* line in a queue. Dealing with that queue is left up to other
* threads.
*/
-class AltosSerialReader implements Runnable {
+
+public class AltosSerial implements Runnable {
+
SWIGTYPE_p_altos_file altos;
LinkedList<LinkedBlockingQueue<String>> monitors;
LinkedBlockingQueue<String> reply_queue;
}
}
- public void open(altos_device device) throws FileNotFoundException {
- close();
- altos = libaltos.altos_open(device);
- input_thread = new Thread(this);
- input_thread.start();
- }
- public AltosSerialReader () {
- altos = null;
- input_thread = null;
- line = "";
- monitors = new LinkedList<LinkedBlockingQueue<String>> ();
- reply_queue = new LinkedBlockingQueue<String> ();
- }
-}
-
-public class AltosSerial {
- AltosSerialReader reader = null;
-
- public void close() {
- reader.close();
+ public void putc(char c) {
+ if (altos != null)
+ libaltos.altos_putchar(altos, c);
}
- public void open(altos_device device) throws FileNotFoundException {
- reader.open(device);
+ public void print(String data) {
+ for (int i = 0; i < data.length(); i++)
+ putc(data.charAt(i));
}
- void init() {
- reader = new AltosSerialReader();
+ public void printf(String format, Object ... arguments) {
+ print(String.format(format, arguments));
}
- public void add_monitor(LinkedBlockingQueue<String> q) {
- reader.add_monitor(q);
+ 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\nm 1\n");
+ try {
+ Thread.sleep(200);
+ } catch (InterruptedException e) {
+ }
+ flush();
}
- public void remove_monitor(LinkedBlockingQueue<String> q) {
- reader.remove_monitor(q);
+ public void set_channel(int channel) {
+ if (altos != null)
+ printf("m 0\nc r %d\nm 1\n", channel);
}
public AltosSerial() {
- init();
- }
-
- public AltosSerial(altos_device device) throws FileNotFoundException {
- init();
- open(device);
+ altos = null;
+ input_thread = null;
+ line = "";
+ monitors = new LinkedList<LinkedBlockingQueue<String>> ();
+ reply_queue = new LinkedBlockingQueue<String> ();
}
}
System.exit(0);
}
});
+ voice.speak("Rocket flight monitor ready.");
}
public void info_reset() {
flightInfoModel[col].addRow(name, value);
}
- public void info_add_row(int col, String name, String format, Object value) {
- flightInfoModel[col].addRow(name, String.format(format, value));
- }
-
- public void info_add_row(int col, String name, String format, Object v1, Object v2) {
- flightInfoModel[col].addRow(name, String.format(format, v1, v2));
- }
-
- public void info_add_row(int col, String name, String format, Object v1, Object v2, Object v3) {
- flightInfoModel[col].addRow(name, String.format(format, v1, v2, v3));
+ public void info_add_row(int col, String name, String format, Object... parameters) {
+ flightInfoModel[col].addRow(name, String.format(format, parameters));
}
public void info_add_deg(int col, String name, double v, int pos, int neg) {
class IdleThread extends Thread {
private AltosState state;
+ int reported_landing;
+
+ public void report(boolean last) {
+ if (state == null)
+ return;
+
+ /* reset the landing count once we hear about a new flight */
+ if (state.state < AltosTelemetry.ao_flight_drogue)
+ reported_landing = 0;
+
+ /* Shut up once the rocket is on the ground */
+ if (reported_landing > 2) {
+ return;
+ }
+
+ /* If the rocket isn't on the pad, then report height */
+ if (state.state > AltosTelemetry.ao_flight_pad) {
+ voice.speak("%d meters", (int) (state.height + 0.5));
+ } else {
+ reported_landing = 0;
+ }
+
+ /* If the rocket is coming down, check to see if it has landed;
+ * either we've got a landed report or we haven't heard from it in
+ * a long time
+ */
+ if (!state.ascent &&
+ (last ||
+ System.currentTimeMillis() - state.report_time >= 15000 ||
+ state.state == AltosTelemetry.ao_flight_landed))
+ {
+ if (Math.abs(state.baro_speed) < 20 && state.height < 100)
+ voice.speak("rocket landed safely");
+ else
+ voice.speak("rocket may have crashed");
+ if (state.gps != null)
+ voice.speak("bearing %d degrees, range %d meters",
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.from_pad.distance + 0.5));
+ ++reported_landing;
+ }
+ }
public void run () {
- int reported_landing = 0;
+ reported_landing = 0;
state = null;
try {
for (;;) {
Thread.sleep(10000);
- if (state == null)
- continue;
-
- /* reset the landing count once we hear about a new flight */
- if (state.state < AltosTelemetry.ao_flight_drogue)
- reported_landing = 0;
-
- /* Shut up once the rocket is on the ground */
- if (reported_landing > 2)
- continue;
-
- /* If the rocket isn't on the pad, then report height */
- if (state.state > AltosTelemetry.ao_flight_pad) {
- voice.speak(String.format("%d meters", (int) (state.height + 0.5)));
- }
-
- /* If the rocket is coming down, check to see if it has landed;
- * either we've got a landed report or we haven't heard from it in
- * a long time
- */
- if (!state.ascent &&
- (System.currentTimeMillis() - state.report_time > 10000 ||
- state.state == AltosTelemetry.ao_flight_landed))
- {
- if (Math.abs(state.baro_speed) < 20 && state.height < 100)
- voice.speak("rocket landed safely");
- else
- voice.speak("rocket may have crashed");
- if (state.gps != null)
- voice.speak(String.format("bearing %d degrees, range %d meters",
- (int) (state.from_pad.bearing + 0.5),
- (int) (state.from_pad.distance + 0.5)));
- ++reported_landing;
- }
+ report(false);
}
} catch (InterruptedException ie) {
}
private void tell(AltosState state, AltosState old_state) {
if (old_state == null || old_state.state != state.state) {
voice.speak(state.data.state);
- switch (state.state) {
- case AltosTelemetry.ao_flight_fast:
- voice.speak(String.format("max speed %d meters per second",
- (int) (state.max_speed + 0.5)));
- break;
- case AltosTelemetry.ao_flight_drogue:
- voice.speak(String.format("max height %d meters",
- (int) (state.max_height + 0.5)));
- break;
+ if ((old_state == null || old_state.state <= AltosTelemetry.ao_flight_boost) &&
+ state.state > AltosTelemetry.ao_flight_boost) {
+ voice.speak("max speed: %d meters per second.",
+ (int) (state.max_speed + 0.5));
+ } else if ((old_state == null || old_state.state < AltosTelemetry.ao_flight_drogue) &&
+ state.state >= AltosTelemetry.ao_flight_drogue) {
+ voice.speak("max height: %d meters.",
+ (int) (state.max_height + 0.5));
}
}
old_state = state;
}
class DisplayThread extends Thread {
+ IdleThread idle_thread;
+
String read() throws InterruptedException { return null; }
void close() { }
String line;
AltosState state = null;
AltosState old_state = null;
- IdleThread idle_thread = new IdleThread();
+
+ idle_thread = new IdleThread();
info_reset();
info_finish();
idle_thread.interrupt();
}
}
+
+ public void report() {
+ if (idle_thread != null)
+ idle_thread.report(true);
+ }
}
class DeviceThread extends DisplayThread {
void close() {
serial.close();
serial.remove_monitor(telem);
- System.out.println("DisplayThread done");
}
public DeviceThread(AltosSerial s) {
try {
serial_line.open(device);
DeviceThread thread = new DeviceThread(serial_line);
+ serial_line.set_channel(AltosPreferences.channel());
run_display(thread);
} catch (FileNotFoundException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
- device.getPath(),
- "Cannot open serial port",
+ String.format("Cannot open device \"%s\"",
+ device.getPath()),
+ "Cannot open target device",
JOptionPane.ERROR_MESSAGE);
} catch (IOException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
while ((c = s.read()) != -1) {
if (c == '\r')
continue;
- if (c == '\n')
+ if (c == '\n') {
return line;
+ }
line = line + (char) c;
}
return null;
replay.close();
} catch (IOException ee) {
}
+ report();
}
void update(AltosState state) throws InterruptedException {
/* Make it run in realtime after the rocket leaves the pad */
if (state.state > AltosTelemetry.ao_flight_pad)
- Thread.sleep((int) (state.time_change * 1000));
+ Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
}
}
} catch (FileNotFoundException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
filename,
- "Cannot open serial port",
+ "Cannot open telemetry file",
JOptionPane.ERROR_MESSAGE);
}
}
menu.setMnemonic(KeyEvent.VK_V);
menubar.add(menu);
- radioitem = new JRadioButtonMenuItem("Enable Voice");
+ radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
radioitem.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
+ JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
+ boolean enabled = item.isSelected();
+ AltosPreferences.set_voice(enabled);
+ if (enabled)
+ voice.speak_always("Enable voice.");
+ else
+ voice.speak_always("Disable voice.");
}
});
menu.add(radioitem);
+ item = new JMenuItem("Test Voice",KeyEvent.VK_T);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ voice.speak("That's one small step for man; one giant leap for mankind.");
+ }
+ });
+ menu.add(item);
}
// Channel menu
for (int c = 0; c <= 9; c++) {
radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
434.550 + c * 0.1),
- c == 0);
+ c == AltosPreferences.channel());
radioitem.setActionCommand(String.format("%d", c));
radioitem.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
- System.out.println("Command: " + e.getActionCommand() + " param: " +
- e.paramString());
+ int new_channel = Integer.parseInt(e.getActionCommand());
+ AltosPreferences.set_channel(new_channel);
+ serial_line.set_channel(new_channel);
}
});
menu.add(radioitem);
projects / fw / altos / commitdiff