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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
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@ -585,7 +585,7 @@ public class Telemetry {
processObjectUpdates(obj, EV_UNPACKED, false, true); 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); 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 UAVObject flightStatsObj;
private Timer periodicTask; private Timer periodicTask;
private int currentPeriod; private int currentPeriod;
private long lastUpdateTime;
private List<UAVObject> queue; private List<UAVObject> queue;
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel) public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
@ -121,9 +122,15 @@ public class TelemetryMonitor {
Log.d(TAG, "Retrieving object: " + obj.getName()) ; Log.d(TAG, "Retrieving object: " + obj.getName()) ;
// Connect to object // 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 // Request update
tel.requestUpdate(obj); tel.updateRequested(obj);
objPending = obj; objPending = obj;
} }
@ -184,9 +191,10 @@ public class TelemetryMonitor {
boolean connectionTimeout; boolean connectionTimeout;
if ( telStats.rxObjects > 0 ) if ( telStats.rxObjects > 0 )
{ {
//connectionTimer.start(); lastUpdateTime = System.currentTimeMillis();
} }
if ( connectionTimer.elapsed() > CONNECTION_TIMEOUT_MS ) if ( (System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS )
{ {
connectionTimeout = true; connectionTimeout = true;
} }
@ -196,53 +204,53 @@ public class TelemetryMonitor {
} }
// Update connection state // Update connection state
int oldStatus = gcsStats.Status; UAVObjectField statusField = gcsStatsObj.getField("Connection");
if ( gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED ) String oldStatus = (String) statusField.getValue();
if ( oldStatus.compareTo("Disconnected") == 0 )
{ {
// Request connection // 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 // 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 // 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 // Force telemetry update if not yet connected
if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED || boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
flightStats.Status != FlightTelemetryStats::STATUS_CONNECTED ) 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 // Act on new connections or disconnections
if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED && gcsStats.Status != oldStatus) if (gcsConnected && gcsStatusChanged)
{ {
setPeriod(STATS_UPDATE_PERIOD_MS); setPeriod(STATS_UPDATE_PERIOD_MS);
statsTimer->setInterval(STATS_UPDATE_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot established"); Log.d(TAG,"Connection with the autopilot established");
startRetrievingObjects(); startRetrievingObjects();
} }
if (gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED && gcsStats.Status != oldStatus) if (gcsDisconnected && gcsStatusChanged)
{ {
setPeriod(STATS_CONNECT_PERIOD_MS); setPeriod(STATS_CONNECT_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot lost"); Log.d(TAG,"Connection with the autopilot lost");
Log.d(TAG,"Trying to connect to the autopilot"); Log.d(TAG,"Trying to connect to the autopilot");
emit disconnected(); //emit disconnected();
} }
} }