From: Keith Packard Date: Wed, 18 Jul 2012 04:04:23 +0000 (-0700) Subject: altoslib: Move idle monitor managing code to altoslib X-Git-Tag: 1.1~71^2~5 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=f6921c9040b1f1fc4408d163532b0695a3611195 altoslib: Move idle monitor managing code to altoslib More stuff to be shared (potentially) Signed-off-by: Keith Packard --- diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java new file mode 100644 index 00000000..cd518c28 --- /dev/null +++ b/altoslib/AltosIdleMonitor.java @@ -0,0 +1,445 @@ +/* + * Copyright © 2010 Keith Packard + * + * 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; version 2 of the License. + * + * 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.AltosLib; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.prefs.*; +import java.util.concurrent.*; + +class AltosSensorTM { + int tick; + int accel; + int pres; + int temp; + int batt; + int drogue; + int main; + + public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException { + link.printf("a\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("tick:")) + continue; + String[] items = line.split("\\s+"); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("accel:")) { + accel = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("pres:")) { + pres = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("temp:")) { + temp = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("drogue:")) { + drogue = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("main:")) { + main = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + break; + } + } +} + +class AltosSensorMM { + int tick; + int sense[]; + int v_batt; + int v_pyro; + int accel; + int accel_ref; + + public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException { + link.printf("a\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("tick:")) + continue; + String[] items = line.split("\\s+"); + sense = new int[6]; + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("0:")) { + sense[0] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("1:")) { + sense[1] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("2:")) { + sense[2] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("3:")) { + sense[3] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("4:")) { + sense[4] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("5:")) { + sense[5] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("6:")) { + v_batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("7:")) { + v_pyro = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("8:")) { + accel = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("9:")) { + accel_ref = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + for (int i = 0; i < sense.length; i++) + System.out.printf("sense[%d]: %d\n", i, sense[i]); + break; + } + } +} + +class AltosIMUQuery extends AltosIMU { + + public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException { + link.printf("I\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("Accel:")) + continue; + String[] items = line.split("\\s+"); + if (items.length >= 8) { + accel_x = Integer.parseInt(items[1]); + accel_y = Integer.parseInt(items[2]); + accel_z = Integer.parseInt(items[3]); + gyro_x = Integer.parseInt(items[5]); + gyro_y = Integer.parseInt(items[6]); + gyro_z = Integer.parseInt(items[7]); + } + break; + } + } +} + +class AltosMs5607Query extends AltosMs5607 { + public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException { + link.printf("v\nB\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + String[] items = line.split("\\s+"); + if (line.startsWith("Pressure:")) { + if (items.length >= 2) + raw_pres = Integer.parseInt(items[1]); + } else if (line.startsWith("Temperature:")) { + if (items.length >= 2) + raw_temp = Integer.parseInt(items[1]); + } else if (line.startsWith("ms5607 reserved:")) { + if (items.length >= 3) + reserved = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 sens:")) { + if (items.length >= 3) + sens = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 off:")) { + if (items.length >= 3) + off = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 tcs:")) { + if (items.length >= 3) + tcs = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 tco:")) { + if (items.length >= 3) + tco = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 tref:")) { + if (items.length >= 3) + tref = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 tempsens:")) { + if (items.length >= 3) + tempsens = Integer.parseInt(items[2]); + } else if (line.startsWith("ms5607 crc:")) { + if (items.length >= 3) + crc = Integer.parseInt(items[2]); + } else if (line.startsWith("Altitude")) + break; + } + convert(); + } +} + +class AltosGPSQuery extends AltosGPS { + public AltosGPSQuery (AltosLink link, AltosConfigData config_data) + throws TimeoutException, InterruptedException { + boolean says_done = config_data.compare_version("1.0") >= 0; + link.printf("g\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + String[] bits = line.split("\\s+"); + if (bits.length == 0) + continue; + if (line.startsWith("Date:")) { + if (bits.length < 2) + continue; + String[] d = bits[1].split(":"); + if (d.length < 3) + continue; + year = Integer.parseInt(d[0]) + 2000; + month = Integer.parseInt(d[1]); + day = Integer.parseInt(d[2]); + continue; + } + if (line.startsWith("Time:")) { + if (bits.length < 2) + continue; + String[] d = bits[1].split("/"); + if (d.length < 3) + continue; + hour = Integer.parseInt(d[0]); + minute = Integer.parseInt(d[1]); + second = Integer.parseInt(d[2]); + continue; + } + if (line.startsWith("Lat/Lon:")) { + if (bits.length < 3) + continue; + lat = Integer.parseInt(bits[1]) * 1.0e-7; + lon = Integer.parseInt(bits[2]) * 1.0e-7; + continue; + } + if (line.startsWith("Alt:")) { + if (bits.length < 2) + continue; + alt = Integer.parseInt(bits[1]); + continue; + } + if (line.startsWith("Flags:")) { + if (bits.length < 2) + continue; + int status = Integer.decode(bits[1]); + connected = (status & AltosLib.AO_GPS_RUNNING) != 0; + locked = (status & AltosLib.AO_GPS_VALID) != 0; + if (!says_done) + break; + continue; + } + if (line.startsWith("Sats:")) { + if (bits.length < 2) + continue; + nsat = Integer.parseInt(bits[1]); + cc_gps_sat = new AltosGPSSat[nsat]; + for (int i = 0; i < nsat; i++) { + int svid = Integer.parseInt(bits[2+i*2]); + int cc_n0 = Integer.parseInt(bits[3+i*2]); + cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0); + } + } + if (line.startsWith("done")) + break; + if (line.startsWith("Syntax error")) + break; + } + } +} + +public class AltosIdleMonitor extends Thread { + AltosLink link; + AltosIdleMonitorListener listener; + AltosState state; + boolean remote; + double frequency; + AltosState previous_state; + AltosConfigData config_data; + AltosGPS gps; + + int AltosRSSI() throws TimeoutException, InterruptedException { + link.printf("s\n"); + String line = link.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; + } + + void update_state() throws InterruptedException, TimeoutException { + AltosRecord record; + int rssi; + + try { + if (remote) { + link.set_radio_frequency(frequency); + link.start_remote(); + } else + link.flush_input(); + config_data = new AltosConfigData(link); + if (config_data.product.startsWith("TeleMetrum")) { + AltosRecordTM record_tm = new AltosRecordTM(); + AltosSensorTM sensor = new AltosSensorTM(link); + record_tm.accel = sensor.accel; + record_tm.pres = sensor.pres; + record_tm.batt = sensor.batt; + record_tm.temp = sensor.temp; + record_tm.drogue = sensor.drogue; + record_tm.main = sensor.main; + record_tm.ground_accel = record_tm.accel; + record_tm.ground_pres = record_tm.pres; + record_tm.accel_plus_g = config_data.accel_cal_plus; + record_tm.accel_minus_g = config_data.accel_cal_minus; + record_tm.tick = sensor.tick; + record = record_tm; + } else if (config_data.product.startsWith("MegaMetrum")) { + AltosRecordMM record_mm = new AltosRecordMM(); + AltosSensorMM sensor = new AltosSensorMM(link); + AltosMs5607 ms5607 = new AltosMs5607Query(link); + AltosIMU imu = new AltosIMUQuery(link); + + record_mm.accel_plus_g = config_data.accel_cal_plus; + record_mm.accel_minus_g = config_data.accel_cal_minus; + + record_mm.ground_accel = sensor.accel; + record_mm.accel = sensor.accel; + record_mm.ground_pres = ms5607.pa; + record_mm.pres = ms5607.pa; + record_mm.temp = ms5607.cc; + + record_mm.v_batt = sensor.v_batt; + record_mm.v_pyro = sensor.v_pyro; + record_mm.sense = sensor.sense; + + record_mm.imu = imu; + + record = record_mm; + } else + record = new AltosRecord(); + + gps = new AltosGPSQuery(link, config_data); + } finally { + if (remote) { + link.stop_remote(); + rssi = AltosRSSI(); + } else + rssi = 0; + } + + record.version = 0; + record.callsign = config_data.callsign; + record.serial = config_data.serial; + record.flight = config_data.log_available() > 0 ? 255 : 0; + record.rssi = rssi; + record.status = 0; + record.state = AltosLib.ao_flight_idle; + + record.gps = gps; + state = new AltosState (record, state); + } + + public void set_frequency(double in_frequency) { + frequency = in_frequency; + } + + public void post_state() { + listener.update(state); + } + + public void run() { + try { + for (;;) { + try { + update_state(); + post_state(); + } catch (TimeoutException te) { + } + Thread.sleep(1000); + } + } catch (InterruptedException ie) { + link.close(); + } + } + + public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote) + throws FileNotFoundException, InterruptedException, TimeoutException { + listener = in_listener; + link = in_link; + remote = in_remote; + state = null; + } +} diff --git a/altoslib/AltosIdleMonitorListener.java b/altoslib/AltosIdleMonitorListener.java new file mode 100644 index 00000000..3c18bfaa --- /dev/null +++ b/altoslib/AltosIdleMonitorListener.java @@ -0,0 +1,28 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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; version 2 of the License. + * + * 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.AltosLib; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.prefs.*; +import java.util.concurrent.*; + +public interface AltosIdleMonitorListener { + public void update(AltosState state); +} \ No newline at end of file diff --git a/altoslib/AltosIdleRecordTM.java b/altoslib/AltosIdleRecordTM.java new file mode 100644 index 00000000..112b847e --- /dev/null +++ b/altoslib/AltosIdleRecordTM.java @@ -0,0 +1,268 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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; version 2 of the License. + * + * 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.AltosLib; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.prefs.*; +import java.util.concurrent.*; + +class AltosADCTM { + int tick; + int accel; + int pres; + int temp; + int batt; + int drogue; + int main; + + public AltosADCTM(AltosLink link) throws InterruptedException, TimeoutException { + link.printf("a\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("tick:")) + continue; + String[] items = line.split("\\s+"); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("accel:")) { + accel = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("pres:")) { + pres = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("temp:")) { + temp = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("drogue:")) { + drogue = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("main:")) { + main = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + break; + } + } +} + +class AltosGPSQuery extends AltosGPS { + public AltosGPSQuery (AltosLink link, AltosConfigData config_data) + throws TimeoutException, InterruptedException { + boolean says_done = config_data.compare_version("1.0") >= 0; + link.printf("g\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + String[] bits = line.split("\\s+"); + if (bits.length == 0) + continue; + if (line.startsWith("Date:")) { + if (bits.length < 2) + continue; + String[] d = bits[1].split(":"); + if (d.length < 3) + continue; + year = Integer.parseInt(d[0]) + 2000; + month = Integer.parseInt(d[1]); + day = Integer.parseInt(d[2]); + continue; + } + if (line.startsWith("Time:")) { + if (bits.length < 2) + continue; + String[] d = bits[1].split("/"); + if (d.length < 3) + continue; + hour = Integer.parseInt(d[0]); + minute = Integer.parseInt(d[1]); + second = Integer.parseInt(d[2]); + continue; + } + if (line.startsWith("Lat/Lon:")) { + if (bits.length < 3) + continue; + lat = Integer.parseInt(bits[1]) * 1.0e-7; + lon = Integer.parseInt(bits[2]) * 1.0e-7; + continue; + } + if (line.startsWith("Alt:")) { + if (bits.length < 2) + continue; + alt = Integer.parseInt(bits[1]); + continue; + } + if (line.startsWith("Flags:")) { + if (bits.length < 2) + continue; + int status = Integer.decode(bits[1]); + connected = (status & AltosLib.AO_GPS_RUNNING) != 0; + locked = (status & AltosLib.AO_GPS_VALID) != 0; + if (!says_done) + break; + continue; + } + if (line.startsWith("Sats:")) { + if (bits.length < 2) + continue; + nsat = Integer.parseInt(bits[1]); + cc_gps_sat = new AltosGPSSat[nsat]; + for (int i = 0; i < nsat; i++) { + int svid = Integer.parseInt(bits[2+i*2]); + int cc_n0 = Integer.parseInt(bits[3+i*2]); + cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0); + } + } + if (line.startsWith("done")) + break; + if (line.startsWith("Syntax error")) + break; + } + } +} + +public class AltosIdleMonitor extends Thread { + AltosLink link; + AltosIdleMonitorListener listener; + AltosState state; + boolean remote; + double frequency; + AltosState previous_state; + AltosConfigData config_data; + AltosADC adc; + AltosGPS gps; + + int AltosRSSI() throws TimeoutException, InterruptedException { + link.printf("s\n"); + String line = link.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; + } + + void update_state() throws InterruptedException, TimeoutException { + AltosRecordTM record = new AltosRecordTM(); + int rssi; + + try { + if (remote) { + link.set_radio_frequency(frequency); + link.start_remote(); + } else + link.flush_input(); + config_data = new AltosConfigData(link); + adc = new AltosADC(link); + gps = new AltosGPSQuery(link, config_data); + } finally { + if (remote) { + link.stop_remote(); + rssi = AltosRSSI(); + } else + rssi = 0; + } + + record.version = 0; + record.callsign = config_data.callsign; + record.serial = config_data.serial; + record.flight = config_data.log_available() > 0 ? 255 : 0; + record.rssi = rssi; + record.status = 0; + record.state = AltosLib.ao_flight_idle; + + record.tick = adc.tick; + + record.accel = adc.accel; + record.pres = adc.pres; + record.batt = adc.batt; + record.temp = adc.temp; + record.drogue = adc.drogue; + record.main = adc.main; + + record.ground_accel = record.accel; + record.ground_pres = record.pres; + record.accel_plus_g = config_data.accel_cal_plus; + record.accel_minus_g = config_data.accel_cal_minus; + record.acceleration = 0; + record.speed = 0; + record.height = 0; + record.gps = gps; + state = new AltosState (record, state); + } + + public void set_frequency(double in_frequency) { + frequency = in_frequency; + } + + public void post_state() { + listener.update(state); + } + + public void run() { + try { + for (;;) { + try { + update_state(); + post_state(); + } catch (TimeoutException te) { + } + Thread.sleep(1000); + } + } catch (InterruptedException ie) { + link.close(); + } + } + + public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote) + throws FileNotFoundException, InterruptedException, TimeoutException { + listener = in_listener; + link = in_link; + remote = in_remote; + state = null; + } +} diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index ac97c9cb..a39623ee 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -27,6 +27,8 @@ AltosLib_JAVA = \ $(SRC)/AltosGPS.java \ $(SRC)/AltosGPSSat.java \ $(SRC)/AltosGreatCircle.java \ + $(SRC)/AltosIdleMonitor.java \ + $(SRC)/AltosIdleMonitorListener.java \ $(SRC)/AltosLine.java \ $(SRC)/AltosLink.java \ $(SRC)/AltosLog.java \ diff --git a/altosui/AltosIdleMonitorUI.java b/altosui/AltosIdleMonitorUI.java index ce608d2b..46ca3e5d 100644 --- a/altosui/AltosIdleMonitorUI.java +++ b/altosui/AltosIdleMonitorUI.java @@ -29,260 +29,7 @@ import java.util.prefs.*; import java.util.concurrent.*; import org.altusmetrum.AltosLib.*; -class AltosADC { - int tick; - int accel; - int pres; - int temp; - int batt; - int drogue; - int main; - - public AltosADC(AltosSerial serial) throws InterruptedException, TimeoutException { - serial.printf("a\n"); - for (;;) { - String line = serial.get_reply_no_dialog(5000); - if (line == null) { - throw new TimeoutException(); - } - if (!line.startsWith("tick:")) - continue; - String[] items = line.split("\\s+"); - for (int i = 0; i < items.length;) { - if (items[i].equals("tick:")) { - tick = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("accel:")) { - accel = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("pres:")) { - pres = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("temp:")) { - temp = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("batt:")) { - batt = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("drogue:")) { - drogue = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - if (items[i].equals("main:")) { - main = Integer.parseInt(items[i+1]); - i += 2; - continue; - } - i++; - } - break; - } - } -} - -class AltosGPSQuery extends AltosGPS { - public AltosGPSQuery (AltosSerial serial, AltosConfigData config_data) - throws TimeoutException, InterruptedException { - boolean says_done = config_data.compare_version("1.0") >= 0; - serial.printf("g\n"); - for (;;) { - String line = serial.get_reply_no_dialog(5000); - if (line == null) - throw new TimeoutException(); - String[] bits = line.split("\\s+"); - if (bits.length == 0) - continue; - if (line.startsWith("Date:")) { - if (bits.length < 2) - continue; - String[] d = bits[1].split(":"); - if (d.length < 3) - continue; - year = Integer.parseInt(d[0]) + 2000; - month = Integer.parseInt(d[1]); - day = Integer.parseInt(d[2]); - continue; - } - if (line.startsWith("Time:")) { - if (bits.length < 2) - continue; - String[] d = bits[1].split("/"); - if (d.length < 3) - continue; - hour = Integer.parseInt(d[0]); - minute = Integer.parseInt(d[1]); - second = Integer.parseInt(d[2]); - continue; - } - if (line.startsWith("Lat/Lon:")) { - if (bits.length < 3) - continue; - lat = Integer.parseInt(bits[1]) * 1.0e-7; - lon = Integer.parseInt(bits[2]) * 1.0e-7; - continue; - } - if (line.startsWith("Alt:")) { - if (bits.length < 2) - continue; - alt = Integer.parseInt(bits[1]); - continue; - } - if (line.startsWith("Flags:")) { - if (bits.length < 2) - continue; - int status = Integer.decode(bits[1]); - connected = (status & Altos.AO_GPS_RUNNING) != 0; - locked = (status & Altos.AO_GPS_VALID) != 0; - if (!says_done) - break; - continue; - } - if (line.startsWith("Sats:")) { - if (bits.length < 2) - continue; - nsat = Integer.parseInt(bits[1]); - cc_gps_sat = new AltosGPSSat[nsat]; - for (int i = 0; i < nsat; i++) { - int svid = Integer.parseInt(bits[2+i*2]); - int cc_n0 = Integer.parseInt(bits[3+i*2]); - cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0); - } - } - if (line.startsWith("done")) - break; - if (line.startsWith("Syntax error")) - break; - } - } -} - -class AltosIdleMonitor extends Thread { - AltosDevice device; - AltosSerial serial; - AltosIdleMonitorUI ui; - AltosState state; - boolean remote; - double frequency; - AltosState previous_state; - AltosConfigData config_data; - AltosADC adc; - AltosGPS gps; - - int AltosRSSI() throws TimeoutException, InterruptedException { - serial.printf("s\n"); - String line = serial.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; - } - - void update_state() throws InterruptedException, TimeoutException { - AltosRecordTM record = new AltosRecordTM(); - int rssi; - - try { - if (remote) { - serial.set_radio_frequency(frequency); - serial.start_remote(); - } else - serial.flush_input(); - config_data = new AltosConfigData(serial); - adc = new AltosADC(serial); - gps = new AltosGPSQuery(serial, config_data); - } finally { - if (remote) { - serial.stop_remote(); - rssi = AltosRSSI(); - } else - rssi = 0; - } - - record.version = 0; - record.callsign = config_data.callsign; - record.serial = config_data.serial; - record.flight = config_data.log_available() > 0 ? 255 : 0; - record.rssi = rssi; - record.status = 0; - record.state = Altos.ao_flight_idle; - - record.tick = adc.tick; - - record.accel = adc.accel; - record.pres = adc.pres; - record.batt = adc.batt; - record.temp = adc.temp; - record.drogue = adc.drogue; - record.main = adc.main; - - record.ground_accel = record.accel; - record.ground_pres = record.pres; - record.accel_plus_g = config_data.accel_cal_plus; - record.accel_minus_g = config_data.accel_cal_minus; - record.acceleration = 0; - record.speed = 0; - record.height = 0; - record.gps = gps; - state = new AltosState (record, state); - } - - void set_frequency(double in_frequency) { - frequency = in_frequency; - } - - public void post_state() { - Runnable r = new Runnable() { - public void run() { - ui.update(state); - } - }; - SwingUtilities.invokeLater(r); - } - - public void run() { - try { - for (;;) { - try { - update_state(); - post_state(); - } catch (TimeoutException te) { - if (AltosSerial.debug) - System.out.printf ("monitor idle data timeout\n"); - } - Thread.sleep(1000); - } - } catch (InterruptedException ie) { - serial.close(); - } - } - - public AltosIdleMonitor(AltosIdleMonitorUI in_ui, AltosDevice in_device, boolean in_remote) - throws FileNotFoundException, AltosSerialInUseException, InterruptedException, TimeoutException { - device = in_device; - ui = in_ui; - serial = new AltosSerial(device); - remote = in_remote; - state = null; - } -} - -public class AltosIdleMonitorUI extends AltosFrame implements AltosFlightDisplay, AltosFontListener { +public class AltosIdleMonitorUI extends AltosFrame implements AltosFlightDisplay, AltosFontListener, AltosIdleMonitorListener { AltosDevice device; JTabbedPane pane; AltosPad pad; @@ -333,8 +80,13 @@ public class AltosIdleMonitorUI extends AltosFrame implements AltosFlightDisplay } } - public void update(AltosState state) { - show (state, 0); + public void update(final AltosState state) { + Runnable r = new Runnable() { + public void run() { + show(state, 0); + } + }; + SwingUtilities.invokeLater(r); } Container bag; @@ -427,7 +179,7 @@ public class AltosIdleMonitorUI extends AltosFrame implements AltosFlightDisplay pack(); setVisible(true); - thread = new AltosIdleMonitor(this, device, remote); + thread = new AltosIdleMonitor((AltosIdleMonitorListener) this, (AltosLink) new AltosSerial (device), (boolean) remote); status_update = new AltosFlightStatusUpdate(flightStatus);