Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / altoslib / AltosTelemetryReader.java

diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index b4293c7349d2d9fda70bd03942aa91c37e0ac031..8fb61a4fe32490cbc4a31a6f16dbb71f33d0f643 100644 (file)
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -15,28 +16,41 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_12;
 
 import java.text.*;
 import java.io.*;
 import java.util.concurrent.*;
 
 public class AltosTelemetryReader extends AltosFlightReader {
-       AltosLink       link;
-       AltosLog        log;
-       AltosRecord     previous;
-       double          frequency;
-       int             telemetry;
+       AltosLink               link;
+       AltosLog                log;
+       double                  frequency;
+       int                     telemetry;
+       int                     telemetry_rate;
+       private AltosState      state = null;
+       private AltosCalData    cal_data = null;
 
        LinkedBlockingQueue<AltosLine> telem;
 
-       public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
-               AltosLine l = telem.take();
-               if (l.line == null)
-                       throw new IOException("IO error");
-               AltosRecord     next = AltosTelemetry.parse(l.line, previous);
-               previous = next;
-               return next;
+       public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+               AltosLine l;
+               do {
+                       l = telem.take();
+                       if (l.line == null)
+                               throw new IOException("IO error");
+               } while (!link.get_monitor());
+               AltosTelemetry  telem = AltosTelemetry.parse(l.line);
+               if (state == null)
+                       state = new AltosState(cal_data());
+               telem.provide_data(state);
+               return state;
+       }
+
+       public AltosCalData cal_data() {
+               if (cal_data == null)
+                       cal_data = new AltosCalData();
+               return cal_data;
        }
 
        public void flush() {
@@ -44,14 +58,19 @@ public class AltosTelemetryReader extends AltosFlightReader {
        }
 
        public void reset() {
-               previous = null;
                flush();
+               state = null;
+               cal_data = null;
        }
 
        public void close(boolean interrupted) {
+
                link.remove_monitor(telem);
                log.close();
-               link.close();
+               try {
+                       link.close();
+               } catch (InterruptedException ie) {
+               }
        }
 
        public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
@@ -80,7 +99,24 @@ public class AltosTelemetryReader extends AltosFlightReader {
                        else
                                return false;
                } catch (InterruptedException ie) {
+                       return false;
+               } catch (TimeoutException te) {
                        return true;
+               }
+       }
+
+       public boolean supports_telemetry_rate(int telemetry_rate) {
+               try {
+                       /* Version 1.4.1.1 supports all rates, older versions don't */
+                       if (link.config_data().compare_version("1.4.1.1") >= 0)
+                               return true;
+
+                       if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
+                               return true;
+                       else
+                               return false;
+               } catch (InterruptedException ie) {
+                       return false;
                } catch (TimeoutException te) {
                        return true;
                }
@@ -99,6 +135,15 @@ public class AltosTelemetryReader extends AltosFlightReader {
                AltosPreferences.set_telemetry(link.serial, telemetry);
        }
 
+       public void set_telemetry_rate(int in_telemetry_rate) {
+               telemetry_rate = in_telemetry_rate;
+               link.set_telemetry_rate(telemetry_rate);
+       }
+
+       public void save_telemetry_rate() {
+               AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
+       }
+
        public void set_monitor(boolean monitor) {
                link.set_monitor(monitor);
        }
@@ -111,29 +156,29 @@ public class AltosTelemetryReader extends AltosFlightReader {
                return link.has_monitor_battery();
        }
 
-       public double monitor_battery() {
+       public double monitor_battery() throws InterruptedException {
                return link.monitor_battery();
        }
 
        public AltosTelemetryReader (AltosLink in_link)
                throws IOException, InterruptedException, TimeoutException {
                link = in_link;
+               boolean success = false;
                try {
                        log = new AltosLog(link);
                        name = link.name;
-                       previous = null;
                        telem = new LinkedBlockingQueue<AltosLine>();
                        frequency = AltosPreferences.frequency(link.serial);
                        set_frequency(frequency);
                        telemetry = AltosPreferences.telemetry(link.serial);
                        set_telemetry(telemetry);
+                       telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
+                       set_telemetry_rate(telemetry_rate);
                        link.add_monitor(telem);
-               } catch (TimeoutException e) {
-                       close(true);
-                       throw(e);
-               } catch (InterruptedException e) {
-                       close(true);
-                       throw(e);
+                       success = true;
+               } finally {
+                       if (!success)
+                               close(true);
                }
        }
 }