diff options
| -rw-r--r-- | ao-tools/altosui/AltosSerial.java | 95 |
1 files changed, 29 insertions, 66 deletions
diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java index 305222dc..e4cedde2 100644 --- 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() { |