altoslib: Increase timeouts when using low baud rate remote protocol

[fw/altos] / altoslib / AltosLink.java

diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 08bca5fc9e864291b31557f26608e30ea7a29af3..62bd82b93c2ae617c4d67a305696e99a32bd3ba7 100644 (file)
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -163,8 +163,21 @@ public abstract class AltosLink implements Runnable {
                if (!can_cancel && remote)
                        System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 
-               if (remote && can_cancel)
+               if (remote && can_cancel) {
                        timeout = 500;
+                       switch (telemetry_rate) {
+                       case AltosLib.ao_telemetry_rate_38400:
+                       default:
+                               timeout = 500;
+                               break;
+                       case AltosLib.ao_telemetry_rate_9600:
+                               timeout = 2000;
+                               break;
+                       case AltosLib.ao_telemetry_rate_2400:
+                               timeout = 8000;
+                               break;
+                       }
+               }
                try {
                        ++in_reply;
 
@@ -274,6 +287,8 @@ public abstract class AltosLink implements Runnable {
        }
 
        public void flush_output() {
+               if (pending_output == null)
+                       return;
                for (String s : pending_output)
                        System.out.print(s);
                pending_output.clear();
@@ -305,6 +320,7 @@ public abstract class AltosLink implements Runnable {
         */
        public boolean monitor_mode = false;
        public int telemetry = AltosLib.ao_telemetry_standard;
+       public int telemetry_rate = -1;
        public double frequency;
        public String callsign;
        AltosConfigData config_data;
@@ -356,6 +372,15 @@ public abstract class AltosLink implements Runnable {
                flush_output();
        }
 
+       public void set_telemetry_rate(int in_telemetry_rate) {
+               telemetry_rate = in_telemetry_rate;
+               if (monitor_mode)
+                       printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len());
+               else
+                       printf("c T %d\n", telemetry_rate);
+               flush_output();
+       }
+
        public void set_monitor(boolean monitor) {
                monitor_mode = monitor;
                if (monitor)
@@ -383,10 +408,14 @@ public abstract class AltosLink implements Runnable {
                flush_output();
        }
 
-       public AltosConfigData config_data() throws InterruptedException, TimeoutException {
+       public AltosConfigData config_data() throws InterruptedException, TimeoutException {
                synchronized(config_data_lock) {
-                       if (config_data == null)
+                       if (config_data == null) {
+                               printf("m 0\n");
                                config_data = new AltosConfigData(this);
+                               if (monitor_mode)
+                                       set_monitor(true);
+                       }
                        return config_data;
                }
        }
@@ -430,7 +459,12 @@ public abstract class AltosLink implements Runnable {
                if (debug)
                        System.out.printf("start remote %7.3f\n", frequency);
                set_radio_frequency(frequency);
-               set_callsign(AltosPreferences.callsign());
+               if (telemetry_rate < 0)
+                       telemetry_rate = AltosPreferences.telemetry_rate(serial);
+               set_telemetry_rate(telemetry_rate);
+               if (callsign.equals(""))
+                       callsign = AltosPreferences.callsign();
+               set_callsign(callsign);
                printf("p\nE 0\n");
                flush_input();
                remote = true;