altosdroid: Add multi-tracker support

[fw/altos] / altosdroid / src / org / altusmetrum / AltosDroid / TelemetryReader.java

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
index 7b29fe44a2f91a9742652f89dcc6c9b96f3d431a..4d4f0ed1971d9f9f0ebc400729715cb48a9dfbb8 100644 (file)
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
@@ -21,6 +21,7 @@ package org.altusmetrum.AltosDroid;
 
 import java.text.*;
 import java.io.*;
+import java.util.*;
 import java.util.concurrent.*;
 import android.os.Handler;
 
@@ -34,25 +35,18 @@ public class TelemetryReader extends Thread {
        Handler     handler;
 
        AltosLink   link;
-       AltosState  state = null;
 
        LinkedBlockingQueue<AltosLine> telemQueue;
 
-       public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
+       public AltosTelemetry read() throws ParseException, AltosCRCException, InterruptedException, IOException {
                AltosLine l = telemQueue.take();
                if (l.line == null)
                        throw new IOException("IO error");
                AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
-               if (state == null)
-                       state = new AltosState();
-               else
-                       state = state.clone();
-               telem.update_state(state);
-               return state;
+               return telem;
        }
 
        public void close() {
-               state = null;
                link.remove_monitor(telemQueue);
                link = null;
                telemQueue.clear();
@@ -60,14 +54,12 @@ public class TelemetryReader extends Thread {
        }
 
        public void run() {
-               AltosState  state = null;
-
                try {
                        AltosDebug.debug("starting loop");
                        while (telemQueue != null) {
                                try {
-                                       state = read();
-                                       handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
+                                       AltosTelemetry  telem = read();
+                                       handler.obtainMessage(TelemetryService.MSG_TELEMETRY, telem).sendToTarget();
                                } catch (ParseException pp) {
                                        AltosDebug.error("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage());
                                } catch (AltosCRCException ce) {
@@ -84,12 +76,11 @@ public class TelemetryReader extends Thread {
                }
        }
 
-       public TelemetryReader (AltosLink in_link, Handler in_handler, AltosState in_state) {
+       public TelemetryReader (AltosLink in_link, Handler in_handler) {
                AltosDebug.debug("connected TelemetryReader create started");
                link    = in_link;
                handler = in_handler;
 
-               state = in_state;
                telemQueue = new LinkedBlockingQueue<AltosLine>();
                link.add_monitor(telemQueue);
                link.set_telemetry(AltosLib.ao_telemetry_standard);