mirror of
https://bitbucket.org/librepilot/librepilot.git
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AndroidGCS: Whitespace fixing for TelemetryMonitor
This commit is contained in:
James Cotton
parent
78469aa6a4
commit
5eabb1777d
@ -36,20 +36,20 @@ import java.util.TimerTask;
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import android.util.Log;
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import android.util.Log;
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public class TelemetryMonitor extends Observable{
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public class TelemetryMonitor extends Observable {
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private static final String TAG = "TelemetryMonitor";
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private static final String TAG = "TelemetryMonitor";
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public static int LOGLEVEL = 0;
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public static int LOGLEVEL = 0;
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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public static boolean DEBUG = LOGLEVEL > 0;
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static final int STATS_UPDATE_PERIOD_MS = 4000;
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static final int STATS_UPDATE_PERIOD_MS = 4000;
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static final int STATS_CONNECT_PERIOD_MS = 1000;
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static final int STATS_CONNECT_PERIOD_MS = 1000;
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static final int CONNECTION_TIMEOUT_MS = 8000;
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static final int CONNECTION_TIMEOUT_MS = 8000;
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private final UAVObjectManager objMngr;
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private final UAVObjectManager objMngr;
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private final Telemetry tel;
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private final Telemetry tel;
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// private UAVObject objPending;
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// private UAVObject objPending;
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private UAVObject gcsStatsObj;
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private UAVObject gcsStatsObj;
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private UAVObject flightStatsObj;
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private UAVObject flightStatsObj;
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private Timer periodicTask;
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private Timer periodicTask;
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@ -60,324 +60,333 @@ public class TelemetryMonitor extends Observable{
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private boolean connected = false;
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private boolean connected = false;
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private boolean objects_updated = false;
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private boolean objects_updated = false;
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public boolean getConnected() { return connected; };
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public boolean getConnected() {
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public boolean getObjectsUpdated() { return objects_updated; };
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return connected;
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};
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public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
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public boolean getObjectsUpdated() {
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{
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return objects_updated;
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this.objMngr = objMngr;
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};
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this.tel = tel;
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// this.objPending = null;
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queue = new ArrayList<UAVObject>();
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// Get stats objects
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public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel) {
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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this.objMngr = objMngr;
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flightStatsObj = objMngr.getObject("FlightTelemetryStats");
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this.tel = tel;
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// this.objPending = null;
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queue = new ArrayList<UAVObject>();
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flightStatsObj.addUpdatedObserver(new Observer() {
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// Get stats objects
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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flightStatsObj = objMngr.getObject("FlightTelemetryStats");
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flightStatsObj.addUpdatedObserver(new Observer() {
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@Override
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@Override
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public void update(Observable observable, Object data) {
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public void update(Observable observable, Object data) {
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try {
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try {
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flightStatsUpdated((UAVObject) data);
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flightStatsUpdated((UAVObject) data);
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} catch (IOException e) {
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} catch (IOException e) {
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// The UAVTalk stream was broken, disconnect this signal
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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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// TODO: Should this actually be disconnected. Do we create
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// a new TelemetryMonitor for this
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// or fix the stream?
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// or fix the stream?
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flightStatsObj.removeUpdatedObserver(this);
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flightStatsObj.removeUpdatedObserver(this);
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}
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}
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}
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}
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});
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});
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// Start update timer
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// Start update timer
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setPeriod(STATS_CONNECT_PERIOD_MS);
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setPeriod(STATS_CONNECT_PERIOD_MS);
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}
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}
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/**
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/**
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* Initiate object retrieval, initialize queue with objects to be retrieved.
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* Initiate object retrieval, initialize queue with objects to be retrieved.
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*
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* @throws IOException
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* @throws IOException
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*/
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*/
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public synchronized void startRetrievingObjects() throws IOException
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public synchronized void startRetrievingObjects() throws IOException {
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{
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if (DEBUG)
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if (DEBUG) Log.d(TAG, "Start retrieving objects");
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Log.d(TAG, "Start retrieving objects");
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// Clear object queue
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// Clear object queue
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queue.clear();
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queue.clear();
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// Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
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// Get all objects, add metaobjects, settings and data objects with
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List< List<UAVObject> > objs = objMngr.getObjects();
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// OnChange update mode to the queue
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List<List<UAVObject>> objs = objMngr.getObjects();
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ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
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ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
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while( objListIterator.hasNext() )
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while (objListIterator.hasNext()) {
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{
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List<UAVObject> instList = objListIterator.next();
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List <UAVObject> instList = objListIterator.next();
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UAVObject obj = instList.get(0);
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UAVObject obj = instList.get(0);
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UAVObject.Metadata mdata = obj.getMetadata();
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UAVObject.Metadata mdata = obj.getMetadata();
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if (obj.isMetadata()) {
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if ( obj.isMetadata() )
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queue.add(obj);
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{
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} else /* Data object */
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queue.add(obj);
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{
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}
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UAVDataObject dobj = (UAVDataObject) obj;
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else /* Data object */
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if (dobj.isSettings()) {
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{
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queue.add(obj);
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UAVDataObject dobj = (UAVDataObject) obj;
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} else {
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if ( dobj.isSettings() )
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if (mdata.GetFlightTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
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{
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queue.add(obj);
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queue.add(obj);
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}
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}
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}
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else
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}
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{
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}
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if ( mdata.GetFlightTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
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// Start retrieving
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{
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Log.d(TAG,
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queue.add(obj);
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"Starting to retrieve meta and settings objects from the autopilot ("
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}
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+ queue.size() + " objects)");
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}
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retrieveNextObject();
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}
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}
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// Start retrieving
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System.out.println(TAG + "Starting to retrieve meta and settings objects from the autopilot (" + queue.size() + " objects)");
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retrieveNextObject();
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}
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}
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/**
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/**
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* Cancel the object retrieval
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* Cancel the object retrieval
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*/
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*/
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public void stopRetrievingObjects()
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public void stopRetrievingObjects() {
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{
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Log.d(TAG, "Stop retrieving objects");
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Log.d(TAG, "Stop retrieving objects");
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queue.clear();
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queue.clear();
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}
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}
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/**
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/**
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* Retrieve the next object in the queue
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* Retrieve the next object in the queue
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*
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* @throws IOException
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* @throws IOException
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*/
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*/
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public synchronized void retrieveNextObject() throws IOException
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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 is empty return
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if (queue.isEmpty()) {
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if ( queue.isEmpty() )
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if (DEBUG)
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{
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Log.d(TAG, "All objects retrieved: Connected Successfully");
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if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
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objects_updated = true;
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objects_updated = true;
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setChanged();
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setChanged();
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notifyObservers();
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notifyObservers();
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return;
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return;
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}
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}
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// Get next object from the queue
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// Get next object from the queue
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UAVObject obj = queue.remove(0);
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UAVObject obj = queue.remove(0);
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if(obj == null) {
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if (obj == null) {
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throw new Error("Got null object forom transaction queue");
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throw new Error("Got null object forom transaction queue");
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}
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}
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if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
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if (DEBUG)
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// Connect to object
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Log.d(TAG, "Retrieving object: " + obj.getName());
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// TODO: Does this need to stay here permanently? This appears to be used for setup mainly
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// TODO: Does this need to stay here permanently? This appears to be
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obj.addTransactionCompleted(new Observer() {
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// used for setup mainly
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obj.addTransactionCompleted(new Observer() {
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@Override
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@Override
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public void update(Observable observable, Object data) {
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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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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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if (DEBUG)
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Log.d(TAG, "Got transaction completed event from "
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+ result.obj.getName() + " status: "
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+ result.success);
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try {
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try {
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transactionCompleted(result.obj, result.success);
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transactionCompleted(result.obj, result.success);
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} catch (IOException e) {
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} catch (IOException e) {
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// When the telemetry stream is broken disconnect these updates
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// When the telemetry stream is broken disconnect these
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// updates
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observable.deleteObserver(this);
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observable.deleteObserver(this);
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}
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}
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}
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}
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});
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});
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// Request update
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// Request update
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tel.updateRequested(obj);
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tel.updateRequested(obj);
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// objPending = obj;
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}
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}
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/**
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/**
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* Called by the retrieved object when a transaction is completed.
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* Called by the retrieved object when a transaction is completed.
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*
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* @throws IOException
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* @throws IOException
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*/
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*/
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public synchronized void transactionCompleted(UAVObject obj, boolean success) throws IOException
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public synchronized void transactionCompleted(UAVObject obj, boolean success)
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{
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throws IOException {
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//QMutexLocker locker(mutex);
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if (DEBUG)
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// Disconnect from sending object
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Log.d(TAG, "transactionCompleted. Status: " + success);
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if (DEBUG) Log.d(TAG,"transactionCompleted. Status: " + success);
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// TODO: Need to be able to disconnect signals
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//obj->disconnect(this);
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// objPending = null;
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if(!success) {
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if (!success) {
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//Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
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// Right now success = false means received a NAK so don't
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return;
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// re-attempt
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}
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Log.e(TAG, "Transaction failed.");
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}
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// Process next object if telemetry is still available
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// Process next object if telemetry is still available
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if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
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if (((String) gcsStatsObj.getField("Status").getValue())
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{
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.compareTo("Connected") == 0) {
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retrieveNextObject();
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retrieveNextObject();
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}
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} else {
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else
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stopRetrievingObjects();
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{
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}
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stopRetrievingObjects();
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}
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}
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}
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/**
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/**
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* Called each time the flight stats object is updated by the autopilot
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* Called each time the flight stats object is updated by the autopilot
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*
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* @throws IOException
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* @throws IOException
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*/
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*/
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public synchronized void flightStatsUpdated(UAVObject obj) throws IOException
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public synchronized void flightStatsUpdated(UAVObject obj)
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{
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throws IOException {
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// Force update if not yet connected
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// Force update if not yet connected
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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flightStatsObj = objMngr.getObject("FlightTelemetryStats");
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flightStatsObj = objMngr.getObject("FlightTelemetryStats");
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if (DEBUG) Log.d(TAG,"GCS Status: " + gcsStatsObj.getField("Status").getValue());
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if (DEBUG)
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if (DEBUG) Log.d(TAG,"Flight Status: " + flightStatsObj.getField("Status").getValue());
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Log.d(TAG, "GCS Status: "
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if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
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+ gcsStatsObj.getField("Status").getValue());
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((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
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if (DEBUG)
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{
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Log.d(TAG, "Flight Status: "
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processStatsUpdates();
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+ flightStatsObj.getField("Status").getValue());
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}
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if (((String) gcsStatsObj.getField("Status").getValue())
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.compareTo("Connected") != 0
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|| ((String) flightStatsObj.getField("Status").getValue())
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.compareTo("Connected") == 0) {
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processStatsUpdates();
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}
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}
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}
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private long lastStatsTime;
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private long lastStatsTime;
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/**
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/**
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* Called periodically to update the statistics and connection status.
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* Called periodically to update the statistics and connection status.
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*
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* @throws IOException
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* @throws IOException
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*/
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*/
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public synchronized void processStatsUpdates() throws IOException
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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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// Get telemetry stats
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if (DEBUG)
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if (DEBUG) Log.d(TAG, "processStatsUpdates()");
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Log.d(TAG, "processStatsUpdates()");
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Telemetry.TelemetryStats telStats = tel.getStats();
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Telemetry.TelemetryStats telStats = tel.getStats();
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if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats reset");
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if (DEBUG)
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Log.d(TAG, "processStatsUpdates() - stats reset");
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// Need to compute time because this update is not regular enough
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// Need to compute time because this update is not regular enough
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float dT = (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
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float dT = (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
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lastStatsTime = System.currentTimeMillis();
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lastStatsTime = System.currentTimeMillis();
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// Update stats object
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// Update stats object
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gcsStatsObj.getField("RxDataRate").setDouble( telStats.rxBytes / dT );
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gcsStatsObj.getField("RxDataRate").setDouble(telStats.rxBytes / dT);
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gcsStatsObj.getField("TxDataRate").setDouble( telStats.txBytes / dT );
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gcsStatsObj.getField("TxDataRate").setDouble(telStats.txBytes / dT);
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UAVObjectField field = gcsStatsObj.getField("RxFailures");
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UAVObjectField field = gcsStatsObj.getField("RxFailures");
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field.setDouble(field.getDouble() + telStats.rxErrors);
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field.setDouble(field.getDouble() + telStats.rxErrors);
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field = gcsStatsObj.getField("TxFailures");
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field = gcsStatsObj.getField("TxFailures");
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field.setDouble(field.getDouble() + telStats.txErrors);
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field.setDouble(field.getDouble() + telStats.txErrors);
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field = gcsStatsObj.getField("TxRetries");
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field = gcsStatsObj.getField("TxRetries");
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field.setDouble(field.getDouble() + telStats.txRetries);
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field.setDouble(field.getDouble() + telStats.txRetries);
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tel.resetStats();
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tel.resetStats();
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if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats updated");
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if (DEBUG)
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Log.d(TAG, "processStatsUpdates() - stats updated");
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// Check for a connection timeout
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// Check for a connection timeout
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boolean connectionTimeout;
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boolean connectionTimeout;
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if ( telStats.rxObjects > 0 )
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if (telStats.rxObjects > 0) {
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{
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lastUpdateTime = System.currentTimeMillis();
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lastUpdateTime = System.currentTimeMillis();
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}
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}
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if ( (System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS )
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if ((System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS) {
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{
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connectionTimeout = true;
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connectionTimeout = true;
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} else {
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}
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connectionTimeout = false;
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else
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}
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{
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connectionTimeout = false;
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}
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// Update connection state
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// Update connection state
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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flightStatsObj = objMngr.getObject("FlightTelemetryStats");
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flightStatsObj = objMngr.getObject("FlightTelemetryStats");
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if(gcsStatsObj == null) {
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if (gcsStatsObj == null) {
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System.out.println("No GCS stats yet");
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Log.d(TAG, "No GCS stats yet");
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return;
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return;
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}
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}
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UAVObjectField statusField = gcsStatsObj.getField("Status");
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UAVObjectField statusField = gcsStatsObj.getField("Status");
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String oldStatus = new String((String) statusField.getValue());
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String oldStatus = new String((String) statusField.getValue());
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if (DEBUG) Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
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if (DEBUG)
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Log.d(TAG, "GCS: " + statusField.getValue() + " Flight: "
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+ flightStatsObj.getField("Status").getValue());
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if ( oldStatus.compareTo("Disconnected") == 0 )
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if (oldStatus.compareTo("Disconnected") == 0) {
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{
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// Request connection
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// Request connection
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statusField.setValue("HandshakeReq");
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statusField.setValue("HandshakeReq");
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} else if (oldStatus.compareTo("HandshakeReq") == 0) {
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}
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// Check for connection acknowledge
|
||||||
else if ( oldStatus.compareTo("HandshakeReq") == 0 )
|
if (((String) flightStatsObj.getField("Status").getValue())
|
||||||
{
|
.compareTo("HandshakeAck") == 0) {
|
||||||
// Check for connection acknowledge
|
statusField.setValue("Connected");
|
||||||
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
|
if (DEBUG)
|
||||||
{
|
Log.d(TAG, "Connected" + statusField.toString());
|
||||||
statusField.setValue("Connected");
|
}
|
||||||
if (DEBUG) Log.d(TAG,"Connected" + statusField.toString());
|
} else if (oldStatus.compareTo("Connected") == 0) {
|
||||||
}
|
// Check if the connection is still active and the the autopilot is
|
||||||
}
|
// still connected
|
||||||
else if ( oldStatus.compareTo("Connected") == 0 )
|
if (((String) flightStatsObj.getField("Status").getValue())
|
||||||
{
|
.compareTo("Disconnected") == 0 || connectionTimeout) {
|
||||||
// Check if the connection is still active and the the autopilot is still connected
|
statusField.setValue("Disconnected");
|
||||||
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") == 0 || connectionTimeout)
|
}
|
||||||
{
|
}
|
||||||
statusField.setValue("Disconnected");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Force telemetry update if not yet connected
|
// Force telemetry update if not yet connected
|
||||||
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
|
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
|
||||||
|
|
||||||
boolean gcsConnected = statusField.getValue().equals("Connected");
|
boolean gcsConnected = statusField.getValue().equals("Connected");
|
||||||
boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
|
boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
|
||||||
boolean flightConnected = flightStatsObj.getField("Status").equals("Connected");
|
boolean flightConnected = flightStatsObj.getField("Status").equals(
|
||||||
|
"Connected");
|
||||||
|
|
||||||
if ( !gcsConnected || !flightConnected )
|
if (!gcsConnected || !flightConnected) {
|
||||||
{
|
if (DEBUG)
|
||||||
if (DEBUG) Log.d(TAG,"Sending gcs status");
|
Log.d(TAG, "Sending gcs status");
|
||||||
gcsStatsObj.updated();
|
gcsStatsObj.updated();
|
||||||
}
|
}
|
||||||
|
|
||||||
// Act on new connections or disconnections
|
// Act on new connections or disconnections
|
||||||
if (gcsConnected && gcsStatusChanged)
|
if (gcsConnected && gcsStatusChanged) {
|
||||||
{
|
if (DEBUG)
|
||||||
if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
|
Log.d(TAG, "Connection with the autopilot established");
|
||||||
setPeriod(STATS_UPDATE_PERIOD_MS);
|
setPeriod(STATS_UPDATE_PERIOD_MS);
|
||||||
connected = true;
|
connected = true;
|
||||||
objects_updated = false;
|
objects_updated = false;
|
||||||
startRetrievingObjects();
|
startRetrievingObjects();
|
||||||
setChanged();
|
setChanged();
|
||||||
}
|
}
|
||||||
if (gcsDisconnected && gcsStatusChanged)
|
if (gcsDisconnected && gcsStatusChanged) {
|
||||||
{
|
if (DEBUG)
|
||||||
if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
|
Log.d(TAG, "Trying to connect to the autopilot");
|
||||||
setPeriod(STATS_CONNECT_PERIOD_MS);
|
setPeriod(STATS_CONNECT_PERIOD_MS);
|
||||||
connected = false;
|
connected = false;
|
||||||
objects_updated = false;
|
objects_updated = false;
|
||||||
setChanged();
|
setChanged();
|
||||||
}
|
}
|
||||||
|
|
||||||
if (DEBUG) Log.d(TAG, "processStatsUpdates() - before notify");
|
if (DEBUG)
|
||||||
notifyObservers();
|
Log.d(TAG, "processStatsUpdates() - before notify");
|
||||||
if (DEBUG) Log.d(TAG, "processStatsUpdates() - after notify");
|
notifyObservers();
|
||||||
|
if (DEBUG)
|
||||||
|
Log.d(TAG, "processStatsUpdates() - after notify");
|
||||||
}
|
}
|
||||||
|
|
||||||
private void setPeriod(int ms) {
|
private void setPeriod(int ms) {
|
||||||
if(periodicTask == null)
|
if (periodicTask == null)
|
||||||
periodicTask = new Timer();
|
periodicTask = new Timer();
|
||||||
|
|
||||||
periodicTask.cancel();
|
periodicTask.cancel();
|
||||||
currentPeriod = ms;
|
currentPeriod = ms;
|
||||||
periodicTask = new Timer();
|
periodicTask = new Timer();
|
||||||
periodicTask.scheduleAtFixedRate(new TimerTask() {
|
periodicTask.scheduleAtFixedRate(new TimerTask() {
|
||||||
@Override
|
@Override
|
||||||
public void run() {
|
public void run() {
|
||||||
try {
|
try {
|
||||||
processStatsUpdates();
|
processStatsUpdates();
|
||||||
} catch (IOException e) {
|
} catch (IOException e) {
|
||||||
// Once the stream has died stop trying to process these updates
|
// Once the stream has died stop trying to process these
|
||||||
|
// updates
|
||||||
periodicTask.cancel();
|
periodicTask.cancel();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}, currentPeriod, currentPeriod);
|
}, currentPeriod, currentPeriod);
|
||||||
}
|
}
|
||||||
|
|
||||||
public void stopMonitor()
|
public void stopMonitor() {
|
||||||
{
|
|
||||||
periodicTask.cancel();
|
periodicTask.cancel();
|
||||||
periodicTask = null;
|
periodicTask = null;
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user