import java.io.*;
import java.util.concurrent.*;
import java.util.*;
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
import libaltosJNI.*;
public class AltosSerial implements Runnable {
- static List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
+ static java.util.List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
AltosDevice device;
SWIGTYPE_p_altos_file altos;
byte[] line_bytes;
int line_count;
boolean monitor_mode;
+ int telemetry;
+ int channel;
static boolean debug;
+ boolean remote;
+ LinkedList<String> pending_output = new LinkedList<String>();
+ Frame frame;
static void set_debug(boolean new_debug) {
debug = new_debug;
for (int i = 0; i < line_count; i++)
line = line + line_bytes[i];
}
- if (line.startsWith("VERSION") || line.startsWith("CRC")) {
+ if (debug)
+ System.out.printf("\t\t\t\t\t%s\n", line);
+ 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));
}
} else {
- if (debug)
- System.out.printf("\t\t\t\t\t%s\n", line);
reply_queue.put(new AltosLine (line));
}
line_count = 0;
}
public void flush_output() {
- if (altos != null)
+ if (altos != null) {
+ for (String s : pending_output)
+ System.out.print(s);
+ pending_output.clear();
libaltos.altos_flush(altos);
+ }
+ }
+
+ boolean abort;
+ JDialog timeout_dialog;
+ boolean timeout_started = false;
+
+ private void stop_timeout_dialog() {
+ if (timeout_started) {
+ timeout_started = false;
+ Runnable r = new Runnable() {
+ public void run() {
+ timeout_dialog.setVisible(false);
+ }
+ };
+ 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.setOptions(options);
+ pane.setInitialValue(null);
+
+ timeout_dialog = pane.createDialog(frame, "Connecting...");
+
+ timeout_dialog.setVisible(true);
+
+ Object o = pane.getValue();
+ if (o == null)
+ return;
+ if (options[0].equals(o))
+ abort = true;
+ timeout_dialog.dispose();
+ timeout_dialog = null;
+ }
+
+ private boolean check_timeout() {
+ if (!timeout_started && frame != null) {
+ if (!SwingUtilities.isEventDispatchThread()) {
+ timeout_started = true;
+ Runnable r = new Runnable() {
+ public void run() {
+ start_timeout_dialog_internal();
+ }
+ };
+ SwingUtilities.invokeLater(r);
+ }
+ }
+ return abort;
}
public void flush_input() {
flush_output();
boolean got_some;
+
+ int timeout = 100;
+ if (remote)
+ timeout = 500;
do {
try {
- Thread.sleep(100);
+ Thread.sleep(timeout);
} catch (InterruptedException ie) {
}
got_some = !reply_queue.isEmpty();
}
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;
+ ++in_reply;
+
+ if (SwingUtilities.isEventDispatchThread()) {
+ can_cancel = false;
+ System.out.printf("Uh-oh, reading serial device from swing thread\n");
+ }
flush_output();
- AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
- if (line == null)
- return null;
- return line.line;
+ 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();
+ --in_reply;
+ return line.line;
+ }
+ if (!remote || !can_cancel || check_timeout()) {
+ --in_reply;
+ return null;
+ }
+ }
}
public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
}
public void close() {
+ if (in_reply != 0)
+ System.out.printf("Uh-oh. Closing active serial device\n");
+
if (altos != null) {
libaltos.altos_close(altos);
}
synchronized (devices_opened) {
devices_opened.remove(device.getPath());
}
+ if (debug)
+ System.out.printf("Closing %s\n", device.getPath());
}
private void putc(char c) {
public void print(String data) {
if (debug)
- System.out.printf("%s", data);
+ pending_output.add(data);
for (int i = 0; i < data.length(); i++)
putc(data.charAt(i));
}
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());
}
+ if (debug)
+ System.out.printf("Open %s\n", device.getPath());
input_thread = new Thread(this);
input_thread.start();
print("~\nE 0\n");
}
public void set_radio() {
- set_channel(AltosPreferences.channel(device.getSerial()));
+ telemetry = AltosPreferences.telemetry(device.getSerial());
+ channel = AltosPreferences.channel(device.getSerial());
+ set_channel(channel);
set_callsign(AltosPreferences.callsign());
}
- public void set_channel(int channel) {
+ private int telemetry_len() {
+ switch (telemetry) {
+ case 1:
+ default:
+ return Altos.ao_telemetry_legacy_len;
+ case 2:
+ return Altos.ao_telemetry_split_len;
+ }
+ }
+
+ public void set_channel(int in_channel) {
+ channel = in_channel;
if (altos != null) {
if (monitor_mode)
- printf("m 0\nc r %d\nm 1\n", channel);
+ printf("m 0\nc r %d\nm %x\n",
+ channel, telemetry_len());
else
printf("c r %d\n", channel);
flush_output();
}
}
+ public void set_telemetry(int in_telemetry) {
+ telemetry = in_telemetry;
+ if (altos != null) {
+ if (monitor_mode)
+ printf("m 0\nm %x\n", telemetry_len());
+ flush_output();
+ }
+ }
+
void set_monitor(boolean monitor) {
monitor_mode = monitor;
if (altos != null) {
if (monitor)
- printf("m 1\n");
+ printf("m %x\n", telemetry_len());
else
printf("m 0\n");
flush_output();
}
public void start_remote() {
+ if (debug)
+ System.out.printf("start remote\n");
set_radio();
printf("p\nE 0\n");
flush_input();
+ remote = true;
}
public void stop_remote() {
- printf ("~");
- flush_output();
+ if (debug)
+ System.out.printf("stop remote\n");
+ try {
+ flush_input();
+ } finally {
+ printf ("~\n");
+ flush_output();
+ }
+ remote = false;
+ }
+
+ public void set_frame(Frame in_frame) {
+ frame = in_frame;
}
public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
device = in_device;
line = "";
monitor_mode = false;
+ frame = null;
+ telemetry = Altos.ao_telemetry_split;
monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
reply_queue = new LinkedBlockingQueue<AltosLine> ();
open();
projects / fw / altos / blobdiff