package awa.imu;

import java.io.*;
import java.util.StringTokenizer;

import javax.comm.*;

/**
 * @author awa
 *
 */
public class RS232Reader extends Thread
{
    /** How long to wait for the open to finish up. */
    public static final int TIMEOUTSECONDS = 10;
    /** The baud rate to use. */
    public static final int BAUD = 115200;
 
    private DataInputStream is = null;
    /** The chosen Port Identifier */
    private CommPortIdentifier thePortID;
    /** The chosen Port itself */
    private CommPort thePort;
    
    private IMUControlPanel parent;
    private boolean stop = false;
    
    public RS232Reader(IMUControlPanel panel)
    {
        parent = panel;
    }
    
    public void run()
    {
        try {
            
            thePortID = CommPortIdentifier.getPortIdentifier("COM1");
            // Now actually open the port.
            // This form of openPort takes an Application Name and a timeout.
            System.out.print("Trying to open " + thePortID.getName() + "...");
            thePort = thePortID.open("DarwinSys DataComm", TIMEOUTSECONDS * 1000);
            SerialPort myPort = (SerialPort) thePort;
            // set up the serial port
            myPort.setSerialPortParams(BAUD, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);

            // Get the input stream
            is = new DataInputStream(thePort.getInputStream());
            System.out.println(" done.");
            
            String line;
            while (!stop && (line = is.readLine()) != null) {
                //System.out.println("read: " + line);
                StringTokenizer st = new StringTokenizer(line, ",");
                
                if (st.countTokens() == 8) {
                    
                    String sname = st.nextToken();
                    String time = st.nextToken();
                    String pitch = st.nextToken();
                    String roll = st.nextToken();
                    String yaw = st.nextToken();
                    String accy = st.nextToken();
                    String accx = st.nextToken();
                    String accz = st.nextToken();
                    
                    parent.setIMUValues(pitch, roll, yaw, accy, accx, accz);
                    
                }
            }
        } catch (IOException e) {
            System.out.println();
            System.err.println("Can't open input stream: write-only");
            is = null;
        } catch (Throwable t) {
            System.out.println();
            t.printStackTrace();
            //Ensure the application exits with an error condition.
        }
        
        System.out.println("closing " + thePortID.getName() + "...");
        thePort.close();
    }
    
    public void stopPlay()
    {
        stop = true;
    }
    
}