diff options
Diffstat (limited to 'altoslib/AltosLink.java')
| -rw-r--r-- | altoslib/AltosLink.java | 130 |
1 files changed, 110 insertions, 20 deletions
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 159ebfe1..ee1f9785 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.concurrent.*; @@ -26,23 +26,28 @@ public abstract class AltosLink implements Runnable { public final static int ERROR = -1; public final static int TIMEOUT = -2; - public abstract int getchar(); - public abstract void print(String data); - public abstract void close(); + public abstract int getchar() throws InterruptedException; + public abstract void print(String data) throws InterruptedException; + public abstract void putchar(byte c); + public abstract void close() throws InterruptedException; public static boolean debug = false; public static void set_debug(boolean in_debug) { debug = in_debug; } + + public boolean has_error; + LinkedList<String> pending_output = new LinkedList<String>(); public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();; public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>(); + public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>(); - public void add_monitor(LinkedBlockingQueue<AltosLine> q) { + public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) { set_monitor(true); monitors.add(q); } - public void remove_monitor(LinkedBlockingQueue<AltosLine> q) { + public synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) { monitors.remove(q); if (monitors.isEmpty()) set_monitor(false); @@ -52,7 +57,11 @@ public abstract class AltosLink implements Runnable { String line = String.format(format, arguments); if (debug) pending_output.add(line); - print(line); + try { + print(line); + } catch (InterruptedException ie) { + + } } public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException { @@ -90,6 +99,7 @@ public abstract class AltosLink implements Runnable { } } + private int len_read = 0; public void run () { int c; @@ -100,13 +110,12 @@ public abstract class AltosLink implements Runnable { for (;;) { c = getchar(); if (Thread.interrupted()) { - if (debug) - System.out.printf("INTERRUPTED\n"); break; } if (c == ERROR) { if (debug) System.out.printf("ERROR\n"); + has_error = true; add_telem (new AltosLine()); add_reply (new AltosLine()); break; @@ -116,10 +125,10 @@ public abstract class AltosLink implements Runnable { System.out.printf("TIMEOUT\n"); continue; } - if (c == '\r') + if (c == '\r' && len_read == 0) continue; synchronized(this) { - if (c == '\n') { + if (c == '\n' && len_read == 0) { if (line_count != 0) { add_bytes(line_bytes, line_count); line_count = 0; @@ -134,6 +143,11 @@ public abstract class AltosLink implements Runnable { } line_bytes[line_count] = (byte) c; line_count++; + if (len_read !=0 && line_count == len_read) { + add_binary(line_bytes, line_count); + line_count = 0; + len_read = 0; + } } } } @@ -141,6 +155,7 @@ public abstract class AltosLink implements Runnable { } } + public String get_reply(int timeout) throws InterruptedException { boolean can_cancel = can_cancel_reply(); String reply = null; @@ -175,6 +190,38 @@ public abstract class AltosLink implements Runnable { return reply; } + public byte[] get_binary_reply(int timeout, int len) throws InterruptedException { + boolean can_cancel = can_cancel_reply(); + byte[] bytes = null; + + synchronized(this) { + len_read = len; + } + try { + ++in_reply; + + flush_output(); + + reply_abort = false; + reply_timeout_shown = false; + for (;;) { + bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS); + if (bytes != null) { + cleanup_reply_timeout(); + break; + } + if (!remote || !can_cancel || check_reply_timeout()) { + bytes = null; + break; + } + } + + } finally { + --in_reply; + } + return bytes; + } + public void add_telem(AltosLine line) throws InterruptedException { for (int e = 0; e < monitors.size(); e++) { LinkedBlockingQueue<AltosLine> q = monitors.get(e); @@ -190,7 +237,7 @@ public abstract class AltosLink implements Runnable { try { add_telem (new AltosLine()); add_reply (new AltosLine()); - } catch (InterruptedException e) { + } catch (InterruptedException ie) { } } @@ -216,6 +263,22 @@ public abstract class AltosLink implements Runnable { add_string(line); } + public void add_binary(byte[] bytes, int len) throws InterruptedException { + byte[] dup = new byte[len]; + + if (debug) + System.out.printf ("\t\t\t\t\t%d:", len); + for(int i = 0; i < len; i++) { + dup[i] = bytes[i]; + if (debug) + System.out.printf(" %02x", dup[i]); + } + if (debug) + System.out.printf("\n"); + + binary_queue.put(dup); + } + public void flush_output() { for (String s : pending_output) System.out.print(s); @@ -252,6 +315,8 @@ public abstract class AltosLink implements Runnable { public String callsign; AltosConfigData config_data; + private Object config_data_lock = new Object(); + private int telemetry_len() { return AltosLib.telemetry_len(telemetry); } @@ -325,9 +390,11 @@ public abstract class AltosLink implements Runnable { } public AltosConfigData config_data() throws InterruptedException, TimeoutException { - if (config_data == null) - config_data = new AltosConfigData(this); - return config_data; + synchronized(config_data_lock) { + if (config_data == null) + config_data = new AltosConfigData(this); + return config_data; + } } public void set_callsign(String callsign) { @@ -336,6 +403,29 @@ public abstract class AltosLink implements Runnable { flush_output(); } + public boolean is_loader() throws InterruptedException { + boolean ret = false; + printf("v\n"); + for (;;) { + String line = get_reply(); + + if (line == null) + return false; + if (line.startsWith("software-version")) + break; + if (line.startsWith("altos-loader")) + ret = true; + } + return ret; + } + + public void to_loader() throws InterruptedException { + printf("X\n"); + flush_output(); + close(); + Thread.sleep(1000); + } + public boolean remote; public int serial; public String name; @@ -398,8 +488,8 @@ public abstract class AltosLink implements Runnable { return config_data.has_monitor_battery(); } - public double monitor_battery() { - int monitor_batt = AltosRecord.MISSING; + public double monitor_battery() throws InterruptedException { + int monitor_batt = AltosLib.MISSING; if (config_data.has_monitor_battery()) { try { @@ -412,16 +502,16 @@ public abstract class AltosLink implements Runnable { } i++; } - } catch (InterruptedException ie) { } catch (TimeoutException te) { } } - if (monitor_batt == AltosRecord.MISSING) - return AltosRecord.MISSING; + if (monitor_batt == AltosLib.MISSING) + return AltosLib.MISSING; return AltosConvert.cc_battery_to_voltage(monitor_batt); } public AltosLink() { callsign = ""; + has_error = false; } } |