altosui: Output recorded clock tick in CSV files

[fw/altos] / altosui / AltosSerial.java

diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index b089c9c40c580beb7764135fb0c3ead7be9a374a..77c926b1f9629f9a9e171e6a4377e8ff84e1eba9 100644 (file)
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -55,7 +55,7 @@ public class AltosSerial implements Runnable {
        boolean monitor_mode;
        int telemetry;
        double frequency;
-       static boolean debug;
+       public static boolean debug;
        boolean remote;
        LinkedList<String> pending_output = new LinkedList<String>();
        Frame frame;
@@ -187,7 +187,7 @@ public class AltosSerial implements Runnable {
                return abort;
        }
 
-       public void flush_input() {
+       public void flush_input() throws InterruptedException {
                flush_output();
                boolean got_some;
 
@@ -195,10 +195,7 @@ public class AltosSerial implements Runnable {
                if (remote)
                        timeout = 500;
                do {
-                       try {
-                               Thread.sleep(timeout);
-                       } catch (InterruptedException ie) {
-                       }
+                       Thread.sleep(timeout);
                        got_some = !reply_queue.isEmpty();
                        synchronized(this) {
                                if (!"VERSION".startsWith(line) &&
@@ -271,8 +268,12 @@ public class AltosSerial implements Runnable {
        }
 
        public void close() {
-               if (remote)
-                       stop_remote();
+               if (remote) {
+                       try {
+                               stop_remote();
+                       } catch (InterruptedException ie) {
+                       }
+               }
                if (in_reply != 0)
                        System.out.printf("Uh-oh. Closing active serial device\n");
 
@@ -322,8 +323,10 @@ public class AltosSerial implements Runnable {
                }
                altos = device.open();
                if (altos == null) {
+                       final String    message = device.getErrorString();
                        close();
-                       throw new FileNotFoundException(device.toShortString());
+                       throw new FileNotFoundException(String.format("%s (%s)",
+                                                                     device.toShortString(), message));
                }
                if (debug)
                        System.out.printf("Open %s\n", device.getPath());
@@ -352,18 +355,36 @@ public class AltosSerial implements Runnable {
        private void set_radio_setting(int setting) {
                if (altos != null) {
                        if (monitor_mode)
-                               printf("m 0\nc R %d\nc r 0\nm %x\n",
+                               printf("m 0\nc R %d\nm %x\n",
                                       setting, telemetry_len());
                        else
-                               printf("c R %d\nc r 0\n", setting);
+                               printf("c R %d\n", setting);
+                       flush_output();
+               }
+       }
+
+       private void set_radio_freq(int frequency) {
+               if (altos != null) {
+                       if (monitor_mode)
+                               printf("m 0\nc F %d\nm %x\n",
+                                      frequency, telemetry_len());
+                       else
+                               printf("c F %d\n", frequency);
                        flush_output();
                }
        }
 
        public void set_radio_frequency(double frequency,
+                                       boolean has_frequency,
                                        boolean has_setting,
                                        int cal) {
-               if (has_setting)
+               if (debug)
+                       System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
+               if (frequency == 0)
+                       return;
+               if (has_frequency)
+                       set_radio_freq((int) Math.floor (frequency * 1000));
+               else if (has_setting)
                        set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
                else
                        set_channel(AltosConvert.radio_frequency_to_channel(frequency));
@@ -371,8 +392,11 @@ public class AltosSerial implements Runnable {
 
        public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
                frequency = in_frequency;
+               if (frequency == 0.0)
+                       frequency = AltosPreferences.frequency(device.getSerial());
                config_data();
                set_radio_frequency(frequency,
+                                   config_data.radio_frequency != 0,
                                    config_data.radio_setting != 0,
                                    config_data.radio_calibration);
        }
@@ -412,7 +436,7 @@ public class AltosSerial implements Runnable {
 
        public void start_remote() throws TimeoutException, InterruptedException {
                if (debug)
-                       System.out.printf("start remote\n");
+                       System.out.printf("start remote %7.3f\n", frequency);
                if (frequency == 0.0)
                        frequency = AltosPreferences.frequency(device.getSerial());
                set_radio_frequency(frequency);
@@ -422,7 +446,7 @@ public class AltosSerial implements Runnable {
                remote = true;
        }
 
-       public void stop_remote() {
+       public void stop_remote() throws InterruptedException {
                if (debug)
                        System.out.printf("stop remote\n");
                try {