altosui: Deal with telem data that goes backwards in time

[fw/altos] / altosui / AltosTelemetryIterable.java

diff --git a/altosui/AltosTelemetryIterable.java b/altosui/AltosTelemetryIterable.java
index 90a08485c8301611ebd7e66d8d751f20d423d66e..278cbfb75b9e2e28ebceff7aa5f0621f84c60cb2 100644 (file)
--- a/altosui/AltosTelemetryIterable.java
+++ b/altosui/AltosTelemetryIterable.java
@@ -22,7 +22,7 @@ import java.util.*;
 import java.text.*;
 
 public class AltosTelemetryIterable extends AltosRecordIterable {
-       LinkedList<AltosRecord> records;
+       TreeSet<AltosRecord>    records;
 
        public Iterator<AltosRecord> iterator () {
                return records.iterator();
@@ -41,7 +41,7 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
                int     boost_tick = 0;
 
                AltosRecord     previous = null;
-               records = new LinkedList<AltosRecord> ();
+               records = new TreeSet<AltosRecord> ();
 
                try {
                        for (;;) {
@@ -53,12 +53,11 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
                                        AltosRecord record = AltosTelemetry.parse(line, previous);
                                        if (record == null)
                                                break;
-                                       previous = record;
                                        if (records.isEmpty()) {
                                                current_tick = record.tick;
                                        } else {
-                                               int tick = record.tick | (current_tick & ~ 0xffff);
-                                               if (tick < current_tick - 0x1000)
+                                               int tick = record.tick;
+                                               while (tick < current_tick - 0x1000)
                                                        tick += 0x10000;
                                                current_tick = tick;
                                                record.tick = current_tick;
@@ -74,7 +73,9 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
                                                has_gps = true;
                                        if (record.main != AltosRecord.MISSING)
                                                has_ignite = true;
-                                       records.add(record);
+                                       if (previous != null && previous.tick != record.tick)
+                                               records.add(previous);
+                                       previous = record;
                                } catch (ParseException pe) {
                                        System.out.printf("parse exception %s\n", pe.getMessage());
                                } catch (AltosCRCException ce) {
@@ -84,6 +85,9 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
                        System.out.printf("io exception\n");
                }
 
+               if (previous != null)
+                       records.add(previous);
+
                /* adjust all tick counts to be relative to boost time */
                for (AltosRecord r : this)
                        r.time = (r.tick - boost_tick) / 100.0;