From 0bf21399d3d47d58410df4c6ce89fc20fcd42c89 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 29 Jul 2012 19:34:00 -0700 Subject: [PATCH] altosui: Handle Monitor Idle errors better Deal with missing data by checking for MISSING in more places. Handle serial communication failures during send by reporting back from libaltos. Signed-off-by: Keith Packard --- altoslib/AltosIdleMonitor.java | 67 ++++++++++++++-------------------- altoslib/AltosLink.java | 20 +++++++++- altoslib/AltosRecord.java | 2 +- altoslib/AltosRecordTM.java | 16 ++++---- altoslib/AltosState.java | 2 + altosui/AltosSerial.java | 14 ++++++- altosui/libaltos/libaltos.c | 4 +- 7 files changed, 70 insertions(+), 55 deletions(-) diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index 57c4da71..27ea3a2b 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -23,16 +23,10 @@ import java.text.*; import java.util.prefs.*; import java.util.concurrent.*; -class AltosSensorTM { - int tick; - int accel; - int pres; - int temp; - int batt; - int drogue; - int main; +class AltosSensorTM extends AltosRecordTM { - public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException { + public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException { + super(); link.printf("a\n"); for (;;) { String line = link.get_reply_no_dialog(5000); @@ -82,6 +76,10 @@ class AltosSensorTM { } break; } + ground_accel = config_data.accel_cal_plus; + ground_pres = pres; + accel_plus_g = config_data.accel_cal_plus; + accel_minus_g = config_data.accel_cal_minus; } } @@ -253,7 +251,7 @@ class AltosGPSQuery extends AltosGPS { if (line.startsWith("Date:")) { if (bits.length < 2) continue; - String[] d = bits[1].split(":"); + String[] d = bits[1].split("/"); if (d.length < 3) continue; year = Integer.parseInt(d[0]) + 2000; @@ -264,7 +262,7 @@ class AltosGPSQuery extends AltosGPS { if (line.startsWith("Time:")) { if (bits.length < 2) continue; - String[] d = bits[1].split("/"); + String[] d = bits[1].split(":"); if (d.length < 3) continue; hour = Integer.parseInt(d[0]); @@ -339,8 +337,7 @@ public class AltosIdleMonitor extends Thread { } void update_state() throws InterruptedException, TimeoutException { - AltosRecord record; - int rssi; + AltosRecord record = null; try { if (remote) { @@ -350,20 +347,7 @@ public class AltosIdleMonitor extends Thread { link.flush_input(); config_data = new AltosConfigData(link); if (config_data.product.startsWith("TeleMetrum")) { - AltosRecordTM record_tm = new AltosRecordTM(); - AltosSensorTM sensor = new AltosSensorTM(link); - record_tm.accel = sensor.accel; - record_tm.pres = sensor.pres; - record_tm.batt = sensor.batt; - record_tm.temp = sensor.temp; - record_tm.drogue = sensor.drogue; - record_tm.main = sensor.main; - record_tm.ground_accel = record_tm.accel; - record_tm.ground_pres = record_tm.pres; - record_tm.accel_plus_g = config_data.accel_cal_plus; - record_tm.accel_minus_g = config_data.accel_cal_minus; - record_tm.tick = sensor.tick; - record = record_tm; + record = new AltosSensorTM(link, config_data); } else if (config_data.product.startsWith("MegaMetrum")) { AltosRecordMM record_mm = new AltosRecordMM(); AltosSensorMM sensor = new AltosSensorMM(link); @@ -390,24 +374,27 @@ public class AltosIdleMonitor extends Thread { record = new AltosRecord(); gps = new AltosGPSQuery(link, config_data); + + record.version = 0; + record.callsign = config_data.callsign; + record.serial = config_data.serial; + record.flight = config_data.log_available() > 0 ? 255 : 0; + record.status = 0; + record.state = AltosLib.ao_flight_idle; + record.gps = gps; + record.new_gps = true; + state = new AltosState (record, state); } finally { if (remote) { link.stop_remote(); - rssi = AltosRSSI(); - } else - rssi = 0; + if (record != null) + record.rssi = AltosRSSI(); + } else { + if (record != null) + record.rssi = 0; + } } - record.version = 0; - record.callsign = config_data.callsign; - record.serial = config_data.serial; - record.flight = config_data.log_available() > 0 ? 255 : 0; - record.rssi = rssi; - record.status = 0; - record.state = AltosLib.ao_flight_idle; - - record.gps = gps; - state = new AltosState (record, state); } public void set_frequency(double in_frequency) { diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index d59e73ba..fd5db7e9 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -101,15 +101,23 @@ public abstract class AltosLink { try { for (;;) { c = getchar(); - if (Thread.interrupted()) + if (Thread.interrupted()) { + if (debug) + System.out.printf("INTERRUPTED\n"); break; + } if (c == ERROR) { + if (debug) + System.out.printf("ERROR\n"); add_telem (new AltosLine()); add_reply (new AltosLine()); break; } - if (c == TIMEOUT) + if (c == TIMEOUT) { + if (debug) + System.out.printf("TIMEOUT\n"); continue; + } if (c == '\r') continue; synchronized(this) { @@ -180,6 +188,14 @@ public abstract class AltosLink { reply_queue.put (line); } + public void abort_reply() { + try { + add_telem (new AltosLine()); + add_reply (new AltosLine()); + } catch (InterruptedException e) { + } + } + public void add_string(String line) throws InterruptedException { if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) { add_telem(new AltosLine(line)); diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java index e468f84b..8722bc05 100644 --- a/altoslib/AltosRecord.java +++ b/altoslib/AltosRecord.java @@ -127,7 +127,7 @@ public class AltosRecord implements Comparable , Cloneable { double p = filtered_pressure(); if (p == MISSING) - return MISSING; + return raw_altitude(); return AltosConvert.pressure_to_altitude(p); } diff --git a/altoslib/AltosRecordTM.java b/altoslib/AltosRecordTM.java index afb70790..37accef6 100644 --- a/altoslib/AltosRecordTM.java +++ b/altoslib/AltosRecordTM.java @@ -177,14 +177,14 @@ public class AltosRecordTM extends AltosRecord { drogue = MISSING; main = MISSING; - flight_accel = 0; - flight_vel = 0; - flight_pres = 0; - - ground_accel = 0; - ground_pres = 0; - accel_plus_g = 0; - accel_minus_g = 0; + flight_accel = MISSING; + flight_vel = MISSING; + flight_pres = MISSING; + + ground_accel = MISSING; + ground_pres = MISSING; + accel_plus_g = MISSING; + accel_minus_g = MISSING; } public AltosRecordTM(AltosRecord old) { diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index e20ec9a7..3b37a3d4 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -38,6 +38,7 @@ public class AltosState { public boolean boost; /* under power */ public double ground_altitude; + public double altitude; public double height; public double speed; public double acceleration; @@ -82,6 +83,7 @@ public class AltosState { data = cur; ground_altitude = data.ground_altitude(); + altitude = data.raw_altitude(); height = data.filtered_height(); report_time = System.currentTimeMillis(); diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java index c4e9c697..8b692fa9 100644 --- a/altosui/AltosSerial.java +++ b/altosui/AltosSerial.java @@ -54,13 +54,19 @@ public class AltosSerial extends AltosLink implements Runnable { Frame frame; public int getchar() { + if (altos == null) + return ERROR; return libaltos.altos_getchar(altos, 0); } public void flush_output() { super.flush_output(); if (altos != null) { - libaltos.altos_flush(altos); + if (libaltos.altos_flush(altos) != 0) { + libaltos.altos_close(altos); + altos = null; + abort_reply(); + } } } @@ -155,7 +161,11 @@ public class AltosSerial extends AltosLink implements Runnable { private void putc(char c) { if (altos != null) - libaltos.altos_putchar(altos, c); + if (libaltos.altos_putchar(altos, c) != 0) { + libaltos.altos_close(altos); + altos = null; + abort_reply(); + } } public void print(String data) { diff --git a/altosui/libaltos/libaltos.c b/altosui/libaltos/libaltos.c index 1cc27cbe..515432f9 100644 --- a/altosui/libaltos/libaltos.c +++ b/altosui/libaltos/libaltos.c @@ -221,7 +221,7 @@ altos_flush(struct altos_file *file) #endif if (ret < 0) { altos_set_last_posix_error(); - return -errno; + return -last_error.code; } if (ret) { memmove(file->out_data, file->out_data + ret, @@ -247,7 +247,7 @@ altos_putchar(struct altos_file *file, char c) ret = 0; if (file->out_used == USB_BUF_SIZE) ret = altos_flush(file); - return 0; + return ret; } #ifdef USE_POLL -- 2.30.2