import java.text.*;
import java.io.*;
+import java.util.*;
import java.util.concurrent.*;
import android.os.Handler;
Handler handler;
AltosLink link;
- AltosState state = null;
LinkedBlockingQueue<AltosLine> telemQueue;
- public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
+ public AltosTelemetry read() throws ParseException, AltosCRCException, InterruptedException, IOException {
AltosLine l = telemQueue.take();
if (l.line == null)
throw new IOException("IO error");
AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
- if (state == null)
- state = new AltosState();
- else
- state = state.clone();
- telem.update_state(state);
- return state;
+ return telem;
}
public void close() {
- state = null;
link.remove_monitor(telemQueue);
link = null;
telemQueue.clear();
}
public void run() {
- AltosState state = null;
-
try {
AltosDebug.debug("starting loop");
while (telemQueue != null) {
try {
- state = read();
- handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
+ AltosTelemetry telem = read();
+ handler.obtainMessage(TelemetryService.MSG_TELEMETRY, telem).sendToTarget();
} catch (ParseException pp) {
AltosDebug.error("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage());
} catch (AltosCRCException ce) {
}
}
- public TelemetryReader (AltosLink in_link, Handler in_handler, AltosState in_state) {
+ public TelemetryReader (AltosLink in_link, Handler in_handler) {
AltosDebug.debug("connected TelemetryReader create started");
link = in_link;
handler = in_handler;
- state = in_state;
telemQueue = new LinkedBlockingQueue<AltosLine>();
link.add_monitor(telemQueue);
link.set_telemetry(AltosLib.ao_telemetry_standard);