X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altosui%2FAltosSerial.java;h=f9f9e6e425232436d9e8ce4fe6788496b5dc4cb4;hb=dbe915795c66995805b5f37e6eb698cf2c143e61;hp=b19143e58b7080070457d606a93e8798deaf9a71;hpb=3fbefb3eea981d34a09496cf8abf0119de2e35bf;p=fw%2Faltos

diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index b19143e5..f9f9e6e4 100644
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -47,6 +47,13 @@ public class AltosSerial implements Runnable {
 	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;
@@ -78,13 +85,14 @@ public class AltosSerial implements Runnable {
 								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;
@@ -108,16 +116,24 @@ public class AltosSerial implements Runnable {
 	}
 
 	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();
@@ -174,15 +190,18 @@ public class AltosSerial implements Runnable {
 		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));
 	}
@@ -202,6 +221,8 @@ public class AltosSerial implements Runnable {
 			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");
@@ -242,6 +263,24 @@ public class AltosSerial implements Runnable {
 		}
 	}
 
+	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 {
 		device = in_device;
 		line = "";