+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * 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, either version 3 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
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
+ */
+
+package org.altusmetrum.altoslib_12;
+
+import java.io.*;
+import java.util.concurrent.*;
+
+public class AltosAccelCal implements Runnable {
+
+ AltosLink link;
+ AltosAccelCalListener listener;
+
+ boolean remote;
+ boolean close_on_exit;
+ double frequency;
+ String callsign;
+
+ Thread accel_thread;
+
+ AltosConfigData config_data;
+
+ public static final int phase_antenna_up = 0;
+ public static final int phase_antenna_down = 1;
+
+ void start_link() throws InterruptedException, TimeoutException {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.set_callsign(callsign);
+ link.start_remote();
+ } else
+ link.flush_input();
+ }
+
+ boolean stop_link() throws InterruptedException, TimeoutException {
+ if (remote)
+ link.stop_remote();
+ return link.reply_abort;
+ }
+
+ public void set_frequency(double in_frequency) {
+ frequency = in_frequency;
+ link.abort_reply();
+ }
+
+ public void set_callsign(String in_callsign) {
+ callsign = in_callsign;
+ link.abort_reply();
+ }
+
+ public void abort() throws InterruptedException {
+ while (accel_thread.isAlive()) {
+ accel_thread.interrupt();
+ link.abort_reply();
+ Thread.sleep(100);
+ }
+ accel_thread.join();
+ }
+
+ static private final String press_msg = "press a key...";
+
+ private Semaphore ui_signal_semaphore;
+ private boolean ui_signal_reply;
+
+ public void signal(boolean reply) {
+ System.out.printf("Signal cal semaphore %b\n", reply);
+ ui_signal_reply = reply;
+ ui_signal_semaphore.release();
+ }
+
+ private boolean wait_signal() throws InterruptedException {
+ System.out.printf("\twait for cal signal...\n");
+ ui_signal_semaphore.acquire();
+ System.out.printf("\tgot cal signal %b\n", ui_signal_reply);
+ return ui_signal_reply;
+ }
+
+ private boolean wait_press(int timeout) throws InterruptedException {
+ for (;;) {
+ String line = link.get_reply(timeout);
+ if (line == null) {
+ System.out.printf("get_reply timeout\n");
+ return false;
+ }
+ System.out.printf("got line %s\n", line);
+ if (line.contains(press_msg))
+ return true;
+ if (line.contains("Invalid"))
+ return false;
+ if (line.contains("Syntax"))
+ return false;
+ if (line.contains("Calibrating"))
+ listener.message(this, line);
+ }
+ }
+
+ static final int cal_timeout = 20 * 1000;
+
+ public void run() {
+ System.out.printf("start accel cal procedure\n");
+ try {
+ AltosConfigData new_config = null;
+
+ try {
+ start_link();
+ config_data = link.config_data();
+
+ /* set back to antenna up for calibration */
+ if (config_data.pad_orientation != 0)
+ link.printf("c o 0\n");
+
+ /* Start calibration */
+ try {
+ System.out.printf("*** start cal\n");
+ link.set_match(press_msg);
+ link.printf("c a 0\n");
+ System.out.printf("*** wait press\n");
+ if (!wait_press(cal_timeout))
+ throw new TimeoutException("timeout");
+ System.out.printf("*** set_phase antenna_up\n");
+ listener.set_phase(this, phase_antenna_up);
+ System.out.printf("*** wait_signal\n");
+ if (!wait_signal())
+ throw new InterruptedException("aborted");
+ link.set_match(press_msg);
+ System.out.printf("*** send newline\n");
+ link.printf("\n");
+ System.out.printf("*** wait press\n");
+ if (!wait_press(cal_timeout))
+ throw new TimeoutException("timeout");
+ System.out.printf("***set_phase antenna_down\n");
+ listener.set_phase(this, phase_antenna_down);
+ System.out.printf("*** wait_signal\n");
+ if (!wait_signal())
+ throw new InterruptedException("aborted");
+ System.out.printf("*** send newline and version command\n");
+ link.printf("\nv\n");
+ } catch (TimeoutException e) {
+ throw e;
+ } catch (InterruptedException e) {
+ throw e;
+ }
+ link.set_match(null);
+
+ boolean worked = true;
+ for (;;) {
+ String line = link.get_reply(cal_timeout);
+ if (line == null)
+ throw new TimeoutException();
+ System.out.printf("*** waiting for finish: %s\n", line);
+ if (line.contains("Invalid"))
+ worked = false;
+ if (line.contains("software-version"))
+ break;
+ if (line.contains("Calibrating"))
+ listener.message(this, line);
+ }
+ System.out.printf("*** worked: %b\n", worked);
+ if (worked)
+ new_config = new AltosConfigData(link);
+ } finally {
+ System.out.printf("Restore orientation %d +g %d -g %d\n",
+ config_data.pad_orientation,
+ config_data.accel_cal_plus,
+ config_data.accel_cal_minus);
+ if (config_data.pad_orientation != AltosLib.MISSING && config_data.pad_orientation != 0)
+ link.printf("c o %d\n", config_data.pad_orientation);
+ if (config_data.accel_cal_plus != AltosLib.MISSING && config_data.accel_cal_minus != AltosLib.MISSING)
+ link.printf("c a %d %d\n",
+ config_data.accel_cal_plus, config_data.accel_cal_minus);
+ stop_link();
+ }
+ if (new_config != null) {
+ System.out.printf("*** +1g %d -1g %d\n",
+ new_config.accel_cal_plus,
+ new_config.accel_cal_minus);
+ listener.cal_done(this, new_config.accel_cal_plus, new_config.accel_cal_minus);
+ if (!wait_signal())
+ throw new InterruptedException("aborted");
+ } else
+ listener.error(this, "Calibration failed");
+ } catch (TimeoutException te) {
+ System.out.printf("timeout");
+ listener.error(this, "timeout");
+ } catch (InterruptedException ie) {
+ System.out.printf("interrupted\n");
+ listener.error(this, "interrupted");
+ }
+ }
+
+ public void start() {
+ accel_thread = new Thread(this);
+ listener.set_thread(this, accel_thread);
+ accel_thread.start();
+ }
+
+ public AltosAccelCal(AltosLink link, AltosAccelCalListener listener) {
+ this.link = link;
+ this.listener = listener;
+ ui_signal_semaphore = new Semaphore(0);
+ }
+}
projects / fw / altos / commitdiff