X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosLink.java;h=0105398dbf8c718f6dca40b1a11087305ee42d01;hp=415c3c64c466daa80bbe5bd6f233a3aa2e821d8e;hb=ff3c27e3b842107680dc48084f71eb8c63f1bcab;hpb=5ed88fb72c3e3ecf3333c700d838667db71cfbdc diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 415c3c64..0105398d 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -15,36 +15,39 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.AltosLib; +package org.altusmetrum.altoslib_6; -import java.lang.*; import java.io.*; import java.util.concurrent.*; import java.util.*; -import java.text.*; public abstract class AltosLink implements Runnable { public final static int ERROR = -1; public final static int TIMEOUT = -2; - public abstract int getchar(); - public abstract void print(String data); - public abstract void close(); + public abstract int getchar() throws InterruptedException; + public abstract void print(String data) throws InterruptedException; + public abstract void putchar(byte c); + public abstract void close() throws InterruptedException; public static boolean debug = false; public static void set_debug(boolean in_debug) { debug = in_debug; } + + public boolean has_error; + LinkedList pending_output = new LinkedList(); public LinkedList> monitors = new LinkedList> ();; public LinkedBlockingQueue reply_queue = new LinkedBlockingQueue(); + public LinkedBlockingQueue binary_queue = new LinkedBlockingQueue(); - public void add_monitor(LinkedBlockingQueue q) { + public synchronized void add_monitor(LinkedBlockingQueue q) { set_monitor(true); monitors.add(q); } - public void remove_monitor(LinkedBlockingQueue q) { + public synchronized void remove_monitor(LinkedBlockingQueue q) { monitors.remove(q); if (monitors.isEmpty()) set_monitor(false); @@ -52,9 +55,16 @@ public abstract class AltosLink implements Runnable { public void printf(String format, Object ... arguments) { String line = String.format(format, arguments); - if (debug) - pending_output.add(line); - print(line); + if (debug) { + synchronized (pending_output) { + pending_output.add(line); + } + } + try { + print(line); + } catch (InterruptedException ie) { + + } } public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException { @@ -69,7 +79,7 @@ public abstract class AltosLink implements Runnable { return get_reply(5000); } - + public abstract boolean can_cancel_reply(); public abstract boolean show_reply_timeout(); public abstract void hide_reply_timeout(); @@ -92,6 +102,7 @@ public abstract class AltosLink implements Runnable { } } + private int len_read = 0; public void run () { int c; @@ -102,13 +113,12 @@ public abstract class AltosLink implements Runnable { for (;;) { c = getchar(); if (Thread.interrupted()) { - if (debug) - System.out.printf("INTERRUPTED\n"); break; } if (c == ERROR) { if (debug) System.out.printf("ERROR\n"); + has_error = true; add_telem (new AltosLine()); add_reply (new AltosLine()); break; @@ -118,10 +128,10 @@ public abstract class AltosLink implements Runnable { System.out.printf("TIMEOUT\n"); continue; } - if (c == '\r') + if (c == '\r' && len_read == 0) continue; synchronized(this) { - if (c == '\n') { + if (c == '\n' && len_read == 0) { if (line_count != 0) { add_bytes(line_bytes, line_count); line_count = 0; @@ -136,6 +146,11 @@ public abstract class AltosLink implements Runnable { } line_bytes[line_count] = (byte) c; line_count++; + if (len_read !=0 && line_count == len_read) { + add_binary(line_bytes, line_count); + line_count = 0; + len_read = 0; + } } } } @@ -143,6 +158,7 @@ public abstract class AltosLink implements Runnable { } } + public String get_reply(int timeout) throws InterruptedException { boolean can_cancel = can_cancel_reply(); String reply = null; @@ -150,8 +166,21 @@ public abstract class AltosLink implements Runnable { if (!can_cancel && remote) System.out.printf("Uh-oh, reading remote serial device from swing thread\n"); - if (remote && can_cancel) + if (remote && can_cancel) { timeout = 500; + switch (telemetry_rate) { + case AltosLib.ao_telemetry_rate_38400: + default: + timeout = 500; + break; + case AltosLib.ao_telemetry_rate_9600: + timeout = 2000; + break; + case AltosLib.ao_telemetry_rate_2400: + timeout = 8000; + break; + } + } try { ++in_reply; @@ -177,6 +206,38 @@ public abstract class AltosLink implements Runnable { return reply; } + public byte[] get_binary_reply(int timeout, int len) throws InterruptedException { + boolean can_cancel = can_cancel_reply(); + byte[] bytes = null; + + synchronized(this) { + len_read = len; + } + try { + ++in_reply; + + flush_output(); + + reply_abort = false; + reply_timeout_shown = false; + for (;;) { + bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS); + if (bytes != null) { + cleanup_reply_timeout(); + break; + } + if (!remote || !can_cancel || check_reply_timeout()) { + bytes = null; + break; + } + } + + } finally { + --in_reply; + } + return bytes; + } + public void add_telem(AltosLine line) throws InterruptedException { for (int e = 0; e < monitors.size(); e++) { LinkedBlockingQueue q = monitors.get(e); @@ -192,7 +253,7 @@ public abstract class AltosLink implements Runnable { try { add_telem (new AltosLine()); add_reply (new AltosLine()); - } catch (InterruptedException e) { + } catch (InterruptedException ie) { } } @@ -206,22 +267,36 @@ public abstract class AltosLink implements Runnable { public void add_bytes(byte[] bytes, int len) throws InterruptedException { String line; - try { - line = new String(bytes, 0, len, "UTF-8"); - } catch (UnsupportedEncodingException ue) { - line = ""; - for (int i = 0; i < len; i++) - line = line + bytes[i]; - } + line = new String(bytes, 0, len, AltosLib.unicode_set); if (debug) System.out.printf("\t\t\t\t\t%s\n", line); add_string(line); } - public void flush_output() { - for (String s : pending_output) - System.out.print(s); - pending_output.clear(); + public void add_binary(byte[] bytes, int len) throws InterruptedException { + byte[] dup = new byte[len]; + + if (debug) + System.out.printf ("\t\t\t\t\t%d:", len); + for(int i = 0; i < len; i++) { + dup[i] = bytes[i]; + if (debug) + System.out.printf(" %02x", dup[i]); + } + if (debug) + System.out.printf("\n"); + + binary_queue.put(dup); + } + + public synchronized void flush_output() { + if (pending_output == null) + return; + synchronized (pending_output) { + for (String s : pending_output) + System.out.print(s); + pending_output.clear(); + } } public void flush_input(int timeout) throws InterruptedException { @@ -250,9 +325,13 @@ public abstract class AltosLink implements Runnable { */ public boolean monitor_mode = false; public int telemetry = AltosLib.ao_telemetry_standard; + public int telemetry_rate = -1; public double frequency; + public String callsign; AltosConfigData config_data; + private Object config_data_lock = new Object(); + private int telemetry_len() { return AltosLib.telemetry_len(telemetry); } @@ -275,7 +354,7 @@ public abstract class AltosLink implements Runnable { if (frequency == 0) return; if (has_frequency) - set_radio_freq((int) Math.floor (frequency * 1000)); + set_radio_freq((int) Math.floor (frequency * 1000 + 0.5)); else if (has_setting) set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal)); else @@ -286,8 +365,8 @@ public abstract class AltosLink implements Runnable { frequency = in_frequency; config_data(); set_radio_frequency(frequency, - config_data.radio_frequency != 0, - config_data.radio_setting != 0, + config_data.radio_frequency > 0, + config_data.radio_setting > 0, config_data.radio_calibration); } @@ -298,7 +377,16 @@ public abstract class AltosLink implements Runnable { flush_output(); } - public void set_monitor(boolean monitor) { + public void set_telemetry_rate(int in_telemetry_rate) { + telemetry_rate = in_telemetry_rate; + if (monitor_mode) + printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len()); + else + printf("c T %d\n", telemetry_rate); + flush_output(); + } + + public synchronized void set_monitor(boolean monitor) { monitor_mode = monitor; if (monitor) printf("m %x\n", telemetry_len()); @@ -307,6 +395,10 @@ public abstract class AltosLink implements Runnable { flush_output(); } + public synchronized boolean get_monitor() { + return monitor_mode; + } + private void set_channel(int channel) { if (monitor_mode) printf("m 0\nc r %d\nm %x\n", @@ -325,15 +417,47 @@ public abstract class AltosLink implements Runnable { flush_output(); } - public AltosConfigData config_data() throws InterruptedException, TimeoutException { - if (config_data == null) - config_data = new AltosConfigData(this); - return config_data; + public AltosConfigData config_data() throws InterruptedException, TimeoutException { + synchronized(config_data_lock) { + if (config_data == null) { + printf("m 0\n"); + config_data = new AltosConfigData(this); + if (monitor_mode) + set_monitor(true); + } + return config_data; + } } public void set_callsign(String callsign) { - printf ("c c %s\n", callsign); + this.callsign = callsign; + if (callsign != null) { + printf ("c c %s\n", callsign); + flush_output(); + } + } + + public boolean is_loader() throws InterruptedException { + boolean ret = false; + printf("v\n"); + for (;;) { + String line = get_reply(); + + if (line == null) + return false; + if (line.startsWith("software-version")) + break; + if (line.startsWith("altos-loader")) + ret = true; + } + return ret; + } + + public void to_loader() throws InterruptedException { + printf("X\n"); flush_output(); + close(); + Thread.sleep(1000); } public boolean remote; @@ -341,12 +465,17 @@ public abstract class AltosLink implements Runnable { public String name; public void start_remote() throws TimeoutException, InterruptedException { - if (debug) - System.out.printf("start remote %7.3f\n", frequency); if (frequency == 0.0) frequency = AltosPreferences.frequency(serial); + if (debug) + System.out.printf("start remote %7.3f\n", frequency); set_radio_frequency(frequency); - set_callsign(AltosPreferences.callsign()); + if (telemetry_rate < 0) + telemetry_rate = AltosPreferences.telemetry_rate(serial); + set_telemetry_rate(telemetry_rate); + if (callsign == null || callsign.equals("")) + callsign = AltosPreferences.callsign(); + set_callsign(callsign); printf("p\nE 0\n"); flush_input(); remote = true; @@ -364,6 +493,64 @@ public abstract class AltosLink implements Runnable { remote = false; } + public int rssi() throws TimeoutException, InterruptedException { + if (remote) + return 0; + printf("s\n"); + String line = get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + String[] items = line.split("\\s+"); + if (items.length < 2) + return 0; + if (!items[0].equals("RSSI:")) + return 0; + int rssi = Integer.parseInt(items[1]); + return rssi; + } + + public String[] adc() throws TimeoutException, InterruptedException { + printf("a\n"); + for (;;) { + String line = get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("tick:")) + continue; + String[] items = line.split("\\s+"); + return items; + } + } + + public boolean has_monitor_battery() { + return config_data.has_monitor_battery(); + } + + public double monitor_battery() throws InterruptedException { + int monitor_batt = AltosLib.MISSING; + + if (config_data.has_monitor_battery()) { + try { + String[] items = adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("batt")) { + monitor_batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + } catch (TimeoutException te) { + } + } + if (monitor_batt == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosConvert.cc_battery_to_voltage(monitor_batt); + } + public AltosLink() { + callsign = ""; + has_error = false; } }