altosui: Support raw telemetry from TeleDongle

[fw/altos] / altosui / AltosSerial.java

diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index 57e1344860686d1684583e183f14b7c4eeeb041f..3666cb4142e65b9d3de42c344271b5d9faa2ea29 100644 (file)
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -95,7 +95,7 @@ public class AltosSerial implements Runnable {
                                                        }
                                                        if (debug)
                                                                System.out.printf("\t\t\t\t\t%s\n", line);
-                                                       if (line.startsWith("VERSION") || line.startsWith("CRC")) {
+                                                       if (line.startsWith("TELEM") || 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));
@@ -137,16 +137,19 @@ public class AltosSerial implements Runnable {
        boolean timeout_started = false;
 
        private void stop_timeout_dialog() {
-               Runnable r = new Runnable() {
-                               public void run() {
-                                       if (timeout_dialog != null)
+               if (timeout_started) {
+                       timeout_started = false;
+                       Runnable r = new Runnable() {
+                                       public void run() {
                                                timeout_dialog.setVisible(false);
-                               }
-                       };
-               SwingUtilities.invokeLater(r);
+                                       }
+                               };
+                       SwingUtilities.invokeLater(r);
+               }
        }
 
        private void start_timeout_dialog_internal() {
+
                Object[] options = { "Cancel" };
 
                JOptionPane     pane = new JOptionPane();
@@ -163,12 +166,14 @@ public class AltosSerial implements Runnable {
                        return;
                if (options[0].equals(o))
                        abort = true;
+               timeout_dialog.dispose();
+               timeout_dialog = null;
        }
 
        private boolean check_timeout() {
                if (!timeout_started && frame != null) {
-                       timeout_started = true;
                        if (!SwingUtilities.isEventDispatchThread()) {
+                               timeout_started = true;
                                Runnable r = new Runnable() {
                                                public void run() {
                                                        start_timeout_dialog_internal();
@@ -186,7 +191,7 @@ public class AltosSerial implements Runnable {
 
                int timeout = 100;
                if (remote)
-                       timeout = 300;
+                       timeout = 500;
                do {
                        try {
                                Thread.sleep(timeout);
@@ -210,15 +215,19 @@ public class AltosSerial implements Runnable {
                return line.line;
        }
 
+       int     in_reply;
+
        public String get_reply(int timeout) throws InterruptedException {
                boolean can_cancel = true;
+               ++in_reply;
+
                if (SwingUtilities.isEventDispatchThread()) {
                        can_cancel = false;
                        System.out.printf("Uh-oh, reading serial device from swing thread\n");
                }
                flush_output();
                if (remote && can_cancel) {
-                       timeout = 300;
+                       timeout = 500;
                }
                abort = false;
                timeout_started = false;
@@ -226,10 +235,13 @@ public class AltosSerial implements Runnable {
                        AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
                        if (line != null) {
                                stop_timeout_dialog();
+                               --in_reply;
                                return line.line;
                        }
-                       if (!remote || !can_cancel || check_timeout())
+                       if (!remote || !can_cancel || check_timeout()) {
+                               --in_reply;
                                return null;
+                       }
                }
        }
 
@@ -245,6 +257,9 @@ public class AltosSerial implements Runnable {
        }
 
        public void close() {
+               if (in_reply != 0)
+                       System.out.printf("Uh-oh. Closing active serial device\n");
+
                if (altos != null) {
                        libaltos.altos_close(altos);
                }
@@ -289,7 +304,7 @@ public class AltosSerial implements Runnable {
                                throw new AltosSerialInUseException(device);
                        devices_opened.add(device.getPath());
                }
-               altos = libaltos.altos_open(device);
+               altos = device.open();
                if (altos == null) {
                        close();
                        throw new FileNotFoundException(device.toShortString());
@@ -310,11 +325,22 @@ public class AltosSerial implements Runnable {
                set_callsign(AltosPreferences.callsign());
        }
 
+       private int telemetry_len() {
+               switch (telemetry) {
+               case 1:
+               default:
+                       return Altos.ao_telemetry_legacy_len;
+               case 2:
+                       return Altos.ao_telemetry_split_len;
+               }
+       }
+
        public void set_channel(int in_channel) {
                channel = in_channel;
                if (altos != null) {
                        if (monitor_mode)
-                               printf("m 0\nc r %d\nm %d\n", channel, telemetry);
+                               printf("m 0\nc r %d\nm %x\n",
+                                      channel, telemetry_len());
                        else
                                printf("c r %d\n", channel);
                        flush_output();
@@ -325,7 +351,7 @@ public class AltosSerial implements Runnable {
                telemetry = in_telemetry;
                if (altos != null) {
                        if (monitor_mode)
-                               printf("m 0\nm %d\n", telemetry);
+                               printf("m 0\nm %x\n", telemetry_len());
                        flush_output();
                }
        }
@@ -334,7 +360,7 @@ public class AltosSerial implements Runnable {
                monitor_mode = monitor;
                if (altos != null) {
                        if (monitor)
-                               printf("m %d\n", telemetry);
+                               printf("m %x\n", telemetry_len());
                        else
                                printf("m 0\n");
                        flush_output();
@@ -378,7 +404,7 @@ public class AltosSerial implements Runnable {
                line = "";
                monitor_mode = false;
                frame = null;
-               telemetry = Altos.ao_telemetry_full;
+               telemetry = Altos.ao_telemetry_split;
                monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
                reply_queue = new LinkedBlockingQueue<AltosLine> ();
                open();