boolean monitor_mode;
int telemetry;
double frequency;
- static boolean debug;
+ public static boolean debug;
boolean remote;
LinkedList<String> pending_output = new LinkedList<String>();
Frame frame;
return abort;
}
- public void flush_input() {
+ public void flush_input() throws InterruptedException {
flush_output();
boolean got_some;
if (remote)
timeout = 500;
do {
- try {
- Thread.sleep(timeout);
- } catch (InterruptedException ie) {
- }
+ Thread.sleep(timeout);
got_some = !reply_queue.isEmpty();
synchronized(this) {
if (!"VERSION".startsWith(line) &&
}
public void close() {
- if (remote)
- stop_remote();
+ if (remote) {
+ try {
+ stop_remote();
+ } catch (InterruptedException ie) {
+ }
+ }
if (in_reply != 0)
System.out.printf("Uh-oh. Closing active serial device\n");
}
altos = device.open();
if (altos == null) {
+ final String message = device.getErrorString();
close();
- throw new FileNotFoundException(device.toShortString());
+ throw new FileNotFoundException(String.format("%s (%s)",
+ device.toShortString(), message));
}
if (debug)
System.out.printf("Open %s\n", device.getPath());
private void set_radio_setting(int setting) {
if (altos != null) {
if (monitor_mode)
- printf("m 0\nc R %d\nc r 0\nm %x\n",
+ printf("m 0\nc R %d\nm %x\n",
setting, telemetry_len());
else
- printf("c R %d\nc r 0\n", setting);
+ printf("c R %d\n", setting);
+ flush_output();
+ }
+ }
+
+ private void set_radio_freq(int frequency) {
+ if (altos != null) {
+ if (monitor_mode)
+ printf("m 0\nc F %d\nm %x\n",
+ frequency, telemetry_len());
+ else
+ printf("c F %d\n", frequency);
flush_output();
}
}
public void set_radio_frequency(double frequency,
+ boolean has_frequency,
boolean has_setting,
int cal) {
- if (has_setting)
+ if (debug)
+ System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
+ if (frequency == 0)
+ return;
+ if (has_frequency)
+ set_radio_freq((int) Math.floor (frequency * 1000));
+ else if (has_setting)
set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
else
set_channel(AltosConvert.radio_frequency_to_channel(frequency));
public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
frequency = in_frequency;
+ if (frequency == 0.0)
+ frequency = AltosPreferences.frequency(device.getSerial());
config_data();
set_radio_frequency(frequency,
+ config_data.radio_frequency != 0,
config_data.radio_setting != 0,
config_data.radio_calibration);
}
public void start_remote() throws TimeoutException, InterruptedException {
if (debug)
- System.out.printf("start remote\n");
+ System.out.printf("start remote %7.3f\n", frequency);
if (frequency == 0.0)
frequency = AltosPreferences.frequency(device.getSerial());
set_radio_frequency(frequency);
remote = true;
}
- public void stop_remote() {
+ public void stop_remote() throws InterruptedException {
if (debug)
System.out.printf("stop remote\n");
try {