X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosLink.java;h=4823a986011c1ec80f443bfc16c6cc0e24458ce3;hp=9b80e9166f473241855eaa28cbf56e0d373f4089;hb=1e52d34137626ca756ea01f317ef7c359e464a5b;hpb=69e6df07976a56b49e07c242cd6e5b2cbd2a578d diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 9b80e916..4823a986 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -15,31 +15,37 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.AltosLib; +package org.altusmetrum.altoslib_2; -import java.lang.*; import java.io.*; import java.util.concurrent.*; import java.util.*; -import java.text.*; -public abstract class AltosLink { +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 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 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); @@ -60,16 +66,117 @@ public abstract class AltosLink { return null; } - public String get_reply(int timeout) throws InterruptedException { + public String get_reply() throws InterruptedException { + 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 reply_timeout_shown = false; + + private boolean check_reply_timeout() { + if (!reply_timeout_shown) + reply_timeout_shown = show_reply_timeout(); + return reply_abort; + } + + private void cleanup_reply_timeout() { + if (reply_timeout_shown) { + reply_timeout_shown = false; + hide_reply_timeout(); + } + } + + + public void run () { + int c; + byte[] line_bytes = null; + int line_count = 0; + try { - return get_reply_no_dialog(timeout); - } catch (TimeoutException te) { - return null; + 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; + } + if (c == TIMEOUT) { + if (debug) + System.out.printf("TIMEOUT\n"); + continue; + } + if (c == '\r') + continue; + synchronized(this) { + if (c == '\n') { + 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++; + } + } + } + } catch (InterruptedException e) { } } - public String get_reply() throws InterruptedException { - return get_reply(5000); + 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 (remote && can_cancel) + timeout = 500; + try { + ++in_reply; + + flush_output(); + + reply_abort = false; + reply_timeout_shown = false; + for (;;) { + AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS); + if (line != null) { + cleanup_reply_timeout(); + reply = line.line; + break; + } + if (!remote || !can_cancel || check_reply_timeout()) { + reply = null; + break; + } + } + } finally { + --in_reply; + } + return reply; } public void add_telem(AltosLine line) throws InterruptedException { @@ -83,6 +190,14 @@ public abstract class AltosLink { reply_queue.put (line); } + public void abort_reply() { + try { + add_telem (new AltosLine()); + add_reply (new AltosLine()); + } catch (InterruptedException e) { + } + } + public void add_string(String line) throws InterruptedException { if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) { add_telem(new AltosLine(line)); @@ -124,7 +239,10 @@ public abstract class AltosLink { public void flush_input() throws InterruptedException { - flush_input(100); + if (remote) + flush_input(500); + else + flush_input(100); } @@ -135,12 +253,49 @@ public abstract class AltosLink { public boolean monitor_mode = false; public int telemetry = AltosLib.ao_telemetry_standard; 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); } + private void set_radio_freq(int frequency) { + if (monitor_mode) + printf("m 0\nc F %d\nm %x\n", + frequency, telemetry_len()); + else + printf("c F %d\n", frequency); + flush_output(); + } + + public void set_radio_frequency(double frequency, + boolean has_frequency, + boolean has_setting, + int cal) { + if (debug) + System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal); + if (frequency == 0) + return; + if (has_frequency) + set_radio_freq((int) Math.floor (frequency * 1000)); + else if (has_setting) + set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal)); + else + set_channel(AltosConvert.radio_frequency_to_channel(frequency)); + } + + public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException { + frequency = in_frequency; + config_data(); + set_radio_frequency(frequency, + config_data.radio_frequency > 0, + config_data.radio_setting > 0, + config_data.radio_calibration); + } + public void set_telemetry(int in_telemetry) { telemetry = in_telemetry; if (monitor_mode) @@ -175,32 +330,16 @@ public abstract class AltosLink { flush_output(); } - public void set_radio_frequency(double frequency, - boolean has_setting, - int cal) { - if (debug) - System.out.printf("set_radio_frequency %7.3f %b %d\n", frequency, has_setting, cal); - if (has_setting) - set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal)); - else - set_channel(AltosConvert.radio_frequency_to_channel(frequency)); - } - public AltosConfigData config_data() throws InterruptedException, TimeoutException { - if (config_data == null) - config_data = new AltosConfigData(this); - return config_data; - } - - public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException { - frequency = in_frequency; - config_data(); - set_radio_frequency(frequency, - config_data.radio_setting != 0, - config_data.radio_calibration); + synchronized(config_data_lock) { + if (config_data == null) + config_data = new AltosConfigData(this); + return config_data; + } } public void set_callsign(String callsign) { + this.callsign = callsign; printf ("c c %s\n", callsign); flush_output(); } @@ -210,10 +349,10 @@ 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()); printf("p\nE 0\n"); @@ -233,6 +372,65 @@ 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() { + return config_data.has_monitor_battery(); + } + + public double monitor_battery() { + 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 (InterruptedException ie) { + } 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; } }