package org.altusmetrum.AltosLib;
-public interface AltosLink {
- public void printf(String format, Object ... arguments) throws InterruptedException;
+import java.lang.*;
+import java.io.*;
+import java.util.concurrent.*;
+import java.util.*;
+import java.text.*;
- public String get_reply() throws InterruptedException;
+public abstract class AltosLink {
- public String get_reply(int timeout) throws InterruptedException;
+ public static boolean debug = false;
+ public static void set_debug(boolean in_debug) { debug = in_debug; }
+ LinkedList<String> pending_output = new LinkedList<String>();
- public void flush_input() throws InterruptedException;
+ public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
+ public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
+
+ 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);
+ }
+
+ public abstract void print(String data);
+
+ public void printf(String format, Object ... arguments) {
+ String line = String.format(format, arguments);
+ if (debug)
+ pending_output.add(line);
+ print(line);
+ }
+
+ 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 String get_reply(int timeout) throws InterruptedException {
+ try {
+ return get_reply_no_dialog(timeout);
+ } catch (TimeoutException te) {
+ return null;
+ }
+ }
+
+ public String get_reply() throws InterruptedException {
+ return get_reply(5000);
+ }
+
+ public void add_telem(AltosLine line) throws InterruptedException {
+ for (int e = 0; e < monitors.size(); e++) {
+ LinkedBlockingQueue<AltosLine> q = monitors.get(e);
+ q.put(line);
+ }
+ }
+
+ public void add_reply(AltosLine line) throws InterruptedException {
+ reply_queue.put (line);
+ }
+
+ public void add_string(String line) throws InterruptedException {
+ if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
+ add_telem(new AltosLine(line));
+ } else {
+ add_reply(new AltosLine(line));
+ }
+ }
+
+ public void add_bytes(byte[] bytes, int len) throws InterruptedException {
+ String line;
+ try {
+ line = new String(bytes, 0, len, "UTF-8");
+ } catch (UnsupportedEncodingException ue) {
+ line = "";
+ for (int i = 0; i < len; i++)
+ line = line + bytes[i];
+ }
+ if (debug)
+ System.out.printf("\t\t\t\t\t%s\n", line);
+ add_string(line);
+ }
+
+ public void flush_output() {
+ for (String s : pending_output)
+ System.out.print(s);
+ pending_output.clear();
+ }
+
+ public void flush_input(int timeout) throws InterruptedException {
+ flush_output();
+ boolean got_some;
+
+ do {
+ Thread.sleep(timeout);
+ got_some = !reply_queue.isEmpty();
+ reply_queue.clear();
+ } while (got_some);
+ }
+
+
+ public void flush_input() throws InterruptedException {
+ flush_input(100);
+ }
+
+
+ /*
+ * Various command-level operations on
+ * the link
+ */
+ public boolean monitor_mode = false;
+ public int telemetry = AltosLib.ao_telemetry_standard;
+ public double frequency;
+ AltosConfigData config_data;
+
+ private int telemetry_len() {
+ return AltosLib.telemetry_len(telemetry);
+ }
+
+ public void set_telemetry(int in_telemetry) {
+ telemetry = in_telemetry;
+ if (monitor_mode)
+ printf("m 0\nm %x\n", telemetry_len());
+ flush_output();
+ }
+
+ public void set_monitor(boolean monitor) {
+ monitor_mode = monitor;
+ if (monitor)
+ printf("m %x\n", telemetry_len());
+ else
+ printf("m 0\n");
+ flush_output();
+ }
+
+ private void set_channel(int channel) {
+ if (monitor_mode)
+ 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 (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 AltosConfigData config_data() throws InterruptedException, TimeoutException {
+ if (config_data == null)
+ config_data = new AltosConfigData(this);
+ return config_data;
+ }
+
+ 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_callsign(String callsign) {
+ printf ("c c %s\n", callsign);
+ flush_output();
+ }
+
+ public boolean remote;
+ public int serial;
+
+ public void start_remote() throws TimeoutException, InterruptedException {
+ if (debug)
+ System.out.printf("start remote %7.3f\n", frequency);
+ if (frequency == 0.0)
+ frequency = AltosPreferences.frequency(serial);
+ set_radio_frequency(frequency);
+ set_callsign(AltosPreferences.callsign());
+ printf("p\nE 0\n");
+ flush_input();
+ remote = true;
+ }
+
+ public void stop_remote() throws InterruptedException {
+ if (debug)
+ System.out.printf("stop remote\n");
+ try {
+ flush_input();
+ } finally {
+ printf ("~\n");
+ flush_output();
+ }
+ remote = false;
+ }
+
+ public AltosLink() {
+ }
}
projects / fw / altos / blobdiff