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AndroidGCS Telemetry: Telemetry no longer enqueues identical object
transactions multiple times so only the most recent will occur. Since it doesn't enqueue the data the end behavior to the UAV should be identical. Also renamed processObjectUpdates to enqueueObjectUpdates to make it more intuitive.
This commit is contained in:
James Cotton
parent
1d361a53cd
commit
38117f6e69
@ -26,7 +26,6 @@ package org.openpilot.uavtalk;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.Iterator;
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import java.util.LinkedList;
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import java.util.List;
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import java.util.ListIterator;
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@ -41,10 +40,10 @@ import android.util.Log;
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public class Telemetry {
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private final String TAG = "Telemetry";
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public static int LOGLEVEL = 3;
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public static int LOGLEVEL = 1;
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public static boolean WARN = LOGLEVEL > 2;
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public static boolean ERROR = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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public static boolean DEBUG = LOGLEVEL > 1;
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public static boolean ERROR = LOGLEVEL > 0;
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public class TelemetryStats {
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public int txBytes;
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public int rxBytes;
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@ -68,8 +67,15 @@ public class Telemetry {
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int event;
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boolean allInstances;
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boolean equals(ObjectQueueInfo e) {
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return (e.obj.getObjID() == obj.getObjID() && e.event == event && e.allInstances == allInstances) || true;
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@Override
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public boolean equals(Object e) {
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try {
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ObjectQueueInfo o = (ObjectQueueInfo) e;
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return o.obj.getObjID() == obj.getObjID() && o.event == event && o.allInstances == allInstances;
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} catch (Exception err) {
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};
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return false;
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}
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};
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@ -133,6 +139,7 @@ public class Telemetry {
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void TransactionFailed(UAVObject data) {
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try {
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if (DEBUG) Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
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transactionCompleted(data, false);
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} catch (IOException e) {
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// Disconnect when stream fails
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@ -259,7 +266,7 @@ public class Telemetry {
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@Override
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public void update(Observable observable, Object data) {
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try {
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processObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
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enqueueObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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@ -271,7 +278,7 @@ public class Telemetry {
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@Override
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public void update(Observable observable, Object data) {
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try {
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processObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
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enqueueObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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@ -283,7 +290,7 @@ public class Telemetry {
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@Override
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public void update(Observable observable, Object data) {
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try {
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processObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
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enqueueObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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@ -295,7 +302,7 @@ public class Telemetry {
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@Override
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public void update(Observable observable, Object data) {
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try {
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processObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
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enqueueObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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@ -404,6 +411,7 @@ public class Telemetry {
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} else
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{
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if (ERROR) Log.e(TAG,"Error: received a transaction completed when did not expect it.");
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transPending = false;
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}
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}
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@ -427,9 +435,13 @@ public class Telemetry {
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}
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else
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{
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if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
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// Terminate transaction. This triggers UAVTalk to send a transaction
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// failed signal which will make the next queue entry be processed
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//utalk.cancelPendingTransaction();
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// Note this is UAVTalk listener TransactionFailed function and not the
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// object specific transaction failed.
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utalk.cancelPendingTransaction(transInfo.obj);
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++txErrors;
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}
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}
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@ -470,10 +482,10 @@ public class Telemetry {
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}
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/**
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* Process the event received from an object
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* @throws IOException
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* Enqueue the event received from an object. This is the main method that handles all the callbacks
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* from UAVObjects (due to updates, or update requests)
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*/
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private void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
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private synchronized void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
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{
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// Push event into queue
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if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
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@ -485,17 +497,8 @@ public class Telemetry {
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objInfo.allInstances = allInstances;
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if (priority)
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{
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Iterator <ObjectQueueInfo> it = objPriorityQueue.iterator();
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boolean found = false;
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while(it.hasNext()) {
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ObjectQueueInfo test = it.next();
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if (test.obj.getObjID() == obj.getObjID())
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found = true;
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}
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found= false;
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if(found) {
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Log.w(TAG, "Identical event already in transaction queue: " + objInfo);
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} else {
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// Only enqueue if an identical transaction does not already exist
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if(!objPriorityQueue.contains(objInfo)) {
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if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
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{
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objPriorityQueue.add(objInfo);
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@ -510,9 +513,8 @@ public class Telemetry {
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}
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else
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{
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if(objQueue.contains(objInfo)) {
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Log.w(TAG, "Identical event already in queue: " + objInfo);
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} else {
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// Only enqueue if an identical transaction does not already exist
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if(!objQueue.contains(objInfo)) {
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if ( objQueue.size() < MAX_QUEUE_SIZE )
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{
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objQueue.add(objInfo);
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@ -543,7 +545,7 @@ public class Telemetry {
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// Don nothing if a transaction is already in progress (should not happen)
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if (transPending)
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{
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if (ERROR) Log.e(TAG,"Dequeue while a transaction pending");
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if (WARN) Log.e(TAG,"Dequeue while a transaction pending");
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return;
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}
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@ -611,7 +613,7 @@ public class Telemetry {
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// we do not have additional objects still in the queue,
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// so we have to reschedule queue processing to make sure they are not
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// stuck:
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if ( objInfo.event == EV_UNPACKED )
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if ( objInfo.event == EV_UNPACKED && !transPending)
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processObjectQueue();
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}
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@ -651,7 +653,7 @@ public class Telemetry {
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objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
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// Send object
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startTime = System.currentTimeMillis();
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processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
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enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
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elapsedMs = (int) (System.currentTimeMillis() - startTime);
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// Update timeToNextUpdateMs with the elapsed delay of sending the object;
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timeToNextUpdateMs += elapsedMs;
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@ -38,7 +38,7 @@ import android.util.Log;
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public class UAVTalk {
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static final String TAG = "UAVTalk";
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public static int LOGLEVEL = 0;
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public static int LOGLEVEL = 1;
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public static boolean VERBOSE = LOGLEVEL > 3;
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public static boolean WARN = LOGLEVEL > 2;
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public static boolean DEBUG = LOGLEVEL > 1;
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