+++ /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