rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

A few more synchronized statements and deep cloning of objects

Browse Source
This commit is contained in:
James Cotton 2011-03-09 02:44:25 -06:00
parent 943dd82a75
commit 63f750c51e
3 changed files with 97 additions and 76 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
androidgcs/src/org/openpilot/uavtalk/UAVObject.java
View File

@ -1,6 +1,7 @@
package org.openpilot.uavtalk; package org.openpilot.uavtalk;
import java.nio.ByteBuffer; import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.List; import java.util.List;
import java.util.ListIterator; import java.util.ListIterator;
import java.util.Observer; import java.util.Observer;
@ -128,8 +129,7 @@ public abstract class UAVObject {
// this.mutex = new QMutex(QMutex::Recursive); // this.mutex = new QMutex(QMutex::Recursive);
}; };
public void initialize(int instID) { public synchronized void initialize(int instID) {
// QMutexLocker locker(mutex);
this.instID = instID; this.instID = instID;
} }
@ -146,9 +146,8 @@ public abstract class UAVObject {
* @throws Exception * @throws Exception
* When unable to unpack a field * When unable to unpack a field
*/ */
public void initializeFields(List<UAVObjectField> fields, ByteBuffer data, public synchronized void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
int numBytes) { int numBytes) {
// TODO: QMutexLocker locker(mutex);
this.numBytes = numBytes; this.numBytes = numBytes;
this.fields = fields; this.fields = fields;
// Initialize fields // Initialize fields
@ -267,15 +266,13 @@ public abstract class UAVObject {
* Get the number of fields held by this object * Get the number of fields held by this object
*/ */
public int getNumFields() { public int getNumFields() {
// QMutexLocker locker(mutex);
return fields.size(); return fields.size();
} }
/** /**
* Get the object's fields * Get the object's fields
*/ */
public List<UAVObjectField> getFields() { public synchronized List<UAVObjectField> getFields() {
// QMutexLocker locker(mutex);
return fields; return fields;
} }
@ -286,7 +283,6 @@ public abstract class UAVObject {
* @returns The field or NULL if not found * @returns The field or NULL if not found
*/ */
public UAVObjectField getField(String name) { public UAVObjectField getField(String name) {
// QMutexLocker locker(mutex);
// Look for field // Look for field
ListIterator<UAVObjectField> li = fields.listIterator(); ListIterator<UAVObjectField> li = fields.listIterator();
while (li.hasNext()) { while (li.hasNext()) {
@ -307,8 +303,7 @@ public abstract class UAVObject {
* @returns The number of bytes copied * @returns The number of bytes copied
* @note The array must already have enough space allocated for the object * @note The array must already have enough space allocated for the object
*/ */
public int pack(ByteBuffer dataOut) throws Exception { public synchronized int pack(ByteBuffer dataOut) throws Exception {
// QMutexLocker locker(mutex);
if (dataOut.remaining() < getNumBytes()) if (dataOut.remaining() < getNumBytes())
throw new Exception("Not enough bytes in ByteBuffer to pack object"); throw new Exception("Not enough bytes in ByteBuffer to pack object");
int numBytes = 0; int numBytes = 0;
@ -329,7 +324,7 @@ public abstract class UAVObject {
* @throws Exception * @throws Exception
* @returns The number of bytes copied * @returns The number of bytes copied
*/ */
public int unpack(ByteBuffer dataIn) { public synchronized int unpack(ByteBuffer dataIn) {
if( dataIn == null ) if( dataIn == null )
return 0; return 0;
@ -532,8 +527,17 @@ public abstract class UAVObject {
/** /**
* Java specific functions * Java specific functions
*/ */
public UAVObject clone() { public synchronized UAVObject clone() {
return (UAVObject) clone(); UAVObject newObj = clone();
List<UAVObjectField> newFields = new ArrayList<UAVObjectField>();
ListIterator<UAVObjectField> li = fields.listIterator();
while(li.hasNext()) {
UAVObjectField nf = li.next().clone();
nf.initialize(newObj);
newFields.add(nf);
}
newObj.initializeFields(newFields, ByteBuffer.allocate(numBytes), numBytes);
return newObj;
} }
/** /**

13
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
View File

@ -618,6 +618,17 @@ public class UAVObjectField {
return num; return num;
} }
@Override
public UAVObjectField clone()
{
UAVObjectField newField = new UAVObjectField(new String(name), new String(units), type,
new ArrayList<String>(elementNames),
new ArrayList<String>(options));
newField.initialize(obj);
newField.data = data;
return newField;
}
private String name; private String name;
private String units; private String units;
private FieldType type; private FieldType type;
@ -626,7 +637,7 @@ public class UAVObjectField {
private int numElements; private int numElements;
private int numBytesPerElement; private int numBytesPerElement;
private int offset; private int offset;
private Object data;
private UAVObject obj; private UAVObject obj;
protected Object data;
} }

130
androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
View File

@ -3,9 +3,29 @@ package org.openpilot.uavtalk;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.List; import java.util.List;
import java.util.ListIterator; import java.util.ListIterator;
import java.util.Observable;
import java.util.Observer;
public class UAVObjectManager { public class UAVObjectManager {
public class CallbackListener extends Observable {
public void event (UAVObject obj) {
setChanged();
notifyObservers(obj);
}
}
private CallbackListener newInstance = new CallbackListener();
public void addNewInstanceObserver(Observer o) {
synchronized(newInstance) {
newInstance.addObserver(o);
}
}
private CallbackListener newObject = new CallbackListener();
public void addNewObjectObserver(Observer o) {
synchronized(newObject) {
newObject.addObserver(o);
}
}
private final int MAX_INSTANCES = 10; private final int MAX_INSTANCES = 10;
// Use array list to store objects since rarely added or deleted // Use array list to store objects since rarely added or deleted
@ -79,11 +99,12 @@ public class UAVObjectManager {
UAVDataObject newObj = obj.clone(instID); UAVDataObject newObj = obj.clone(instID);
newObj.initialize(mobj); newObj.initialize(mobj);
instList.add(newObj); instList.add(newObj);
// emit new instance signal newInstance.event(newObj);
} }
obj.initialize(mobj); obj.initialize(mobj);
//emit new instance signal //emit new instance signal
instList.add(obj); instList.add(obj);
newInstance.event(obj);
instIter = instList.listIterator(); instIter = instList.listIterator();
while(instIter.hasNext()) { while(instIter.hasNext()) {
@ -101,13 +122,13 @@ public class UAVObjectManager {
UAVDataObject cobj = obj.clone(instId); UAVDataObject cobj = obj.clone(instId);
cobj.initialize(mobj); cobj.initialize(mobj);
instList.add(cobj); instList.add(cobj);
// emit newInstance(cobj); newInstance.event(cobj);
} }
// Finally, initialize the actual object instance // Finally, initialize the actual object instance
obj.initialize(mobj); obj.initialize(mobj);
// Add the actual object instance in the list // Add the actual object instance in the list
instList.add(obj); instList.add(obj);
//emit newInstance(obj); newInstance.event(obj);
return true; return true;
} }
@ -149,81 +170,67 @@ public class UAVObjectManager {
/** /**
* Same as getObjects() but will only return DataObjects. * Same as getObjects() but will only return DataObjects.
*/ */
public List< List<UAVDataObject> > getDataObjects() public synchronized List< List<UAVDataObject> > getDataObjects()
{ {
assert(false); // TOOD This List< List<UAVDataObject> > dObjects = new ArrayList< List<UAVDataObject> > ();
return new ArrayList<List<UAVDataObject>>();
/* QMutexLocker locker(mutex);
QList< QList<UAVDataObject*> > dObjects;
// Go through objects and copy to new list when types match // Go through objects and copy to new list when types match
for (int objidx = 0; objidx < objects.length(); ++objidx) ListIterator<List<UAVObject>> objIt = objects.listIterator(0);
{
if (objects[objidx].length() > 0) // Check if this object type is already in the list
{ while(objIt.hasNext()) {
// Check type List<UAVObject> instList = objIt.next();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
if (obj != NULL) // If no instances skip
{ if(instList.size() == 0)
// Create instance list continue;
QList<UAVDataObject*> list;
// Go through instances and cast them to UAVDataObject, then add to list // If meta data skip
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx) if(instList.get(0).isMetadata())
{ continue;
obj = dynamic_cast<UAVDataObject*>(objects[objidx][instidx]);
if (obj != NULL) List<UAVDataObject> newInstList = new ArrayList<UAVDataObject>();
{ ListIterator<UAVObject> instIt = instList.listIterator();
list.append(obj); while(instIt.hasNext()) {
} newInstList.add((UAVDataObject) instIt.next());
}
// Append to object list
dObjects.append(list);
}
} }
}*/ dObjects.add(newInstList);
}
// Done // Done
return dObjects;
} }
/** /**
* Same as getObjects() but will only return MetaObjects. * Same as getObjects() but will only return MetaObjects.
*/ */
public List <List<UAVMetaObject> > getMetaObjects() public synchronized List <List<UAVMetaObject> > getMetaObjects()
{ {
assert(false); // TODO List< List<UAVMetaObject> > mObjects = new ArrayList< List<UAVMetaObject> > ();
return new ArrayList< List<UAVMetaObject> >();
/*
QMutexLocker locker(mutex);
QList< QList<UAVMetaObject*> > mObjects;
// Go through objects and copy to new list when types match // Go through objects and copy to new list when types match
for (int objidx = 0; objidx < objects.length(); ++objidx) ListIterator<List<UAVObject>> objIt = objects.listIterator(0);
{
if (objects[objidx].length() > 0) // Check if this object type is already in the list
{ while(objIt.hasNext()) {
// Check type List<UAVObject> instList = objIt.next();
UAVMetaObject* obj = dynamic_cast<UAVMetaObject*>(objects[objidx][0]);
if (obj != NULL) // If no instances skip
{ if(instList.size() == 0)
// Create instance list continue;
QList<UAVMetaObject*> list;
// Go through instances and cast them to UAVMetaObject, then add to list // If meta data skip
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx) if(!instList.get(0).isMetadata())
{ continue;
obj = dynamic_cast<UAVMetaObject*>(objects[objidx][instidx]);
if (obj != NULL) List<UAVMetaObject> newInstList = new ArrayList<UAVMetaObject>();
{ ListIterator<UAVObject> instIt = instList.listIterator();
list.append(obj); while(instIt.hasNext()) {
} newInstList.add((UAVMetaObject) instIt.next());
}
// Append to object list
mObjects.append(list);
}
} }
mObjects.add(newInstList);
} }
// Done // Done
return mObjects; return mObjects;
*/
} }
@ -270,7 +277,6 @@ public class UAVObjectManager {
*/ */
public synchronized UAVObject getObject(String name, int objId, int instId) public synchronized UAVObject getObject(String name, int objId, int instId)
{ {
//QMutexLocker locker(mutex);
// Check if this object type is already in the list // Check if this object type is already in the list
ListIterator<List<UAVObject>> objIter = objects.listIterator(); ListIterator<List<UAVObject>> objIter = objects.listIterator();
while(objIter.hasNext()) { while(objIter.hasNext()) {