altosui: Use timeouts to recover from broken packet links.

[fw/altos] / ao-tools / altosui / AltosSerial.java

diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java
index 6787e0c82de78026566159eda85a1c51e513c770..0d32a5ae851807e0940a634acf7ccfef335030cd 100644 (file)
--- a/ao-tools/altosui/AltosSerial.java
+++ b/ao-tools/altosui/AltosSerial.java
@@ -23,9 +23,8 @@ package altosui;
 
 import java.lang.*;
 import java.io.*;
-import java.util.concurrent.LinkedBlockingQueue;
-import java.util.LinkedList;
-import java.util.Iterator;
+import java.util.concurrent.*;
+import java.util.*;
 
 import libaltosJNI.*;
 
@@ -37,6 +36,9 @@ import libaltosJNI.*;
 
 public class AltosSerial implements Runnable {
 
+       static List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
+
+       altos_device device;
        SWIGTYPE_p_altos_file altos;
        LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
        LinkedBlockingQueue<AltosLine> reply_queue;
@@ -130,6 +132,14 @@ public class AltosSerial implements Runnable {
                return line.line;
        }
 
+       public String get_reply(int timeout) throws InterruptedException {
+               flush_output();
+               AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+               if (line == null)
+                       return null;
+               return line.line;
+       }
+
        public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
                set_monitor(true);
                monitors.add(q);
@@ -141,10 +151,6 @@ public class AltosSerial implements Runnable {
                        set_monitor(false);
        }
 
-       public boolean opened() {
-               return altos != null;
-       }
-
        public void close() {
                if (altos != null) {
                        libaltos.altos_close(altos);
@@ -161,6 +167,9 @@ public class AltosSerial implements Runnable {
                        libaltos.altos_free(altos);
                        altos = null;
                }
+               synchronized (devices_opened) {
+                       devices_opened.remove(device.getPath());
+               }
        }
 
        public void putc(char c) {
@@ -178,11 +187,15 @@ public class AltosSerial implements Runnable {
                print(String.format(format, arguments));
        }
 
-       public void open(altos_device device) throws FileNotFoundException {
-               close();
+       private void open() throws FileNotFoundException, AltosSerialInUseException {
+               synchronized (devices_opened) {
+                       if (devices_opened.contains(device.getPath()))
+                               throw new AltosSerialInUseException(device);
+                       devices_opened.add(device.getPath());
+               }
                altos = libaltos.altos_open(device);
                if (altos == null)
-                       throw new FileNotFoundException(device.getPath());
+                       throw new FileNotFoundException(device.toString());
                input_thread = new Thread(this);
                input_thread.start();
                print("~\nE 0\n");
@@ -220,12 +233,12 @@ public class AltosSerial implements Runnable {
                }
        }
 
-       public AltosSerial() {
-               altos = null;
-               input_thread = null;
+       public AltosSerial(altos_device in_device) throws FileNotFoundException, AltosSerialInUseException {
+               device = in_device;
                line = "";
                monitor_mode = false;
                monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
                reply_queue = new LinkedBlockingQueue<AltosLine> ();
+               open();
        }
 }