From 06f583ff754a0813171e789451cb95f7f6bb497e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 21:36:09 -0600
Subject: [PATCH] Fixed some timer issues.  Got connection with this.

---
 .../src/org/openpilot/uavtalk/Telemetry.java     |  9 ++++++++-
 .../org/openpilot/uavtalk/TelemetryMonitor.java  |  3 ---
 .../src/org/openpilot/uavtalk/UAVTalk.java       | 16 +++++++---------
 3 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index d2f82459b..7f04e344b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -101,7 +101,14 @@ public class Telemetry {
     }
     
     synchronized void transTimerSetPeriod(int periodMs) {
-        transTimer = new Timer();
+    	if(transTimerTask != null)
+    		transTimerTask.cancel();
+    	
+    	if(transTimer != null) 
+    		transTimer.purge();
+
+   		transTimer = new Timer();
+    	
         transTimerTask = new TimerTask() {
 			@Override
 			public void run() {
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index bc0bfd6eb..eb406923d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -164,7 +164,6 @@ public class TelemetryMonitor {
 	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
 	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
 	    
-	    System.out.println(flightStatsObj.toString());
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
@@ -250,8 +249,6 @@ public class TelemetryMonitor {
 	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
 	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
 	    
-	    if(gcsConnected) 
-	    	System.out.println("Detected here");
 	    if (  gcsStatusChanged ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
 	    {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index d656aa707..825f9d9fe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -180,7 +180,7 @@ public class UAVTalk extends Observable{
 				break;
 			}
 			
-			System.out.println("Received byte " + val + " in state + " + rxState);
+			//System.out.println("Received byte " + val + " in state + " + rxState);
 			processInputByte(val);
 		}
 	}
@@ -423,7 +423,6 @@ public class UAVTalk extends Observable{
 			// Update CRC
 			rxCS = updateCRC(rxCS, rxbyte);
 
-			//System.out.println(rxCount + "/" + rxLength);
 			rxBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
 			if (rxCount < rxLength)
 				break;
@@ -491,7 +490,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for OBJ messages
 			if (!allInstances)
 			{
-				System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
+				System.out.println("Received object: " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Check if an ack is pending
@@ -513,7 +512,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for OBJ_ACK messages
 			if (!allInstances)
 			{
-				System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
+//				System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Transmit ACK
@@ -533,7 +532,7 @@ public class UAVTalk extends Observable{
 			break;
 		case TYPE_OBJ_REQ:
 			// Get object, if all instances are requested get instance 0 of the object
-			System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
+//			System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
 			if (allInstances)
 			{
 				obj = objMngr.getObject(objId);
@@ -556,7 +555,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for ACK messages
 			if (!allInstances)
 			{
-				System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
+//				System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object
 				obj = objMngr.getObject(objId, instId);
 				// Check if an ack is pending
@@ -617,14 +616,14 @@ public class UAVTalk extends Observable{
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-			System.out.println("Unpacking new object");
+//			System.out.println("Unpacking new object");
 			instobj.unpack(data);
 			return instobj;
 		}
 		else
 		{
 			// Unpack data into object instance
-			System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
+//			System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
 			obj.unpack(data);
 			return obj;
 		}
@@ -772,7 +771,6 @@ public class UAVTalk extends Observable{
 			bbuf.position(0);
 			byte [] dst = new byte[packlen];
 			bbuf.get(dst,0,packlen);
-			System.out.println("Outputting: " + dst.length);
 			outStream.write(dst);
 		} catch (IOException e) {
 			// TODO Auto-generated catch block