altosui: Make AltosSerial.flush_input keep reading while non-empty

[fw/altos] / ao-tools / altosui / AltosSerial.java

diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java
index 99a92fdba5153c69aa8569de3a21012220172a43..8a6ad05e823cfac824121a8afc08ca6e804f18c2 100644 (file)
--- a/ao-tools/altosui/AltosSerial.java
+++ b/ao-tools/altosui/AltosSerial.java
@@ -38,7 +38,7 @@ public class AltosSerial implements Runnable {
 
        static List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
 
-       altos_device device;
+       AltosDevice device;
        SWIGTYPE_p_altos_file altos;
        LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
        LinkedBlockingQueue<AltosLine> reply_queue;
@@ -114,16 +114,20 @@ public class AltosSerial implements Runnable {
 
        public void flush_input() {
                flush_output();
-               try {
-                       Thread.sleep(200);
-               } catch (InterruptedException ie) {
-               }
-               synchronized(this) {
-                       if (!"VERSION".startsWith(line) &&
-                           !line.startsWith("VERSION"))
-                               line = "";
-                       reply_queue.clear();
-               }
+               boolean got_some;
+               do {
+                       try {
+                               Thread.sleep(100);
+                       } catch (InterruptedException ie) {
+                       }
+                       got_some = !reply_queue.isEmpty();
+                       synchronized(this) {
+                               if (!"VERSION".startsWith(line) &&
+                                   !line.startsWith("VERSION"))
+                                       line = "";
+                               reply_queue.clear();
+                       }
+               } while (got_some);
        }
 
        public String get_reply() throws InterruptedException {
@@ -132,6 +136,14 @@ public class AltosSerial implements Runnable {
                return line.line;
        }
 
+       public String get_reply(int timeout) throws InterruptedException {
+               flush_output();
+               AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+               if (line == null)
+                       return null;
+               return line.line;
+       }
+
        public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
                set_monitor(true);
                monitors.add(q);
@@ -185,10 +197,9 @@ public class AltosSerial implements Runnable {
                                throw new AltosSerialInUseException(device);
                        devices_opened.add(device.getPath());
                }
-               close();
                altos = libaltos.altos_open(device);
                if (altos == null)
-                       throw new FileNotFoundException(device.getPath());
+                       throw new FileNotFoundException(device.toShortString());
                input_thread = new Thread(this);
                input_thread.start();
                print("~\nE 0\n");
@@ -226,7 +237,7 @@ public class AltosSerial implements Runnable {
                }
        }
 
-       public AltosSerial(altos_device in_device) throws FileNotFoundException, AltosSerialInUseException {
+       public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
                device = in_device;
                line = "";
                monitor_mode = false;