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Code Issues Releases Activity

AndroidGCS HID: Go back to a read and write thread but now use synchronous

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bultTransfer for write which gets rid of the segfaults with running two
asynchronous transfers.
This commit is contained in:
James Cotton 2012-08-13 01:07:09 -05:00
parent 785cda8052
commit 5e163861a4
1 changed files with 64 additions and 34 deletions
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98
androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
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@ -28,7 +28,7 @@ import android.util.Log;
public class HidUAVTalk extends TelemetryTask {
private static final String TAG = HidUAVTalk.class.getSimpleName();
public static final int LOGLEVEL = 0;
public static final int LOGLEVEL = 1;
public static final boolean DEBUG = LOGLEVEL > 2;
public static final boolean WARN = LOGLEVEL > 1;
public static final boolean ERROR = LOGLEVEL > 0;
@ -57,9 +57,10 @@ public class HidUAVTalk extends TelemetryTask {
private UsbInterface usbInterface = null;
private TalkInputStream inTalkStream;
private TalkOutputStream outTalkStream;
private UsbRequest writeRequest = null;
private final UsbRequest writeRequest = null;
private UsbRequest readRequest = null;
private Thread readWriteThread;
private Thread readThread;
private Thread writeThread;
private boolean readPending = false;
private boolean writePending = false;
@ -78,9 +79,15 @@ public class HidUAVTalk extends TelemetryTask {
super.disconnect();
try {
if(readWriteThread != null) {
readWriteThread.join();
readWriteThread = null;
if(readThread != null) {
readThread.interrupt(); // Make sure not blocking for data
readThread.join();
readThread = null;
}
if(writeThread != null) {
writeThread.interrupt();
writeThread.join();
writeThread = null;
}
} catch (InterruptedException e) {
e.printStackTrace();
@ -91,13 +98,6 @@ public class HidUAVTalk extends TelemetryTask {
readRequest.close();
readRequest = null;
}
if (writeRequest != null) {
writeRequest.cancel();
writeRequest.close();
writeRequest = null;
}
}
@Override
@ -293,9 +293,6 @@ public class HidUAVTalk extends TelemetryTask {
readRequest = new UsbRequest();
readRequest.initialize(usbDeviceConnection, usbEndpointRead);
writeRequest = new UsbRequest();
writeRequest.initialize(usbDeviceConnection, usbEndpointWrite);
inTalkStream = new TalkInputStream();
outTalkStream = new TalkOutputStream();
inStream = inTalkStream;
@ -307,31 +304,39 @@ public class HidUAVTalk extends TelemetryTask {
}
});
readWriteThread = new Thread(new Runnable() {
readThread = new Thread(new Runnable() {
@Override
public void run() {
// Enqueue the first read
queueRead();
while (!shutdown) {
// If there are no request
// Enqueue requests appropriately first
UsbRequest returned = usbDeviceConnection.requestWait();
if (returned == readRequest) {
if (DEBUG) Log.d(TAG, "Received read request");
readData();
} else if (returned == writeRequest) {
if (DEBUG) Log.d(TAG, "Received write completed request");
writePending = false;
sendData();
}
} else
Log.e(TAG, "Received unknown USB response");
}
}
}, "HID Read Write");
readWriteThread.start();
}, "HID Read");
readThread.start();
writeThread = new Thread(new Runnable() {
@Override
public void run() {
if (DEBUG) Log.d(TAG, "Starting HID write thread");
while(!shutdown) {
try {
sendDataSynchronous();
} catch (InterruptedException e) {
break;
}
}
if (DEBUG) Log.d(TAG, "Ending HID write thread");
}
}, "HID Write");
writeThread.start();
return true;
}
@ -402,6 +407,7 @@ public class HidUAVTalk extends TelemetryTask {
}
}
/**
* Send a packet if data is available
*/
@ -426,6 +432,21 @@ public class HidUAVTalk extends TelemetryTask {
}
}
/**
* Send a packet if data is available
* @throws InterruptedException
*/
public void sendDataSynchronous() throws InterruptedException {
ByteBuffer packet = outTalkStream.getHIDpacketBlocking();
if (packet != null) {
if (DEBUG) Log.d(TAG, "sendDataSynchronous() Writing to device()");
if (usbDeviceConnection.bulkTransfer(usbEndpointWrite, packet.array(), MAX_HID_PACKET_SIZE, 1000) < 0)
Log.e(TAG, "Failed to perform bult write");
}
}
/*********** Helper classes for telemetry streams ************/
class TalkOutputStream extends OutputStream {
@ -433,6 +454,20 @@ public class HidUAVTalk extends TelemetryTask {
// and ByteFifo.put(byte [])
ByteFifo data = new ByteFifo();
/**
* Blocks until data is available and then returns a properly formatted HID packet
*/
public ByteBuffer getHIDpacketBlocking() throws InterruptedException {
synchronized(data) {
if (data.remaining() == 0)
data.wait();
return getHIDpacket();
}
}
/**
* Gets data from the ByteFifo in a properly formatted HID packet
*/
public ByteBuffer getHIDpacket() {
ByteBuffer packet = null;
synchronized(data) {
@ -461,9 +496,6 @@ public class HidUAVTalk extends TelemetryTask {
data.put((byte) oneByte);
data.notify();
}
// If there is not a write request queued, add one
sendData();
}
@Override
@ -475,8 +507,6 @@ public class HidUAVTalk extends TelemetryTask {
data.put(b);
data.notify();
}
sendData();
}
};