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Code Issues Releases Activity

Changes to TelemetryMonitor, ready for testing

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This commit is contained in:
James Cotton 2011-03-10 02:39:33 -06:00
parent cb5e690de0
commit 55e0834051
2 changed files with 32 additions and 24 deletions
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2
androidgcs/src/org/openpilot/uavtalk/Telemetry.java
View File

@ -585,7 +585,7 @@ public class Telemetry {
processObjectUpdates(obj, EV_UNPACKED, false, true);
}
private synchronized void updateRequested(UAVObject obj)
public synchronized void updateRequested(UAVObject obj)
{
processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
}

54
androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
View File

@ -28,6 +28,7 @@ public class TelemetryMonitor {
private UAVObject flightStatsObj;
private Timer periodicTask;
private int currentPeriod;
private long lastUpdateTime;
private List<UAVObject> queue;
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
@ -121,9 +122,15 @@ public class TelemetryMonitor {
Log.d(TAG, "Retrieving object: " + obj.getName()) ;
// Connect to object
//connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
obj.addTransactionCompleted(new Observer() {
public void update(Observable observable, Object data) {
UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
transactionCompleted(result.obj, result.success);
}
});
// Request update
tel.requestUpdate(obj);
tel.updateRequested(obj);
objPending = obj;
}
@ -184,9 +191,10 @@ public class TelemetryMonitor {
boolean connectionTimeout;
if ( telStats.rxObjects > 0 )
{
//connectionTimer.start();
lastUpdateTime = System.currentTimeMillis();
}
if ( connectionTimer.elapsed() > CONNECTION_TIMEOUT_MS )
if ( (System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS )
{
connectionTimeout = true;
}
@ -196,53 +204,53 @@ public class TelemetryMonitor {
}
// Update connection state
int oldStatus = gcsStats.Status;
if ( gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED )
UAVObjectField statusField = gcsStatsObj.getField("Connection");
String oldStatus = (String) statusField.getValue();
if ( oldStatus.compareTo("Disconnected") == 0 )
{
// Request connection
gcsStats.Status = GCSTelemetryStats::STATUS_HANDSHAKEREQ;
statusField.setValue("HandshakeReq");
}
else if ( gcsStats.Status == GCSTelemetryStats::STATUS_HANDSHAKEREQ )
else if ( oldStatus.compareTo("HandshakeReq") == 0 )
{
// Check for connection acknowledge
if ( flightStats.Status == FlightTelemetryStats::STATUS_HANDSHAKEACK )
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
{
gcsStats.Status = GCSTelemetryStats::STATUS_CONNECTED;
statusField.setValue("Connected");
}
}
else if ( gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED )
else if ( oldStatus.compareTo("Connected") == 0 )
{
// Check if the connection is still active and the the autopilot is still connected
if (flightStats.Status == FlightTelemetryStats::STATUS_DISCONNECTED || connectionTimeout)
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") == 0 || connectionTimeout)
{
gcsStats.Status = GCSTelemetryStats::STATUS_DISCONNECTED;
statusField.setValue("Disconnected");
}
}
// Set data
gcsStatsObj->setData(gcsStats);
// Force telemetry update if not yet connected
if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED ||
flightStats.Status != FlightTelemetryStats::STATUS_CONNECTED )
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
if ( gcsStatusChanged ||
((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
{
gcsStatsObj->updated();
gcsStatsObj.updated();
}
// Act on new connections or disconnections
if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED && gcsStats.Status != oldStatus)
if (gcsConnected && gcsStatusChanged)
{
setPeriod(STATS_UPDATE_PERIOD_MS);
statsTimer->setInterval(STATS_UPDATE_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot established");
startRetrievingObjects();
}
if (gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED && gcsStats.Status != oldStatus)
if (gcsDisconnected && gcsStatusChanged)
{
setPeriod(STATS_CONNECT_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot lost");
Log.d(TAG,"Trying to connect to the autopilot");
emit disconnected();
//emit disconnected();
}
}