X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosLink.java;h=44202c0c80eb0b6ebe1a53d4d46cadd78d3b7a2d;hp=779c849606dfe22dfabe2e87b20d538a98ce38f5;hb=eaf2ee0f498b519d64e1664a2b8c66c52ac1497c;hpb=b5f6d4e5251a825395c93916afa3af659c678498

diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 779c8496..44202c0c 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -15,31 +16,41 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_13;
 
-import java.lang.*;
 import java.io.*;
 import java.util.concurrent.*;
 import java.util.*;
-import java.text.*;
 
-public abstract class AltosLink {
-	public abstract void print(String data);
-	public abstract void close();
+public abstract class AltosLink implements Runnable {
+
+	public final static int ERROR = -1;
+	public final static int TIMEOUT = -2;
+
+	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<String> pending_output = new LinkedList<String>();
 
 	public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
 	public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
+	public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
 
-	public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
+	private String match_string = null;
+
+	public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 		set_monitor(true);
 		monitors.add(q);
 	}
 
-	public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
+	public synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 		monitors.remove(q);
 		if (monitors.isEmpty())
 			set_monitor(false);
@@ -47,9 +58,16 @@ public abstract class AltosLink {
 
 	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 {
@@ -64,17 +82,24 @@ public abstract class AltosLink {
 		return get_reply(5000);
 	}
 
-		
+
 	public abstract boolean can_cancel_reply();
 	public abstract boolean show_reply_timeout();
 	public abstract void hide_reply_timeout();
 
 	public boolean	reply_abort;
 	public int	in_reply;
+	boolean	cancel_enable = true;
+
+	public void set_cancel_enable(boolean e) {
+		cancel_enable = e;
+	}
 
 	boolean		reply_timeout_shown = false;
 
 	private boolean check_reply_timeout() {
+		if (!cancel_enable)
+			return false;
 		if (!reply_timeout_shown)
 			reply_timeout_shown = show_reply_timeout();
 		return reply_abort;
@@ -87,16 +112,102 @@ public abstract class AltosLink {
 		}
 	}
 
+	private int	len_read = 0;
+
+	private boolean match_bytes(byte[] bytes, int byte_count, String match) {
+		if (byte_count < match.length())
+			return false;
+		String	line = new String(bytes, 0, byte_count, AltosLib.unicode_set);
+		if (line == null)
+			return false;
+		return line.indexOf(match) >= 0;
+	}
+
+	public void run () {
+		int c;
+		byte[] line_bytes = null;
+		int line_count = 0;
+
+		try {
+			for (;;) {
+				c = getchar();
+				if (Thread.interrupted()) {
+					break;
+				}
+				if (c == ERROR) {
+					if (debug)
+						System.out.printf("ERROR\n");
+					has_error = true;
+					add_telem (new AltosLine());
+					add_reply (new AltosLine());
+					break;
+				}
+				if (c == TIMEOUT) {
+					if (debug)
+						System.out.printf("TIMEOUT\n");
+					continue;
+				}
+				if (c == '\r' && len_read == 0)
+					continue;
+				synchronized(this) {
+					if (c == '\n' && len_read == 0) {
+						if (line_count != 0) {
+							add_bytes(line_bytes, line_count);
+							line_count = 0;
+						}
+					} else {
+						if (line_bytes == null) {
+							line_bytes = new byte[256];
+						} else if (line_count == line_bytes.length) {
+							byte[] new_line_bytes = new byte[line_count * 2];
+							System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
+							line_bytes = new_line_bytes;
+						}
+						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;
+						}
+						if (match_string != null && match_bytes(line_bytes, line_count, match_string)) {
+							match_string = null;
+							add_bytes(line_bytes, line_count);
+							line_count = 0;
+						}
+					}
+				}
+			}
+		} catch (InterruptedException e) {
+		}
+	}
+
+	public void set_match(String match) {
+		match_string = match;
+	}
 
 	public String get_reply(int timeout) throws InterruptedException {
 		boolean	can_cancel = can_cancel_reply();
 		String	reply = null;
 
-		if (!can_cancel && remote)
-			System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
+//		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;
 
@@ -122,6 +233,38 @@ public abstract class AltosLink {
 		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<AltosLine> q = monitors.get(e);
@@ -133,6 +276,14 @@ public abstract class AltosLink {
 		reply_queue.put (line);
 	}
 
+	public void abort_reply() {
+		try {
+			add_telem (new AltosLine());
+			add_reply (new AltosLine());
+		} catch (InterruptedException ie) {
+		}
+	}
+
 	public void add_string(String line) throws InterruptedException {
 		if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 			add_telem(new AltosLine(line));
@@ -143,22 +294,36 @@ public abstract class AltosLink {
 
 	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 {
@@ -174,9 +339,22 @@ public abstract class AltosLink {
 
 
 	public void flush_input() throws InterruptedException {
-		if (remote)
-			flush_input(500);
-		else
+		if (remote) {
+			int timeout = 500;
+			switch (telemetry_rate) {
+			case AltosLib.ao_telemetry_rate_38400:
+			default:
+				timeout = 500;
+				break;
+			case AltosLib.ao_telemetry_rate_9600:
+				timeout = 1000;
+				break;
+			case AltosLib.ao_telemetry_rate_2400:
+				timeout = 2000;
+				break;
+			}
+			flush_input(timeout);
+		} else
 			flush_input(100);
 	}
 
@@ -187,8 +365,13 @@ public abstract class AltosLink {
 	 */
 	public boolean monitor_mode = false;
 	public int telemetry = AltosLib.ao_telemetry_standard;
+	public int telemetry_rate = -1;
 	public double frequency;
-	AltosConfigData	config_data;
+	public String callsign;
+	private AltosConfigData	config_data_local;
+	private AltosConfigData config_data_remote;
+
+	private Object config_data_lock = new Object();
 
 	private int telemetry_len() {
 		return AltosLib.telemetry_len(telemetry);
@@ -212,7 +395,7 @@ public abstract class AltosLink {
 		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
@@ -221,10 +404,10 @@ public abstract class AltosLink {
 
 	public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 		frequency = in_frequency;
-		config_data();
+		AltosConfigData config_data = 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);
 	}
 
@@ -235,7 +418,16 @@ public abstract class AltosLink {
 		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());
@@ -244,6 +436,10 @@ public abstract class AltosLink {
 		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",
@@ -262,15 +458,60 @@ public abstract class AltosLink {
 		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) {
+			AltosConfigData	config_data;
+
+			if (remote) {
+				if (config_data_remote == null) {
+					printf("m 0\n");
+					config_data_remote = new AltosConfigData(this);
+					if (monitor_mode)
+						set_monitor(true);
+				}
+				config_data = config_data_remote;
+			} else {
+				if (config_data_local == null) {
+					printf("m 0\n");
+					config_data_local = new AltosConfigData(this);
+					if (monitor_mode)
+						set_monitor(true);
+				}
+				config_data = config_data_local;
+			}
+			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;
@@ -278,12 +519,17 @@ public abstract class AltosLink {
 	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;
@@ -301,6 +547,79 @@ public abstract class AltosLink {
 		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() {
+		try {
+			return config_data().has_monitor_battery();
+		} catch (InterruptedException ie) {
+			return false;
+		} catch (TimeoutException te) {
+			return false;
+		}
+	}
+
+	public double monitor_battery() throws InterruptedException {
+		double	volts = AltosLib.MISSING;
+
+		try {
+			AltosConfigData config_data = config_data();
+			int monitor_batt = AltosLib.MISSING;
+
+			if (config_data.has_monitor_battery()) {
+				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++;
+				}
+			}
+			if (monitor_batt != AltosLib.MISSING) {
+				if (config_data.product.startsWith("TeleBT-v3") || config_data.product.startsWith("TeleBT-v4")) {
+					volts = AltosConvert.tele_bt_3_battery(monitor_batt);
+				} else {
+					volts = AltosConvert.cc_battery_to_voltage(monitor_batt);
+				}
+			}
+
+		} catch (TimeoutException te) {
+		}
+		return volts;
+	}
+
 	public AltosLink() {
+		callsign = "";
+		has_error = false;
 	}
 }