed;
+ * either we've got a landed report or we haven't heard from it in
+ * a long time
+ */
+ if (state.state >= Altos.ao_flight_drogue &&
+ (last ||
+ System.currentTimeMillis() - state.report_time >= 15000 ||
+ state.state == Altos.ao_flight_landed))
+ {
+ if (Math.abs(state.baro_speed) < 20 && state.height < 100)
+ voice.speak("rocket landed safely");
+ else
+ voice.speak("rocket may have crashed");
+ if (state.from_pad != null)
+ voice.speak("Bearing %d degrees, range %d meters.",
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.from_pad.distance + 0.5));
+ ++reported_landing;
+ if (state.state != Altos.ao_flight_landed) {
+ state.state = Altos.ao_flight_landed;
+ show(state, 0);
+ }
+ }
+ }
+
+ long now () {
+ return System.currentTimeMillis();
+ }
+
+ void set_report_time() {
+ report_time = now() + report_interval;
+ }
+
+ public void run () {
+ try {
+ for (;;) {
+ set_report_time();
+ for (;;) {
+ voice.drain();
+ synchronized (this) {
+ long sleep_time = report_time - now();
+ if (sleep_time <= 0)
+ break;
+ wait(sleep_time);
+ }
+ }
+ report(false);
+ }
+ } catch (InterruptedException ie) {
+ try {
+ voice.drain();
+ } catch (InterruptedException iie) { }
+ }
+ }
+
+ public synchronized void notice(AltosState new_state, boolean spoken) {
+ AltosState old_state = state;
+ state = new_state;
+ if (!started && state.state > Altos.ao_flight_pad) {
+ started = true;
+ start();
+ }
+
+ if (state.state < Altos.ao_flight_drogue)
+ report_interval = 10000;
+ else
+ report_interval = 20000;
+ if (old_state != null && old_state.state != state.state) {
+ report_time = now();
+ this.notify();
+ } else if (spoken)
+ set_report_time();
+ }
+
+ public IdleThread() {
+ state = null;
+ reported_landing = 0;
+ report_interval = 10000;
+ }
+ }
+
+ boolean tell(AltosState state, AltosState old_state) {
+ boolean ret = false;
+ if (old_state == null || old_state.state != state.state) {
+ voice.speak(state.data.state());
+ if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
+ state.state > Altos.ao_flight_boost) {
+ voice.speak("max speed: %d meters per second.",
+ (int) (state.max_speed + 0.5));
+ ret = true;
+ } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
+ state.state >= Altos.ao_flight_drogue) {
+ voice.speak("max height: %d meters.",
+ (int) (state.max_height + 0.5));
+ ret = true;
+ }
+ }
+ if (old_state == null || old_state.gps_ready != state.gps_ready) {
+ if (state.gps_ready) {
+ voice.speak("GPS ready");
+ ret = true;
+ }
+ else if (old_state != null) {
+ voice.speak("GPS lost");
+ ret = true;
+ }
+ }
+ old_state = state;
+ return ret;
+ }
+
+ public void run() {
+ boolean interrupted = false;
+ String line;
+ AltosState state = null;
+ AltosState old_state = null;
+ boolean told;
+
+ idle_thread = new IdleThread();
+
+ display.reset();
+ try {
+ for (;;) {
+ try {
+ AltosRecord record = reader.read();
+ if (record == null)
+ break;
+ old_state = state;
+ state = new AltosState(record, state);
+ reader.update(state);
+ show(state, crc_errors);
+ told = tell(state, old_state);
+ idle_thread.notice(state, told);
+ } catch (ParseException pp) {
+ System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
+ } catch (AltosCRCException ce) {
+ ++crc_errors;
+ show(state, crc_errors);
+ }
+ }
+ } catch (InterruptedException ee) {
+ interrupted = true;
+ } catch (IOException ie) {
+ JOptionPane.showMessageDialog(parent,
+ String.format("Error reading from \"%s\"", name),
+ "Telemetry Read Error",
+ JOptionPane.ERROR_MESSAGE);
+ } finally {
+ if (!interrupted)
+ idle_thread.report(true);
+ reader.close(interrupted);
+ idle_thread.interrupt();
+ try {
+ idle_thread.join();
+ } catch (InterruptedException ie) {}
+ }
+ }
+
+ public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
+ parent = in_parent;
+ voice = in_voice;
+ display = in_display;
+ reader = in_reader;
+ }
+}
projects / fw / altos / blobdiff