X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Faltosui%2FAltosSerial.java;h=5b47960f79a28f8d7e4bd92977147b6eaad30587;hp=e4cedde22b6d6b9c0deedc6c2a506a94f32d0516;hb=a16db143fc7ca72dc91e7989420049192114642d;hpb=447c121fc1ceb878e45718ad1364a5349965a59a diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java index e4cedde2..5b47960f 100644 --- a/ao-tools/altosui/AltosSerial.java +++ b/ao-tools/altosui/AltosSerial.java @@ -26,27 +26,34 @@ import java.io.*; import java.util.concurrent.LinkedBlockingQueue; import java.util.LinkedList; import java.util.Iterator; -import gnu.io.*; import altosui.AltosSerialMonitor; +import libaltosJNI.libaltos; +import libaltosJNI.altos_device; +import libaltosJNI.SWIGTYPE_p_altos_file; +import libaltosJNI.SWIGTYPE_p_altos_list; /* * This class reads from the serial port and places each received * line in a queue. Dealing with that queue is left up to other * threads. */ -class AltosSerialReader implements Runnable { - InputStream serial_in; - LinkedBlockingQueue monitor_queue; + +public class AltosSerial implements Runnable { + + SWIGTYPE_p_altos_file altos; + LinkedList> monitors; LinkedBlockingQueue reply_queue; Thread input_thread; String line; + byte[] line_bytes; + int line_count; public void run () { int c; try { for (;;) { - c = serial_in.read(); + c = libaltos.altos_getchar(altos, 0); if (Thread.interrupted()) break; if (c == -1) @@ -55,31 +62,64 @@ class AltosSerialReader implements Runnable { continue; synchronized(this) { if (c == '\n') { - if (line != "") { - if (line.startsWith("VERSION")) - monitor_queue.put(line); - else + if (line_count != 0) { + try { + line = new String(line_bytes, 0, line_count, "UTF-8"); + } catch (UnsupportedEncodingException ue) { + line = ""; + for (int i = 0; i < line_count; i++) + line = line + line_bytes[i]; + } + if (line.startsWith("VERSION")) { + for (int e = 0; e < monitors.size(); e++) { + LinkedBlockingQueue q = monitors.get(e); + q.put(line); + } + } else { +// System.out.printf("GOT: %s\n", line); reply_queue.put(line); + } + line_count = 0; line = ""; } } else { - line = line + (char) c; + 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 (IOException e) { } catch (InterruptedException e) { } } - public String get_telem() throws InterruptedException { - String s = monitor_queue.take(); - System.out.println(s); - return s; + public void flush_reply() { + libaltos.altos_flush(altos); + try { + Thread.sleep(100); + } catch (InterruptedException ie) { + } + reply_queue.clear(); } public String get_reply() throws InterruptedException { - return reply_queue.take(); + libaltos.altos_flush(altos); + String line = reply_queue.take(); + return line; + } + + public void add_monitor(LinkedBlockingQueue q) { + monitors.add(q); + } + + public void remove_monitor(LinkedBlockingQueue q) { + monitors.remove(q); } public void flush () { @@ -91,17 +131,12 @@ class AltosSerialReader implements Runnable { } public boolean opened() { - return serial_in != null; + return altos != null; } public void close() { - if (serial_in != null) { - try { - serial_in.close(); - } catch (IOException e) { - } - serial_in = null; - } + if (altos != null) + libaltos.altos_close(altos); if (input_thread != null) { try { input_thread.interrupt(); @@ -110,85 +145,57 @@ class AltosSerialReader implements Runnable { } input_thread = null; } - } - - 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 { - c.enableReceiveTimeout(1000); /* icky. the read method cannot be interrupted */ - } catch (UnsupportedCommOperationException ee) { + if (altos != null) { + libaltos.altos_free(altos); + altos = null; } - 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 (); - reply_queue = new LinkedBlockingQueue (); - } - -} - -public class AltosSerial { - OutputStream serial_out = null; - AltosSerialReader reader = null; - public String get_telem() throws InterruptedException { - return reader.get_telem(); + public void putc(char c) { + if (altos != null) + libaltos.altos_putchar(altos, c); } - CommPort comm_port = null; - - public void close() { - try { - serial_out.close(); - } catch (IOException ee) { - } - reader.close(); - if (comm_port != null) { - comm_port.close(); - } + public void print(String data) { +//h System.out.printf("\"%s\" ", data); + for (int i = 0; i < data.length(); i++) + putc(data.charAt(i)); } - public void open(File serial_name) throws FileNotFoundException { - reader.open(serial_name); - serial_out = new FileOutputStream(serial_name); + public void printf(String format, Object ... arguments) { + print(String.format(format, arguments)); } - public void open(CommPort c) throws IOException { - reader.open(c); - serial_out = c.getOutputStream(); + public void open(altos_device device) throws FileNotFoundException { + close(); + altos = libaltos.altos_open(device); + if (altos == null) + throw new FileNotFoundException(device.getPath()); + input_thread = new Thread(this); + input_thread.start(); + print("\nE 0\n"); + try { + Thread.sleep(200); + } catch (InterruptedException e) { + } + flush(); } - public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException { - comm_port = new RXTXPort(port_name); - open(comm_port); + public void set_channel(int channel) { + if (altos != null) + printf("m 0\nc r %d\nm 1\n", channel); } - void init() { - reader = new AltosSerialReader(); + public void set_callsign(String callsign) { + if (altos != null) + printf ("c c %s\n", callsign); } 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); + altos = null; + input_thread = null; + line = ""; + monitors = new LinkedList> (); + reply_queue = new LinkedBlockingQueue (); } }