import java.util.concurrent.LinkedBlockingQueue;
import java.util.LinkedList;
import java.util.Iterator;
-import gnu.io.*;
import altosui.AltosSerialMonitor;
+import libaltosJNI.libaltos;
+import libaltosJNI.altos_device;
+import libaltosJNI.SWIGTYPE_p_altos_file;
+import libaltosJNI.SWIGTYPE_p_altos_list;
/*
* This class reads from the serial port and places each received
* line in a queue. Dealing with that queue is left up to other
* threads.
*/
-class AltosSerialReader implements Runnable {
- InputStream serial_in;
- LinkedBlockingQueue<String> monitor_queue;
+
+public class AltosSerial implements Runnable {
+
+ SWIGTYPE_p_altos_file altos;
+ LinkedList<LinkedBlockingQueue<String>> monitors;
LinkedBlockingQueue<String> reply_queue;
Thread input_thread;
String line;
int c;
try {
- while ((c = serial_in.read()) != -1) {
+ for (;;) {
+ c = libaltos.altos_getchar(altos, 0);
+ if (Thread.interrupted())
+ break;
+ if (c == -1)
+ continue;
if (c == '\r')
continue;
synchronized(this) {
if (c == '\n') {
if (line != "") {
- if (line.startsWith("VERSION"))
- monitor_queue.put(line);
- else
+ if (line.startsWith("VERSION")) {
+ for (int e = 0; e < monitors.size(); e++) {
+ LinkedBlockingQueue<String> q = monitors.get(e);
+ q.put(line);
+ }
+ } else
reply_queue.put(line);
line = "";
}
}
}
}
- } catch (IOException e) {
} catch (InterruptedException e) {
}
}
- public String get_telem() throws InterruptedException {
- return monitor_queue.take();
+ public void flush_reply() {
+ reply_queue.clear();
}
public String get_reply() throws InterruptedException {
return reply_queue.take();
}
+ public void add_monitor(LinkedBlockingQueue<String> q) {
+ monitors.add(q);
+ }
+
+ public void remove_monitor(LinkedBlockingQueue<String> q) {
+ monitors.remove(q);
+ }
+
public void flush () {
synchronized(this) {
if (!"VERSION".startsWith(line) && !line.startsWith("VERSION"))
}
public boolean opened() {
- return serial_in != null;
+ return altos != null;
}
public void close() {
- if (serial_in != null) {
- try {
- serial_in.close();
- } catch (IOException e) {
- }
- serial_in = null;
- }
+ if (altos != null)
+ libaltos.altos_close(altos);
if (input_thread != null) {
try {
+ input_thread.interrupt();
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 void open(CommPort c) throws IOException {
- close();
- serial_in = c.getInputStream();
- 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> ();
- }
-
-}
-
-public class AltosSerial implements Runnable {
- OutputStream serial_out = null;
- Thread monitor_thread = null;
- AltosSerialReader reader = null;
- LinkedList<AltosSerialMonitor> callbacks;
-
- public void run() {
- try {
- for (;;) {
- String s = reader.get_telem();
- synchronized(callbacks) {
- Iterator<AltosSerialMonitor> i = callbacks.iterator();
- while (i.hasNext()) {
- i.next().data(s);
- }
- }
- }
- } catch (InterruptedException 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;
- }
+ if (altos != null) {
+ libaltos.altos_free(altos);
+ altos = null;
}
}
- void maybe_start_monitor() {
- if (need_monitor() && monitor_thread == null) {
- monitor_thread = new Thread(this);
- monitor_thread.start();
- }
+ public void putc(char c) {
+ if (altos != null)
+ libaltos.altos_putchar(altos, c);
}
- public void monitor(AltosSerialMonitor monitor) {
- synchronized(callbacks) {
- callbacks.add(monitor);
- maybe_start_monitor();
- }
+ public void print(String data) {
+ for (int i = 0; i < data.length(); i++)
+ putc(data.charAt(i));
}
-
- public void unmonitor(AltosSerialMonitor monitor) {
- synchronized(callbacks) {
- callbacks.remove(monitor);
- maybe_stop_monitor();
- }
+ public void printf(String format, Object ... arguments) {
+ print(String.format(format, arguments));
}
- public void close() {
- synchronized(callbacks) {
- reader.close();
- maybe_stop_monitor();
+ public void open(altos_device device) throws FileNotFoundException {
+ close();
+ altos = libaltos.altos_open(device);
+ if (altos == null)
+ throw new FileNotFoundException(device.getPath());
+ input_thread = new Thread(this);
+ input_thread.start();
+ print("\nE 0\n");
+ try {
+ Thread.sleep(200);
+ } catch (InterruptedException e) {
}
+ flush();
}
- public void open(File serial_name) throws FileNotFoundException {
- reader.open(serial_name);
- serial_out = new FileOutputStream(serial_name);
- }
-
- public void open(CommPort comm_port) throws IOException {
- reader.open(comm_port);
- serial_out = comm_port.getOutputStream();
- }
-
- public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
- System.out.printf("Opening serial port %s\n", port_name);
- CommPort comm_port = new RXTXPort(port_name);
-// CommPortIdentifier port_identifier = CommPortIdentifier.getPortIdentifier(port_name);
-// CommPort comm_port = port_identifier.open("Altos", 1000);
- open(comm_port);
+ public void set_channel(int channel) {
+ if (altos != null)
+ printf("m 0\nc r %d\nm 1\n", channel);
}
- void init() {
- reader = new AltosSerialReader();
- callbacks = new LinkedList<AltosSerialMonitor>();
+ public void set_callsign(String callsign) {
+ if (altos != null)
+ printf ("c c %s\n", callsign);
}
public AltosSerial() {
- init();
- }
-
- public AltosSerial(File serial_name) throws FileNotFoundException {
- init();
- open(serial_name);
- }
-
- public AltosSerial(CommPort comm_port) throws IOException {
- init();
- open(comm_port);
+ altos = null;
+ input_thread = null;
+ line = "";
+ monitors = new LinkedList<LinkedBlockingQueue<String>> ();
+ reply_queue = new LinkedBlockingQueue<String> ();
}
}
projects / fw / altos / blobdiff