mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
AndroidGCS Telemetry: Finish moving telemetry into a runnable.
This commit is contained in:
James Cotton
parent
2d7bb4d3bb
commit
653702ac23
@ -42,147 +42,158 @@ import android.util.Log;
|
||||
|
||||
public class Telemetry {
|
||||
/**
|
||||
* Telemetry provides a messaging handler to handle all the object updates and transfer
|
||||
* requests. This handler can either be attached to a new loop attached to the thread
|
||||
* started by the telemetry service.
|
||||
* Telemetry provides a messaging handler to handle all the object updates
|
||||
* and transfer requests. This handler can either be attached to a new loop
|
||||
* attached to the thread started by the telemetry service.
|
||||
*/
|
||||
|
||||
private final String TAG = "Telemetry";
|
||||
public static int LOGLEVEL = 1;
|
||||
public static int LOGLEVEL = 0;
|
||||
public static boolean WARN = LOGLEVEL > 2;
|
||||
public static boolean DEBUG = LOGLEVEL > 1;
|
||||
public static boolean ERROR = LOGLEVEL > 0;
|
||||
public class TelemetryStats {
|
||||
public int txBytes;
|
||||
public int rxBytes;
|
||||
public int txObjectBytes;
|
||||
public int rxObjectBytes;
|
||||
public int rxObjects;
|
||||
public int txObjects;
|
||||
public int txErrors;
|
||||
public int rxErrors;
|
||||
public int txRetries;
|
||||
} ;
|
||||
|
||||
class ObjectTimeInfo {
|
||||
UAVObject obj;
|
||||
int updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
|
||||
int timeToNextUpdateMs; /** Time delay to the next update */
|
||||
};
|
||||
public class TelemetryStats {
|
||||
public int txBytes;
|
||||
public int rxBytes;
|
||||
public int txObjectBytes;
|
||||
public int rxObjectBytes;
|
||||
public int rxObjects;
|
||||
public int txObjects;
|
||||
public int txErrors;
|
||||
public int rxErrors;
|
||||
public int txRetries;
|
||||
};
|
||||
|
||||
class ObjectQueueInfo {
|
||||
UAVObject obj;
|
||||
int event;
|
||||
boolean allInstances;
|
||||
class ObjectTimeInfo {
|
||||
UAVObject obj;
|
||||
int updatePeriodMs;
|
||||
/** Update period in ms or 0 if no periodic updates are needed */
|
||||
int timeToNextUpdateMs;
|
||||
/** Time delay to the next update */
|
||||
};
|
||||
|
||||
@Override
|
||||
class ObjectQueueInfo {
|
||||
UAVObject obj;
|
||||
int event;
|
||||
boolean allInstances;
|
||||
|
||||
@Override
|
||||
public boolean equals(Object e) {
|
||||
try {
|
||||
ObjectQueueInfo o = (ObjectQueueInfo) e;
|
||||
return o.obj.getObjID() == obj.getObjID() && o.event == event && o.allInstances == allInstances;
|
||||
} catch (Exception err) {
|
||||
try {
|
||||
ObjectQueueInfo o = (ObjectQueueInfo) e;
|
||||
return o.obj.getObjID() == obj.getObjID() && o.event == event
|
||||
&& o.allInstances == allInstances;
|
||||
} catch (Exception err) {
|
||||
|
||||
};
|
||||
return false;
|
||||
}
|
||||
};
|
||||
|
||||
class ObjectTransactionInfo {
|
||||
UAVObject obj;
|
||||
boolean allInstances;
|
||||
boolean objRequest;
|
||||
int retriesRemaining;
|
||||
boolean acked;
|
||||
} ;
|
||||
|
||||
/**
|
||||
* Events generated by objects. Not enum because used in mask.
|
||||
*/
|
||||
private static final int EV_UNPACKED = 0x01; /** Object data updated by unpacking */
|
||||
private static final int EV_UPDATED = 0x02; /** Object data updated by changing the data structure */
|
||||
private static final int EV_UPDATED_MANUAL = 0x04; /** Object update event manually generated */
|
||||
private static final int EV_UPDATE_REQ = 0x08; /** Request to update object data */
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr, Looper l)
|
||||
{
|
||||
this.utalk = utalkIn;
|
||||
this.objMngr = objMngr;
|
||||
|
||||
// Create a handler for object messages
|
||||
handler = new ObjectUpdateHandler(l);
|
||||
|
||||
// Process all objects in the list
|
||||
List< List<UAVObject> > objs = objMngr.getObjects();
|
||||
ListIterator<List<UAVObject>> li = objs.listIterator();
|
||||
while(li.hasNext())
|
||||
registerObject(li.next().get(0)); // we only need to register one instance per object type
|
||||
|
||||
// Listen to new object creations
|
||||
objMngr.addNewInstanceObserver(new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
newInstance((UAVObject) data);
|
||||
}
|
||||
});
|
||||
objMngr.addNewObjectObserver(new Observer() {
|
||||
;
|
||||
return false;
|
||||
}
|
||||
};
|
||||
|
||||
class ObjectTransactionInfo {
|
||||
UAVObject obj;
|
||||
boolean allInstances;
|
||||
boolean objRequest;
|
||||
int retriesRemaining;
|
||||
boolean acked;
|
||||
};
|
||||
|
||||
/**
|
||||
* Events generated by objects. Not enum because used in mask.
|
||||
*/
|
||||
private static final int EV_UNPACKED = 0x01;
|
||||
/** Object data updated by unpacking */
|
||||
private static final int EV_UPDATED = 0x02;
|
||||
/** Object data updated by changing the data structure */
|
||||
private static final int EV_UPDATED_MANUAL = 0x04;
|
||||
/** Object update event manually generated */
|
||||
private static final int EV_UPDATE_REQ = 0x08;
|
||||
|
||||
/** Request to update object data */
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr, Looper l) {
|
||||
this.utalk = utalkIn;
|
||||
this.objMngr = objMngr;
|
||||
|
||||
// Create a handler for object messages
|
||||
handler = new ObjectUpdateHandler(l);
|
||||
|
||||
// Process all objects in the list
|
||||
List<List<UAVObject>> objs = objMngr.getObjects();
|
||||
ListIterator<List<UAVObject>> li = objs.listIterator();
|
||||
while (li.hasNext())
|
||||
registerObject(li.next().get(0)); // we only need to register one
|
||||
// instance per object type
|
||||
|
||||
// Listen to new object creations
|
||||
objMngr.addNewInstanceObserver(new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
newObject((UAVObject) data);
|
||||
}
|
||||
});
|
||||
newInstance((UAVObject) data);
|
||||
}
|
||||
});
|
||||
objMngr.addNewObjectObserver(new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
newObject((UAVObject) data);
|
||||
}
|
||||
});
|
||||
|
||||
// Listen to transaction completions from uavtalk
|
||||
utalk.setOnTransactionCompletedListener(
|
||||
utalk.new OnTransactionCompletedListener() {
|
||||
// Listen to transaction completions from uavtalk
|
||||
utalk.setOnTransactionCompletedListener(utalk.new OnTransactionCompletedListener() {
|
||||
@Override
|
||||
void TransactionSucceeded(UAVObject data) {
|
||||
try {
|
||||
try {
|
||||
transactionCompleted(data, true);
|
||||
} catch (IOException e) {
|
||||
// Disconnect when stream fails
|
||||
utalk.setOnTransactionCompletedListener(null);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
void TransactionFailed(UAVObject data) {
|
||||
try {
|
||||
if (DEBUG) Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
|
||||
try {
|
||||
if (DEBUG)
|
||||
Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
|
||||
|
||||
transactionCompleted(data, false);
|
||||
} catch (IOException e) {
|
||||
// Disconnect when stream fails
|
||||
utalk.setOnTransactionCompletedListener(null);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
});
|
||||
});
|
||||
|
||||
// Get GCS stats object
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
// Get GCS stats object
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
|
||||
// Setup transaction timer
|
||||
transPending = false;
|
||||
// Setup and start the periodic timer
|
||||
timeToNextUpdateMs = 0;
|
||||
updateTimerSetPeriod(1000);
|
||||
// Setup and start the stats timer
|
||||
txErrors = 0;
|
||||
txRetries = 0;
|
||||
}
|
||||
// Setup transaction timer
|
||||
transPending = false;
|
||||
// Setup and start the periodic timer
|
||||
timeToNextUpdateMs = 0;
|
||||
updateTimerSetPeriod(1000);
|
||||
// Setup and start the stats timer
|
||||
txErrors = 0;
|
||||
txRetries = 0;
|
||||
}
|
||||
|
||||
synchronized void transTimerSetPeriod(int periodMs) {
|
||||
if(transTimerTask != null)
|
||||
transTimerTask.cancel();
|
||||
synchronized void transTimerSetPeriod(int periodMs) {
|
||||
if (transTimerTask != null)
|
||||
transTimerTask.cancel();
|
||||
|
||||
if(transTimer != null)
|
||||
transTimer.purge();
|
||||
if (transTimer != null)
|
||||
transTimer.purge();
|
||||
|
||||
transTimer = new Timer();
|
||||
transTimer = new Timer();
|
||||
|
||||
transTimerTask = new TimerTask() {
|
||||
transTimerTask = new TimerTask() {
|
||||
@Override
|
||||
public void run() {
|
||||
try {
|
||||
@ -191,21 +202,21 @@ public class Telemetry {
|
||||
cancel();
|
||||
}
|
||||
}
|
||||
};
|
||||
transTimer.schedule(transTimerTask, periodMs, periodMs);
|
||||
}
|
||||
};
|
||||
transTimer.schedule(transTimerTask, periodMs, periodMs);
|
||||
}
|
||||
|
||||
synchronized void updateTimerSetPeriod(int periodMs) {
|
||||
if (updateTimer != null) {
|
||||
updateTimer.cancel();
|
||||
updateTimer = null;
|
||||
}
|
||||
if (updateTimerTask != null) {
|
||||
updateTimerTask.cancel();
|
||||
updateTimerTask = null;
|
||||
}
|
||||
updateTimer = new Timer();
|
||||
updateTimerTask = new TimerTask() {
|
||||
synchronized void updateTimerSetPeriod(int periodMs) {
|
||||
if (updateTimer != null) {
|
||||
updateTimer.cancel();
|
||||
updateTimer = null;
|
||||
}
|
||||
if (updateTimerTask != null) {
|
||||
updateTimerTask.cancel();
|
||||
updateTimerTask = null;
|
||||
}
|
||||
updateTimer = new Timer();
|
||||
updateTimerTask = new TimerTask() {
|
||||
@Override
|
||||
public void run() {
|
||||
try {
|
||||
@ -215,651 +226,641 @@ public class Telemetry {
|
||||
updateTimer.cancel();
|
||||
}
|
||||
}
|
||||
};
|
||||
updateTimer.schedule(updateTimerTask, periodMs, periodMs);
|
||||
};
|
||||
updateTimer.schedule(updateTimerTask, periodMs, periodMs);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a new object for periodic updates (if enabled)
|
||||
*/
|
||||
private synchronized void registerObject(UAVObject obj)
|
||||
{
|
||||
// Setup object for periodic updates
|
||||
addObject(obj);
|
||||
/**
|
||||
* Register a new object for periodic updates (if enabled)
|
||||
*/
|
||||
private synchronized void registerObject(UAVObject obj) {
|
||||
// Setup object for periodic updates
|
||||
addObject(obj);
|
||||
|
||||
// Setup object for telemetry updates
|
||||
updateObject(obj);
|
||||
}
|
||||
// Setup object for telemetry updates
|
||||
updateObject(obj);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add an object in the list used for periodic updates
|
||||
*/
|
||||
private synchronized void addObject(UAVObject obj)
|
||||
{
|
||||
// Check if object type is already in the list
|
||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||
while(li.hasNext()) {
|
||||
ObjectTimeInfo n = li.next();
|
||||
if( n.obj.getObjID() == obj.getObjID() )
|
||||
{
|
||||
// Object type (not instance!) is already in the list, do nothing
|
||||
return;
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Add an object in the list used for periodic updates
|
||||
*/
|
||||
private synchronized void addObject(UAVObject obj) {
|
||||
// Check if object type is already in the list
|
||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||
while (li.hasNext()) {
|
||||
ObjectTimeInfo n = li.next();
|
||||
if (n.obj.getObjID() == obj.getObjID()) {
|
||||
// Object type (not instance!) is already in the list, do
|
||||
// nothing
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// If this point is reached, then the object type is new, let's add it
|
||||
ObjectTimeInfo timeInfo = new ObjectTimeInfo();
|
||||
timeInfo.obj = obj;
|
||||
timeInfo.timeToNextUpdateMs = 0;
|
||||
timeInfo.updatePeriodMs = 0;
|
||||
objList.add(timeInfo);
|
||||
}
|
||||
// If this point is reached, then the object type is new, let's add it
|
||||
ObjectTimeInfo timeInfo = new ObjectTimeInfo();
|
||||
timeInfo.obj = obj;
|
||||
timeInfo.timeToNextUpdateMs = 0;
|
||||
timeInfo.updatePeriodMs = 0;
|
||||
objList.add(timeInfo);
|
||||
}
|
||||
|
||||
/**
|
||||
* Update the object's timers
|
||||
*/
|
||||
private synchronized void setUpdatePeriod(UAVObject obj, int periodMs)
|
||||
{
|
||||
// Find object type (not instance!) and update its period
|
||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||
while(li.hasNext()) {
|
||||
ObjectTimeInfo n = li.next();
|
||||
if ( n.obj.getObjID() == obj.getObjID() )
|
||||
{
|
||||
n.updatePeriodMs = periodMs;
|
||||
n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random()).nextDouble()); // avoid bunching of updates
|
||||
}
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Update the object's timers
|
||||
*/
|
||||
private synchronized void setUpdatePeriod(UAVObject obj, int periodMs) {
|
||||
// Find object type (not instance!) and update its period
|
||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||
while (li.hasNext()) {
|
||||
ObjectTimeInfo n = li.next();
|
||||
if (n.obj.getObjID() == obj.getObjID()) {
|
||||
n.updatePeriodMs = periodMs;
|
||||
n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random())
|
||||
.nextDouble()); // avoid bunching of updates
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
final Observer unpackedObserver = new Observer() {
|
||||
final Observer unpackedObserver = new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
handler.unpacked((UAVObject) data);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
final Observer updatedAutoObserver = new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
handler.updatedAuto((UAVObject) data);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
final Observer updatedManualObserver = new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
handler.updatedManual((UAVObject) data);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
final Observer updatedRequestedObserver = new Observer() {
|
||||
@Override
|
||||
public void update(Observable observable, Object data) {
|
||||
handler.updateRequested((UAVObject) data);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Connect to all instances of an object depending on the event mask specified
|
||||
*/
|
||||
private synchronized void connectToObjectInstances(UAVObject obj, int eventMask)
|
||||
{
|
||||
List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
|
||||
ListIterator<UAVObject> li = objs.listIterator();
|
||||
while(li.hasNext())
|
||||
{
|
||||
obj = li.next();
|
||||
/**
|
||||
* Connect to all instances of an object depending on the event mask
|
||||
* specified
|
||||
*/
|
||||
private synchronized void connectToObjectInstances(UAVObject obj,
|
||||
int eventMask) {
|
||||
List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
|
||||
ListIterator<UAVObject> li = objs.listIterator();
|
||||
while (li.hasNext()) {
|
||||
obj = li.next();
|
||||
|
||||
// Disconnect all previous observers from telemetry. This is imortant as this can
|
||||
// be called multiple times
|
||||
obj.removeUnpackedObserver(unpackedObserver);
|
||||
obj.removeUpdatedAutoObserver(updatedAutoObserver);
|
||||
obj.removeUpdatedManualObserver(updatedManualObserver);
|
||||
obj.removeUpdateRequestedObserver(updatedRequestedObserver);
|
||||
// Disconnect all previous observers from telemetry. This is
|
||||
// imortant as this can
|
||||
// be called multiple times
|
||||
obj.removeUnpackedObserver(unpackedObserver);
|
||||
obj.removeUpdatedAutoObserver(updatedAutoObserver);
|
||||
obj.removeUpdatedManualObserver(updatedManualObserver);
|
||||
obj.removeUpdateRequestedObserver(updatedRequestedObserver);
|
||||
|
||||
// Connect only the selected events
|
||||
if ( (eventMask&EV_UNPACKED) != 0)
|
||||
obj.addUnpackedObserver(unpackedObserver);
|
||||
if ( (eventMask&EV_UPDATED) != 0)
|
||||
obj.addUpdatedAutoObserver(updatedAutoObserver);
|
||||
if ( (eventMask&EV_UPDATED_MANUAL) != 0)
|
||||
obj.addUpdatedManualObserver(updatedManualObserver);
|
||||
if ( (eventMask&EV_UPDATE_REQ) != 0)
|
||||
obj.addUpdateRequestedObserver(updatedRequestedObserver);
|
||||
}
|
||||
}
|
||||
// Connect only the selected events
|
||||
if ((eventMask & EV_UNPACKED) != 0)
|
||||
obj.addUnpackedObserver(unpackedObserver);
|
||||
if ((eventMask & EV_UPDATED) != 0)
|
||||
obj.addUpdatedAutoObserver(updatedAutoObserver);
|
||||
if ((eventMask & EV_UPDATED_MANUAL) != 0)
|
||||
obj.addUpdatedManualObserver(updatedManualObserver);
|
||||
if ((eventMask & EV_UPDATE_REQ) != 0)
|
||||
obj.addUpdateRequestedObserver(updatedRequestedObserver);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Update an object based on its metadata properties
|
||||
*/
|
||||
private void updateObject(UAVObject obj)
|
||||
{
|
||||
// Get metadata
|
||||
UAVObject.Metadata metadata = obj.getMetadata();
|
||||
/**
|
||||
* Update an object based on its metadata properties
|
||||
*/
|
||||
private void updateObject(UAVObject obj) {
|
||||
// Get metadata
|
||||
UAVObject.Metadata metadata = obj.getMetadata();
|
||||
|
||||
// Setup object depending on update mode
|
||||
int eventMask;
|
||||
if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
|
||||
{
|
||||
// Set update period
|
||||
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
|
||||
// Connect signals for all instances
|
||||
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||
if(obj.isMetadata())
|
||||
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
|
||||
// Setup object depending on update mode
|
||||
int eventMask;
|
||||
if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC) {
|
||||
// Set update period
|
||||
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
|
||||
// Connect signals for all instances
|
||||
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||
if (obj.isMetadata())
|
||||
eventMask |= EV_UNPACKED; // we also need to act on remote
|
||||
// updates (unpack events)
|
||||
|
||||
connectToObjectInstances(obj, eventMask);
|
||||
}
|
||||
else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
|
||||
{
|
||||
// Set update period
|
||||
setUpdatePeriod(obj, 0);
|
||||
// Connect signals for all instances
|
||||
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||
if(obj.isMetadata())
|
||||
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
|
||||
connectToObjectInstances(obj, eventMask);
|
||||
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
|
||||
// Set update period
|
||||
setUpdatePeriod(obj, 0);
|
||||
// Connect signals for all instances
|
||||
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||
if (obj.isMetadata())
|
||||
eventMask |= EV_UNPACKED; // we also need to act on remote
|
||||
// updates (unpack events)
|
||||
|
||||
connectToObjectInstances(obj, eventMask);
|
||||
}
|
||||
else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED )
|
||||
{
|
||||
// TODO
|
||||
}
|
||||
else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
|
||||
{
|
||||
// Set update period
|
||||
setUpdatePeriod(obj, 0);
|
||||
// Connect signals for all instances
|
||||
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||
if(obj.isMetadata())
|
||||
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
|
||||
connectToObjectInstances(obj, eventMask);
|
||||
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
|
||||
// TODO
|
||||
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL) {
|
||||
// Set update period
|
||||
setUpdatePeriod(obj, 0);
|
||||
// Connect signals for all instances
|
||||
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||
if (obj.isMetadata())
|
||||
eventMask |= EV_UNPACKED; // we also need to act on remote
|
||||
// updates (unpack events)
|
||||
|
||||
connectToObjectInstances(obj, eventMask);
|
||||
}
|
||||
}
|
||||
connectToObjectInstances(obj, eventMask);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when a transaction is successfully completed (uavtalk event)
|
||||
* @throws IOException
|
||||
*/
|
||||
private void transactionCompleted(UAVObject obj, boolean result) throws IOException
|
||||
{
|
||||
if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
|
||||
// Check if there is a pending transaction and the objects match
|
||||
if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
|
||||
{
|
||||
if (DEBUG) Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
|
||||
// Complete transaction
|
||||
/**
|
||||
* Called when a transaction is successfully completed (uavtalk event)
|
||||
*
|
||||
* @throws IOException
|
||||
*/
|
||||
private void transactionCompleted(UAVObject obj, boolean result)
|
||||
throws IOException {
|
||||
if (DEBUG)
|
||||
Log.d(TAG, "UAVTalk transactionCompleted");
|
||||
// Check if there is a pending transaction and the objects match
|
||||
if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
|
||||
if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
|
||||
|
||||
synchronized(transTimer) {
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
}
|
||||
// Complete transaction
|
||||
synchronized(transTimer) {
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
}
|
||||
|
||||
//Send signal
|
||||
obj.transactionCompleted(result);
|
||||
// Process new object updates from queue
|
||||
processObjectQueue();
|
||||
} else
|
||||
{
|
||||
if (ERROR) Log.e(TAG,"Error: received a transaction completed when did not expect it.");
|
||||
transPending = false;
|
||||
}
|
||||
}
|
||||
//Send signal
|
||||
obj.transactionCompleted(result);
|
||||
} else {
|
||||
if (ERROR)
|
||||
Log.e(TAG,
|
||||
"Error: received a transaction completed when did not expect it.");
|
||||
transPending = false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when a transaction is not completed within the timeout period (timer event)
|
||||
* @throws IOException
|
||||
*/
|
||||
private void transactionTimeout() throws IOException
|
||||
{
|
||||
if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
|
||||
synchronized(transTimer) {
|
||||
transTimer.cancel();
|
||||
// Proceed only if there is a pending transaction
|
||||
if ( transPending )
|
||||
{
|
||||
// Check if more retries are pending
|
||||
if (transInfo.retriesRemaining > 0)
|
||||
{
|
||||
--transInfo.retriesRemaining;
|
||||
processObjectTransaction();
|
||||
++txRetries;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
|
||||
/**
|
||||
* Called when a transaction is not completed within the timeout period
|
||||
* (timer event)
|
||||
*
|
||||
* @throws IOException
|
||||
*/
|
||||
private void transactionTimeout() throws IOException {
|
||||
if (DEBUG)
|
||||
Log.d(TAG, "Telemetry: transaction timeout.");
|
||||
synchronized (transTimer) {
|
||||
transTimer.cancel();
|
||||
// Proceed only if there is a pending transaction
|
||||
if (transPending) {
|
||||
// Check if more retries are pending
|
||||
if (transInfo.retriesRemaining > 0) {
|
||||
--transInfo.retriesRemaining;
|
||||
processObjectTransaction();
|
||||
++txRetries;
|
||||
} else {
|
||||
if (ERROR)
|
||||
Log.e(TAG,
|
||||
"Transaction failed for: "
|
||||
+ transInfo.obj.getName());
|
||||
|
||||
// Terminate transaction. This triggers UAVTalk to send a transaction
|
||||
// failed signal which will make the next queue entry be processed
|
||||
// Note this is UAVTalk listener TransactionFailed function and not the
|
||||
// object specific transaction failed.
|
||||
utalk.cancelPendingTransaction(transInfo.obj);
|
||||
++txErrors;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// Terminate transaction. This triggers UAVTalk to send a
|
||||
// transaction
|
||||
// failed signal which will make the next queue entry be
|
||||
// processed
|
||||
// Note this is UAVTalk listener TransactionFailed function
|
||||
// and not the
|
||||
// object specific transaction failed.
|
||||
utalk.cancelPendingTransaction(transInfo.obj);
|
||||
++txErrors;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Start an object transaction with UAVTalk, all information is stored in transInfo
|
||||
* @throws IOException
|
||||
*/
|
||||
private void processObjectTransaction() throws IOException
|
||||
{
|
||||
if (transPending)
|
||||
{
|
||||
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
||||
// Initiate transaction
|
||||
if (transInfo.objRequest)
|
||||
{
|
||||
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
||||
}
|
||||
else
|
||||
{
|
||||
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
|
||||
}
|
||||
// Start timer if a response is expected
|
||||
if ( transInfo.objRequest || transInfo.acked )
|
||||
{
|
||||
transTimerSetPeriod(REQ_TIMEOUT_MS);
|
||||
}
|
||||
else
|
||||
{
|
||||
synchronized(transTimer) {
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (ERROR) Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Start an object transaction with UAVTalk, all information is stored in
|
||||
* transInfo
|
||||
*
|
||||
* @throws IOException
|
||||
*/
|
||||
private void processObjectTransaction() throws IOException {
|
||||
if (transPending) {
|
||||
if (DEBUG)
|
||||
Log.d(TAG,
|
||||
"Process Object transaction for "
|
||||
+ transInfo.obj.getName());
|
||||
// Initiate transaction
|
||||
if (transInfo.objRequest) {
|
||||
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
||||
} else {
|
||||
utalk.sendObject(transInfo.obj, transInfo.acked,
|
||||
transInfo.allInstances);
|
||||
}
|
||||
// Start timer if a response is expected
|
||||
if (transInfo.objRequest || transInfo.acked) {
|
||||
transTimerSetPeriod(REQ_TIMEOUT_MS);
|
||||
} else {
|
||||
synchronized (transTimer) {
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (ERROR)
|
||||
Log.e(TAG,
|
||||
"Error: inside of processObjectTransaction with no transPending");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Process events from the object queue
|
||||
* @throws IOException
|
||||
*/
|
||||
private void processObjectQueue() throws IOException
|
||||
{
|
||||
if (DEBUG) Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
|
||||
/**
|
||||
* Process events from the object queue
|
||||
*
|
||||
* @throws IOException
|
||||
*/
|
||||
private void processObjectQueue() throws IOException {
|
||||
if (DEBUG)
|
||||
Log.d(TAG, "Process object queue - Depth " + objQueue.size()
|
||||
+ " priority " + objPriorityQueue.size());
|
||||
|
||||
// Don nothing if a transaction is already in progress (should not happen)
|
||||
if (transPending)
|
||||
{
|
||||
if (WARN) Log.e(TAG,"Dequeue while a transaction pending");
|
||||
return;
|
||||
}
|
||||
// Don nothing if a transaction is already in progress (should not
|
||||
// happen)
|
||||
if (transPending) {
|
||||
if (WARN)
|
||||
Log.e(TAG, "Dequeue while a transaction pending");
|
||||
return;
|
||||
}
|
||||
|
||||
// Get object information from queue (first the priority and then the regular queue)
|
||||
ObjectQueueInfo objInfo;
|
||||
synchronized (objPriorityQueue) {
|
||||
if ( !objPriorityQueue.isEmpty() )
|
||||
{
|
||||
objInfo = objPriorityQueue.remove();
|
||||
} else {
|
||||
synchronized (objQueue) {
|
||||
if ( !objQueue.isEmpty() )
|
||||
{
|
||||
objInfo = objQueue.remove();
|
||||
}
|
||||
else
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// Get object information from queue (first the priority and then the
|
||||
// regular queue)
|
||||
ObjectQueueInfo objInfo;
|
||||
synchronized (objPriorityQueue) {
|
||||
if (!objPriorityQueue.isEmpty()) {
|
||||
objInfo = objPriorityQueue.remove();
|
||||
} else {
|
||||
synchronized (objQueue) {
|
||||
if (!objQueue.isEmpty()) {
|
||||
objInfo = objQueue.remove();
|
||||
} else {
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Check if a connection has been established, only process GCSTelemetryStats updates
|
||||
// (used to establish the connection)
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
|
||||
{
|
||||
objQueue.clear();
|
||||
if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
|
||||
{
|
||||
if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
|
||||
objInfo.obj.transactionCompleted(false);
|
||||
return;
|
||||
}
|
||||
}
|
||||
// Check if a connection has been established, only process
|
||||
// GCSTelemetryStats updates
|
||||
// (used to establish the connection)
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
if (((String) gcsStatsObj.getField("Status").getValue())
|
||||
.compareTo("Connected") != 0) {
|
||||
objQueue.clear();
|
||||
if (objInfo.obj.getObjID() != objMngr
|
||||
.getObject("GCSTelemetryStats").getObjID()) {
|
||||
if (DEBUG)
|
||||
Log.d(TAG,
|
||||
"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
|
||||
objInfo.obj.transactionCompleted(false);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Setup transaction (skip if unpack event)
|
||||
if ( objInfo.event != EV_UNPACKED )
|
||||
{
|
||||
UAVObject.Metadata metadata = objInfo.obj.getMetadata();
|
||||
transInfo.obj = objInfo.obj;
|
||||
transInfo.allInstances = objInfo.allInstances;
|
||||
transInfo.retriesRemaining = MAX_RETRIES;
|
||||
transInfo.acked = metadata.GetGcsTelemetryAcked();
|
||||
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
|
||||
{
|
||||
transInfo.objRequest = false;
|
||||
}
|
||||
else if ( objInfo.event == EV_UPDATE_REQ )
|
||||
{
|
||||
transInfo.objRequest = true;
|
||||
}
|
||||
// Start transaction
|
||||
transPending = true;
|
||||
processObjectTransaction();
|
||||
} else
|
||||
{
|
||||
// qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
|
||||
}
|
||||
// Setup transaction (skip if unpack event)
|
||||
if (objInfo.event != EV_UNPACKED) {
|
||||
UAVObject.Metadata metadata = objInfo.obj.getMetadata();
|
||||
transInfo.obj = objInfo.obj;
|
||||
transInfo.allInstances = objInfo.allInstances;
|
||||
transInfo.retriesRemaining = MAX_RETRIES;
|
||||
transInfo.acked = metadata.GetGcsTelemetryAcked();
|
||||
if (objInfo.event == EV_UPDATED
|
||||
|| objInfo.event == EV_UPDATED_MANUAL) {
|
||||
transInfo.objRequest = false;
|
||||
} else if (objInfo.event == EV_UPDATE_REQ) {
|
||||
transInfo.objRequest = true;
|
||||
}
|
||||
// Start transaction
|
||||
transPending = true;
|
||||
processObjectTransaction();
|
||||
} else {
|
||||
// qDebug() <<
|
||||
// QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
|
||||
}
|
||||
|
||||
// If this is a metaobject then make necessary telemetry updates
|
||||
if (objInfo.obj.isMetadata())
|
||||
{
|
||||
UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
|
||||
updateObject( metaobj.getParentObject() );
|
||||
}
|
||||
// If this is a metaobject then make necessary telemetry updates
|
||||
if (objInfo.obj.isMetadata()) {
|
||||
UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
|
||||
updateObject(metaobj.getParentObject());
|
||||
}
|
||||
|
||||
// The fact we received an unpacked event does not mean that
|
||||
// we do not have additional objects still in the queue,
|
||||
// so we have to reschedule queue processing to make sure they are not
|
||||
// stuck:
|
||||
if ( objInfo.event == EV_UNPACKED && !transPending)
|
||||
processObjectQueue();
|
||||
// The fact we received an unpacked event does not mean that
|
||||
// we do not have additional objects still in the queue,
|
||||
// so we have to reschedule queue processing to make sure they are not
|
||||
// stuck:
|
||||
if (objInfo.event == EV_UNPACKED && !transPending)
|
||||
processObjectQueue();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check is any objects are pending for periodic updates
|
||||
* TODO: Clean-up
|
||||
* @throws IOException
|
||||
*/
|
||||
private void processPeriodicUpdates() throws IOException
|
||||
{
|
||||
/**
|
||||
* Check is any objects are pending for periodic updates TODO: Clean-up
|
||||
*
|
||||
* @throws IOException
|
||||
*/
|
||||
private void processPeriodicUpdates() throws IOException {
|
||||
|
||||
if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
|
||||
// Stop timer
|
||||
if (DEBUG)
|
||||
Log.d(TAG, "processPeriodicUpdates()");
|
||||
// Stop timer
|
||||
|
||||
updateTimer.cancel();
|
||||
updateTimer.cancel();
|
||||
|
||||
// Iterate through each object and update its timer, if zero then transmit object.
|
||||
// Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
|
||||
int minDelay = MAX_UPDATE_PERIOD_MS;
|
||||
ObjectTimeInfo objinfo;
|
||||
int elapsedMs = 0;
|
||||
long startTime;
|
||||
int offset;
|
||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||
while(li.hasNext())
|
||||
{
|
||||
objinfo = li.next();
|
||||
// If object is configured for periodic updates
|
||||
if (objinfo.updatePeriodMs > 0)
|
||||
{
|
||||
objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
|
||||
// Check if time for the next update
|
||||
if (objinfo.timeToNextUpdateMs <= 0)
|
||||
{
|
||||
// Reset timer
|
||||
offset = (-objinfo.timeToNextUpdateMs) % objinfo.updatePeriodMs;
|
||||
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
|
||||
// Send object
|
||||
startTime = System.currentTimeMillis();
|
||||
handler.updatedManual(objinfo.obj);
|
||||
//enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
|
||||
elapsedMs = (int) (System.currentTimeMillis() - startTime);
|
||||
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
|
||||
timeToNextUpdateMs += elapsedMs;
|
||||
}
|
||||
// Update minimum delay
|
||||
if (objinfo.timeToNextUpdateMs < minDelay)
|
||||
{
|
||||
minDelay = objinfo.timeToNextUpdateMs;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Iterate through each object and update its timer, if zero then
|
||||
// transmit object.
|
||||
// Also calculate smallest delay to next update (will be used for
|
||||
// setting timeToNextUpdateMs)
|
||||
int minDelay = MAX_UPDATE_PERIOD_MS;
|
||||
ObjectTimeInfo objinfo;
|
||||
int elapsedMs = 0;
|
||||
long startTime;
|
||||
int offset;
|
||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||
while (li.hasNext()) {
|
||||
objinfo = li.next();
|
||||
// If object is configured for periodic updates
|
||||
if (objinfo.updatePeriodMs > 0) {
|
||||
objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
|
||||
// Check if time for the next update
|
||||
if (objinfo.timeToNextUpdateMs <= 0) {
|
||||
// Reset timer
|
||||
offset = (-objinfo.timeToNextUpdateMs)
|
||||
% objinfo.updatePeriodMs;
|
||||
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs
|
||||
- offset;
|
||||
// Send object
|
||||
startTime = System.currentTimeMillis();
|
||||
handler.updatedManual(objinfo.obj);
|
||||
// enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL,
|
||||
// true, false);
|
||||
elapsedMs = (int) (System.currentTimeMillis() - startTime);
|
||||
// Update timeToNextUpdateMs with the elapsed delay of
|
||||
// sending the object;
|
||||
timeToNextUpdateMs += elapsedMs;
|
||||
}
|
||||
// Update minimum delay
|
||||
if (objinfo.timeToNextUpdateMs < minDelay) {
|
||||
minDelay = objinfo.timeToNextUpdateMs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Check if delay for the next update is too short
|
||||
if (minDelay < MIN_UPDATE_PERIOD_MS)
|
||||
{
|
||||
minDelay = MIN_UPDATE_PERIOD_MS;
|
||||
}
|
||||
// Check if delay for the next update is too short
|
||||
if (minDelay < MIN_UPDATE_PERIOD_MS) {
|
||||
minDelay = MIN_UPDATE_PERIOD_MS;
|
||||
}
|
||||
|
||||
// Done
|
||||
timeToNextUpdateMs = minDelay;
|
||||
// Done
|
||||
timeToNextUpdateMs = minDelay;
|
||||
|
||||
// Restart timer
|
||||
updateTimerSetPeriod(timeToNextUpdateMs);
|
||||
}
|
||||
// Restart timer
|
||||
updateTimerSetPeriod(timeToNextUpdateMs);
|
||||
}
|
||||
|
||||
public TelemetryStats getStats()
|
||||
{
|
||||
// Get UAVTalk stats
|
||||
UAVTalk.ComStats utalkStats = utalk.getStats();
|
||||
public TelemetryStats getStats() {
|
||||
// Get UAVTalk stats
|
||||
UAVTalk.ComStats utalkStats = utalk.getStats();
|
||||
|
||||
// Update stats
|
||||
TelemetryStats stats = new TelemetryStats();
|
||||
stats.txBytes = utalkStats.txBytes;
|
||||
stats.rxBytes = utalkStats.rxBytes;
|
||||
stats.txObjectBytes = utalkStats.txObjectBytes;
|
||||
stats.rxObjectBytes = utalkStats.rxObjectBytes;
|
||||
stats.rxObjects = utalkStats.rxObjects;
|
||||
stats.txObjects = utalkStats.txObjects;
|
||||
stats.txErrors = utalkStats.txErrors + txErrors;
|
||||
stats.rxErrors = utalkStats.rxErrors;
|
||||
stats.txRetries = txRetries;
|
||||
// Update stats
|
||||
TelemetryStats stats = new TelemetryStats();
|
||||
stats.txBytes = utalkStats.txBytes;
|
||||
stats.rxBytes = utalkStats.rxBytes;
|
||||
stats.txObjectBytes = utalkStats.txObjectBytes;
|
||||
stats.rxObjectBytes = utalkStats.rxObjectBytes;
|
||||
stats.rxObjects = utalkStats.rxObjects;
|
||||
stats.txObjects = utalkStats.txObjects;
|
||||
stats.txErrors = utalkStats.txErrors + txErrors;
|
||||
stats.rxErrors = utalkStats.rxErrors;
|
||||
stats.txRetries = txRetries;
|
||||
|
||||
// Done
|
||||
return stats;
|
||||
}
|
||||
// Done
|
||||
return stats;
|
||||
}
|
||||
|
||||
public void resetStats()
|
||||
{
|
||||
utalk.resetStats();
|
||||
txErrors = 0;
|
||||
txRetries = 0;
|
||||
}
|
||||
public void resetStats() {
|
||||
utalk.resetStats();
|
||||
txErrors = 0;
|
||||
txRetries = 0;
|
||||
}
|
||||
|
||||
private void newObject(UAVObject obj) {
|
||||
registerObject(obj);
|
||||
}
|
||||
|
||||
private void newObject(UAVObject obj)
|
||||
{
|
||||
registerObject(obj);
|
||||
}
|
||||
private synchronized void newInstance(UAVObject obj) {
|
||||
registerObject(obj);
|
||||
}
|
||||
|
||||
private synchronized void newInstance(UAVObject obj)
|
||||
{
|
||||
registerObject(obj);
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop all the telemetry timers
|
||||
*/
|
||||
public void stopTelemetry()
|
||||
{
|
||||
if (updateTimerTask != null)
|
||||
updateTimerTask.cancel();
|
||||
updateTimerTask = null;
|
||||
if (updateTimer != null)
|
||||
updateTimer.cancel();
|
||||
updateTimer = null;
|
||||
if (transTimerTask != null)
|
||||
transTimerTask.cancel();
|
||||
transTimerTask = null;
|
||||
if (transTimer != null)
|
||||
transTimer.cancel();
|
||||
transTimer = null;
|
||||
}
|
||||
/**
|
||||
* Stop all the telemetry timers
|
||||
*/
|
||||
public void stopTelemetry() {
|
||||
if (updateTimerTask != null)
|
||||
updateTimerTask.cancel();
|
||||
updateTimerTask = null;
|
||||
if (updateTimer != null)
|
||||
updateTimer.cancel();
|
||||
updateTimer = null;
|
||||
if (transTimerTask != null)
|
||||
transTimerTask.cancel();
|
||||
transTimerTask = null;
|
||||
if (transTimer != null)
|
||||
transTimer.cancel();
|
||||
transTimer = null;
|
||||
}
|
||||
|
||||
/**
|
||||
* Private variables
|
||||
*/
|
||||
private final UAVObjectManager objMngr;
|
||||
private final UAVTalk utalk;
|
||||
private UAVObject gcsStatsObj;
|
||||
private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
|
||||
private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
||||
private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
||||
private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
|
||||
private boolean transPending;
|
||||
private final UAVObjectManager objMngr;
|
||||
private final UAVTalk utalk;
|
||||
private UAVObject gcsStatsObj;
|
||||
private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
|
||||
private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
||||
private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
||||
private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
|
||||
private boolean transPending;
|
||||
|
||||
private Timer updateTimer;
|
||||
private TimerTask updateTimerTask;
|
||||
private Timer transTimer;
|
||||
private TimerTask transTimerTask;
|
||||
private Timer updateTimer;
|
||||
private TimerTask updateTimerTask;
|
||||
private Timer transTimer;
|
||||
private TimerTask transTimerTask;
|
||||
|
||||
private int timeToNextUpdateMs;
|
||||
private int txErrors;
|
||||
private int txRetries;
|
||||
private int timeToNextUpdateMs;
|
||||
private int txErrors;
|
||||
private int txRetries;
|
||||
|
||||
/**
|
||||
* Private constants
|
||||
*/
|
||||
private static final int REQ_TIMEOUT_MS = 250;
|
||||
private static final int MAX_RETRIES = 2;
|
||||
private static final int MAX_UPDATE_PERIOD_MS = 1000;
|
||||
private static final int MIN_UPDATE_PERIOD_MS = 1;
|
||||
private static final int MAX_QUEUE_SIZE = 20;
|
||||
/**
|
||||
* Private constants
|
||||
*/
|
||||
private static final int REQ_TIMEOUT_MS = 250;
|
||||
private static final int MAX_RETRIES = 2;
|
||||
private static final int MAX_UPDATE_PERIOD_MS = 1000;
|
||||
private static final int MIN_UPDATE_PERIOD_MS = 1;
|
||||
private static final int MAX_QUEUE_SIZE = 20;
|
||||
|
||||
private final ObjectUpdateHandler handler;
|
||||
private final ObjectUpdateHandler handler;
|
||||
|
||||
public class ObjectUpdateHandler extends Handler {
|
||||
public class ObjectUpdateHandler extends Handler {
|
||||
|
||||
//! This can only be created while attaching to a particular looper
|
||||
ObjectUpdateHandler(Looper l) {
|
||||
super(l);
|
||||
}
|
||||
|
||||
//! Generic enqueue
|
||||
void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) {
|
||||
|
||||
if (DEBUG) Log.d(TAG, "Enqueing update " + obj.getName() + " event " + event);
|
||||
|
||||
ObjectQueueInfo objInfo = new ObjectQueueInfo();
|
||||
objInfo.obj = obj;
|
||||
objInfo.event = event;
|
||||
objInfo.allInstances = allInstances;
|
||||
|
||||
post(new ObjectRunnable(objInfo));
|
||||
}
|
||||
|
||||
//! Enqueue an unpacked event
|
||||
void unpacked(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UNPACKED, false, true);
|
||||
// ! This can only be created while attaching to a particular looper
|
||||
ObjectUpdateHandler(Looper l) {
|
||||
super(l);
|
||||
}
|
||||
|
||||
//! Enqueue an updated auto event
|
||||
void updatedAuto(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj,EV_UPDATED, false, true);
|
||||
}
|
||||
// ! Generic enqueue
|
||||
void enqueueObjectUpdates(UAVObject obj, int event,
|
||||
boolean allInstances, boolean priority) {
|
||||
|
||||
//! Enqueue an updated manual event
|
||||
void updatedManual(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
|
||||
}
|
||||
if (DEBUG)
|
||||
Log.d(TAG, "Enqueing update " + obj.getName() + " event "
|
||||
+ event);
|
||||
|
||||
//! Enqueue an update requested event
|
||||
void updateRequested(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
|
||||
}
|
||||
ObjectQueueInfo objInfo = new ObjectQueueInfo();
|
||||
objInfo.obj = obj;
|
||||
objInfo.event = event;
|
||||
objInfo.allInstances = allInstances;
|
||||
|
||||
}
|
||||
post(new ObjectRunnable(objInfo));
|
||||
}
|
||||
|
||||
class ObjectRunnable implements Runnable {
|
||||
// ! Enqueue an unpacked event
|
||||
void unpacked(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UNPACKED, false, true);
|
||||
}
|
||||
|
||||
//! Transaction information to perform
|
||||
private final ObjectQueueInfo objInfo;
|
||||
// private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
|
||||
// ! Enqueue an updated auto event
|
||||
void updatedAuto(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UPDATED, false, true);
|
||||
}
|
||||
|
||||
ObjectRunnable(ObjectQueueInfo info) {
|
||||
Assert.assertNotNull(info);
|
||||
objInfo = info;
|
||||
}
|
||||
// ! Enqueue an updated manual event
|
||||
void updatedManual(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
|
||||
}
|
||||
|
||||
//! Perform the transaction on the looper thread
|
||||
@Override
|
||||
public void run () {
|
||||
Log.d(TAG,"object transaction running");
|
||||
// 1. Check GCS is connected, throw this out if not
|
||||
// 2. Set up a transaction which includes multiple retries, whether to wait for ack etc
|
||||
// 3. Send UAVTalk message
|
||||
// 4. Based on transaction type either wait for update or end
|
||||
// ! Enqueue an update requested event
|
||||
void updateRequested(UAVObject obj) {
|
||||
enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
|
||||
}
|
||||
|
||||
// 1. Check if a connection has been established, only process GCSTelemetryStats updates
|
||||
// (used to establish the connection)
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
|
||||
{
|
||||
if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
|
||||
{
|
||||
if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
|
||||
objInfo.obj.transactionCompleted(false);
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Log.e(TAG, "A");
|
||||
// 2. Setup transaction (skip if unpack event)
|
||||
if ( objInfo.event != EV_UNPACKED )
|
||||
{
|
||||
Log.e(TAG, "A1");
|
||||
UAVObject.Metadata metadata = objInfo.obj.getMetadata();
|
||||
transInfo.obj = objInfo.obj;
|
||||
transInfo.allInstances = objInfo.allInstances;
|
||||
transInfo.retriesRemaining = MAX_RETRIES;
|
||||
transInfo.acked = metadata.GetGcsTelemetryAcked();
|
||||
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
|
||||
{
|
||||
transInfo.objRequest = false;
|
||||
}
|
||||
else if ( objInfo.event == EV_UPDATE_REQ )
|
||||
{
|
||||
transInfo.objRequest = true;
|
||||
}
|
||||
// Start transaction
|
||||
transPending = true;
|
||||
}
|
||||
Log.e(TAG, "B");
|
||||
// If this is a metaobject then make necessary telemetry updates (this is why we catch unpack)
|
||||
if (objInfo.obj.isMetadata())
|
||||
{
|
||||
UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
|
||||
updateObject( metaobj.getParentObject() );
|
||||
}
|
||||
Log.e(TAG, "C");
|
||||
// 3. Execute transaction
|
||||
if (transPending)
|
||||
{
|
||||
Log.e(TAG, "D");
|
||||
try {
|
||||
if (DEBUG || true) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
||||
// Initiate transaction
|
||||
if (transInfo.objRequest)
|
||||
{
|
||||
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
||||
}
|
||||
else
|
||||
{
|
||||
Log.d(TAG, "Sending object");
|
||||
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
|
||||
}
|
||||
class ObjectRunnable implements Runnable {
|
||||
|
||||
// TODO: Block if request expected (??)
|
||||
if ( transInfo.objRequest || transInfo.acked )
|
||||
{
|
||||
transTimerSetPeriod(REQ_TIMEOUT_MS);
|
||||
}
|
||||
else
|
||||
{
|
||||
synchronized(transTimer) {
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
}
|
||||
}
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
Log.e(TAG, "E");
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// ! Transaction information to perform
|
||||
private final ObjectQueueInfo objInfo;
|
||||
|
||||
// private final ObjectTransactionInfo transInfo = new
|
||||
// ObjectTransactionInfo();
|
||||
|
||||
ObjectRunnable(ObjectQueueInfo info) {
|
||||
Assert.assertNotNull(info);
|
||||
objInfo = info;
|
||||
}
|
||||
|
||||
// ! Perform the transaction on the looper thread
|
||||
@Override
|
||||
public void run() {
|
||||
if (DEBUG) Log.d(TAG, "Object transaction running. Event:" + objInfo.event);
|
||||
// 1. Check GCS is connected, throw this out if not
|
||||
// 2. Set up a transaction which includes multiple retries, whether
|
||||
// to wait for ack etc
|
||||
// 3. Send UAVTalk message
|
||||
// 4. Based on transaction type either wait for update or end
|
||||
|
||||
// 1. Check if a connection has been established, only process
|
||||
// GCSTelemetryStats updates
|
||||
// (used to establish the connection)
|
||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||
if (((String) gcsStatsObj.getField("Status").getValue())
|
||||
.compareTo("Connected") != 0) {
|
||||
if (objInfo.obj.getObjID() != objMngr.getObject(
|
||||
"GCSTelemetryStats").getObjID()) {
|
||||
if (DEBUG)
|
||||
Log.d(TAG,
|
||||
"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
|
||||
objInfo.obj.transactionCompleted(false);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// 2. Setup transaction (skip if unpack event)
|
||||
if (objInfo.event != EV_UNPACKED) {
|
||||
UAVObject.Metadata metadata = objInfo.obj.getMetadata();
|
||||
transInfo.obj = objInfo.obj;
|
||||
transInfo.allInstances = objInfo.allInstances;
|
||||
transInfo.retriesRemaining = MAX_RETRIES;
|
||||
transInfo.acked = metadata.GetGcsTelemetryAcked();
|
||||
if (objInfo.event == EV_UPDATED
|
||||
|| objInfo.event == EV_UPDATED_MANUAL) {
|
||||
transInfo.objRequest = false;
|
||||
} else if (objInfo.event == EV_UPDATE_REQ) {
|
||||
transInfo.objRequest = true;
|
||||
}
|
||||
// Start transaction
|
||||
transPending = true;
|
||||
}
|
||||
|
||||
// If this is a metaobject then make necessary telemetry updates
|
||||
// (this is why we catch unpack)
|
||||
if (objInfo.obj.isMetadata()) {
|
||||
UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
|
||||
updateObject(metaobj.getParentObject());
|
||||
}
|
||||
|
||||
// 3. Execute transaction
|
||||
if (transPending) {
|
||||
try {
|
||||
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
||||
|
||||
// Initiate transaction
|
||||
if (transInfo.objRequest) {
|
||||
if (DEBUG) Log.d(TAG, "Sending object request");
|
||||
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
||||
} else {
|
||||
if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName() + " " + transInfo.obj.toStringData());
|
||||
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
|
||||
}
|
||||
|
||||
|
||||
// TODO: Block if request expected (??)
|
||||
if (transInfo.objRequest || transInfo.acked ) {
|
||||
transTimerSetPeriod(REQ_TIMEOUT_MS);
|
||||
} else {
|
||||
synchronized(transTimer) {
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
}
|
||||
}
|
||||
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
Log.e(TAG, "E");
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user