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Code Issues Releases Activity

Little updates

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This commit is contained in:
James Cotton 2011-03-10 13:44:40 -06:00
parent abc07fd748
commit 29fd09b204
2 changed files with 51 additions and 21 deletions
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16
androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
View File

@ -202,7 +202,6 @@ public class UAVTalk extends Observable{
*/
public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
{
System.out.println("Sending obj: " + obj.toString());
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
@ -249,7 +248,6 @@ public class UAVTalk extends Observable{
}
else if (type == TYPE_OBJ)
{
System.out.println("Transmitting object: " + obj.toString());
return transmitObject(obj, TYPE_OBJ, allInstances);
}
else
@ -263,7 +261,7 @@ public class UAVTalk extends Observable{
* \param[in] rxbyte Received byte
* \return Success (true), Failure (false)
*/
public boolean processInputByte(int rxbyte)
public synchronized boolean processInputByte(int rxbyte)
{
assert(objMngr != null);
@ -448,12 +446,10 @@ public class UAVTalk extends Observable{
break;
}
//mutex->lock();
rxBuffer.position(0);
receiveObject(rxType, rxObjId, rxInstId, rxBuffer);
stats.rxObjectBytes += rxLength;
stats.rxObjects++;
//mutex->unlock();
rxState = RxStateType.STATE_SYNC;
break;
@ -484,13 +480,13 @@ public class UAVTalk extends Observable{
boolean error = false;
boolean allInstances = (instId == ALL_INSTANCES? true : false);
System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (!allInstances)
{
System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
// Get object and update its data
obj = updateObject(objId, instId, data);
// Check if an ack is pending
@ -512,6 +508,7 @@ 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());
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
@ -531,6 +528,7 @@ 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());
if (allInstances)
{
obj = objMngr.getObject(objId);
@ -553,6 +551,7 @@ public class UAVTalk extends Observable{
// All instances, not allowed for ACK messages
if (!allInstances)
{
System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
// Get object
obj = objMngr.getObject(objId, instId);
// Check if an ack is pending
@ -578,7 +577,7 @@ public class UAVTalk extends Observable{
* If the object instance could not be found in the list, then a
* new one is created.
*/
public UAVObject updateObject(int objId, int instId, ByteBuffer data)
public synchronized UAVObject updateObject(int objId, int instId, ByteBuffer data)
{
assert(objMngr != null);
@ -613,13 +612,14 @@ public class UAVTalk extends Observable{
// TODO Auto-generated catch block
e.printStackTrace();
}
System.out.println("Unpacking new object");
instobj.unpack(data);
return instobj;
}
else
{
// Unpack data into object instance
// System.out.println("Unpacking: " + data.position() + " / " + data.capacity() );
System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
obj.unpack(data);
return obj;
}

56
androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
View File

@ -1,10 +1,13 @@
package org.openpilot.uavtalk;
import static org.junit.Assert.*;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.io.OutputStreamWriter;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.Socket;
@ -31,7 +34,7 @@ public class TalkTest {
UAVObjectsInitialize.register(objMngr);
}
@Test
//@Test
public void testGetFlightStatus() {
Socket connection = null;
UAVTalk talk = null;
@ -78,22 +81,49 @@ public class TalkTest {
@Test
public void testSendObjectRequest() {
fail("Not yet implemented");
ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
ByteArrayOutputStream os = new ByteArrayOutputStream(100);
UAVTalk talk = new UAVTalk(is,os,objMngr);
UAVObject obj = objMngr.getObject("FlightTelemetryStats");
obj.getField("Status").setValue("Connected");
talk.sendObject(obj, false, false);
System.out.println("Size: " + os.size());
byte [] array = os.toByteArray();
for(int i = 0; i < array.length; i++) {
System.out.print("0x" + Integer.toHexString((int) array[i] & 0xff));
if(i != array.length-1)
System.out.print(", ");
}
System.out.print("\n");
}
@Test
public void testSendObject() {
fail("Not yet implemented");
}
@Test
public void testReceiveObject() {
fail("Not yet implemented");
ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
ByteArrayOutputStream os = new ByteArrayOutputStream(100);
// Send object to create the test packet (should hard code in test string)
UAVTalk talk = new UAVTalk(is,os,objMngr);
UAVObject obj = objMngr.getObject("FlightTelemetryStats");
obj.getField("Status").setValue("Connected");
talk.sendObject(obj, false, false);
obj.getField("Status").setValue("Disconnected");
// Test receiving from that stream
is = new ByteArrayInputStream(os.toByteArray(), 0, os.size());
talk = new UAVTalk(is,os,objMngr);
Thread inputStream = talk.getInputProcessThread();
inputStream.start();
System.out.println("Should be FlightTelemetry Stats:");
System.out.println(objMngr.getObject("FlightTelemetryStats").toString());
fail("Not working yet");
}
@Test
public void testUpdateObject() {
fail("Not yet implemented");
}
}