import javax.swing.*;
import javax.swing.filechooser.FileNameExtensionFilter;
import javax.swing.table.*;
+import org.altusmetrum.AltosLib.*;
import libaltosJNI.*;
* threads.
*/
-public class AltosSerial implements Runnable {
+public class AltosSerial extends AltosLink implements Runnable {
static java.util.List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
AltosDevice device;
SWIGTYPE_p_altos_file altos;
- LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
- LinkedBlockingQueue<AltosLine> reply_queue;
Thread input_thread;
String line;
byte[] line_bytes;
int line_count;
- boolean monitor_mode;
- int telemetry;
- 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;
- }
public void run () {
int c;
+ byte[] line_bytes = null;
+ int line_count = 0;
try {
for (;;) {
if (Thread.interrupted())
break;
if (c == libaltosConstants.LIBALTOS_ERROR) {
- for (int e = 0; e < monitors.size(); e++) {
- LinkedBlockingQueue<AltosLine> q = monitors.get(e);
- q.put(new AltosLine());
- }
- reply_queue.put (new AltosLine());
+ add_telem (new AltosLine());
+ add_reply (new AltosLine());
break;
}
if (c == libaltosConstants.LIBALTOS_TIMEOUT)
synchronized(this) {
if (c == '\n') {
if (line_count != 0) {
- try {
- line = new String(line_bytes, 0, line_count, "UTF-8");
- } catch (UnsupportedEncodingException ue) {
- line = "";
- for (int i = 0; i < line_count; i++)
- line = line + line_bytes[i];
- }
- 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 {
- reply_queue.put(new AltosLine (line));
- }
+ add_bytes(line_bytes, line_count);
line_count = 0;
- line = "";
}
} else {
if (line_bytes == null) {
}
public void flush_output() {
+ super.flush_output();
if (altos != null) {
- for (String s : pending_output)
- System.out.print(s);
- pending_output.clear();
libaltos.altos_flush(altos);
}
}
return abort;
}
- public void flush_input() {
- flush_output();
- boolean got_some;
-
- int timeout = 100;
+ public void flush_input() throws InterruptedException {
if (remote)
- timeout = 500;
- do {
- try {
- Thread.sleep(timeout);
- } catch (InterruptedException ie) {
- }
- got_some = !reply_queue.isEmpty();
- synchronized(this) {
- if (!"VERSION".startsWith(line) &&
- !line.startsWith("VERSION"))
- line = "";
- reply_queue.clear();
- }
- } while (got_some);
+ flush_input(500);
+ else
+ flush_input(100);
}
int in_reply;
public String get_reply(int timeout) throws InterruptedException {
boolean can_cancel = true;
- ++in_reply;
+ String reply = null;
- 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 = 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;
+ 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()) {
- --in_reply;
- 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;
}
- }
-
- 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) {
- set_monitor(true);
- monitors.add(q);
- }
-
- public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
- monitors.remove(q);
- if (monitors.isEmpty())
- set_monitor(false);
+ return reply;
}
public void close() {
- if (remote)
- stop_remote();
+ if (remote) {
+ try {
+ stop_remote();
+ } catch (InterruptedException ie) {
+ }
+ }
if (in_reply != 0)
System.out.printf("Uh-oh. Closing active serial device\n");
}
public void print(String data) {
- if (debug)
- pending_output.add(data);
for (int i = 0; i < data.length(); i++)
putc(data.charAt(i));
}
- public void printf(String format, Object ... arguments) {
- print(String.format(format, arguments));
- }
-
private void open() throws FileNotFoundException, AltosSerialInUseException {
synchronized (devices_opened) {
if (devices_opened.contains(device.getPath()))
}
altos = device.open();
if (altos == null) {
+ final String message = device.getErrorString();
close();
- throw new FileNotFoundException(device.toShortString());
+ throw new FileNotFoundException(String.format("%s (%s)",
+ device.toShortString(), message));
}
if (debug)
System.out.printf("Open %s\n", device.getPath());
private void set_radio_setting(int setting) {
if (altos != null) {
if (monitor_mode)
- printf("m 0\nc R %d\nc r 0\nm %x\n",
+ printf("m 0\nc R %d\nm %x\n",
setting, telemetry_len());
else
- printf("c R %d\nc r 0\n", setting);
+ printf("c R %d\n", setting);
+ flush_output();
+ }
+ }
+
+ private void set_radio_freq(int frequency) {
+ if (altos != null) {
+ if (monitor_mode)
+ printf("m 0\nc F %d\nm %x\n",
+ frequency, telemetry_len());
+ else
+ printf("c F %d\n", frequency);
flush_output();
}
}
public void set_radio_frequency(double frequency,
+ boolean has_frequency,
boolean has_setting,
int cal) {
- if (has_setting)
+ if (debug)
+ System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
+ if (frequency == 0)
+ return;
+ if (has_frequency)
+ set_radio_freq((int) Math.floor (frequency * 1000));
+ else 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;
+ if (frequency == 0.0)
+ frequency = AltosPreferences.frequency(device.getSerial());
config_data();
set_radio_frequency(frequency,
+ config_data.radio_frequency != 0,
config_data.radio_setting != 0,
config_data.radio_calibration);
}
public void start_remote() throws TimeoutException, InterruptedException {
if (debug)
- System.out.printf("start remote\n");
+ System.out.printf("start remote %7.3f\n", frequency);
if (frequency == 0.0)
- frequency = AltosPreferences.frequency(device.getSerial());
+ frequency = AltosUIPreferences.frequency(device.getSerial());
set_radio_frequency(frequency);
- set_callsign(AltosPreferences.callsign());
+ set_callsign(AltosUIPreferences.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 {
public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
device = in_device;
- line = "";
- monitor_mode = false;
frame = null;
- telemetry = Altos.ao_telemetry_standard;
- monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
- reply_queue = new LinkedBlockingQueue<AltosLine> ();
+ serial = device.getSerial();
+ name = device.toShortString();
open();
}
}
projects / fw / altos / blobdiff