X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altosui%2FAltosSerial.java;h=f9f9e6e425232436d9e8ce4fe6788496b5dc4cb4;hb=fb534aae15f0f1e5d69790e159d0287b6b8a514a;hp=3ad16b2b955e0d0d7deccb4573d40ff980883d14;hpb=d908c2ebd0b11a54cfd922a192249d0f0df0ddb0;p=fw%2Faltos

diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index 3ad16b2b..f9f9e6e4 100644
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -48,6 +48,8 @@ public class AltosSerial implements Runnable {
 	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;
@@ -83,14 +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 {
-								if (debug)
-									System.out.printf("\t\t\t\t\t%s\n", line);
 								reply_queue.put(new AltosLine (line));
 							}
 							line_count = 0;
@@ -114,16 +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();
@@ -180,6 +190,8 @@ public class AltosSerial implements Runnable {
 		synchronized (devices_opened) {
 			devices_opened.remove(device.getPath());
 		}
+		if (debug)
+			System.out.printf("Closing %s\n", device.getPath());
 	}
 
 	private void putc(char c) {
@@ -189,7 +201,7 @@ public class AltosSerial implements Runnable {
 
 	public void print(String data) {
 		if (debug)
-			System.out.printf("%s", data);
+			pending_output.add(data);
 		for (int i = 0; i < data.length(); i++)
 			putc(data.charAt(i));
 	}
@@ -209,6 +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");
@@ -250,14 +264,21 @@ 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 {