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;
+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 {
- FileInputStream 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;
public void run () {
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() {
- try {
- return monitor_queue.take();
- } catch (InterruptedException e) {
- return "";
- }
+ public void flush_reply() {
+ reply_queue.clear();
}
- public String get_reply() {
- try {
- return reply_queue.take();
- } catch (InterruptedException e) {
- return "";
- }
+ public String get_reply() throws InterruptedException {
+ libaltos.altos_flush(altos);
+ String line = reply_queue.take();
+ return line;
+ }
+
+ public void add_monitor(LinkedBlockingQueue<String> q) {
+ monitors.add(q);
+ }
+
+ public void remove_monitor(LinkedBlockingQueue<String> q) {
+ monitors.remove(q);
}
public void flush () {
reply_queue.clear();
}
}
- public AltosSerialReader (FileInputStream in) {
- serial_in = in;
- monitor_queue = new LinkedBlockingQueue<String> ();
- reply_queue = new LinkedBlockingQueue<String> ();
- line = "";
- }
-}
+ public boolean opened() {
+ return altos != null;
+ }
-public class AltosSerial implements Runnable {
- FileInputStream serial_in = null;
- FileOutputStream serial_out = null;
- AltosSerialReader reader;
- 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);
- }
+ public void close() {
+ if (altos != null)
+ libaltos.altos_close(altos);
+ if (input_thread != null) {
+ try {
+ input_thread.interrupt();
+ input_thread.join();
+ } catch (InterruptedException e) {
}
+ input_thread = null;
+ }
+ if (altos != null) {
+ libaltos.altos_free(altos);
+ altos = null;
}
}
- public void start () {
- try {
- serial_out.write('?');
- serial_out.write('\r');
- } catch (IOException e) {
- }
- (new Thread(reader)).start();
- (new Thread(this)).start();
+ public void putc(char c) {
+ if (altos != null)
+ libaltos.altos_putchar(altos, c);
}
- public void monitor(AltosSerialMonitor monitor) {
- synchronized(callbacks) {
- callbacks.add(monitor);
- }
+ public void print(String data) {
+ for (int i = 0; i < data.length(); i++)
+ putc(data.charAt(i));
+ }
+
+ public void printf(String format, Object ... arguments) {
+ print(String.format(format, arguments));
}
- public AltosSerial(String serial_name) {
+ 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 {
- serial_in = new FileInputStream(serial_name);
- serial_out = new FileOutputStream(serial_name);
- reader = new AltosSerialReader(serial_in);
- callbacks = new LinkedList<AltosSerialMonitor>();
- } catch (FileNotFoundException e) {
+ Thread.sleep(200);
+ } catch (InterruptedException e) {
}
+ flush();
+ }
+
+ public void set_channel(int channel) {
+ if (altos != null)
+ printf("m 0\nc r %d\nm 1\n", channel);
+ }
+
+ public void set_callsign(String callsign) {
+ if (altos != null)
+ printf ("c c %s\n", callsign);
+ }
+
+ public AltosSerial() {
+ altos = null;
+ input_thread = null;
+ line = "";
+ monitors = new LinkedList<LinkedBlockingQueue<String>> ();
+ reply_queue = new LinkedBlockingQueue<String> ();
}
}
projects / fw / altos / blobdiff