mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
AndroidGCS: Propagate the exceptions from the low level UAVTalk methods up to
the high level monitoring so it knows when the connection has been terminated.
This commit is contained in:
James Cotton
parent
4c1171e1fb
commit
5670a958a8
@ -24,13 +24,19 @@ public class TcpUAVTalk {
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private UAVTalk uavTalk;
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private boolean connected;
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private Socket socket;
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/**
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* Construct a TcpUAVTalk object attached to the OPTelemetryService. Gets the
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* connection settings from the preferences.
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*/
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public TcpUAVTalk(Context caller) {
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SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
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ip_address = prefs.getString("ip_address","127.0.0.1");
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try {
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port = Integer.decode(prefs.getString("port", ""));
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} catch (NumberFormatException e) {
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//TODO: Handle this exception
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}
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if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
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@ -38,6 +44,10 @@ public class TcpUAVTalk {
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connected = false;
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}
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/**
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* Connect a TCP object to an object manager. Returns true if already
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* connected, otherwise returns true if managed a successful socket.
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*/
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public boolean connect(UAVObjectManager objMngr) {
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if( getConnected() )
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return true;
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@ -45,6 +55,16 @@ public class TcpUAVTalk {
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return false;
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return true;
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}
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public void disconnect() {
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try {
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socket.close();
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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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}
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socket = null;
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}
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public boolean getConnected() {
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return connected;
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@ -54,7 +74,10 @@ public class TcpUAVTalk {
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return uavTalk;
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}
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/**
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* Opens a TCP socket to the address determined on construction. If successful
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* creates a UAVTalk stream connection this socket to the passed in object manager
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*/
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private boolean openTelemetryTcp(UAVObjectManager objMngr) {
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Log.d(TAG, "Opening connection to " + ip_address + " at address " + port);
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@ -66,13 +89,11 @@ public class TcpUAVTalk {
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e1.printStackTrace();
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return false;
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}
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Socket socket = null;
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socket = null;
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try {
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socket = new Socket(serverAddr,port);
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} catch (IOException e1) {
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// TODO Auto-generated catch block
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e1.printStackTrace();
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return false;
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}
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@ -1,5 +1,6 @@
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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.LinkedList;
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import java.util.List;
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@ -88,7 +89,12 @@ public class Telemetry {
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// Listen to transaction completions
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utalk.addObserver(new Observer() {
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public void update(Observable observable, Object data) {
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transactionCompleted((UAVObject) data);
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try {
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transactionCompleted((UAVObject) data);
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} catch (IOException e) {
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// Disconnect when stream fails
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observable.deleteObserver(this);
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}
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}
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});
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@ -117,18 +123,35 @@ public class Telemetry {
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transTimerTask = new TimerTask() {
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@Override
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public void run() {
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transactionTimeout();
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try {
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transactionTimeout();
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} catch (IOException e) {
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cancel();
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}
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}
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};
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transTimer.schedule(transTimerTask, periodMs, periodMs);
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}
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synchronized void updateTimerSetPeriod(int periodMs) {
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if (updateTimer != null) {
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updateTimer.cancel();
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updateTimer = null;
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}
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if (updateTimerTask != null) {
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updateTimerTask.cancel();
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updateTimerTask = null;
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}
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updateTimer = new Timer();
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updateTimerTask = new TimerTask() {
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@Override
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public void run() {
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processPeriodicUpdates();
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try {
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processPeriodicUpdates();
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} catch (IOException e) {
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updateTimerTask.cancel();
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updateTimer.cancel();
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}
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}
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};
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updateTimer.schedule(updateTimerTask, periodMs, periodMs);
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@ -206,7 +229,12 @@ public class Telemetry {
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{
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obj.addUnpackedObserver(new Observer() {
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public void update(Observable observable, Object data) {
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objectUnpacked( (UAVObject) data);
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try {
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objectUnpacked( (UAVObject) data);
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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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}
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}
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});
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}
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@ -214,7 +242,12 @@ public class Telemetry {
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{
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obj.addUpdatedAutoObserver(new Observer() {
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public void update(Observable observable, Object data) {
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objectUpdatedAuto( (UAVObject) data);
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try {
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objectUpdatedAuto( (UAVObject) data);
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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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}
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}
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});
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}
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@ -222,7 +255,12 @@ public class Telemetry {
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{
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obj.addUpdatedManualObserver(new Observer() {
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public void update(Observable observable, Object data) {
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objectUpdatedManual( (UAVObject) data);
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try {
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objectUpdatedManual( (UAVObject) data);
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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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}
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}
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});
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}
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@ -230,7 +268,12 @@ public class Telemetry {
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{
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obj.addUpdateRequestedObserver(new Observer() {
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public void update(Observable observable, Object data) {
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updateRequested( (UAVObject) data);
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try {
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updateRequested( (UAVObject) data);
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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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}
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}
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});
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}
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@ -288,8 +331,9 @@ public class Telemetry {
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/**
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* Called when a transaction is successfully completed (uavtalk event)
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* @throws IOException
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*/
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private synchronized void transactionCompleted(UAVObject obj)
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private synchronized void transactionCompleted(UAVObject obj) throws IOException
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{
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if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
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// Check if there is a pending transaction and the objects match
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@ -311,8 +355,9 @@ public class Telemetry {
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/**
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* Called when a transaction is not completed within the timeout period (timer event)
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* @throws IOException
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*/
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private synchronized void transactionTimeout()
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private synchronized void transactionTimeout() throws IOException
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{
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if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
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transTimer.cancel();
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@ -342,8 +387,9 @@ public class Telemetry {
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/**
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* Start an object transaction with UAVTalk, all information is stored in transInfo
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* @throws IOException
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*/
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private synchronized void processObjectTransaction()
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private synchronized void processObjectTransaction() throws IOException
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{
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if (transPending)
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{
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@ -375,8 +421,9 @@ public class Telemetry {
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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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*/
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private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
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private synchronized void processObjectUpdates(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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@ -397,6 +444,7 @@ public class Telemetry {
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++txErrors;
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obj.transactionCompleted(false);
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Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
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new Exception().printStackTrace();
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}
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}
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else
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@ -421,8 +469,9 @@ public class Telemetry {
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/**
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* Process events from the object queue
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* @throws IOException
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*/
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private synchronized void processObjectQueue()
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private synchronized void processObjectQueue() throws IOException
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{
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if (DEBUG) Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
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@ -505,8 +554,9 @@ public class Telemetry {
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/**
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* Check is any objects are pending for periodic updates
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* TODO: Clean-up
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* @throws IOException
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*/
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private synchronized void processPeriodicUpdates()
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private synchronized void processPeriodicUpdates() throws IOException
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{
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if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
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@ -590,22 +640,22 @@ public class Telemetry {
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txRetries = 0;
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}
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private synchronized void objectUpdatedAuto(UAVObject obj)
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private synchronized void objectUpdatedAuto(UAVObject obj) throws IOException
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{
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processObjectUpdates(obj, EV_UPDATED, false, true);
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}
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private synchronized void objectUpdatedManual(UAVObject obj)
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private synchronized void objectUpdatedManual(UAVObject obj) throws IOException
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{
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processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
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}
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private synchronized void objectUnpacked(UAVObject obj)
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private synchronized void objectUnpacked(UAVObject obj) throws IOException
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{
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processObjectUpdates(obj, EV_UNPACKED, false, true);
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}
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public synchronized void updateRequested(UAVObject obj)
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public synchronized void updateRequested(UAVObject obj) throws IOException
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{
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processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
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}
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@ -620,6 +670,25 @@ public class Telemetry {
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registerObject(obj);
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}
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/**
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* Stop all the telemetry timers
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*/
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public void stopTelemetry()
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{
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if (updateTimerTask != null)
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updateTimerTask.cancel();
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updateTimerTask = null;
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if (updateTimer != null)
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updateTimer.cancel();
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updateTimer = null;
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if (transTimerTask != null)
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transTimerTask.cancel();
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transTimerTask = null;
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if (transTimer != null)
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transTimer.cancel();
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transTimer = null;
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}
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/**
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* Private variables
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*/
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@ -1,5 +1,6 @@
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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.List;
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import java.util.ListIterator;
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@ -50,7 +51,14 @@ public class TelemetryMonitor extends Observable{
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flightStatsObj.addUpdatedObserver(new Observer() {
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public void update(Observable observable, Object data) {
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flightStatsUpdated((UAVObject) data);
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try {
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flightStatsUpdated((UAVObject) data);
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} catch (IOException e) {
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// The UAVTalk stream was broken, disconnect this signal
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// TODO: Should this actually be disconnected. Do we create a new TelemetryMonitor for this
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// or fix the stream?
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flightStatsObj.removeUpdatedObserver(this);
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}
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}
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});
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@ -60,8 +68,9 @@ public class TelemetryMonitor extends Observable{
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/**
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* Initiate object retrieval, initialize queue with objects to be retrieved.
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* @throws IOException
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*/
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public synchronized void startRetrievingObjects()
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public synchronized void startRetrievingObjects() throws IOException
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{
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if (DEBUG) Log.d(TAG, "Start retrieving objects");
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@ -112,8 +121,9 @@ public class TelemetryMonitor extends Observable{
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/**
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* Retrieve the next object in the queue
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* @throws IOException
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*/
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public synchronized void retrieveNextObject()
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public synchronized void retrieveNextObject() throws IOException
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{
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// If queue is empty return
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if ( queue.isEmpty() )
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@ -133,11 +143,18 @@ public class TelemetryMonitor extends Observable{
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if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
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// Connect to object
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// TODO: Does this need to stay here permanently? This appears to be used for setup mainly
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obj.addTransactionCompleted(new Observer() {
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public void update(Observable observable, Object data) {
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UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
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if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
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transactionCompleted(result.obj, result.success);
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try {
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transactionCompleted(result.obj, result.success);
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} catch (IOException e) {
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// When the telemetry stream is broken disconnect these updates
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observable.deleteObserver(this);
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}
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}
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});
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@ -148,8 +165,9 @@ public class TelemetryMonitor extends Observable{
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/**
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* Called by the retrieved object when a transaction is completed.
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* @throws IOException
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*/
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public synchronized void transactionCompleted(UAVObject obj, boolean success)
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public synchronized void transactionCompleted(UAVObject obj, boolean success) throws IOException
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{
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//QMutexLocker locker(mutex);
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// Disconnect from sending object
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@ -176,8 +194,9 @@ public class TelemetryMonitor extends Observable{
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/**
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* Called each time the flight stats object is updated by the autopilot
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* @throws IOException
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*/
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public synchronized void flightStatsUpdated(UAVObject obj)
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public synchronized void flightStatsUpdated(UAVObject obj) throws IOException
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{
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// Force update if not yet connected
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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@ -193,8 +212,9 @@ public class TelemetryMonitor extends Observable{
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/**
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* Called periodically to update the statistics and connection status.
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* @throws IOException
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*/
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public synchronized void processStatsUpdates()
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public synchronized void processStatsUpdates() throws IOException
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{
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// Get telemetry stats
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if (DEBUG) Log.d(TAG, "processStatsUpdates()");
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@ -313,9 +333,20 @@ public class TelemetryMonitor extends Observable{
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periodicTask.scheduleAtFixedRate(new TimerTask() {
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@Override
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public void run() {
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processStatsUpdates();
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try {
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processStatsUpdates();
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} catch (IOException e) {
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// Once the stream has died stop trying to process these updates
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periodicTask.cancel();
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}
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}
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}, currentPeriod, currentPeriod);
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}
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public void stopMonitor()
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{
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periodicTask.cancel();
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periodicTask = null;
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}
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}
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@ -45,6 +45,11 @@ public abstract class UAVObject {
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transactionCompletedListeners.addObserver(o);
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}
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}
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public void removeTransactionCompleted(Observer o) {
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synchronized(transactionCompletedListeners) {
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transactionCompletedListeners.deleteObserver(o);
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}
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}
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void transactionCompleted(boolean status) {
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synchronized(transactionCompletedListeners) {
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transactionCompletedListeners.event(new TransactionResult(this,status));
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@ -17,11 +17,12 @@ public class UAVTalk extends Observable {
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public static boolean DEBUG = LOGLEVEL > 0;
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private Thread inputProcessingThread = null;
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private boolean streamFailed = false;
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/**
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* A reference to the thread for processing the incoming stream
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*
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* @return
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* A reference to the thread for processing the incoming stream. Currently this method is ONLY
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* used for unit testing
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*/
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public Thread getInputProcessThread() {
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if (inputProcessingThread == null)
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@ -29,8 +30,13 @@ public class UAVTalk extends Observable {
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inputProcessingThread = new Thread() {
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public void run() {
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while(true) {
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if( !processInputStream() )
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break;
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try {
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if( !processInputStream() )
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break;
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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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}
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}
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}
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};
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@ -175,18 +181,14 @@ public class UAVTalk extends Observable {
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/**
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* Process any data in the queue
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* @throws IOException
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*/
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public boolean processInputStream() {
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public boolean processInputStream() throws IOException {
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int val;
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try {
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// inStream.wait();
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val = inStream.read();
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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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return false;
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}
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//inStream.wait();
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val = inStream.read();
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if (val == -1) {
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return false;
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}
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@ -201,8 +203,9 @@ public class UAVTalk extends Observable {
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* would have been updated by the GCS. \param[in] obj Object to update
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* \param[in] allInstances If set true then all instances will be updated
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* \return Success (true), Failure (false)
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* @throws IOException
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*/
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public boolean sendObjectRequest(UAVObject obj, boolean allInstances) {
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public boolean sendObjectRequest(UAVObject obj, boolean allInstances) throws IOException {
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// QMutexLocker locker(mutex);
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return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
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}
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@ -212,9 +215,10 @@ public class UAVTalk extends Observable {
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* Object to send \param[in] acked Selects if an ack is required \param[in]
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* allInstances If set true then all instances will be updated \return
|
||||
* Success (true), Failure (false)
|
||||
* @throws IOException
|
||||
*/
|
||||
public synchronized boolean sendObject(UAVObject obj, boolean acked,
|
||||
boolean allInstances) {
|
||||
boolean allInstances) throws IOException {
|
||||
if (acked) {
|
||||
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
|
||||
} else {
|
||||
@ -235,9 +239,10 @@ public class UAVTalk extends Observable {
|
||||
* request object update TYPE_OBJ_ACK: send object with an ack \param[in]
|
||||
* allInstances If set true then all instances will be updated \return
|
||||
* Success (true), Failure (false)
|
||||
* @throws IOException
|
||||
*/
|
||||
public boolean objectTransaction(UAVObject obj, int type,
|
||||
boolean allInstances) {
|
||||
boolean allInstances) throws IOException {
|
||||
// Send object depending on if a response is needed
|
||||
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
|
||||
if (transmitObject(obj, type, allInstances)) {
|
||||
@ -257,8 +262,9 @@ public class UAVTalk extends Observable {
|
||||
/**
|
||||
* Process an byte from the telemetry stream. \param[in] rxbyte Received
|
||||
* byte \return Success (true), Failure (false)
|
||||
* @throws IOException
|
||||
*/
|
||||
public synchronized boolean processInputByte(int rxbyte) {
|
||||
public synchronized boolean processInputByte(int rxbyte) throws IOException {
|
||||
assert (objMngr != null);
|
||||
|
||||
// Update stats
|
||||
@ -471,9 +477,10 @@ public class UAVTalk extends Observable {
|
||||
* received object \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES
|
||||
* for all instances. \param[in] data Data buffer \param[in] length Buffer
|
||||
* length \return Success (true), Failure (false)
|
||||
* @throws IOException
|
||||
*/
|
||||
public boolean receiveObject(int type, long objId, long instId,
|
||||
ByteBuffer data) {
|
||||
ByteBuffer data) throws IOException {
|
||||
|
||||
if (DEBUG) Log.d(TAG, "Received object ID: " + objId);
|
||||
assert (objMngr != null);
|
||||
@ -622,8 +629,9 @@ public class UAVTalk extends Observable {
|
||||
* @param[in] type Transaction type
|
||||
* @param[in] allInstances True is all instances of the object are to be sent
|
||||
* @return Success (true), Failure (false)
|
||||
* @throws IOException
|
||||
*/
|
||||
public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) {
|
||||
public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) throws IOException {
|
||||
// If all instances are requested on a single instance object it is an
|
||||
// error
|
||||
if (allInstances && obj.isSingleInstance()) {
|
||||
@ -658,12 +666,13 @@ public class UAVTalk extends Observable {
|
||||
}
|
||||
|
||||
/**
|
||||
* Send an object through the telemetry link. \param[in] obj Object handle
|
||||
* to send \param[in] type Transaction type \return Success (true), Failure
|
||||
* (false)
|
||||
* Send an object through the telemetry link.
|
||||
* @throws IOException
|
||||
* @param[in] obj Object handle to send
|
||||
* @param[in] type Transaction type \return Success (true), Failure (false)
|
||||
*/
|
||||
public synchronized boolean transmitSingleObject(UAVObject obj, int type,
|
||||
boolean allInstances) {
|
||||
boolean allInstances) throws IOException {
|
||||
int length;
|
||||
int allInstId = ALL_INSTANCES;
|
||||
|
||||
@ -682,8 +691,7 @@ public class UAVTalk extends Observable {
|
||||
// Setup type and object id fields
|
||||
bbuf.put((byte) (SYNC_VAL & 0xff));
|
||||
bbuf.put((byte) (type & 0xff));
|
||||
bbuf
|
||||
.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
|
||||
bbuf.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
|
||||
.isSingleInstance() ? 0 : 2)));
|
||||
bbuf.putInt((int)obj.getObjID());
|
||||
|
||||
@ -714,31 +722,12 @@ public class UAVTalk extends Observable {
|
||||
// Calculate checksum
|
||||
bbuf.put((byte) (updateCRC(0, bbuf.array(), bbuf.position()) & 0xff));
|
||||
|
||||
try {
|
||||
int packlen = bbuf.position();
|
||||
bbuf.position(0);
|
||||
byte[] dst = new byte[packlen];
|
||||
bbuf.get(dst, 0, packlen);
|
||||
outStream.write(dst);
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
e.printStackTrace();
|
||||
return false;
|
||||
}
|
||||
int packlen = bbuf.position();
|
||||
bbuf.position(0);
|
||||
byte[] dst = new byte[packlen];
|
||||
bbuf.get(dst, 0, packlen);
|
||||
outStream.write(dst);
|
||||
|
||||
// //TODO: Need to use a different outStream type and check that the
|
||||
// backlog isn't more than TX_BUFFER_SIZE
|
||||
// // Send buffer, check that the transmit backlog does not grow above
|
||||
// limit
|
||||
// if ( io->bytesToWrite() < TX_BUFFER_SIZE )
|
||||
// {
|
||||
// io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// ++stats.txErrors;
|
||||
// return false;
|
||||
// }
|
||||
|
||||
// Update stats
|
||||
++stats.txObjects;
|
||||
|
||||
@ -90,7 +90,7 @@ public class TalkTest {
|
||||
}
|
||||
|
||||
@Test
|
||||
public void testSendObjectRequest() {
|
||||
public void testSendObjectRequest() throws IOException {
|
||||
ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
|
||||
ByteArrayOutputStream os = new ByteArrayOutputStream(100);
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user