mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
Merge branch 'android-uavo-fix' into next
This commit is contained in:
James Cotton
commit
1c89b24329
@ -294,6 +294,7 @@ public class OPTelemetryService extends Service {
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numRead = inputStream.read(buffer);
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}
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}
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private void copyAssets(String JAR_DIR, String JAR_NAME)
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{
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File jarsDir = getDir(JAR_DIR, MODE_WORLD_READABLE);
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@ -320,6 +321,19 @@ public class OPTelemetryService extends Service {
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catch (IOException e)
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{
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Log.e(TAG, e.toString(), e);
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String[] list;
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try {
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list = assetManager.list("uavos/");
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Log.i(TAG, "Listing found uavos");
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for(int i = 0; i < list.length; i++) {
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Log.i(TAG, "Found: " + list[i]);
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}
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} catch (IOException e1) {
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// TODO Auto-generated catch block
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e1.printStackTrace();
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}
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}
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}
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@ -351,6 +365,10 @@ public class OPTelemetryService extends Service {
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final String JAR_DIR = "jars";
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final String DEX_DIR = "optimized_dex";
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File jarsDir = getDir(JAR_DIR, MODE_WORLD_READABLE);
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if (jarsDir.exists())
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deleteDirectoryContents(jarsDir);
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copyAssets(JAR_DIR, jar);
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Log.d(TAG, "Starting dex loader");
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@ -360,7 +378,6 @@ public class OPTelemetryService extends Service {
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if (dexDir.exists())
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deleteDirectoryContents(dexDir);
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File jarsDir = getDir(JAR_DIR, MODE_WORLD_READABLE);
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String classpath = new File(jarsDir, jar).getAbsolutePath();
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DexClassLoader loader = new DexClassLoader(classpath, dexDir.getAbsolutePath(), null, getClassLoader());
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@ -8,8 +8,6 @@ import java.util.Observer;
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import org.openpilot.uavtalk.Telemetry;
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import org.openpilot.uavtalk.TelemetryMonitor;
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import org.openpilot.uavtalk.UAVObject;
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import org.openpilot.uavtalk.UAVObjectField;
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import org.openpilot.uavtalk.UAVObjectManager;
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import org.openpilot.uavtalk.UAVTalk;
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import org.openpilot.uavtalk.uavobjects.TelemObjectsInitialize;
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@ -93,32 +91,6 @@ public abstract class TelemetryTask implements Runnable {
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*/
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abstract boolean attemptConnection();
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private final Observer firmwareIapUpdated = new Observer() {
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@Override
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public void update(Observable observable, Object data) {
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if (DEBUG) Log.d(TAG, "Received firmware IAP Updated message");
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UAVObject obj = objMngr.getObject("FirmwareIAPObj");
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UAVObjectField description = obj.getField("Description");
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if(description == null || description.getNumElements() < 100) {
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telemService.toastMessage("Failed to determine UAVO set");
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} else {
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final int HASH_SIZE_USED = 8;
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String jarName = new String();
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for(int i = 0; i < HASH_SIZE_USED; i++)
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jarName += Integer.toHexString((int) description.getDouble(i+60));
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jarName += ".jar";
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if (DEBUG) Log.d(TAG, "Attempting to load: " + jarName);
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if (telemService.loadUavobjects(jarName, objMngr) ) {
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telemService.toastMessage("Loaded appropriate UAVO set");
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} else
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telemService.toastMessage("Failed to determine UAVO set");
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}
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obj.removeUpdatedObserver(this);
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}
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};
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/**
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* Called when a physical channel is opened
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*
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@ -133,11 +105,6 @@ public abstract class TelemetryTask implements Runnable {
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objMngr = new UAVObjectManager();
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TelemObjectsInitialize.register(objMngr);
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// Register to get an update from FirmwareIAP in order to register
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// the appropriate objects
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UAVObject obj = objMngr.getObject("FirmwareIAPObj");
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obj.addUpdatedObserver(firmwareIapUpdated);
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// Create the required telemetry objects attached to this
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// data stream
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uavTalk = new UAVTalk(inStream, outStream, objMngr);
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@ -202,7 +202,7 @@ public class Telemetry {
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/**
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* Register a new object for periodic updates (if enabled)
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*/
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private synchronized void registerObject(UAVObject obj) {
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private void registerObject(UAVObject obj) {
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// Setup object for periodic updates
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addObject(obj);
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@ -213,24 +213,27 @@ public class Telemetry {
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/**
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* Add an object in the list used for periodic updates
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*/
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private synchronized void addObject(UAVObject obj) {
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// Check if object type is already in the list
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ListIterator<ObjectTimeInfo> li = objList.listIterator();
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while (li.hasNext()) {
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ObjectTimeInfo n = li.next();
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if (n.obj.getObjID() == obj.getObjID()) {
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// Object type (not instance!) is already in the list, do
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// nothing
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return;
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}
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}
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private void addObject(UAVObject obj) {
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// If this point is reached, then the object type is new, let's add it
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ObjectTimeInfo timeInfo = new ObjectTimeInfo();
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timeInfo.obj = obj;
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timeInfo.timeToNextUpdateMs = 0;
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timeInfo.updatePeriodMs = 0;
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objList.add(timeInfo);
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synchronized (objList) {
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// Check if object type is already in the list
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ListIterator<ObjectTimeInfo> li = objList.listIterator();
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while (li.hasNext()) {
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ObjectTimeInfo n = li.next();
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if (n.obj.getObjID() == obj.getObjID()) {
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// Object type (not instance!) is already in the list, do
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// nothing
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return;
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}
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}
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// If this point is reached, then the object type is new, let's add it
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ObjectTimeInfo timeInfo = new ObjectTimeInfo();
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timeInfo.obj = obj;
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timeInfo.timeToNextUpdateMs = 0;
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timeInfo.updatePeriodMs = 0;
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objList.add(timeInfo);
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}
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}
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/**
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@ -281,7 +284,7 @@ public class Telemetry {
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* Connect to all instances of an object depending on the event mask
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* specified
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*/
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private synchronized void connectToObjectInstances(UAVObject obj,
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private void connectToObjectInstances(UAVObject obj,
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int eventMask) {
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List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
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ListIterator<UAVObject> li = objs.listIterator();
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@ -312,43 +315,46 @@ public class Telemetry {
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* Update an object based on its metadata properties
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*/
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private void updateObject(UAVObject obj) {
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// Get metadata
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UAVObject.Metadata metadata = obj.getMetadata();
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// Setup object depending on update mode
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int eventMask;
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if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC) {
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// Set update period
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setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
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// Connect signals for all instances
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote
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// updates (unpack events)
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synchronized(obj) {
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// Get metadata
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UAVObject.Metadata metadata = obj.getMetadata();
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connectToObjectInstances(obj, eventMask);
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} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect signals for all instances
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eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote
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// updates (unpack events)
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// Setup object depending on update mode
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int eventMask;
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if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC) {
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// Set update period
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setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
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// Connect signals for all instances
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote
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// updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
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// TODO
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} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL) {
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect signals for all instances
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote
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// updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect signals for all instances
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eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote
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// updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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connectToObjectInstances(obj, eventMask);
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} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
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// TODO
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} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL) {
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect signals for all instances
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote
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// updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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}
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}
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}
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@ -448,7 +454,7 @@ public class Telemetry {
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registerObject(obj);
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}
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private synchronized void newInstance(UAVObject obj) {
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private void newInstance(UAVObject obj) {
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registerObject(obj);
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}
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@ -632,11 +638,7 @@ public class Telemetry {
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return;
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}
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// Store this as the active transaction
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transPending = newTransactionPending;
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transInfo = newTrans;
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if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
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if (DEBUG) Log.d(TAG, "Process Object transaction for " + newTrans.obj.getName());
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// Remove this one from the list of pending transactions
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handler.removeActivatedQueue(objInfo);
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@ -644,12 +646,12 @@ public class Telemetry {
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try {
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// 3. Execute transaction by sending the appropriate UAVTalk command
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if (transInfo.objRequest) {
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if (DEBUG) Log.d(TAG, "Sending object request " + transInfo.obj.getName());
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utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
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if (newTrans.objRequest) {
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if (DEBUG) Log.d(TAG, "Sending object request " + newTrans.obj.getName());
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utalk.sendObjectRequest(newTrans.obj, newTrans.allInstances);
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} else {
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if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
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utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
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if (DEBUG) Log.d(TAG, "Sending object " + newTrans.obj.getName());
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utalk.sendObject(newTrans.obj, newTrans.acked, newTrans.allInstances);
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}
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} catch (IOException e) {
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@ -657,9 +659,17 @@ public class Telemetry {
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e.printStackTrace();
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}
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// Post a timeout timer if a response is epxected
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if (transPending)
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// Store this as the active transaction. However in the case
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// of transPending && !newTransactionPending we need ot not
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// override the previous pending transaction
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if (!transPending && newTransactionPending) {
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transPending = newTransactionPending;
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transInfo = newTrans;
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// Post a timeout timer if a response is epxected
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handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
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||||
}
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||||
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||||
}
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||||
}
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||||
}
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||||
@ -744,7 +754,7 @@ public class Telemetry {
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//Send signal
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||||
obj.transactionCompleted(result);
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||||
} else {
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||||
if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
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||||
if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it. " + obj.getName());
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||||
transPending = false;
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||||
}
|
||||
}
|
||||
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||||
@ -54,9 +54,12 @@ public class TelemetryMonitor extends Observable {
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||||
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||||
private final UAVObjectManager objMngr;
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||||
private final Telemetry tel;
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||||
|
||||
private boolean objectsRegistered;
|
||||
// private UAVObject objPending;
|
||||
private UAVObject gcsStatsObj;
|
||||
private UAVObject flightStatsObj;
|
||||
private final UAVObject firmwareIapObj;
|
||||
private Timer periodicTask;
|
||||
private int currentPeriod;
|
||||
private long lastUpdateTime;
|
||||
@ -74,7 +77,8 @@ public class TelemetryMonitor extends Observable {
|
||||
return objects_updated;
|
||||
};
|
||||
|
||||
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel, OPTelemetryService s) {
|
||||
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel,
|
||||
OPTelemetryService s) {
|
||||
this(objMngr, tel);
|
||||
telemService = s;
|
||||
}
|
||||
@ -85,9 +89,15 @@ public class TelemetryMonitor extends Observable {
|
||||
// this.objPending = null;
|
||||
queue = new ArrayList<UAVObject>();
|
||||
|
||||
objectsRegistered = false;
|
||||
|
||||
// Get stats objects
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
flightStatsObj = objMngr.getObject("FlightTelemetryStats");
|
||||
firmwareIapObj = objMngr.getObject("FirmwareIAPObj");
|
||||
|
||||
// The first update of the firmwareIapObj will trigger registering the objects
|
||||
firmwareIapObj.addUpdatedObserver(firmwareIapUpdated);
|
||||
|
||||
flightStatsObj.addUpdatedObserver(new Observer() {
|
||||
@Override
|
||||
@ -360,8 +370,13 @@ public class TelemetryMonitor extends Observable {
|
||||
setPeriod(STATS_UPDATE_PERIOD_MS);
|
||||
connected = true;
|
||||
objects_updated = false;
|
||||
startRetrievingObjects();
|
||||
if (HANDSHAKE_IS_CONNECTED) setChanged(); // Enabling this line makes the opConnected signal occur whenever we get a handshake
|
||||
if (objectsRegistered)
|
||||
startRetrievingObjects();
|
||||
else
|
||||
firmwareIapObj.updateRequested();
|
||||
if (HANDSHAKE_IS_CONNECTED)
|
||||
setChanged(); // Enabling this line makes the opConnected signal
|
||||
// occur whenever we get a handshake
|
||||
}
|
||||
if (gcsDisconnected && gcsStatusChanged) {
|
||||
if (DEBUG)
|
||||
@ -405,4 +420,37 @@ public class TelemetryMonitor extends Observable {
|
||||
periodicTask = null;
|
||||
}
|
||||
|
||||
private final Observer firmwareIapUpdated = new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
if (DEBUG) Log.d(TAG, "Received firmware IAP Updated message");
|
||||
|
||||
UAVObjectField description = firmwareIapObj.getField("Description");
|
||||
if (description == null || description.getNumElements() < 100) {
|
||||
telemService.toastMessage("Failed to determine UAVO set");
|
||||
} else {
|
||||
final int HASH_SIZE_USED = 8;
|
||||
String jarName = new String();
|
||||
for (int i = 0; i < HASH_SIZE_USED; i++) {
|
||||
jarName += String.format("%02x", (int) description.getDouble(i + 60));
|
||||
}
|
||||
jarName += ".jar";
|
||||
if (DEBUG) Log.d(TAG, "Attempting to load: " + jarName);
|
||||
if (telemService.loadUavobjects(jarName, objMngr)) {
|
||||
telemService.toastMessage("Loaded appropriate UAVO set");
|
||||
objectsRegistered = true;
|
||||
try {
|
||||
startRetrievingObjects();
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
e.printStackTrace();
|
||||
}
|
||||
} else
|
||||
telemService.toastMessage("Failed to load UAVO set: " + jarName);
|
||||
}
|
||||
|
||||
firmwareIapObj.removeUpdatedObserver(this);
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
@ -269,16 +269,18 @@ public class UAVTalk {
|
||||
* it wants to give up on one (after a timeout) then it can cancel it
|
||||
* @return True if that object was pending, False otherwise
|
||||
*/
|
||||
public synchronized boolean cancelPendingTransaction(UAVObject obj) {
|
||||
if(respObj != null && respObj.getObjID() == obj.getObjID()) {
|
||||
if(transactionListener != null) {
|
||||
Log.d(TAG,"Canceling transaction: " + respObj.getName());
|
||||
transactionListener.TransactionFailed(respObj);
|
||||
}
|
||||
respObj = null;
|
||||
return true;
|
||||
} else
|
||||
return false;
|
||||
public boolean cancelPendingTransaction(UAVObject obj) {
|
||||
synchronized (respObj) {
|
||||
if(respObj != null && respObj.getObjID() == obj.getObjID()) {
|
||||
if(transactionListener != null) {
|
||||
Log.d(TAG,"Canceling transaction: " + respObj.getName());
|
||||
transactionListener.TransactionFailed(respObj);
|
||||
}
|
||||
respObj = null;
|
||||
return true;
|
||||
} else
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -296,15 +298,16 @@ public class UAVTalk {
|
||||
/**
|
||||
* This is the code that sets up a new UAVTalk packet that expects a response.
|
||||
*/
|
||||
private synchronized void setupTransaction(UAVObject obj, boolean allInstances, int type) {
|
||||
private void setupTransaction(UAVObject obj, boolean allInstances, int type) {
|
||||
synchronized (this) {
|
||||
// Only cancel if it is for a different object
|
||||
if(respObj != null && respObj.getObjID() != obj.getObjID())
|
||||
cancelPendingTransaction(obj);
|
||||
|
||||
// Only cancel if it is for a different object
|
||||
if(respObj != null && respObj.getObjID() != obj.getObjID())
|
||||
cancelPendingTransaction(obj);
|
||||
|
||||
respObj = obj;
|
||||
respAllInstances = allInstances;
|
||||
respType = type;
|
||||
respObj = obj;
|
||||
respAllInstances = allInstances;
|
||||
respType = type;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -315,7 +318,7 @@ public class UAVTalk {
|
||||
* Success (true), Failure (false)
|
||||
* @throws IOException
|
||||
*/
|
||||
private synchronized boolean objectTransaction(UAVObject obj, int type, boolean allInstances) throws IOException {
|
||||
private boolean objectTransaction(UAVObject obj, int type, boolean allInstances) throws IOException {
|
||||
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ || type == TYPE_OBJ) {
|
||||
return transmitObject(obj, type, allInstances);
|
||||
} else {
|
||||
@ -415,7 +418,7 @@ public class UAVTalk {
|
||||
{
|
||||
UAVObject rxObj = objMngr.getObject(rxObjId);
|
||||
if (rxObj == null) {
|
||||
if (DEBUG) Log.d(TAG, "Unknown ID: " + rxObjId);
|
||||
if (WARN) Log.w(TAG, "Unknown ID: " + rxObjId);
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
@ -429,17 +432,7 @@ public class UAVTalk {
|
||||
|
||||
// Check length and determine next state
|
||||
if (rxLength >= MAX_PAYLOAD_LENGTH) {
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Check the lengths match
|
||||
if ((rxPacketLength + rxLength) != packetSize) { // packet error
|
||||
// -
|
||||
// mismatched
|
||||
// packet
|
||||
// size
|
||||
if (WARN) Log.w(TAG, "Greater than max payload length");
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
@ -503,7 +496,7 @@ public class UAVTalk {
|
||||
rxCSPacket = rxbyte;
|
||||
|
||||
if (rxCS != rxCSPacket) { // packet error - faulty CRC
|
||||
if (DEBUG) Log.d(TAG,"Bad crc");
|
||||
if (WARN) Log.w(TAG,"Bad crc");
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
@ -512,7 +505,7 @@ public class UAVTalk {
|
||||
if (rxPacketLength != (packetSize + 1)) { // packet error -
|
||||
// mismatched packet
|
||||
// size
|
||||
if (DEBUG) Log.d(TAG,"Bad size");
|
||||
if (WARN) Log.w(TAG,"Bad size");
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
@ -529,6 +522,7 @@ public class UAVTalk {
|
||||
break;
|
||||
|
||||
default:
|
||||
if (WARN) Log.w(TAG, "Bad state");
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
stats.rxErrors++;
|
||||
}
|
||||
@ -701,21 +695,30 @@ public class UAVTalk {
|
||||
* Called when an object is received to check if this completes
|
||||
* a UAVTalk transaction
|
||||
*/
|
||||
private synchronized void updateObjReq(UAVObject obj) {
|
||||
private void updateObjReq(UAVObject obj) {
|
||||
// Check if this is not a possible candidate
|
||||
Assert.assertNotNull(obj);
|
||||
|
||||
if(respObj != null && respType == TYPE_OBJ_REQ && respObj.getObjID() == obj.getObjID() &&
|
||||
((respObj.getInstID() == obj.getInstID() || !respAllInstances))) {
|
||||
boolean succeeded = false;
|
||||
|
||||
// Indicate complete
|
||||
respObj = null;
|
||||
// The lock on UAVTalk must be release before the transaction succeeded signal is sent
|
||||
// because otherwise if a transaction timeout occurs at the same time we can get a
|
||||
// deadlock:
|
||||
// 1. processInputStream -> updateObjReq (locks uavtalk) -> tranactionCompleted (locks transInfo)
|
||||
// 2. transactionTimeout (locks transInfo) -> sendObjectRequest -> É -> setupTransaction (locks uavtalk)
|
||||
synchronized(this) {
|
||||
if(respObj != null && respType == TYPE_OBJ_REQ && respObj.getObjID() == obj.getObjID() &&
|
||||
((respObj.getInstID() == obj.getInstID() || !respAllInstances))) {
|
||||
|
||||
// Notify listener
|
||||
if (transactionListener != null)
|
||||
transactionListener.TransactionSucceeded(obj);
|
||||
// Indicate complete
|
||||
respObj = null;
|
||||
succeeded = true;
|
||||
}
|
||||
}
|
||||
|
||||
// Notify listener
|
||||
if (succeeded && transactionListener != null)
|
||||
transactionListener.TransactionSucceeded(obj);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Loading…
Reference in New Issue
Block a user