altoslib: Support multiple telemetry rates

Altos now supports 2400 and 9600 baud in addition to the classic 38400
baud rate. Add support to altoslib for these as well

Signed-off-by: Keith Packard <keithp@keithp.com>

7 files changed, 118 insertions, 1 deletions

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 3bf8ea43..847436cd 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -46,6 +46,7 @@ public class AltosConfigData implements Iterable<String> {
 	public String	callsign;
 	public int	radio_enable;
 	public int	radio_calibration;
+	public int	telemetry_rate;
 	/* Old HAS_RADIO values */
 	public int	radio_channel;
 	public int	radio_setting;
@@ -235,6 +236,7 @@ public class AltosConfigData implements Iterable<String> {
 		radio_calibration = -1;
 		radio_channel = -1;
 		radio_setting = -1;
+		telemetry_rate = -1;
 
 		accel_cal_plus = -1;
 		accel_cal_minus = -1;
@@ -292,6 +294,7 @@ public class AltosConfigData implements Iterable<String> {
 		try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 		try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 		try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
+		try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 
 		/* Old HAS_RADIO values */
 		try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
@@ -440,6 +443,8 @@ public class AltosConfigData implements Iterable<String> {
 			callsign = source.callsign();
 		if (radio_calibration >= 0)
 			radio_calibration = source.radio_calibration();
+		if (telemetry_rate >= 0)
+			telemetry_rate = source.telemetry_rate();
 
 		/* HAS_ACCEL */
 		if (pad_orientation >= 0)
@@ -484,6 +489,7 @@ public class AltosConfigData implements Iterable<String> {
 		dest.set_apogee_lockout(apogee_lockout);
 		dest.set_radio_calibration(radio_calibration);
 		dest.set_radio_frequency(frequency());
+		dest.set_telemetry_rate(telemetry_rate);
 		boolean max_enabled = true;
 
 		if (log_space() == 0)
@@ -554,6 +560,9 @@ public class AltosConfigData implements Iterable<String> {
 		if (radio_enable >= 0)
 			link.printf("c e %d\n", radio_enable);
 
+		if (telemetry_rate >= 0)
+			link.printf("c T %d\n", telemetry_rate);
+
 		/* HAS_ACCEL */
 		/* UI doesn't support accel cal */
 		if (pad_orientation >= 0)
diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java
index b0c49e98..987da53b 100644
--- a/altoslib/AltosConfigValues.java
+++ b/altoslib/AltosConfigValues.java
@@ -53,6 +53,10 @@ public interface AltosConfigValues {
 
 	public abstract String callsign();
 
+	public abstract void set_telemetry_rate(int new_telemetry_rate);
+
+	public abstract int telemetry_rate() throws AltosConfigDataException;
+
 	public abstract void set_flight_log_max(int new_flight_log_max);
 
 	public abstract void set_flight_log_max_enabled(boolean enable);
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index ac151396..c0565e88 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -38,12 +38,18 @@ public class AltosFlightReader {
 
 	public void set_telemetry(int telemetry) { }
 
+	public void set_telemetry_rate(int telemetry_rate) throws InterruptedException, TimeoutException { }
+
 	public void save_telemetry() { }
 
+	public void save_telemetry_rate() { }
+
 	public void update(AltosState state) throws InterruptedException { }
 
 	public boolean supports_telemetry(int telemetry) { return false; }
 
+	public boolean supports_telemetry_rate(int telemetry_rate) { return false; }
+
 	public File backing_file() { return null; }
 
 	public boolean has_monitor_battery() throws InterruptedException { return false; }
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index ec32fffc..c2ec0e3b 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -161,6 +161,15 @@ public class AltosLib {
 		"Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
 	};
 
+	public static final int ao_telemetry_rate_38400 = 0;
+	public static final int ao_telemetry_rate_9600 = 1;
+	public static final int ao_telemetry_rate_2400 = 2;
+	public static final int ao_telemetry_rate_max = 2;
+
+	public static final Integer[] ao_telemetry_rate_values = {
+		38400, 9600, 2400
+	};
+
 	public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
 
 	public static final int ao_telemetry_standard_len = 32;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index ef40c8cb..eadab5df 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -274,6 +274,8 @@ public abstract class AltosLink implements Runnable {
 	}
 
 	public void flush_output() {
+		if (pending_output == null)
+			return;
 		for (String s : pending_output)
 			System.out.print(s);
 		pending_output.clear();
@@ -305,6 +307,7 @@ public abstract class AltosLink implements Runnable {
 	 */
 	public boolean monitor_mode = false;
 	public int telemetry = AltosLib.ao_telemetry_standard;
+	public int telemetry_rate = AltosLib.ao_telemetry_rate_38400;
 	public double frequency;
 	public String callsign;
 	AltosConfigData	config_data;
@@ -356,6 +359,15 @@ public abstract class AltosLink implements Runnable {
 		flush_output();
 	}
 
+	public void set_telemetry_rate(int in_telemetry_rate) {
+		telemetry_rate = in_telemetry_rate;
+		if (monitor_mode)
+			printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len());
+		else
+			printf("c T %d\n", telemetry_rate);
+		flush_output();
+	}
+
 	public void set_monitor(boolean monitor) {
 		monitor_mode = monitor;
 		if (monitor)
@@ -383,7 +395,7 @@ public abstract class AltosLink implements Runnable {
 		flush_output();
 	}
 
-	public AltosConfigData config_data() throws InterruptedException, TimeoutException {
+ 	public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 		synchronized(config_data_lock) {
 			if (config_data == null) {
 				printf("m 0\n");
diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java
index 159951e4..72cfeb4b 100644
--- a/altoslib/AltosPreferences.java
+++ b/altoslib/AltosPreferences.java
@@ -35,6 +35,9 @@ public class AltosPreferences {
 	/* telemetry format preference name */
 	public final static String telemetryPreferenceFormat = "TELEMETRY-%d";
 
+	/* telemetry rate format preference name */
+	public final static String telemetryRatePreferenceFormat = "RATE-%d";
+
 	/* voice preference name */
 	public final static String voicePreference = "VOICE";
 
@@ -50,6 +53,9 @@ public class AltosPreferences {
 	/* scanning telemetry preferences name */
 	public final static String scanningTelemetryPreference = "SCANNING-TELEMETRY";
 
+	/* scanning telemetry rate preferences name */
+	public final static String scanningTelemetryRatePreference = "SCANNING-RATE";
+
 	/* Launcher serial preference name */
 	public final static String launcherSerialPreference = "LAUNCHER-SERIAL";
 
@@ -74,6 +80,9 @@ public class AltosPreferences {
 	/* Telemetry (map serial to telemetry format) */
 	public static Hashtable<Integer, Integer> telemetries;
 
+	/* Telemetry rate (map serial to telemetry format) */
+	public static Hashtable<Integer, Integer> telemetry_rates;
+
 	/* Voice preference */
 	public static boolean voice;
 
@@ -86,6 +95,8 @@ public class AltosPreferences {
 	/* Scanning telemetry */
 	public static int scanning_telemetry;
 
+	public static int scanning_telemetry_rate;
+
 	/* List of frequencies */
 	public final static String common_frequencies_node_name = "COMMON-FREQUENCIES";
 	public static AltosFrequency[] common_frequencies;
@@ -159,12 +170,16 @@ public class AltosPreferences {
 
 		telemetries = new Hashtable<Integer,Integer>();
 
+		telemetry_rates = new Hashtable<Integer,Integer>();
+
 		voice = backend.getBoolean(voicePreference, true);
 
 		callsign = backend.getString(callsignPreference,"N0CALL");
 
 		scanning_telemetry = backend.getInt(scanningTelemetryPreference,(1 << AltosLib.ao_telemetry_standard));
 
+		scanning_telemetry_rate = backend.getInt(scanningTelemetryRatePreference,(1 << AltosLib.ao_telemetry_rate_38400));
+
 		launcher_serial = backend.getInt(launcherSerialPreference, 0);
 
 		launcher_channel = backend.getInt(launcherChannelPreference, 0);
@@ -266,6 +281,25 @@ public class AltosPreferences {
 		}
 	}
 
+	public static void set_telemetry_rate(int serial, int new_telemetry_rate) {
+		synchronized (backend) {
+			telemetry_rates.put(serial, new_telemetry_rate);
+			backend.putInt(String.format(telemetryRatePreferenceFormat, serial), new_telemetry_rate);
+			flush_preferences();
+		}
+	}
+
+	public static int telemetry_rate(int serial) {
+		synchronized (backend) {
+			if (telemetry_rates.containsKey(serial))
+				return telemetry_rates.get(serial);
+			int telemetry_rate = backend.getInt(String.format(telemetryRatePreferenceFormat, serial),
+							    AltosLib.ao_telemetry_rate_38400);
+			telemetry_rates.put(serial, telemetry_rate);
+			return telemetry_rate;
+		}
+	}
+
 	public static void set_scanning_telemetry(int new_scanning_telemetry) {
 		synchronized (backend) {
 			scanning_telemetry = new_scanning_telemetry;
@@ -280,6 +314,20 @@ public class AltosPreferences {
 		}
 	}
 
+	public static void set_scanning_telemetry_rate(int new_scanning_telemetry_rate) {
+		synchronized (backend) {
+			scanning_telemetry_rate = new_scanning_telemetry_rate;
+			backend.putInt(scanningTelemetryRatePreference, scanning_telemetry_rate);
+			flush_preferences();
+		}
+	}
+
+	public static int scanning_telemetry_rate() {
+		synchronized(backend) {
+			return scanning_telemetry_rate;
+		}
+	}
+
 	public static void set_voice(boolean new_voice) {
 		synchronized (backend) {
 			voice = new_voice;
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index 589f57f2..5ed50134 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -26,6 +26,7 @@ public class AltosTelemetryReader extends AltosFlightReader {
 	AltosLog	log;
 	double		frequency;
 	int		telemetry;
+	int		telemetry_rate;
 	AltosState	state = null;
 
 	LinkedBlockingQueue<AltosLine> telem;
@@ -92,6 +93,23 @@ public class AltosTelemetryReader extends AltosFlightReader {
 		}
 	}
 
+	public boolean supports_telemetry_rate(int telemetry_rate) {
+		try {
+			/* Version 1.4.1.1 supports all rates, older versions don't */
+			if (link.config_data().compare_version("1.4.1.1") >= 0)
+				return true;
+
+			if (telemetry_rate == AltosLib.ao_telemetry_rate_38400)
+				return true;
+			else
+				return false;
+		} catch (InterruptedException ie) {
+			return false;
+		} catch (TimeoutException te) {
+			return true;
+		}
+	}
+
 	public void save_frequency() {
 		AltosPreferences.set_frequency(link.serial, frequency);
 	}
@@ -105,6 +123,15 @@ public class AltosTelemetryReader extends AltosFlightReader {
 		AltosPreferences.set_telemetry(link.serial, telemetry);
 	}
 
+	public void set_telemetry_rate(int in_telemetry_rate) {
+		telemetry_rate = in_telemetry_rate;
+		link.set_telemetry_rate(telemetry_rate);
+	}
+
+	public void save_telemetry_rate() {
+		AltosPreferences.set_telemetry_rate(link.serial, telemetry_rate);
+	}
+
 	public void set_monitor(boolean monitor) {
 		link.set_monitor(monitor);
 	}
@@ -133,6 +160,8 @@ public class AltosTelemetryReader extends AltosFlightReader {
 			set_frequency(frequency);
 			telemetry = AltosPreferences.telemetry(link.serial);
 			set_telemetry(telemetry);
+			telemetry_rate = AltosPreferences.telemetry_rate(link.serial);
+			set_telemetry_rate(telemetry_rate);
 			link.add_monitor(telem);
 			success = true;
 		} finally {