Removed various debugging outputs and exceptions for now (will add back in a

more principled manner later).  Also updated the auto generated code.

androidgcs/.classpath

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
 	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="tests"/>
 	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>

androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java

@@ -9,7 +9,7 @@ public abstract class UAVDataObject extends UAVObject {
 	 * @param isSet
 	 * @param name
 	 */
-	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) throws Exception {
+	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
 		super(objID, isSingleInst, name);
 		mobj = null;
 		this.isSet = isSet;

androidgcs/src/org/openpilot/uavtalk/UAVObject.java

@@ -105,10 +105,9 @@ public abstract class UAVObject {
 	 *             When unable to unpack a field
 	 */
 	public void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
-			int numBytes) throws Exception {
+			int numBytes) {
 		// TODO: QMutexLocker locker(mutex);
 		this.numBytes = numBytes;
-//	this.data = data;
 		this.fields = fields;
 		// Initialize fields
 		for (int n = 0; n < fields.size(); ++n) {
@@ -288,7 +287,7 @@ public abstract class UAVObject {
 	 * @throws Exception
 	 * @returns The number of bytes copied
 	 */
-	public int unpack(ByteBuffer dataIn) throws Exception {
+	public int unpack(ByteBuffer dataIn) {
 		if( dataIn == null )
 			return 0;
 

androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java

@@ -90,8 +90,8 @@ public class UAVObjectField {
      * to the arm/uavtalk standard (little endian)
      * @param dataOut
      * @return the number of bytes added
-     * @throws Exception */
+     **/
-    public int pack(ByteBuffer dataOut) throws Exception {
+    public int pack(ByteBuffer dataOut) {
         //QMutexLocker locker(obj->getMutex());
         // Pack each element in output buffer
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
@@ -147,7 +147,7 @@ public class UAVObjectField {
                 break;
             case STRING:
             	// TODO: Implement strings
-            	throw new Exception("Strings not yet implemented");
+            	throw new Error("Strings not yet implemented");
         }
         // Done
         return getNumBytes();    	
@@ -358,13 +358,13 @@ public class UAVObjectField {
     	}
     }
     
-    public double getDouble() throws Exception { return getDouble(0); };
+    public double getDouble() { return getDouble(0); };
-    public double getDouble(int index) throws Exception {
+    public double getDouble(int index) {
     	return Double.valueOf((Double) getValue(index));
     }
     
-    public void setDouble(double value) throws Exception { setDouble(value, 0); };
+    public void setDouble(double value) { setDouble(value, 0); };
-    public void setDouble(double value, int index) throws Exception {
+    public void setDouble(double value, int index) {
     	setValue(value, index);
     }
     
@@ -436,9 +436,7 @@ public class UAVObjectField {
         String sout = new String();
         sout += name + ": [ ";
         for (int n = 0; n < numElements; ++n)
-        {
         	sout += String.valueOf(n) + "(" + getValue(n) + ") ";
-        }
         
         sout += "] " + units + "\n";
         return sout;    	
@@ -488,6 +486,18 @@ public class UAVObjectField {
             		((ArrayList<Long>) data).add((long) 0);
             	}
                 break;
+            case FLOAT32:
+            	((ArrayList<Float>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Float>) data).add((float) 0);
+            	}
+                break;
+            case ENUM:
+            	((ArrayList<Byte>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Byte>) data).add((byte) 0);
+            	}
+                break;
         }
     }
     
@@ -546,8 +556,6 @@ public class UAVObjectField {
                 numBytesPerElement = 0;
         }
         clear();
-        
-        System.out.println(this);
     }
     
     /**

ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java

@@ -26,50 +26,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-package org.openpilot.uavtalk;
+package org.openpilot.uavtalk.uavobjects;
 
 import org.openpilot.uavtalk.uavobjects.*;
-import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectManager;
-import java.util.HashMap;
 
-public class UAVObjects {
+public class UAVObjectsInitialize {
 	
-    private static UAVObject[] uavobjects=null;
+	public static void register(UAVObjectManager objMngr) {
-    private static HashMap id2obj;
+		try {
-
-    public static void init() {
-	if (uavobjects==null) {
-	    uavobjects=new UAVObject[] {
 $(OBJINIT)	
-	    };
+		} catch (Exception e) {
-	    id2obj=new HashMap();
+			e.printStackTrace();
-	    for (int i=0;i< uavobjects.length;i++)
+		}
-		id2obj.put(uavobjects[i].getObjID(),i);
 	}
-    }
-
-    public static UAVObject[] getUAVObjectArray() {
-	return uavobjects;
-    }
-
-    public static boolean hasObjectWithID(int id) {
-	return id2obj.containsKey(id);
-    }
-
-    public static UAVObject getObjectByID(int id) {
-	if (!hasObjectWithID(id))
-	    return null;
-	return uavobjects[(Integer)id2obj.get(id)];
-    }
-
-    public static UAVObject getObjectByName(String name) {
-	return uavobjects[0];
-    }
-
-    public static void printAll() {
-	for (UAVObject obj : uavobjects)
-	    System.out.println(obj.getObjName());
-    }
-
-$(OBJGETTER)
 }

ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java

@@ -36,7 +36,6 @@ import java.util.ListIterator;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVMetaObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 /**
@@ -46,7 +45,7 @@ generated from $(XMLFILE)
  **/
 public class $(NAME) extends UAVDataObject {
 
-	public $(NAME)() throws Exception {
+	public $(NAME)() {
 		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
 		
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
@@ -57,11 +56,10 @@ $(FIELDSINIT)
 		int numBytes = 0;
 		ListIterator<UAVObjectField> li = fields.listIterator();
 		while(li.hasNext()) {
-			numBytes += li.next().getNumBytesElement();
+			numBytes += li.next().getNumBytes();
 		}
 		NUMBYTES = numBytes;
 
-
 		// Initialize object
 		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
 		// Set the default field values

ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp

@@ -54,14 +54,14 @@ bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepa
         ObjectInfo* info=parser->getObjectByIndex(objidx);
         process_object(info);
 
-        javaObjInit.append("    objMngr->registerObject( new " + info->name + "() );\n");
+        javaObjInit.append("\t\t\tobjMngr.registerObject( new " + info->name + "() );\n");
         objInc.append("#include \"" + info->namelc + ".h\"\n");
     }
 
     // Write the gcs object inialization files
     javaInitTemplate.replace( QString("$(OBJINC)"), objInc);
     javaInitTemplate.replace( QString("$(OBJINIT)"), javaObjInit);
-    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/uavobjectsinit.java", javaInitTemplate );
+    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/UAVObjectsInitialize.java", javaInitTemplate );
     if (!res) {
         cout << "Error: Could not write output files" << endl;
         return false;