TD reports "not-connected" when GPS has 0 sats

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

diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java
index 82663eab51d2a5d6711b352b354636538a5ea193..e4cedde22b6d6b9c0deedc6c2a506a94f32d0516 100644 (file)
--- a/ao-tools/altosui/AltosSerial.java
+++ b/ao-tools/altosui/AltosSerial.java
@@ -21,18 +21,13 @@
 
 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 gnu.io.*;
+import altosui.AltosSerialMonitor;
 
 /*
  * This class reads from the serial port and places each received
@@ -40,16 +35,22 @@ import java.util.Iterator;
  * threads.
  */
 class AltosSerialReader implements Runnable {
-       FileInputStream serial_in;
+       InputStream     serial_in;
        LinkedBlockingQueue<String> monitor_queue;
        LinkedBlockingQueue<String> reply_queue;
+       Thread input_thread;
        String line;
 
        public void run () {
                int c;
 
                try {
-                       while ((c = serial_in.read()) != -1) {
+                       for (;;) {
+                               c = serial_in.read();
+                               if (Thread.interrupted())
+                                       break;
+                               if (c == -1)
+                                       continue;
                                if (c == '\r')
                                        continue;
                                synchronized(this) {
@@ -71,20 +72,14 @@ class AltosSerialReader implements Runnable {
                }
        }
 
-       public String get_telem() {
-               try {
-                       return monitor_queue.take();
-               } catch (InterruptedException e) {
-                       return "";
-               }
+       public String get_telem() throws InterruptedException {
+               String s = monitor_queue.take();
+               System.out.println(s);
+               return s;
        }
 
-       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 +89,106 @@ class AltosSerialReader implements Runnable {
                        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 serial_in != 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 (serial_in != null) {
+                       try {
+                               serial_in.close();
+                       } catch (IOException e) {
                        }
+                       serial_in = null;
+               }
+               if (input_thread != null) {
+                       try {
+                               input_thread.interrupt();
+                               input_thread.join();
+                       } catch (InterruptedException e) {
+                       }
+                       input_thread = null;
                }
        }
 
-       public void start () {
+       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();
                try {
-                       serial_out.write('?');
-                       serial_out.write('\r');
-               } catch (IOException e) {
+               c.enableReceiveTimeout(1000);   /* icky. the read method cannot be interrupted */
+               } catch (UnsupportedCommOperationException ee) {
                }
-               (new Thread(reader)).start();
-               (new Thread(this)).start();
+               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 void monitor(AltosSerialMonitor monitor) {
-               synchronized(callbacks) {
-                       callbacks.add(monitor);
-               }
+}
+
+public class AltosSerial {
+       OutputStream serial_out = null;
+       AltosSerialReader reader = null;
+
+       public String get_telem() throws InterruptedException {
+               return reader.get_telem();
        }
 
-       public AltosSerial(String serial_name) {
+       CommPort comm_port = null;
+
+       public void close() {
                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.close();
+               } catch (IOException ee) {
+               }
+               reader.close();
+               if (comm_port != null) {
+                       comm_port.close();
                }
        }
+
+       public void open(File serial_name) throws FileNotFoundException {
+               reader.open(serial_name);
+               serial_out = new FileOutputStream(serial_name);
+       }
+
+       public void open(CommPort c) throws IOException {
+               reader.open(c);
+               serial_out = c.getOutputStream();
+       }
+
+       public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
+               comm_port = new RXTXPort(port_name);
+               open(comm_port);
+       }
+
+       void init() {
+               reader = new AltosSerialReader();
+       }
+
+       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);
+       }
 }