X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FAltosBluetooth.java;h=51ef5e94652d2c2dfe47a3d0b774497d873a1f7c;hp=79e31e8901ce6ddcc4de1ff998a21c157d42e0dd;hb=3842735e303f0bf6f46ed8cb659c92d8bb9bd137;hpb=b59e7d0b201290f2cb0fd494ef28c1402e11ba3b diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java index 79e31e89..51ef5e94 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java @@ -26,9 +26,12 @@ import java.util.UUID; import android.bluetooth.BluetoothAdapter; import android.bluetooth.BluetoothDevice; import android.bluetooth.BluetoothSocket; +//import android.os.Bundle; +import android.os.Handler; +//import android.os.Message; import android.util.Log; -import org.altusmetrum.AltosLib.*; +import org.altusmetrum.altoslib_5.*; public class AltosBluetooth extends AltosLink { @@ -37,6 +40,9 @@ public class AltosBluetooth extends AltosLink { private static final boolean D = true; private ConnectThread connect_thread = null; + private Thread input_thread = null; + + private Handler handler; private BluetoothAdapter adapter; private BluetoothDevice device; @@ -44,6 +50,18 @@ public class AltosBluetooth extends AltosLink { private InputStream input; private OutputStream output; + // Constructor + public AltosBluetooth(BluetoothDevice in_device, Handler in_handler) { +// set_debug(D); + adapter = BluetoothAdapter.getDefaultAdapter(); + device = in_device; + handler = in_handler; + + connect_thread = new ConnectThread(device); + connect_thread.start(); + + } + private class ConnectThread extends Thread { private final UUID SPP_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"); @@ -59,41 +77,53 @@ public class AltosBluetooth extends AltosLink { } public void run() { - if (D) Log.i(TAG, "BEGIN ConnectThread"); + if (D) Log.d(TAG, "ConnectThread: BEGIN"); setName("ConnectThread"); // Always cancel discovery because it will slow down a connection adapter.cancelDiscovery(); - // Make a connection to the BluetoothSocket - try { - // This is a blocking call and will only return on a - // successful connection or an exception - socket.connect(); - } catch (IOException e) { - // Close the socket + synchronized (AltosBluetooth.this) { + // Make a connection to the BluetoothSocket try { - socket.close(); - } catch (IOException e2) { - if (D) Log.e(TAG, "unable to close() socket during connection failure", e2); - } - connection_failed(); - return; - } + // This is a blocking call and will only return on a + // successful connection or an exception + socket.connect(); - try { - synchronized (AltosBluetooth.this) { input = socket.getInputStream(); output = socket.getOutputStream(); - - // Reset the ConnectThread because we're done - AltosBluetooth.this.notify(); - connect_thread = null; - if (D) Log.i(TAG, "Completed connect"); + } catch (IOException e) { + // Close the socket + try { + socket.close(); + } catch (IOException e2) { + if (D) Log.e(TAG, "ConnectThread: Failed to close() socket after failed connection"); + } + input = null; + output = null; + AltosBluetooth.this.notifyAll(); + handler.obtainMessage(TelemetryService.MSG_CONNECT_FAILED).sendToTarget(); + if (D) Log.e(TAG, "ConnectThread: Failed to establish connection"); + return; } - } catch (Exception e) { - if (D) Log.e(TAG, "Failed to finish connection", e); - e.printStackTrace(); + + input_thread = new Thread(AltosBluetooth.this); + input_thread.start(); + + // Configure the newly connected device for telemetry + print("~\nE 0\n"); + set_monitor(false); + + // Let TelemetryService know we're connected + handler.obtainMessage(TelemetryService.MSG_CONNECTED).sendToTarget(); + + // Notify other waiting threads, now that we're connected + AltosBluetooth.this.notifyAll(); + + // Reset the ConnectThread because we're done + connect_thread = null; + + if (D) Log.d(TAG, "ConnectThread: Connect completed"); } } @@ -102,63 +132,137 @@ public class AltosBluetooth extends AltosLink { if (socket != null) socket.close(); } catch (IOException e) { - if (D) Log.e(TAG, "close() of connect socket failed", e); + if (D) Log.e(TAG, "ConnectThread: close() of connect socket failed", e); } } } - private synchronized void wait_connected() throws InterruptedException { + public double frequency() { + return frequency; + } + + public int telemetry_rate() { + return telemetry_rate; + } + + public void save_frequency() { + AltosPreferences.set_frequency(0, frequency); + } + + public void save_telemetry_rate() { + AltosPreferences.set_telemetry_rate(0, telemetry_rate); + } + + private synchronized void wait_connected() throws InterruptedException, IOException { if (input == null) { + if (D) Log.d(TAG, "wait_connected..."); wait(); + if (D) Log.d(TAG, "wait_connected done"); + if (input == null) throw new IOException(); } } - private void connection_failed() { + private void connection_lost() { + if (D) Log.e(TAG, "Connection lost during I/O"); + handler.obtainMessage(TelemetryService.MSG_DISCONNECTED).sendToTarget(); } - + public void print(String data) { byte[] bytes = data.getBytes(); + if (D) Log.d(TAG, "print(): begin"); try { wait_connected(); output.write(bytes); + if (D) Log.d(TAG, "print(): Wrote bytes: '" + data.replace('\n', '\\') + "'"); } catch (IOException e) { - connection_failed(); + connection_lost(); } catch (InterruptedException e) { - connection_failed(); + connection_lost(); } } - public int getchar() { + public void putchar(byte c) { + byte[] bytes = { c }; + if (D) Log.d(TAG, "print(): begin"); try { wait_connected(); - return input.read(); + output.write(bytes); + if (D) Log.d(TAG, "print(): Wrote byte: '" + c + "'"); } catch (IOException e) { - connection_failed(); - } catch (java.lang.InterruptedException e) { - connection_failed(); + connection_lost(); + } catch (InterruptedException e) { + connection_lost(); } - return AltosLink.ERROR; } - + + private static final int buffer_size = 1024; + + private byte[] buffer = new byte[buffer_size]; + private int buffer_len = 0; + private int buffer_off = 0; + + public int getchar() { + while (buffer_off == buffer_len) { + try { + wait_connected(); + buffer_len = input.read(buffer); + buffer_off = 0; + } catch (IOException e) { + connection_lost(); + return AltosLink.ERROR; + } catch (java.lang.InterruptedException e) { + connection_lost(); + return AltosLink.ERROR; + } + } + return buffer[buffer_off++]; + } + public void close() { + if (D) Log.d(TAG, "close(): begin"); synchronized(this) { + if (D) Log.d(TAG, "close(): synched"); + if (connect_thread != null) { + if (D) Log.d(TAG, "close(): stopping connect_thread"); connect_thread.cancel(); connect_thread = null; } + if (D) Log.d(TAG, "close(): Closing socket"); + try { + socket.close(); + } catch (IOException e) { + if (D) Log.e(TAG, "close(): unable to close() socket"); + } + if (input_thread != null) { + if (D) Log.d(TAG, "close(): stopping input_thread"); + try { + if (D) Log.d(TAG, "close(): input_thread.interrupt()....."); + input_thread.interrupt(); + if (D) Log.d(TAG, "close(): input_thread.join()....."); + input_thread.join(); + } catch (Exception e) {} + input_thread = null; + } + input = null; + output = null; + notifyAll(); } } + // We override this method so that we can add some debugging. Not 100% elegant, but more useful + // than debugging one char at a time above in getchar()! + public void add_reply(AltosLine line) throws InterruptedException { + if (D) Log.d(TAG, String.format("Got REPLY: %s", line.line)); + super.add_reply(line); + } + //public void flush_output() { super.flush_output(); } + // Stubs of required methods when extending AltosLink public boolean can_cancel_reply() { return false; } public boolean show_reply_timeout() { return true; } public void hide_reply_timeout() { } - public AltosBluetooth(BluetoothDevice device) { - adapter = BluetoothAdapter.getDefaultAdapter(); - connect_thread = new ConnectThread(device, true); - connect_thread.start(); - } -} \ No newline at end of file +}