asciiwriter.java

UAV导航及控制,是老外编写的一个源代码开放程序

/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8:
	* $Id: ASCIIWriter.java,v 1.1 2002/07/14 04:31:52 dennisda Exp $
	*
	*  (c) Dennis D'Annunzio <[e-mail]>
	*
	*************
	*
	*  This file is part of the autopilot simulation package.
	*  http://autopilot.sf.net
	*
	*  Autopilot 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 2 of the License, or
	*  (at your option) any later version.
	*
	*  Autopilot 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 Autopilot; if not, write to the Free Software
	*  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
	*
	*/

package net.sf.autopilot.downlink.uav;

import java.net.ServerSocket;
import java.io.IOException;
import java.io.DataInputStream;
import java.io.PrintStream;
import java.net.Socket;
import java.io.ObjectOutputStream;
import java.io.BufferedOutputStream;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.DatagramPacket;

/* Generated by Together */

public class ASCIIWriter extends Thread {
        ServerSocket serverSocket;
        int threadNumber;
        TelemetryServer systemHandle;
        boolean active;
        PrintStream os;
        DatagramSocket dgSocket;
        InetAddress inetAddr;
        InetAddress group;

        // prob should use obj oriented techniques to implement socket types
        public TelemetryServer getSystemHandle() { return systemHandle; }

        ASCIIWriter(TelemetryServer systemHandle, ServerSocket s, int i) {
                super();
                serverSocket = s;
                threadNumber = i;
                this.systemHandle = systemHandle;
                setName("SH_TH:" + threadNumber);
                active = false;
        }

        public void run() {
                Socket clientSocket = null;
                while (true) {
                        try {
                                System.out.println(getName() + " waiting"); // debug output
                                clientSocket = null;
                                synchronized(serverSocket) {
                                        clientSocket = serverSocket.accept();
                                }
                                clientSocket.setSendBufferSize(512);
                                clientSocket.setTcpNoDelay(true);
                                active = true;
                                inetAddr = clientSocket.getInetAddress();
                                System.out.println(getName() + " starting, IP=" + inetAddr);
                                System.out.flush();
                                DataInputStream is = new DataInputStream(clientSocket.getInputStream());
                                os = null;
                                os = new PrintStream(clientSocket.getOutputStream(), true);
                                String line;
                                while ((line = is.readLine()) != null) {
                                        // do nothing on input yet
                                }
                                clientSocket.close();
                                os.close();
                                active = false;
                        } catch (IOException ex) {
                                System.out.println(getName() + ": IO Error on socket " + ex); // error output
                                try {
                                        clientSocket.close();
                                        os.close();
                                } catch (Exception ge) {
                                        System.out.println(getName() + ": Unable to close network resources");
                                }
                        } finally {
                                active = false;
                        }
                }
        }

        synchronized public void sendLine(String line) {
                try {
                        if (null == line) {
                                //
                        } else {
                                try {
                                        os.print(line + "\r\n");
                                        os.flush();
                                } catch (Exception e) {
                                        System.out.println("ERROR: sendLine() os.print(), " + e);
                                        System.out.flush();
                                }
                        }
                } catch (Exception e) {
                        System.out.println("ERROR: sendLine() main clause exception, " + e);
                        System.out.flush();
                }
        }

        public boolean isActive() { return active; }
}