import java.io.*;
import java.util.concurrent.*;
import java.util.*;
+import java.text.*;
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
int line_count;
boolean monitor_mode;
int telemetry;
- int channel;
+ double frequency;
static boolean debug;
boolean remote;
LinkedList<String> pending_output = new LinkedList<String>();
Frame frame;
+ AltosConfigData config_data;
static void set_debug(boolean new_debug) {
debug = new_debug;
}
if (debug)
System.out.printf("\t\t\t\t\t%s\n", line);
- if (line.startsWith("VERSION") || line.startsWith("CRC")) {
+ if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
for (int e = 0; e < monitors.size(); e++) {
LinkedBlockingQueue<AltosLine> q = monitors.get(e);
q.put(new AltosLine (line));
boolean timeout_started = false;
private void stop_timeout_dialog() {
- Runnable r = new Runnable() {
- public void run() {
- if (timeout_dialog != null)
+ if (timeout_started) {
+ timeout_started = false;
+ Runnable r = new Runnable() {
+ public void run() {
timeout_dialog.setVisible(false);
- }
- };
- SwingUtilities.invokeLater(r);
+ }
+ };
+ SwingUtilities.invokeLater(r);
+ }
}
private void start_timeout_dialog_internal() {
+
Object[] options = { "Cancel" };
JOptionPane pane = new JOptionPane();
- pane.setMessage(String.format("Connecting to %s", device.getPath()));
+ pane.setMessage(String.format("Connecting to %s, %7.3f MHz", device.toShortString(), frequency));
pane.setOptions(options);
pane.setInitialValue(null);
return;
if (options[0].equals(o))
abort = true;
+ timeout_dialog.dispose();
+ timeout_dialog = null;
}
private boolean check_timeout() {
if (!timeout_started && frame != null) {
- timeout_started = true;
if (!SwingUtilities.isEventDispatchThread()) {
+ timeout_started = true;
Runnable r = new Runnable() {
public void run() {
start_timeout_dialog_internal();
return abort;
}
- public void flush_input() {
+ public void flush_input() throws InterruptedException {
flush_output();
boolean got_some;
int timeout = 100;
if (remote)
- timeout = 300;
+ timeout = 500;
do {
- try {
- Thread.sleep(timeout);
- } catch (InterruptedException ie) {
- }
+ Thread.sleep(timeout);
got_some = !reply_queue.isEmpty();
synchronized(this) {
if (!"VERSION".startsWith(line) &&
} while (got_some);
}
- public String get_reply() throws InterruptedException {
- if (SwingUtilities.isEventDispatchThread())
- System.out.printf("Uh-oh, reading serial device from swing thread\n");
- flush_output();
- AltosLine line = reply_queue.take();
- return line.line;
- }
+ int in_reply;
public String get_reply(int timeout) throws InterruptedException {
boolean can_cancel = true;
- if (SwingUtilities.isEventDispatchThread()) {
- can_cancel = false;
- System.out.printf("Uh-oh, reading serial device from swing thread\n");
- }
- flush_output();
- if (remote && can_cancel) {
- timeout = 300;
- }
- abort = false;
- timeout_started = false;
- for (;;) {
- AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
- if (line != null) {
- stop_timeout_dialog();
- return line.line;
+ String reply = null;
+
+ try {
+ ++in_reply;
+
+ if (SwingUtilities.isEventDispatchThread()) {
+ can_cancel = false;
+ if (remote)
+ System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
}
- if (!remote || !can_cancel || check_timeout())
- return null;
+ flush_output();
+ if (remote && can_cancel) {
+ timeout = 500;
+ }
+ abort = false;
+ timeout_started = false;
+ for (;;) {
+ AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+ if (line != null) {
+ stop_timeout_dialog();
+ reply = line.line;
+ break;
+ }
+ if (!remote || !can_cancel || check_timeout()) {
+ reply = null;
+ break;
+ }
+ }
+ } finally {
+ --in_reply;
}
+ return reply;
+ }
+
+ public String get_reply() throws InterruptedException {
+ return get_reply(5000);
+ }
+
+ public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
+ flush_output();
+ AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+ if (line != null)
+ return line.line;
+ return null;
}
public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
}
public void close() {
+ if (remote) {
+ try {
+ stop_remote();
+ } catch (InterruptedException ie) {
+ }
+ }
+ if (in_reply != 0)
+ System.out.printf("Uh-oh. Closing active serial device\n");
+
if (altos != null) {
libaltos.altos_close(altos);
}
throw new AltosSerialInUseException(device);
devices_opened.add(device.getPath());
}
- altos = libaltos.altos_open(device);
+ altos = device.open();
if (altos == null) {
close();
throw new FileNotFoundException(device.toShortString());
flush_output();
}
- public void set_radio() {
- telemetry = AltosPreferences.telemetry(device.getSerial());
- channel = AltosPreferences.channel(device.getSerial());
- set_channel(channel);
- set_callsign(AltosPreferences.callsign());
+ private int telemetry_len() {
+ return Altos.telemetry_len(telemetry);
}
- public void set_channel(int in_channel) {
- channel = in_channel;
+ private void set_channel(int channel) {
if (altos != null) {
if (monitor_mode)
- printf("m 0\nc r %d\nm %d\n", channel, telemetry);
+ printf("m 0\nc r %d\nm %x\n",
+ channel, telemetry_len());
else
printf("c r %d\n", channel);
flush_output();
}
}
+ private void set_radio_setting(int setting) {
+ if (altos != null) {
+ if (monitor_mode)
+ printf("m 0\nc R %d\nm %x\n",
+ setting, telemetry_len());
+ else
+ printf("c R %d\n", setting);
+ flush_output();
+ }
+ }
+
+ public void set_radio_frequency(double frequency,
+ boolean has_setting,
+ int cal) {
+ if (debug)
+ System.out.printf("set_radio_frequency %7.3f %b %d\n", frequency, has_setting, cal);
+ if (has_setting)
+ set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
+ else
+ set_channel(AltosConvert.radio_frequency_to_channel(frequency));
+ }
+
+ public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
+ frequency = in_frequency;
+ config_data();
+ set_radio_frequency(frequency,
+ config_data.radio_setting != 0,
+ config_data.radio_calibration);
+ }
+
public void set_telemetry(int in_telemetry) {
telemetry = in_telemetry;
if (altos != null) {
if (monitor_mode)
- printf("m 0\nm %d\n", telemetry);
+ printf("m 0\nm %x\n", telemetry_len());
flush_output();
}
}
monitor_mode = monitor;
if (altos != null) {
if (monitor)
- printf("m %d\n", telemetry);
+ printf("m %x\n", telemetry_len());
else
printf("m 0\n");
flush_output();
}
}
- public void start_remote() {
+ public AltosConfigData config_data() throws InterruptedException, TimeoutException {
+ if (config_data == null)
+ config_data = new AltosConfigData(this);
+ return config_data;
+ }
+
+ public void start_remote() throws TimeoutException, InterruptedException {
if (debug)
- System.out.printf("start remote\n");
- set_radio();
+ System.out.printf("start remote %7.3f\n", frequency);
+ if (frequency == 0.0)
+ frequency = AltosPreferences.frequency(device.getSerial());
+ set_radio_frequency(frequency);
+ set_callsign(AltosPreferences.callsign());
printf("p\nE 0\n");
flush_input();
remote = true;
}
- public void stop_remote() {
+ public void stop_remote() throws InterruptedException {
if (debug)
System.out.printf("stop remote\n");
try {
line = "";
monitor_mode = false;
frame = null;
- telemetry = Altos.ao_telemetry_full;
+ telemetry = Altos.ao_telemetry_standard;
monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
reply_queue = new LinkedBlockingQueue<AltosLine> ();
open();
projects / fw / altos / blobdiff