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Code Issues Releases Activity

Clean up the logging somewhat

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This commit is contained in:
James Cotton 2011-03-19 10:09:35 -05:00
parent 6edafd2c5f
commit 5e2c2a0ec3
3 changed files with 72 additions and 26 deletions
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62
androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
View File

@ -6,8 +6,14 @@ import org.openpilot.uavtalk.UAVObjectManager;
import org.openpilot.uavtalk.UAVTalk;
import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
import android.app.Notification;
import android.app.NotificationManager;
import android.app.PendingIntent;
import android.app.Service;
import android.content.Context;
import android.content.Intent;
import android.net.Uri;
import android.os.Handler;
import android.os.IBinder;
import android.os.Looper;
import android.util.Log;
@ -18,10 +24,16 @@ public class OPTelemetryService extends Service {
public static boolean WARN = LOGLEVEL > 1;
public static boolean DEBUG = LOGLEVEL > 0;
final int DISCONNECT_MESSAGE = 0;
final int CONNECT_MESSAGE = 1;
final int CONNECT_FAILED_MESSAGE = 2;
private UAVObjectManager objMngr;
private UAVTalk uavTalk;
private Telemetry tel;
private TelemetryMonitor mon;
private Handler handler;
@Override
public IBinder onBind(Intent arg0) {
@ -46,22 +58,38 @@ public class OPTelemetryService extends Service {
private final Runnable telemetryRunnable = new Runnable() {
public void run() {
Looper.prepare();
if (DEBUG) Log.d(TAG, "Telemetry Thread started");
Looper.prepare();
objMngr = new UAVObjectManager();
UAVObjectsInitialize.register(objMngr);
postNotification(CONNECT_FAILED_MESSAGE, "Connecting");
BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
while(true) {
for( int i = 0; i < 10; i++ ) {
if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
if(! bt.getConnected() )
bt.connect(objMngr);
else
bt.connect(objMngr);
if (DEBUG) Log.d(TAG, "Done attempting connection");
if( bt.getConnected() )
break;
Looper.loop();
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
Log.e(TAG, "Thread interrupted while trying to connect");
e.printStackTrace();
return;
}
}
if( ! bt.getConnected() ) {
postNotification(CONNECT_FAILED_MESSAGE, "Could not connect to UAV");
return;
}
postNotification(CONNECT_MESSAGE, "Connected to UAV port");
if (DEBUG) Log.d(TAG, "Connected via bluetooth");
@ -73,13 +101,29 @@ public class OPTelemetryService extends Service {
while(true) {
if( !uavTalk.processInputStream() )
break;
Looper.loop();
}
if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
postNotification(DISCONNECT_MESSAGE,"UAVTalk stream disconnected");
}
};
void postNotification(int id, String message) {
String ns = Context.NOTIFICATION_SERVICE;
NotificationManager mNManager = (NotificationManager) getSystemService(ns);
final Notification msg = new Notification(R.drawable.icon, message, System.currentTimeMillis());
Context context = getApplicationContext();
CharSequence contentTitle = "OpenPilot";
CharSequence contentText = message;
Intent msgIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://forums.openpilot.org"));
PendingIntent intent = PendingIntent.getActivity(this, 0, msgIntent, Intent.FLAG_ACTIVITY_NEW_TASK);
msg.setLatestEventInfo(context, contentTitle, contentText, intent);
mNManager.notify(id, msg);
}
public UAVObjectManager getObjMngr() { return objMngr; };
public UAVTalk getUavTalk() { return uavTalk; };
public Telemetry getTelemetry() { return tel; };

31
androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
View File

@ -16,7 +16,10 @@ import android.util.Log;
public class TelemetryMonitor {
private static final String TAG = "TelemetryMonitor";
public static int LOGLEVEL = 0;
public static boolean WARN = LOGLEVEL > 1;
public static boolean DEBUG = LOGLEVEL > 0;
static final int STATS_UPDATE_PERIOD_MS = 4000;
static final int STATS_CONNECT_PERIOD_MS = 1000;
static final int CONNECTION_TIMEOUT_MS = 8000;
@ -57,7 +60,7 @@ public class TelemetryMonitor {
*/
public synchronized void startRetrievingObjects()
{
Log.d(TAG, "Start retrieving objects");
if (DEBUG) Log.d(TAG, "Start retrieving objects");
// Clear object queue
queue.clear();
@ -115,7 +118,7 @@ public class TelemetryMonitor {
// If queue is empty return
if ( queue.isEmpty() )
{
Log.d(TAG, "All objects retrieved: Connected Successfully");
if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
//qxtLog->debug("Object retrieval completed");
//emit connected();
return;
@ -127,12 +130,12 @@ public class TelemetryMonitor {
throw new Error("Got null object forom transaction queue");
}
Log.d(TAG, "Retrieving object: " + obj.getName()) ;
if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
// Connect to object
obj.addTransactionCompleted(new Observer() {
public void update(Observable observable, Object data) {
UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
transactionCompleted(result.obj, result.success);
}
});
@ -149,7 +152,7 @@ public class TelemetryMonitor {
{
//QMutexLocker locker(mutex);
// Disconnect from sending object
Log.d(TAG,"transactionCompleted. Status: " + success);
if (DEBUG) Log.d(TAG,"transactionCompleted. Status: " + success);
// TODO: Need to be able to disconnect signals
//obj->disconnect(this);
objPending = null;
@ -192,7 +195,7 @@ public class TelemetryMonitor {
public synchronized void processStatsUpdates()
{
// Get telemetry stats
Log.d(TAG, "processStatsUpdates()");
if (DEBUG) Log.d(TAG, "processStatsUpdates()");
Telemetry.TelemetryStats telStats = tel.getStats();
tel.resetStats();
@ -232,7 +235,7 @@ public class TelemetryMonitor {
UAVObjectField statusField = gcsStatsObj.getField("Status");
String oldStatus = new String((String) statusField.getValue());
Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
if (DEBUG) Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
if ( oldStatus.compareTo("Disconnected") == 0 )
{
@ -245,7 +248,7 @@ public class TelemetryMonitor {
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
{
statusField.setValue("Connected");
Log.d(TAG,"Connected" + statusField.toString());
if (DEBUG) Log.d(TAG,"Connected" + statusField.toString());
}
}
else if ( oldStatus.compareTo("Connected") == 0 )
@ -260,30 +263,26 @@ public class TelemetryMonitor {
// Force telemetry update if not yet connected
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
if(gcsStatusChanged) {
Log.d(TAG,"GCS Status changed");
Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
}
boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
if ( !gcsConnected || !flightConnected )
{
Log.d(TAG,"Sending gcs status");
if (DEBUG) Log.d(TAG,"Sending gcs status");
gcsStatsObj.updated();
}
// Act on new connections or disconnections
if (gcsConnected && gcsStatusChanged)
{
Log.d(TAG,"Connection with the autopilot established");
if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
setPeriod(STATS_UPDATE_PERIOD_MS);
startRetrievingObjects();
}
if (gcsDisconnected && gcsStatusChanged)
{
Log.d(TAG,"Trying to connect to the autopilot");
if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
setPeriod(STATS_CONNECT_PERIOD_MS);
//emit disconnected();
}

5
flight/Revolution/Makefile.osx
View File

@ -41,7 +41,7 @@ USE_BOOTLOADER ?= NO
CODE_SOURCERY ?= NO
# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
TCHAIN_PREFIX ?= ""
TCHAIN_PREFIX ?= /usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
# Remove command is different for Code Sourcery on Windows
REMOVE_CMD ?= rm
@ -320,6 +320,9 @@ CFLAGS += -mtune=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
#CFLAGS += ARCH=arm
#CROSS_COMPILE=/usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices