Merge branch 'android-uavo-fix' into next

androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java

@@ -294,6 +294,7 @@ public class OPTelemetryService extends Service {
             numRead = inputStream.read(buffer);
         }
     }
+
 	private void copyAssets(String JAR_DIR, String JAR_NAME)
     {
         File jarsDir = getDir(JAR_DIR, MODE_WORLD_READABLE);
@@ -320,6 +321,19 @@ public class OPTelemetryService extends Service {
         catch (IOException e)
         {
             Log.e(TAG, e.toString(), e);
+            String[] list;
+			try {
+				list = assetManager.list("uavos/");
+				Log.i(TAG, "Listing found uavos");
+	            for(int i = 0; i < list.length; i++) {
+	            	Log.i(TAG, "Found: " + list[i]);
+	            }
+
+			} catch (IOException e1) {
+				// TODO Auto-generated catch block
+				e1.printStackTrace();
+			}
+
         }
     }
 
@@ -351,6 +365,10 @@ public class OPTelemetryService extends Service {
 	    final String JAR_DIR = "jars";
 	    final String DEX_DIR = "optimized_dex";
 
+	    File jarsDir = getDir(JAR_DIR, MODE_WORLD_READABLE);
+	    if (jarsDir.exists())
+	    	deleteDirectoryContents(jarsDir);
+
 	    copyAssets(JAR_DIR, jar);
 
 		Log.d(TAG, "Starting dex loader");
@@ -360,7 +378,6 @@ public class OPTelemetryService extends Service {
 		if (dexDir.exists())
 			deleteDirectoryContents(dexDir);
 
-		File jarsDir = getDir(JAR_DIR, MODE_WORLD_READABLE);
 		String classpath = new File(jarsDir, jar).getAbsolutePath();
 
 		DexClassLoader loader = new DexClassLoader(classpath, dexDir.getAbsolutePath(), null, getClassLoader());

androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java

@@ -8,8 +8,6 @@ import java.util.Observer;
 
 import org.openpilot.uavtalk.Telemetry;
 import org.openpilot.uavtalk.TelemetryMonitor;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVObjectField;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.TelemObjectsInitialize;
@@ -93,32 +91,6 @@ public abstract class TelemetryTask implements Runnable {
 	 */
 	abstract boolean attemptConnection();
 
-	private final Observer firmwareIapUpdated = new Observer() {
-		@Override
-		public void update(Observable observable, Object data) {
-			if (DEBUG) Log.d(TAG, "Received firmware IAP Updated message");
-
-			UAVObject obj = objMngr.getObject("FirmwareIAPObj");
-			UAVObjectField description = obj.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 += Integer.toHexString((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");
-				} else
-					telemService.toastMessage("Failed to determine UAVO set");
-			}
-
-			obj.removeUpdatedObserver(this);
-		}
-	};
-
 	/**
 	 * Called when a physical channel is opened
 	 *
@@ -133,11 +105,6 @@ public abstract class TelemetryTask implements Runnable {
 		objMngr = new UAVObjectManager();
 		TelemObjectsInitialize.register(objMngr);
 
-		// Register to get an update from FirmwareIAP in order to register
-		// the appropriate objects
-		UAVObject obj = objMngr.getObject("FirmwareIAPObj");
-		obj.addUpdatedObserver(firmwareIapUpdated);
-
 		// Create the required telemetry objects attached to this
 		// data stream
 		uavTalk = new UAVTalk(inStream, outStream, objMngr);

androidgcs/src/org/openpilot/uavtalk/Telemetry.java

@@ -202,7 +202,7 @@ public class Telemetry {
 	/**
 	 * Register a new object for periodic updates (if enabled)
 	 */
-	private synchronized void registerObject(UAVObject obj) {
+	private void registerObject(UAVObject obj) {
 		// Setup object for periodic updates
 		addObject(obj);
 
@@ -213,7 +213,9 @@ public class Telemetry {
 	/**
 	 * Add an object in the list used for periodic updates
 	 */
-	private synchronized void addObject(UAVObject obj) {
+	private void addObject(UAVObject obj) {
+
+		synchronized (objList) {
 			// Check if object type is already in the list
 			ListIterator<ObjectTimeInfo> li = objList.listIterator();
 			while (li.hasNext()) {
@@ -232,6 +234,7 @@ public class Telemetry {
 			timeInfo.updatePeriodMs = 0;
 			objList.add(timeInfo);
 		}
+	}
 
 	/**
 	 * Update the object's timers
@@ -281,7 +284,7 @@ public class Telemetry {
 	 * Connect to all instances of an object depending on the event mask
 	 * specified
 	 */
-	private synchronized void connectToObjectInstances(UAVObject obj,
+	private void connectToObjectInstances(UAVObject obj,
 			int eventMask) {
 		List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
 		ListIterator<UAVObject> li = objs.listIterator();
@@ -312,6 +315,8 @@ public class Telemetry {
 	 * Update an object based on its metadata properties
 	 */
 	private void updateObject(UAVObject obj) {
+
+		synchronized(obj) {
 			// Get metadata
 			UAVObject.Metadata metadata = obj.getMetadata();
 
@@ -351,6 +356,7 @@ public class Telemetry {
 				connectToObjectInstances(obj, eventMask);
 			}
 		}
+	}
 
 	/**
 	 * Check is any objects are pending for periodic updates TODO: Clean-up
@@ -448,7 +454,7 @@ public class Telemetry {
 		registerObject(obj);
 	}
 
-	private synchronized void newInstance(UAVObject obj) {
+	private void newInstance(UAVObject obj) {
 		registerObject(obj);
 	}
 
@@ -632,11 +638,7 @@ public class Telemetry {
 						return;
 					}
 
-					// Store this as the active transaction
+					if (DEBUG) Log.d(TAG, "Process Object transaction for " + newTrans.obj.getName());
-					transPending = newTransactionPending;
-					transInfo = newTrans;
-
-					if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
 
 					// Remove this one from the list of pending transactions
 					handler.removeActivatedQueue(objInfo);
@@ -644,12 +646,12 @@ public class Telemetry {
 					try {
 
 						// 3. Execute transaction by sending the appropriate UAVTalk command
-						if (transInfo.objRequest) {
+						if (newTrans.objRequest) {
-							if (DEBUG) Log.d(TAG, "Sending object request " + transInfo.obj.getName());
+							if (DEBUG) Log.d(TAG, "Sending object request " + newTrans.obj.getName());
-							utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+							utalk.sendObjectRequest(newTrans.obj, newTrans.allInstances);
 						} else {
-							if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
+							if (DEBUG) Log.d(TAG, "Sending object " + newTrans.obj.getName());
-							utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
+							utalk.sendObject(newTrans.obj, newTrans.acked, newTrans.allInstances);
 						}
 
 					} catch (IOException e) {
@@ -657,10 +659,18 @@ public class Telemetry {
 						e.printStackTrace();
 					}
 
+					// Store this as the active transaction.  However in the case
+					// of transPending && !newTransactionPending we need ot not
+					// override the previous pending transaction
+					if (!transPending && newTransactionPending) {
+						transPending = newTransactionPending;
+						transInfo = newTrans;
+
 						// Post a timeout timer if a response is epxected
-					if (transPending)
 						handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
 					}
+
+				}
 			}
 		}
 	}
@@ -744,7 +754,7 @@ public class Telemetry {
 				//Send signal
 				obj.transactionCompleted(result);
 			} else {
-				if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
+				if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it. " + obj.getName());
 				transPending = false;
 			}
 		}

androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java

@@ -54,9 +54,12 @@ public class TelemetryMonitor extends Observable {
 
 	private final UAVObjectManager objMngr;
 	private final Telemetry tel;
+
+	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;
+			if (objectsRegistered)
 				startRetrievingObjects();
-			if (HANDSHAKE_IS_CONNECTED) setChanged(); // Enabling this line makes the opConnected signal occur whenever we get a handshake
+			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);
+		}
+	};
+
 }

androidgcs/src/org/openpilot/uavtalk/UAVTalk.java

@@ -269,7 +269,8 @@ 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) {
+	public boolean cancelPendingTransaction(UAVObject obj) {
+		synchronized (respObj) {
 			if(respObj != null && respObj.getObjID() == obj.getObjID()) {
 				if(transactionListener != null) {
 					Log.d(TAG,"Canceling transaction: " + respObj.getName());
@@ -280,6 +281,7 @@ public class UAVTalk {
 			} else
 				return false;
 		}
+	}
 
 	/**
 	 * Cancel a pending transaction.  If there is a pending transaction and
@@ -296,8 +298,8 @@ 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);
@@ -306,6 +308,7 @@ public class UAVTalk {
 			respAllInstances = allInstances;
 			respType = type;
 		}
+	}
 
 	/**
 	 * Execute the requested transaction on an object. \param[in] obj Object
@@ -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++;
+						if (WARN) Log.w(TAG, "Greater than max payload length");
-						rxState = RxStateType.STATE_SYNC;
-						break;
-					}
-
-					// Check the lengths match
-					if ((rxPacketLength + rxLength) != packetSize) { // packet error
-						// -
-						// mismatched
-						// packet
-						// size
 						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);
 
+		boolean succeeded = false;
+
+		// 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))) {
 
 				// Indicate complete
 				respObj = null;
-
+				succeeded = true;
-			// Notify listener
+			}
-			if (transactionListener != null)
-				transactionListener.TransactionSucceeded(obj);
 		}
 
+		// Notify listener
+		if (succeeded && transactionListener != null)
+				transactionListener.TransactionSucceeded(obj);
 	}
 
 	/**