serial port read function cannot be interrupted. poll every 1 second

diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java
index 305222dc830f6664f4faca0aedb1ab3c18f8cabf..e4cedde22b6d6b9c0deedc6c2a506a94f32d0516 100644 (file)
--- a/ao-tools/altosui/AltosSerial.java
+++ b/ao-tools/altosui/AltosSerial.java
@@ -45,7 +45,12 @@ class AltosSerialReader implements Runnable {
                int c;
 
                try {
-                       while ((c = serial_in.read()) != -1) {
+                       for (;;) {
+                               c = serial_in.read();
+                               if (Thread.interrupted())
+                                       break;
+                               if (c == -1)
+                                       continue;
                                if (c == '\r')
                                        continue;
                                synchronized(this) {
@@ -68,7 +73,9 @@ class AltosSerialReader implements Runnable {
        }
 
        public String get_telem() throws InterruptedException {
-               return monitor_queue.take();
+               String s = monitor_queue.take();
+               System.out.println(s);
+               return s;
        }
 
        public String get_reply() throws InterruptedException {
@@ -97,6 +104,7 @@ class AltosSerialReader implements Runnable {
                }
                if (input_thread != null) {
                        try {
+                               input_thread.interrupt();
                                input_thread.join();
                        } catch (InterruptedException e) {
                        }
@@ -112,6 +120,10 @@ class AltosSerialReader implements Runnable {
        }
        public void open(CommPort c) throws IOException {
                close();
+               try {
+               c.enableReceiveTimeout(1000);   /* icky. the read method cannot be interrupted */
+               } catch (UnsupportedCommOperationException ee) {
+               }
                serial_in = c.getInputStream();
                input_thread = new Thread(this);
                input_thread.start();
@@ -126,69 +138,24 @@ class AltosSerialReader implements Runnable {
 
 }
 
-public class AltosSerial implements Runnable {
+public class AltosSerial {
        OutputStream serial_out = null;
-       Thread monitor_thread = null;
        AltosSerialReader reader = null;
-       LinkedList<AltosSerialMonitor> callbacks;
-
-       public void run() {
-               try {
-                       for (;;) {
-                               String s = reader.get_telem();
-                               synchronized(callbacks) {
-                                       Iterator<AltosSerialMonitor> i = callbacks.iterator();
-                                       while (i.hasNext()) {
-                                               i.next().data(s);
-                                       }
-                               }
-                       }
-               } catch (InterruptedException e) {
-               }
-       }
-
-       boolean need_monitor() {
-               return reader.opened() && !callbacks.isEmpty();
-       }
-
-       void maybe_stop_monitor() {
-               if (!need_monitor() && monitor_thread != null) {
-                       monitor_thread.interrupt();
-                       try {
-                               monitor_thread.join();
-                       } catch (InterruptedException e) {
-                       } finally {
-                               monitor_thread = null;
-                       }
-               }
-       }
-
-       void maybe_start_monitor() {
-               if (need_monitor() && monitor_thread == null) {
-                       monitor_thread = new Thread(this);
-                       monitor_thread.start();
-               }
-       }
 
-       public void monitor(AltosSerialMonitor monitor) {
-               synchronized(callbacks) {
-                       callbacks.add(monitor);
-                       maybe_start_monitor();
-               }
+       public String get_telem() throws InterruptedException {
+               return reader.get_telem();
        }
 
-
-       public void unmonitor(AltosSerialMonitor monitor) {
-               synchronized(callbacks) {
-                       callbacks.remove(monitor);
-                       maybe_stop_monitor();
-               }
-       }
+       CommPort comm_port = null;
 
        public void close() {
-               synchronized(callbacks) {
-                       reader.close();
-                       maybe_stop_monitor();
+               try {
+                       serial_out.close();
+               } catch (IOException ee) {
+               }
+               reader.close();
+               if (comm_port != null) {
+                       comm_port.close();
                }
        }
 
@@ -197,22 +164,18 @@ public class AltosSerial implements Runnable {
                serial_out = new FileOutputStream(serial_name);
        }
 
-       public void open(CommPort comm_port) throws IOException {
-               reader.open(comm_port);
-               serial_out = comm_port.getOutputStream();
+       public void open(CommPort c) throws IOException {
+               reader.open(c);
+               serial_out = c.getOutputStream();
        }
 
        public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
-               System.out.printf("Opening serial port %s\n", port_name);
-               CommPort comm_port = new RXTXPort(port_name);
-//             CommPortIdentifier port_identifier = CommPortIdentifier.getPortIdentifier(port_name);
-//             CommPort comm_port = port_identifier.open("Altos", 1000);
+               comm_port = new RXTXPort(port_name);
                open(comm_port);
        }
 
        void init() {
                reader = new AltosSerialReader();
-               callbacks = new LinkedList<AltosSerialMonitor>();
        }
 
        public AltosSerial() {