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 <keithp@keithp.com>

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 <AltosRecord>, 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