Add telem parsing code

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

diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java
index 82663eab51d2a5d6711b352b354636538a5ea193..9537f19073074df88e03736285b03a9962c0134a 100644 (file)
--- a/ao-tools/altosui/AltosSerial.java
+++ b/ao-tools/altosui/AltosSerial.java
@@ -21,18 +21,12 @@
 
 package altosui;
 
-import java.lang.String;
-import java.lang.System;
-import java.lang.Character;
-import java.io.FileInputStream;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.io.FileNotFoundException;
+import java.lang.*;
+import java.io.*;
 import java.util.concurrent.LinkedBlockingQueue;
-import java.lang.InterruptedException;
 import java.util.LinkedList;
-import altosui.AltosSerialMonitor;
 import java.util.Iterator;
+import altosui.AltosSerialMonitor;
 
 /*
  * This class reads from the serial port and places each received
@@ -43,6 +37,7 @@ class AltosSerialReader implements Runnable {
        FileInputStream serial_in;
        LinkedBlockingQueue<String> monitor_queue;
        LinkedBlockingQueue<String> reply_queue;
+       Thread input_thread;
        String line;
 
        public void run () {
@@ -71,20 +66,12 @@ class AltosSerialReader implements Runnable {
                }
        }
 
-       public String get_telem() {
-               try {
-                       return monitor_queue.take();
-               } catch (InterruptedException e) {
-                       return "";
-               }
+       public String get_telem() throws InterruptedException {
+               return monitor_queue.take();
        }
 
-       public String get_reply() {
-               try {
-                       return reply_queue.take();
-               } catch (InterruptedException e) {
-                       return "";
-               }
+       public String get_reply() throws InterruptedException {
+               return reply_queue.take();
        }
 
        public void flush () {
@@ -94,56 +81,131 @@ class AltosSerialReader implements Runnable {
                        reply_queue.clear();
                }
        }
-       public AltosSerialReader (FileInputStream in) {
-               serial_in = in;
+
+       public boolean opened() {
+               return serial_in != null;
+       }
+
+       public void close() {
+               if (serial_in != null) {
+                       try {
+                               serial_in.close();
+                       } catch (IOException e) {
+                       }
+                       serial_in = null;
+               }
+               if (input_thread != null) {
+                       try {
+                               input_thread.join();
+                       } catch (InterruptedException e) {
+                       }
+                       input_thread = null;
+               }
+       }
+
+       public void open(File name) throws FileNotFoundException {
+               close();
+               serial_in = new FileInputStream(name);
+               input_thread = new Thread(this);
+               input_thread.start();
+       }
+       public AltosSerialReader () {
+               serial_in = null;
+               input_thread = null;
+               line = "";
                monitor_queue = new LinkedBlockingQueue<String> ();
                reply_queue = new LinkedBlockingQueue<String> ();
-               line = "";
        }
 
 }
 
 public class AltosSerial implements Runnable {
-       FileInputStream serial_in = null;
        FileOutputStream serial_out = null;
-       AltosSerialReader reader;
+       Thread monitor_thread = null;
+       AltosSerialReader reader = null;
        LinkedList<AltosSerialMonitor> callbacks;
 
        public void run() {
-               for (;;) {
-                       String s = reader.get_reply();
-                       synchronized(callbacks) {
-                               Iterator<AltosSerialMonitor> i = callbacks.iterator();
-                               while (i.hasNext()) {
-                                       i.next().data(s);
+               try {
+                       for (;;) {
+                               String s = reader.get_telem();
+                               synchronized(callbacks) {
+                                       Iterator<AltosSerialMonitor> i = callbacks.iterator();
+                                       while (i.hasNext()) {
+                                               i.next().data(s);
+                                       }
                                }
                        }
+               } catch (InterruptedException e) {
                }
        }
 
-       public void start () {
-               try {
-                       serial_out.write('?');
-                       serial_out.write('\r');
-               } catch (IOException e) {
+       boolean need_monitor() {
+               return reader.opened() && !callbacks.isEmpty();
+       }
+
+       void maybe_stop_monitor() {
+               if (!need_monitor() && monitor_thread != null) {
+                       monitor_thread.interrupt();
+                       try {
+                               monitor_thread.join();
+                       } catch (InterruptedException e) {
+                       } finally {
+                               monitor_thread = null;
+                       }
+               }
+       }
+
+       void maybe_start_monitor() {
+               if (need_monitor() && monitor_thread == null) {
+                       monitor_thread = new Thread(this);
+                       monitor_thread.start();
                }
-               (new Thread(reader)).start();
-               (new Thread(this)).start();
        }
 
        public void monitor(AltosSerialMonitor monitor) {
                synchronized(callbacks) {
                        callbacks.add(monitor);
+                       maybe_start_monitor();
                }
        }
 
-       public AltosSerial(String serial_name) {
+
+       public void unmonitor(AltosSerialMonitor monitor) {
+               synchronized(callbacks) {
+                       callbacks.remove(monitor);
+                       maybe_stop_monitor();
+               }
+       }
+
+       public void close() {
+               synchronized(callbacks) {
+                       reader.close();
+                       maybe_stop_monitor();
+               }
+       }
+
+       public void open(File serial_name) throws FileNotFoundException {
+               reader.open(serial_name);
+               serial_out = new FileOutputStream(serial_name);
                try {
-                       serial_in = new FileInputStream(serial_name);
-                       serial_out = new FileOutputStream(serial_name);
-                       reader = new AltosSerialReader(serial_in);
-                       callbacks = new LinkedList<AltosSerialMonitor>();
-               } catch (FileNotFoundException e) {
+                       serial_out.write('?');
+                       serial_out.write('\r');
+               } catch (IOException e) {
                }
        }
+
+       void init() {
+               reader = new AltosSerialReader();
+               callbacks = new LinkedList<AltosSerialMonitor>();
+       }
+
+       public AltosSerial() {
+               init();
+       }
+
+       public AltosSerial(File serial_name) throws FileNotFoundException {
+               init();
+               open(serial_name);
+       }
 }