X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altosui%2FAltosSerial.java;h=77c926b1f9629f9a9e171e6a4377e8ff84e1eba9;hb=ff4f3a56e09d595abbe32293cbdf1fe368633c49;hp=b089c9c40c580beb7764135fb0c3ead7be9a374a;hpb=a680ce61bdcffeacb7f0e4dcef71a03cb7cfe07d;p=fw%2Faltos

diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index b089c9c4..77c926b1 100644
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -55,7 +55,7 @@ public class AltosSerial implements Runnable {
 	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;
@@ -187,7 +187,7 @@ public class AltosSerial implements Runnable {
 		return abort;
 	}
 
-	public void flush_input() {
+	public void flush_input() throws InterruptedException {
 		flush_output();
 		boolean	got_some;
 
@@ -195,10 +195,7 @@ public class AltosSerial implements Runnable {
 		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) &&
@@ -271,8 +268,12 @@ public class AltosSerial implements Runnable {
 	}
 
 	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");
 
@@ -322,8 +323,10 @@ public class AltosSerial implements Runnable {
 		}
 		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());
@@ -352,18 +355,36 @@ public class AltosSerial implements Runnable {
 	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));
@@ -371,8 +392,11 @@ public class AltosSerial implements Runnable {
 
 	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);
 	}
@@ -412,7 +436,7 @@ public class AltosSerial implements Runnable {
 
 	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);
@@ -422,7 +446,7 @@ public class AltosSerial implements Runnable {
 		remote = true;
 	}
 
-	public void stop_remote() {
+	public void stop_remote() throws InterruptedException {
 		if (debug)
 			System.out.printf("stop remote\n");
 		try {