* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_5;
import java.text.*;
import java.io.*;
public class AltosTelemetryReader extends AltosFlightReader {
AltosLink link;
AltosLog log;
- AltosRecord previous;
double frequency;
int telemetry;
+ int telemetry_rate;
+ AltosState state = null;
+ AltosFlightReader stacked;
LinkedBlockingQueue<AltosLine> telem;
- public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ if (stacked != null) {
+ state = stacked.read();
+ if (state != null)
+ return state;
+ stacked = null;
+ }
AltosLine l = telem.take();
if (l.line == null)
throw new IOException("IO error");
- AltosRecord next = AltosTelemetry.parse(l.line, previous);
- previous = next;
- return next;
+ AltosTelemetry telem = AltosTelemetry.parse(l.line);
+ if (state == null)
+ state = new AltosState();
+ else
+ state = state.clone();
+ telem.update_state(state);
+ return state;
}
public void flush() {
}
public void reset() {
- previous = null;
flush();
}
public void close(boolean interrupted) {
+
+ if (stacked != null) {
+ stacked.close(interrupted);
+ stacked = null;
+ }
+
link.remove_monitor(telem);
log.close();
- link.close();
+ try {
+ link.close();
+ } catch (InterruptedException ie) {
+ }
}
public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
else
return false;
} catch (InterruptedException ie) {
+ return false;
+ } catch (TimeoutException te) {
return true;
+ }
+ }
+
+ public boolean supports_telemetry_rate(int telemetry_rate) {
+ try {
+ /* Version 1.4.1.1 supports all rates, older versions don't */
+ if (link.config_data().compare_version("1.4.1.1") >= 0)
+ return true;
+
+ if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
+ return true;
+ else
+ return false;
+ } catch (InterruptedException ie) {
+ return false;
} catch (TimeoutException te) {
return true;
}
AltosPreferences.set_telemetry(link.serial, telemetry);
}
+ public void set_telemetry_rate(int in_telemetry_rate) {
+ telemetry_rate = in_telemetry_rate;
+ link.set_telemetry_rate(telemetry_rate);
+ }
+
+ public void save_telemetry_rate() {
+ AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
+ }
+
public void set_monitor(boolean monitor) {
link.set_monitor(monitor);
}
return link.has_monitor_battery();
}
- public double monitor_battery() {
+ public double monitor_battery() throws InterruptedException {
return link.monitor_battery();
}
- public AltosTelemetryReader (AltosLink in_link)
+ public AltosTelemetryReader (AltosLink in_link, AltosFlightReader in_stacked)
throws IOException, InterruptedException, TimeoutException {
link = in_link;
+ stacked = in_stacked;
+ boolean success = false;
try {
log = new AltosLog(link);
name = link.name;
- previous = null;
telem = new LinkedBlockingQueue<AltosLine>();
frequency = AltosPreferences.frequency(link.serial);
set_frequency(frequency);
telemetry = AltosPreferences.telemetry(link.serial);
set_telemetry(telemetry);
+ telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
+ set_telemetry_rate(telemetry_rate);
link.add_monitor(telem);
- } catch (TimeoutException e) {
- close(true);
- throw(e);
- } catch (InterruptedException e) {
- close(true);
- throw(e);
+ success = true;
+ } finally {
+ if (!success)
+ close(true);
}
}
+
+ private static AltosFlightReader existing_data(AltosLink link) {
+ if (link == null)
+ return null;
+
+ File file = AltosPreferences.logfile(link.serial);
+ if (file != null) {
+ AltosStateIterable iterable = AltosStateIterable.iterable(file);
+ if (iterable != null)
+ return new AltosReplayReader(iterable.iterator(), file, false);
+ }
+ return null;
+ }
+
+ public AltosTelemetryReader(AltosLink link)
+ throws IOException, InterruptedException, TimeoutException {
+ this(link, existing_data(link));
+ }
}