byte[] line_bytes;
int line_count;
boolean monitor_mode;
+ static boolean debug;
+ boolean remote;
+ LinkedList<String> pending_output = new LinkedList<String>();
+
+ static void set_debug(boolean new_debug) {
+ debug = new_debug;
+ }
public void run () {
int c;
for (int i = 0; i < line_count; i++)
line = line + line_bytes[i];
}
+ if (debug)
+ System.out.printf("\t\t\t\t\t%s\n", line);
if (line.startsWith("VERSION") || line.startsWith("CRC")) {
for (int e = 0; e < monitors.size(); e++) {
LinkedBlockingQueue<AltosLine> q = monitors.get(e);
q.put(new AltosLine (line));
}
} else {
-// System.out.printf("GOT: %s\n", line);
reply_queue.put(new AltosLine (line));
}
line_count = 0;
}
public void flush_output() {
- if (altos != null)
+ if (altos != null) {
+ for (String s : pending_output)
+ System.out.print(s);
+ pending_output.clear();
libaltos.altos_flush(altos);
+ }
}
public void flush_input() {
flush_output();
boolean got_some;
+
+ int timeout = 100;
+ if (remote)
+ timeout = 300;
do {
try {
- Thread.sleep(100);
+ Thread.sleep(timeout);
} catch (InterruptedException ie) {
}
got_some = !reply_queue.isEmpty();
synchronized (devices_opened) {
devices_opened.remove(device.getPath());
}
+ if (debug)
+ System.out.printf("Closing %s\n", device.getPath());
}
- public void putc(char c) {
+ private void putc(char c) {
if (altos != null)
libaltos.altos_putchar(altos, c);
}
public void print(String data) {
-// System.out.printf("\"%s\" ", data);
+ if (debug)
+ pending_output.add(data);
for (int i = 0; i < data.length(); i++)
putc(data.charAt(i));
}
close();
throw new FileNotFoundException(device.toShortString());
}
+ if (debug)
+ System.out.printf("Open %s\n", device.getPath());
input_thread = new Thread(this);
input_thread.start();
print("~\nE 0\n");
}
public void start_remote() {
+ if (debug)
+ System.out.printf("start remote\n");
set_radio();
printf("p\nE 0\n");
flush_input();
+ remote = true;
}
public void stop_remote() {
+ if (debug)
+ System.out.printf("stop remote\n");
+ flush_input();
printf ("~");
+ flush_output();
+ remote = false;
}
public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {