X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryReader.java;h=cdd1decdc68b9189a77812b6676c5dcee204d76d;hb=93e66b4911b7285f9095712ef746571153c3f088;hp=66e9c6bdd5c25c9b5cfa84999587830e0f96c6ff;hpb=4420d4a9fc011ed970af506ef771dfb81580b666;p=fw%2Faltos

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
index 66e9c6bd..cdd1decd 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
@@ -25,7 +25,7 @@ import java.util.concurrent.*;
 import android.util.Log;
 import android.os.Handler;
 
-import org.altusmetrum.AltosLib.*;
+import org.altusmetrum.altoslib_2.*;
 
 
 public class TelemetryReader extends Thread {
@@ -37,25 +37,29 @@ public class TelemetryReader extends Thread {
 	Handler     handler;
 
 	AltosLink   link;
-	AltosRecord previous;
+	AltosState  state = null;
 
-	LinkedBlockingQueue<AltosLine> telem;
+	LinkedBlockingQueue<AltosLine> telemQueue;
 
-	public AltosRecord read() throws ParseException, AltosCRCException, InterruptedException, IOException {
-		AltosLine l = telem.take();
+	public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
+		AltosLine l = telemQueue.take();
 		if (l.line == null)
 			throw new IOException("IO error");
-		AltosRecord	next = AltosTelemetry.parse(l.line, previous);
-		previous = next;
-		return next;
+		AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
+		if (state == null)
+			state = new AltosState();
+		else
+			state = state.clone();
+		telem.update_state(state);
+		return state;
 	}
 
 	public void close() {
-		previous = null;
-		link.remove_monitor(telem);
+		state = null;
+		link.remove_monitor(telemQueue);
 		link = null;
-		telem.clear();
-		telem = null;
+		telemQueue.clear();
+		telemQueue = null;
 	}
 
 	public void run() {
@@ -64,16 +68,13 @@ public class TelemetryReader extends Thread {
 		try {
 			for (;;) {
 				try {
-					AltosRecord record = read();
-					if (record == null)
-						break;
-					state = new AltosState(record, state);
-
+					state = read();
 					handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
 				} catch (ParseException pp) {
 					Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));
 				} catch (AltosCRCException ce) {
 					++crc_errors;
+					handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();
 				}
 			}
 		} catch (InterruptedException ee) {
@@ -87,8 +88,8 @@ public class TelemetryReader extends Thread {
 		link    = in_link;
 		handler = in_handler;
 
-		previous = null;
-		telem = new LinkedBlockingQueue<AltosLine>();
-		link.add_monitor(telem);
+		state = null;
+		telemQueue = new LinkedBlockingQueue<AltosLine>();
+		link.add_monitor(telemQueue);
 	}
 }