AndroidGCS: Add a telemetry monitor to the action bar that shows the TX/RX data

rate.  Right now seem to have a bug when going into the same widget twice it
crashes teh second time.

androidgcs/res/layout/telemetry_stats.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/searchProgressWrapper"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="horizontal" >
+    
+	<TextView
+        android:id="@+id/telemetry_stats_rx_rate_label"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/rxrate" />
+    
+	<TextView
+        android:id="@+id/telemetry_stats_rx_rate"
+        android:layout_width="64dp"
+        android:layout_height="wrap_content"
+        android:text="" />
+    
+    <TextView
+        android:id="@+id/telemetry_stats_tx_rate_label"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/txrate" />
+
+   	<TextView
+        android:id="@+id/telemetry_stats_tx_rate"
+        android:layout_width="64dp"
+        android:layout_height="wrap_content"
+        android:text="" />
+</LinearLayout>

androidgcs/res/menu/status_menu.xml

@@ -1,5 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<menu xmlns:android="http://schemas.android.com/apk/res/android" >
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
-    
 
+    <item   android:id="@+id/menuItemProgress"
+        android:title="Progress"
+        android:actionLayout="@layout/telemetry_stats"
+        android:showAsAction="always" />
+        
 </menu>

androidgcs/res/values/strings.xml

@@ -30,4 +30,6 @@
 	<string name="number_of_objects">Number of objects</string>
 	<string name="number_of_bytes">Number of bytes</string>
 	<string name="alarms">Alarms</string>
+	<string name="txrate">TxRate: </string>
+	<string name="rxrate">RxRate: </string>
 </resources>

androidgcs/src/org/openpilot/androidgcs/Controller.java

@@ -66,8 +66,8 @@ public class Controller extends ObjectManagerActivity {
 	
 	@Override
 	void onOPConnected() {
-		Log.d(TAG, "onOPConnected()");
+		super.onOPConnected();
-		
+
 		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
 		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
 		if(manualControl != null) {

androidgcs/src/org/openpilot/androidgcs/Logger.java

@@ -77,6 +77,8 @@ public class Logger extends ObjectManagerActivity {
 	
 	@Override
 	void onOPConnected() {
+		super.onOPConnected();
+		
 		if (DEBUG) Log.d(TAG, "onOPConnected()");
 		onStartLogging();
 		registerObjectUpdates(objMngr.getObjects());

androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

@@ -53,14 +53,15 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);
 		setContentView(R.layout.object_browser);		
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
+		super.onCreate(savedInstanceState);
 	}
 
 	@Override
 	void onOPConnected() {
+		super.onOPConnected();
 		Log.d(TAG, "onOPConnected()");
 		
 		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {

androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java

@@ -24,6 +24,7 @@ import android.util.Log;
 import android.view.Menu;
 import android.view.MenuInflater;
 import android.view.MenuItem;
+import android.widget.TextView;
 
 public abstract class ObjectManagerActivity extends Activity {
 
@@ -42,7 +43,9 @@ public abstract class ObjectManagerActivity extends Activity {
 	LocalBinder binder;
 	//! Store the broadcast receiver to unregister it
 	BroadcastReceiver connectedReceiver;
-
+	//! Indicate if this activity has already connected it's telemetry callbacks
+	private boolean telemetryStatsConnected = false;
+	
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -118,19 +121,60 @@ public abstract class ObjectManagerActivity extends Activity {
 		}
 	}
 	
+	private void updateStats() {
+		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+		TextView rxRate = (TextView) findViewById(R.id.telemetry_stats_rx_rate);
+		TextView txRate = (TextView) findViewById(R.id.telemetry_stats_tx_rate);
+		if (rxRate != null)
+			rxRate.setText(Integer.valueOf((int) stats.getField("RxDataRate").getDouble()).toString());
+		if (rxRate != null)
+			txRate.setText(Integer.valueOf((int) stats.getField("TxDataRate").getDouble()).toString());
+
+	}
+	
+	final Observer telemetryObserver = new Observer() {
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() {
+					updateStats();
+				}
+			});
+		}
+	};
+	
 	/**
 	 * Called when either the telemetry establishes a connection or
 	 * if it already has on creation of this activity
+	 * 
+	 * This should be called by all inherited classes if they want the telemetry bar etc
 	 */
 	void onOPConnected() {
+		if ( telemetryStatsConnected )
+			return;
 		
+		// We are not using the objectUpdated mechanism in place so that all the children
+		// don't have to sort through the messages.
+		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+		if (stats == null)
+			return;
+		
+		stats.addUpdatedObserver(telemetryObserver);
+		telemetryStatsConnected = true;
+		updateStats();
 	}
 	
 	/**
 	 * Called when telemetry drops the connection
+	 * 
+	 * This should be called by all inherited classes if they want the telemetry bar etc
 	 */
 	void onOPDisconnected() {
-		
+		// Indicate no connection
+		TextView rxRate = (TextView) findViewById(R.id.telemetry_stats_rx_rate);
+		TextView txRate = (TextView) findViewById(R.id.telemetry_stats_tx_rate);
+		rxRate.setText("");
+		txRate.setText("");
 	}
 	
 	@Override
@@ -154,6 +198,7 @@ public abstract class ObjectManagerActivity extends Activity {
 	@Override
 	public boolean onCreateOptionsMenu(Menu menu) {
 		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.status_menu, menu);
 		inflater.inflate(R.menu.options_menu, menu);
 		return true;
 	}

androidgcs/src/org/openpilot/androidgcs/PFD.java

@@ -1,31 +1,42 @@
 package org.openpilot.androidgcs;
 
-import java.util.Observable;
-import java.util.Observer;
-
-import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 
 import android.os.Bundle;
 
 public class PFD extends ObjectManagerActivity {
 
+	final long MIN_UPDATE_PERIOD = 50;
+	long lastUpdateMs;
 	double heading;
 	double roll;
 	double pitch;
 
-	Runnable update = new Runnable() {
+	/**
-		public void run() {
+	 * Update the UI whenever the attitude is updated
-			CompassView compass = (CompassView) findViewById(R.id.compass_view);
+	 */
-			compass.setBearing((int) heading);
+	protected void objectUpdated(UAVObject obj) {
-			compass.invalidate();
+		// Throttle the UI redraws.  Eventually this should maybe come from a periodic task
+		if ((System.currentTimeMillis() - lastUpdateMs) < MIN_UPDATE_PERIOD)
+			return;
+		if (obj.getName().compareTo("AttitudeActual") != 0)
+			return;
 
-			AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
+		lastUpdateMs = System.currentTimeMillis(); 
-			attitude.setRoll(roll / 180 * Math.PI);
+
-			attitude.setPitch(pitch / 180 * Math.PI);
+		heading = obj.getField("Yaw").getDouble();
-			attitude.invalidate();
+		pitch = obj.getField("Pitch").getDouble();
-		}		
+		roll = obj.getField("Roll").getDouble();
-	};
+
+		CompassView compass = (CompassView) findViewById(R.id.compass_view);
+		compass.setBearing((int) heading);
+		compass.invalidate();
+
+		AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
+		attitude.setRoll(roll / 180 * Math.PI);
+		attitude.setPitch(pitch / 180 * Math.PI);
+		attitude.invalidate();
+	}
 
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -35,17 +46,11 @@ public class PFD extends ObjectManagerActivity {
 
 	@Override
 	void onOPConnected() {
+		super.onOPConnected();
 
+		// Connect the update method to AttitudeActual
 		UAVObject obj = objMngr.getObject("AttitudeActual");
-		if(obj != null)
+		if (obj != null)
-			obj.addUpdatedObserver(new Observer() {				
+			registerObjectUpdates(obj);
-				public void update(Observable observable, Object data) {
-					UAVDataObject obj = (UAVDataObject) data;
-					heading = obj.getField("Yaw").getDouble();
-					pitch = obj.getField("Pitch").getDouble();
-					roll = obj.getField("Roll").getDouble();
-					runOnUiThread(update);
-				}
-			});
 	}				
 }