diff options
Diffstat (limited to 'altoslib/AltosAccelCal.java')
| -rw-r--r-- | altoslib/AltosAccelCal.java | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/altoslib/AltosAccelCal.java b/altoslib/AltosAccelCal.java new file mode 100644 index 00000000..03d9fbf2 --- /dev/null +++ b/altoslib/AltosAccelCal.java @@ -0,0 +1,217 @@ +/* + * 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); + } +} |