Little updates

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

@@ -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;
 		}

androidgcs/tests/org/openpilot/uavtalk/TalkTest.java

@@ -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");
-	}
 
 }