mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
Make it easy to enable or disable logging in separate modules
This commit is contained in:
James Cotton
parent
77910a93ab
commit
74ea0e5ac2
@ -17,7 +17,10 @@ import android.util.Log;
|
||||
public class Telemetry {
|
||||
|
||||
private final String TAG = "Telemetry";
|
||||
|
||||
public static int LOGLEVEL = 0;
|
||||
public static boolean WARN = LOGLEVEL > 1;
|
||||
public static boolean DEBUG = LOGLEVEL > 0;
|
||||
|
||||
public class TelemetryStats {
|
||||
public int txBytes;
|
||||
public int rxBytes;
|
||||
@ -227,7 +230,7 @@ public class Telemetry {
|
||||
}
|
||||
if ( (eventMask&EV_UPDATE_REQ) != 0)
|
||||
{
|
||||
obj.addUpdatedObserver(new Observer() {
|
||||
obj.addUpdateRequestedObserver(new Observer() {
|
||||
public void update(Observable observable, Object data) {
|
||||
updateRequested( (UAVObject) data);
|
||||
}
|
||||
@ -293,10 +296,11 @@ public class Telemetry {
|
||||
*/
|
||||
private synchronized void transactionCompleted(UAVObject obj)
|
||||
{
|
||||
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() )
|
||||
{
|
||||
Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
|
||||
if (DEBUG) Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
|
||||
// Complete transaction
|
||||
transTimer.cancel();
|
||||
transPending = false;
|
||||
@ -315,7 +319,7 @@ public class Telemetry {
|
||||
*/
|
||||
private synchronized void transactionTimeout()
|
||||
{
|
||||
Log.d(TAG,"Telemetry: transaction timeout.");
|
||||
if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
|
||||
transTimer.cancel();
|
||||
// Proceed only if there is a pending transaction
|
||||
if ( transPending )
|
||||
@ -348,7 +352,7 @@ public class Telemetry {
|
||||
{
|
||||
if (transPending)
|
||||
{
|
||||
Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
||||
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
||||
// Initiate transaction
|
||||
if (transInfo.objRequest)
|
||||
{
|
||||
@ -380,7 +384,9 @@ public class Telemetry {
|
||||
private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
|
||||
{
|
||||
// Push event into queue
|
||||
Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
|
||||
if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
|
||||
if(event == 8 && obj.getName().compareTo("GCSTelemetryStats") == 0)
|
||||
Thread.dumpStack();
|
||||
ObjectQueueInfo objInfo = new ObjectQueueInfo();
|
||||
objInfo.obj = obj;
|
||||
objInfo.event = event;
|
||||
@ -414,12 +420,7 @@ public class Telemetry {
|
||||
// If there is no transaction in progress then process event
|
||||
if (!transPending)
|
||||
{
|
||||
|
||||
processObjectQueue();
|
||||
|
||||
} else
|
||||
{
|
||||
Log.d(TAG,"Transaction pending, DO NOT process object queue...");
|
||||
}
|
||||
}
|
||||
|
||||
@ -428,7 +429,7 @@ public class Telemetry {
|
||||
*/
|
||||
private synchronized void processObjectQueue()
|
||||
{
|
||||
Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
|
||||
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)
|
||||
@ -460,6 +461,9 @@ public class Telemetry {
|
||||
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.");
|
||||
System.out.println(gcsStatsObj.toString());
|
||||
System.out.println(objInfo.obj.toString());
|
||||
objInfo.obj.transactionCompleted(false);
|
||||
return;
|
||||
}
|
||||
@ -511,6 +515,8 @@ public class Telemetry {
|
||||
*/
|
||||
private synchronized void processPeriodicUpdates()
|
||||
{
|
||||
|
||||
if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
|
||||
// Stop timer
|
||||
updateTimer.cancel();
|
||||
|
||||
|
||||
@ -57,6 +57,8 @@ public class TelemetryMonitor {
|
||||
*/
|
||||
public synchronized void startRetrievingObjects()
|
||||
{
|
||||
Log.d(TAG, "Start retrieving objects");
|
||||
|
||||
// Clear object queue
|
||||
queue.clear();
|
||||
// Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
|
||||
@ -101,7 +103,7 @@ public class TelemetryMonitor {
|
||||
*/
|
||||
public void stopRetrievingObjects()
|
||||
{
|
||||
//qxtLog->debug("Object retrieval has been cancelled");
|
||||
Log.d(TAG, "Stop retrieving objects");
|
||||
queue.clear();
|
||||
}
|
||||
|
||||
@ -113,6 +115,7 @@ public class TelemetryMonitor {
|
||||
// If queue is empty return
|
||||
if ( queue.isEmpty() )
|
||||
{
|
||||
Log.d(TAG, "All objects retrieved: Connected Successfully");
|
||||
//qxtLog->debug("Object retrieval completed");
|
||||
//emit connected();
|
||||
return;
|
||||
@ -121,8 +124,7 @@ public class TelemetryMonitor {
|
||||
UAVObject obj = queue.remove(0);
|
||||
|
||||
if(obj == null) {
|
||||
Log.e(TAG, "Got null object forom transaction queue");
|
||||
return;
|
||||
throw new Error("Got null object forom transaction queue");
|
||||
}
|
||||
|
||||
Log.d(TAG, "Retrieving object: " + obj.getName()) ;
|
||||
@ -130,6 +132,7 @@ public class TelemetryMonitor {
|
||||
obj.addTransactionCompleted(new Observer() {
|
||||
public void update(Observable observable, Object data) {
|
||||
UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
|
||||
Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
|
||||
transactionCompleted(result.obj, result.success);
|
||||
}
|
||||
});
|
||||
@ -146,11 +149,16 @@ public class TelemetryMonitor {
|
||||
{
|
||||
//QMutexLocker locker(mutex);
|
||||
// Disconnect from sending object
|
||||
Log.d(TAG,"transactionCompleted");
|
||||
Log.d(TAG,"transactionCompleted. Status: " + success);
|
||||
// TODO: Need to be able to disconnect signals
|
||||
//obj->disconnect(this);
|
||||
objPending = null;
|
||||
|
||||
if(!success) {
|
||||
Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
|
||||
return;
|
||||
}
|
||||
|
||||
// Process next object if telemetry is still available
|
||||
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
|
||||
{
|
||||
@ -184,6 +192,7 @@ public class TelemetryMonitor {
|
||||
public synchronized void processStatsUpdates()
|
||||
{
|
||||
// Get telemetry stats
|
||||
Log.d(TAG, "processStatsUpdates()");
|
||||
Telemetry.TelemetryStats telStats = tel.getStats();
|
||||
tel.resetStats();
|
||||
|
||||
@ -221,9 +230,9 @@ public class TelemetryMonitor {
|
||||
return;
|
||||
}
|
||||
UAVObjectField statusField = gcsStatsObj.getField("Status");
|
||||
String oldStatus = (String) statusField.getValue();
|
||||
String oldStatus = new String((String) statusField.getValue());
|
||||
|
||||
System.out.println("GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
|
||||
Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
|
||||
|
||||
if ( oldStatus.compareTo("Disconnected") == 0 )
|
||||
{
|
||||
@ -236,7 +245,7 @@ public class TelemetryMonitor {
|
||||
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
|
||||
{
|
||||
statusField.setValue("Connected");
|
||||
System.out.println("Connected" + statusField.toString());
|
||||
Log.d(TAG,"Connected" + statusField.toString());
|
||||
}
|
||||
}
|
||||
else if ( oldStatus.compareTo("Connected") == 0 )
|
||||
@ -251,31 +260,31 @@ public class TelemetryMonitor {
|
||||
// Force telemetry update if not yet connected
|
||||
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
|
||||
|
||||
if(gcsStatusChanged)
|
||||
System.out.println("GCS Status changed");
|
||||
if(gcsStatusChanged) {
|
||||
Log.d(TAG,"GCS Status changed");
|
||||
Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
|
||||
}
|
||||
boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
|
||||
boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
|
||||
boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
|
||||
|
||||
if ( gcsStatusChanged ||
|
||||
((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
|
||||
if ( !gcsConnected || !flightConnected )
|
||||
{
|
||||
System.out.println("Sending gcs status\n\n\n");
|
||||
Log.d(TAG,"Sending gcs status");
|
||||
gcsStatsObj.updated();
|
||||
}
|
||||
|
||||
// Act on new connections or disconnections
|
||||
if (gcsConnected && gcsStatusChanged)
|
||||
{
|
||||
Log.d(TAG,"Connection with the autopilot established");
|
||||
setPeriod(STATS_UPDATE_PERIOD_MS);
|
||||
System.out.println(TAG + " Connection with the autopilot established");
|
||||
//Log.d(TAG,"Connection with the autopilot established");
|
||||
startRetrievingObjects();
|
||||
}
|
||||
if (gcsDisconnected && gcsStatusChanged)
|
||||
{
|
||||
Log.d(TAG,"Trying to connect to the autopilot");
|
||||
setPeriod(STATS_CONNECT_PERIOD_MS);
|
||||
System.out.println(TAG + " Connection with the autopilot lost");
|
||||
//Log.d(TAG,"Trying to connect to the autopilot");
|
||||
//emit disconnected();
|
||||
}
|
||||
}
|
||||
|
||||
@ -102,6 +102,18 @@ public abstract class UAVObject {
|
||||
}
|
||||
}
|
||||
|
||||
private CallbackListener updateRequestedListeners = new CallbackListener(this);
|
||||
public void addUpdateRequestedObserver(Observer o) {
|
||||
synchronized(updateRequestedListeners) {
|
||||
updateRequestedListeners.addObserver(o);
|
||||
}
|
||||
}
|
||||
void updateRequested() {
|
||||
synchronized(updateRequestedListeners) {
|
||||
updateRequestedListeners.event();
|
||||
}
|
||||
}
|
||||
|
||||
public abstract boolean isMetadata();
|
||||
|
||||
/**
|
||||
|
||||
@ -358,7 +358,7 @@ public class UAVObjectField {
|
||||
//throw new Exception("Sorry I haven't implemented strings yet");
|
||||
}
|
||||
}
|
||||
obj.updated();
|
||||
//obj.updated();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -9,49 +9,66 @@ import java.nio.ByteBuffer;
|
||||
import java.nio.ByteOrder;
|
||||
import java.util.Observable;
|
||||
|
||||
public class UAVTalk extends Observable{
|
||||
import android.util.Log;
|
||||
|
||||
public class UAVTalk extends Observable {
|
||||
|
||||
static final String TAG = "UAVTalk";
|
||||
public static int LOGLEVEL = 0;
|
||||
public static boolean WARN = LOGLEVEL > 1;
|
||||
public static boolean DEBUG = LOGLEVEL > 0;
|
||||
|
||||
private Thread inputProcessingThread = null;
|
||||
|
||||
/**
|
||||
* A reference to the thread for processing the incoming stream
|
||||
*
|
||||
* @return
|
||||
*/
|
||||
public Thread getInputProcessThread() {
|
||||
if(inputProcessingThread == null)
|
||||
if (inputProcessingThread == null)
|
||||
|
||||
inputProcessingThread = new Thread() {
|
||||
public void run() {
|
||||
processInputStream();
|
||||
}
|
||||
};
|
||||
public void run() {
|
||||
processInputStream();
|
||||
}
|
||||
};
|
||||
return inputProcessingThread;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Constants
|
||||
*/
|
||||
private static final int SYNC_VAL = 0x3C;
|
||||
|
||||
private static final short crc_table[] = {
|
||||
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
|
||||
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
|
||||
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
|
||||
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
|
||||
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
|
||||
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
|
||||
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
|
||||
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
|
||||
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
|
||||
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
|
||||
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
|
||||
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
|
||||
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
|
||||
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
|
||||
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
|
||||
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
|
||||
};
|
||||
private static final short crc_table[] = { 0x00, 0x07, 0x0e, 0x09, 0x1c,
|
||||
0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
|
||||
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46,
|
||||
0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb,
|
||||
0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90,
|
||||
0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
|
||||
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5,
|
||||
0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0,
|
||||
0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93,
|
||||
0x94, 0x9d, 0x9a, 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32,
|
||||
0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59,
|
||||
0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
|
||||
0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1,
|
||||
0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0,
|
||||
0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3,
|
||||
0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56,
|
||||
0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05,
|
||||
0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
|
||||
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78,
|
||||
0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25,
|
||||
0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae,
|
||||
0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f,
|
||||
0x8a, 0x8d, 0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc,
|
||||
0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 };
|
||||
|
||||
enum RxStateType {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS};
|
||||
enum RxStateType {
|
||||
STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS
|
||||
};
|
||||
|
||||
static final int TYPE_MASK = 0xFC;
|
||||
static final int TYPE_VER = 0x20;
|
||||
@ -60,17 +77,21 @@ public class UAVTalk extends Observable{
|
||||
static final int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
|
||||
static final int TYPE_ACK = (TYPE_VER | 0x03);
|
||||
|
||||
static final int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2), object ID(4)
|
||||
static final int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2), object ID (4), instance ID(2, not used in single objects)
|
||||
static final int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2),
|
||||
// object ID(4)
|
||||
static final int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2),
|
||||
// object ID (4), instance ID(2,
|
||||
// not used in single objects)
|
||||
|
||||
static final int CHECKSUM_LENGTH = 1;
|
||||
|
||||
static final int MAX_PAYLOAD_LENGTH = 256;
|
||||
|
||||
static final int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
|
||||
static final int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH
|
||||
+ MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
|
||||
|
||||
static final int ALL_INSTANCES = 0xFFFF;
|
||||
static final int TX_BUFFER_SIZE = 2*1024;
|
||||
static final int TX_BUFFER_SIZE = 2 * 1024;
|
||||
|
||||
/**
|
||||
* Private data
|
||||
@ -93,12 +114,12 @@ public class UAVTalk extends Observable{
|
||||
int rxCSPacket, rxCS;
|
||||
int rxCount;
|
||||
int packetSize;
|
||||
RxStateType rxState;
|
||||
RxStateType rxState;
|
||||
ComStats stats = new ComStats();
|
||||
|
||||
/**
|
||||
* Comm stats
|
||||
*/
|
||||
*/
|
||||
public class ComStats {
|
||||
public int txBytes = 0;
|
||||
public int rxBytes = 0;
|
||||
@ -113,8 +134,8 @@ public class UAVTalk extends Observable{
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
public UAVTalk(InputStream inStream, OutputStream outStream, UAVObjectManager objMngr)
|
||||
{
|
||||
public UAVTalk(InputStream inStream, OutputStream outStream,
|
||||
UAVObjectManager objMngr) {
|
||||
this.objMngr = objMngr;
|
||||
this.inStream = inStream;
|
||||
this.outStream = outStream;
|
||||
@ -122,7 +143,7 @@ public class UAVTalk extends Observable{
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
rxPacketLength = 0;
|
||||
|
||||
//mutex = new QMutex(QMutex::Recursive);
|
||||
// mutex = new QMutex(QMutex::Recursive);
|
||||
|
||||
respObj = null;
|
||||
resetStats();
|
||||
@ -131,88 +152,80 @@ public class UAVTalk extends Observable{
|
||||
rxBuffer = ByteBuffer.allocate(MAX_PAYLOAD_LENGTH);
|
||||
rxBuffer.order(ByteOrder.LITTLE_ENDIAN);
|
||||
|
||||
// TOOD: Callback connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
|
||||
// TOOD: Callback connect(io, SIGNAL(readyRead()), this,
|
||||
// SLOT(processInputStream()));
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the statistics counters
|
||||
*/
|
||||
public void resetStats()
|
||||
{
|
||||
//QMutexLocker locker(mutex);
|
||||
public void resetStats() {
|
||||
// QMutexLocker locker(mutex);
|
||||
stats = new ComStats();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the statistics counters
|
||||
*/
|
||||
public ComStats getStats()
|
||||
{
|
||||
//QMutexLocker locker(mutex);
|
||||
public ComStats getStats() {
|
||||
// QMutexLocker locker(mutex);
|
||||
return stats;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called each time there are data in the input buffer
|
||||
*/
|
||||
public void processInputStream()
|
||||
{
|
||||
public void processInputStream() {
|
||||
int val;
|
||||
|
||||
while (true)
|
||||
{
|
||||
|
||||
while (true) {
|
||||
try {
|
||||
//inStream.wait();
|
||||
// inStream.wait();
|
||||
val = inStream.read();
|
||||
} /*catch (InterruptedException e) {
|
||||
// TODO Auto-generated catch block
|
||||
System.out.println("Connection was aborted\n");
|
||||
e.printStackTrace();
|
||||
break;
|
||||
}*/ catch (IOException e) {
|
||||
} /*
|
||||
* catch (InterruptedException e) { // TODO Auto-generated catch
|
||||
* block System.out.println("Connection was aborted\n");
|
||||
* e.printStackTrace(); break; }
|
||||
*/catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
System.out.println("Error reading from stream\n");
|
||||
e.printStackTrace();
|
||||
break;
|
||||
}
|
||||
if(val == -1) {
|
||||
System.out.println("End of stream, terminating processInputStream thread");
|
||||
if (val == -1) {
|
||||
System.out
|
||||
.println("End of stream, terminating processInputStream thread");
|
||||
break;
|
||||
}
|
||||
|
||||
//System.out.println("Received byte " + val + " in state + " + rxState);
|
||||
|
||||
// System.out.println("Received byte " + val + " in state + " +
|
||||
// rxState);
|
||||
processInputByte(val);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Request an update for the specified object, on success the object data would have been
|
||||
* updated by the GCS.
|
||||
* \param[in] obj Object to update
|
||||
* Request an update for the specified object, on success the object data
|
||||
* would have been updated by the GCS. \param[in] obj Object to update
|
||||
* \param[in] allInstances If set true then all instances will be updated
|
||||
* \return Success (true), Failure (false)
|
||||
*/
|
||||
public boolean sendObjectRequest(UAVObject obj, boolean allInstances)
|
||||
{
|
||||
//QMutexLocker locker(mutex);
|
||||
public boolean sendObjectRequest(UAVObject obj, boolean allInstances) {
|
||||
// QMutexLocker locker(mutex);
|
||||
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
|
||||
}
|
||||
|
||||
/**
|
||||
* Send the specified object through the telemetry link.
|
||||
* \param[in] obj Object to send
|
||||
* \param[in] acked Selects if an ack is required
|
||||
* \param[in] allInstances If set true then all instances will be updated
|
||||
* \return Success (true), Failure (false)
|
||||
* Send the specified object through the telemetry link. \param[in] obj
|
||||
* Object to send \param[in] acked Selects if an ack is required \param[in]
|
||||
* allInstances If set true then all instances will be updated \return
|
||||
* Success (true), Failure (false)
|
||||
*/
|
||||
public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
|
||||
{
|
||||
if (acked)
|
||||
{
|
||||
public synchronized boolean sendObject(UAVObject obj, boolean acked,
|
||||
boolean allInstances) {
|
||||
if (acked) {
|
||||
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
return objectTransaction(obj, TYPE_OBJ, allInstances);
|
||||
}
|
||||
}
|
||||
@ -220,64 +233,49 @@ public class UAVTalk extends Observable{
|
||||
/**
|
||||
* Cancel a pending transaction
|
||||
*/
|
||||
public synchronized void cancelTransaction()
|
||||
{
|
||||
public synchronized void cancelTransaction() {
|
||||
respObj = null;
|
||||
}
|
||||
|
||||
/**
|
||||
* Execute the requested transaction on an object.
|
||||
* \param[in] obj Object
|
||||
* \param[in] type Transaction type
|
||||
* TYPE_OBJ: send object,
|
||||
* TYPE_OBJ_REQ: request object update
|
||||
* TYPE_OBJ_ACK: send object with an ack
|
||||
* \param[in] allInstances If set true then all instances will be updated
|
||||
* \return Success (true), Failure (false)
|
||||
* Execute the requested transaction on an object. \param[in] obj Object
|
||||
* \param[in] type Transaction type TYPE_OBJ: send object, TYPE_OBJ_REQ:
|
||||
* request object update TYPE_OBJ_ACK: send object with an ack \param[in]
|
||||
* allInstances If set true then all instances will be updated \return
|
||||
* Success (true), Failure (false)
|
||||
*/
|
||||
public boolean objectTransaction(UAVObject obj, int type, boolean allInstances)
|
||||
{
|
||||
public boolean objectTransaction(UAVObject obj, int type,
|
||||
boolean allInstances) {
|
||||
// Send object depending on if a response is needed
|
||||
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
|
||||
{
|
||||
if ( transmitObject(obj, type, allInstances) )
|
||||
{
|
||||
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
|
||||
if (transmitObject(obj, type, allInstances)) {
|
||||
respObj = obj;
|
||||
respAllInstances = allInstances;
|
||||
respAllInstances = allInstances;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else if (type == TYPE_OBJ)
|
||||
{
|
||||
} else if (type == TYPE_OBJ) {
|
||||
return transmitObject(obj, TYPE_OBJ, allInstances);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Process an byte from the telemetry stream.
|
||||
* \param[in] rxbyte Received byte
|
||||
* \return Success (true), Failure (false)
|
||||
* Process an byte from the telemetry stream. \param[in] rxbyte Received
|
||||
* byte \return Success (true), Failure (false)
|
||||
*/
|
||||
public synchronized boolean processInputByte(int rxbyte)
|
||||
{
|
||||
assert(objMngr != null);
|
||||
public synchronized boolean processInputByte(int rxbyte) {
|
||||
assert (objMngr != null);
|
||||
|
||||
// Update stats
|
||||
stats.rxBytes++;
|
||||
|
||||
rxPacketLength++; // update packet byte count
|
||||
rxPacketLength++; // update packet byte count
|
||||
|
||||
// Receive state machine
|
||||
switch (rxState)
|
||||
{
|
||||
switch (rxState) {
|
||||
case STATE_SYNC:
|
||||
|
||||
if (rxbyte != SYNC_VAL)
|
||||
@ -296,8 +294,7 @@ public class UAVTalk extends Observable{
|
||||
// Update CRC
|
||||
rxCS = updateCRC(rxCS, rxbyte);
|
||||
|
||||
if ((rxbyte & TYPE_MASK) != TYPE_VER)
|
||||
{
|
||||
if ((rxbyte & TYPE_MASK) != TYPE_VER) {
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
@ -315,8 +312,7 @@ public class UAVTalk extends Observable{
|
||||
// Update CRC
|
||||
rxCS = updateCRC(rxCS, rxbyte);
|
||||
|
||||
if (rxCount == 0)
|
||||
{
|
||||
if (rxCount == 0) {
|
||||
packetSize += rxbyte;
|
||||
rxCount++;
|
||||
break;
|
||||
@ -324,10 +320,12 @@ public class UAVTalk extends Observable{
|
||||
|
||||
packetSize += (rxbyte << 8) & 0xff00;
|
||||
|
||||
if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
|
||||
{ // incorrect packet size
|
||||
if (packetSize < MIN_HEADER_LENGTH
|
||||
|| packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect
|
||||
// packet
|
||||
// size
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
break;
|
||||
}
|
||||
|
||||
rxCount = 0;
|
||||
@ -348,8 +346,7 @@ public class UAVTalk extends Observable{
|
||||
rxObjId = rxTmpBuffer.getInt(0);
|
||||
{
|
||||
UAVObject rxObj = objMngr.getObject(rxObjId);
|
||||
if (rxObj == null)
|
||||
{
|
||||
if (rxObj == null) {
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
@ -361,38 +358,38 @@ public class UAVTalk extends Observable{
|
||||
else
|
||||
rxLength = rxObj.getNumBytes();
|
||||
|
||||
// Check length and determine next state
|
||||
if (rxLength >= MAX_PAYLOAD_LENGTH)
|
||||
{
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
// Check length and determine next state
|
||||
if (rxLength >= MAX_PAYLOAD_LENGTH) {
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Check the lengths match
|
||||
if ((rxPacketLength + rxLength) != packetSize)
|
||||
{ // packet error - mismatched packet size
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
// Check the lengths match
|
||||
if ((rxPacketLength + rxLength) != packetSize) { // packet error
|
||||
// -
|
||||
// mismatched
|
||||
// packet
|
||||
// size
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
|
||||
if (rxObj.isSingleInstance())
|
||||
{
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (rxLength > 0)
|
||||
rxState = RxStateType.STATE_DATA;
|
||||
else
|
||||
rxState = RxStateType.STATE_CS;
|
||||
rxInstId = 0;
|
||||
rxCount = 0;
|
||||
}
|
||||
// Check if this is a single instance object (i.e. if the
|
||||
// instance ID field is coming next)
|
||||
if (rxObj.isSingleInstance()) {
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (rxLength > 0)
|
||||
rxState = RxStateType.STATE_DATA;
|
||||
else
|
||||
{
|
||||
rxState = RxStateType.STATE_INSTID;
|
||||
rxCount = 0;
|
||||
}
|
||||
rxState = RxStateType.STATE_CS;
|
||||
rxInstId = 0;
|
||||
rxCount = 0;
|
||||
} else {
|
||||
rxState = RxStateType.STATE_INSTID;
|
||||
rxCount = 0;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
@ -419,7 +416,7 @@ public class UAVTalk extends Observable{
|
||||
break;
|
||||
|
||||
case STATE_DATA:
|
||||
|
||||
|
||||
// Update CRC
|
||||
rxCS = updateCRC(rxCS, rxbyte);
|
||||
|
||||
@ -436,15 +433,15 @@ public class UAVTalk extends Observable{
|
||||
// The CRC byte
|
||||
rxCSPacket = rxbyte;
|
||||
|
||||
if (rxCS != rxCSPacket)
|
||||
{ // packet error - faulty CRC
|
||||
if (rxCS != rxCSPacket) { // packet error - faulty CRC
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
if (rxPacketLength != (packetSize + 1))
|
||||
{ // packet error - mismatched packet size
|
||||
if (rxPacketLength != (packetSize + 1)) { // packet error -
|
||||
// mismatched packet
|
||||
// size
|
||||
stats.rxErrors++;
|
||||
rxState = RxStateType.STATE_SYNC;
|
||||
break;
|
||||
@ -468,103 +465,84 @@ public class UAVTalk extends Observable{
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive an object. This function process objects received through the telemetry stream.
|
||||
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
|
||||
* \param[in] obj Handle of the received object
|
||||
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
|
||||
* \param[in] data Data buffer
|
||||
* \param[in] length Buffer length
|
||||
* \return Success (true), Failure (false)
|
||||
* Receive an object. This function process objects received through the
|
||||
* telemetry stream. \param[in] type Type of received message (TYPE_OBJ,
|
||||
* TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK) \param[in] obj Handle of the
|
||||
* received object \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES
|
||||
* for all instances. \param[in] data Data buffer \param[in] length Buffer
|
||||
* length \return Success (true), Failure (false)
|
||||
*/
|
||||
public boolean receiveObject(int type, int objId, int instId, ByteBuffer data)
|
||||
{
|
||||
assert(objMngr != null);
|
||||
|
||||
public boolean receiveObject(int type, int objId, int instId,
|
||||
ByteBuffer data) {
|
||||
assert (objMngr != null);
|
||||
|
||||
UAVObject obj = null;
|
||||
boolean error = false;
|
||||
boolean allInstances = (instId == ALL_INSTANCES? true : false);
|
||||
boolean allInstances = (instId == ALL_INSTANCES ? true : false);
|
||||
|
||||
// Process message type
|
||||
switch (type) {
|
||||
case TYPE_OBJ:
|
||||
// All instances, not allowed for OBJ messages
|
||||
if (!allInstances)
|
||||
{
|
||||
System.out.println("Received object: " + objMngr.getObject(objId).getName());
|
||||
if (!allInstances) {
|
||||
if (DEBUG) Log.d(TAG,"Received object: " + objMngr.getObject(objId).getName());
|
||||
// Get object and update its data
|
||||
obj = updateObject(objId, instId, data);
|
||||
// Check if an ack is pending
|
||||
if ( obj != null )
|
||||
{
|
||||
if (obj != null) {
|
||||
updateAck(obj);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
error = true;
|
||||
}
|
||||
break;
|
||||
case TYPE_OBJ_ACK:
|
||||
// All instances, not allowed for OBJ_ACK messages
|
||||
if (!allInstances)
|
||||
{
|
||||
// System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
|
||||
if (!allInstances) {
|
||||
// System.out.println("Received object ack: " + objId + " " +
|
||||
// objMngr.getObject(objId).getName());
|
||||
// Get object and update its data
|
||||
obj = updateObject(objId, instId, data);
|
||||
// Transmit ACK
|
||||
if ( obj != null )
|
||||
{
|
||||
if (obj != null) {
|
||||
transmitObject(obj, TYPE_ACK, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
error = true;
|
||||
}
|
||||
break;
|
||||
case TYPE_OBJ_REQ:
|
||||
// Get object, if all instances are requested get instance 0 of the object
|
||||
// System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
|
||||
if (allInstances)
|
||||
{
|
||||
// Get object, if all instances are requested get instance 0 of the
|
||||
// object
|
||||
// System.out.println("Received object request: " + objId + " " +
|
||||
// objMngr.getObject(objId).getName());
|
||||
if (allInstances) {
|
||||
obj = objMngr.getObject(objId);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
obj = objMngr.getObject(objId, instId);
|
||||
}
|
||||
// If object was found transmit it
|
||||
if (obj != null)
|
||||
{
|
||||
if (obj != null) {
|
||||
transmitObject(obj, TYPE_OBJ, allInstances);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
error = true;
|
||||
}
|
||||
break;
|
||||
case TYPE_ACK:
|
||||
// All instances, not allowed for ACK messages
|
||||
if (!allInstances)
|
||||
{
|
||||
// System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
|
||||
if (!allInstances) {
|
||||
// System.out.println("Received ack: " + objId + " " +
|
||||
// objMngr.getObject(objId).getName());
|
||||
// Get object
|
||||
obj = objMngr.getObject(objId, instId);
|
||||
// Check if an ack is pending
|
||||
if (obj != null)
|
||||
{
|
||||
if (obj != null) {
|
||||
updateAck(obj);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
@ -577,23 +555,20 @@ public class UAVTalk extends Observable{
|
||||
}
|
||||
|
||||
/**
|
||||
* Update the data of an object from a byte array (unpack).
|
||||
* If the object instance could not be found in the list, then a
|
||||
* new one is created.
|
||||
* Update the data of an object from a byte array (unpack). If the object
|
||||
* instance could not be found in the list, then a new one is created.
|
||||
*/
|
||||
public synchronized UAVObject updateObject(int objId, int instId, ByteBuffer data)
|
||||
{
|
||||
assert(objMngr != null);
|
||||
public synchronized UAVObject updateObject(int objId, int instId,
|
||||
ByteBuffer data) {
|
||||
assert (objMngr != null);
|
||||
|
||||
// Get object
|
||||
UAVObject obj = objMngr.getObject(objId, instId);
|
||||
// If the instance does not exist create it
|
||||
if (obj == null)
|
||||
{
|
||||
if (obj == null) {
|
||||
// Get the object type
|
||||
UAVObject tobj = objMngr.getObject(objId);
|
||||
if (tobj == null)
|
||||
{
|
||||
if (tobj == null) {
|
||||
return null;
|
||||
}
|
||||
// Make sure this is a data object
|
||||
@ -604,26 +579,26 @@ public class UAVTalk extends Observable{
|
||||
// Failed to cast to a data object
|
||||
return null;
|
||||
}
|
||||
|
||||
|
||||
// Create a new instance, unpack and register
|
||||
UAVDataObject instobj = dobj.clone(instId);
|
||||
try {
|
||||
if ( !objMngr.registerObject(instobj) )
|
||||
{
|
||||
if (!objMngr.registerObject(instobj)) {
|
||||
return null;
|
||||
}
|
||||
} catch (Exception e) {
|
||||
// TODO Auto-generated catch block
|
||||
e.printStackTrace();
|
||||
}
|
||||
// System.out.println("Unpacking new object");
|
||||
// System.out.println("Unpacking new object");
|
||||
if (DEBUG) Log.d(TAG, "Unpacking new object");
|
||||
instobj.unpack(data);
|
||||
return instobj;
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
// Unpack data into object instance
|
||||
// System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
|
||||
// System.out.println("Unpacking existing object: " +
|
||||
// data.position() + " / " + data.capacity() );
|
||||
if (DEBUG) Log.d(TAG, "Unpacking existing object: " + obj.getName());
|
||||
obj.unpack(data);
|
||||
return obj;
|
||||
}
|
||||
@ -632,10 +607,9 @@ public class UAVTalk extends Observable{
|
||||
/**
|
||||
* Check if a transaction is pending and if yes complete it.
|
||||
*/
|
||||
public void updateAck(UAVObject obj)
|
||||
{
|
||||
if (respObj != null && respObj.getObjID() == obj.getObjID() && (respObj.getInstID() == obj.getInstID() || respAllInstances))
|
||||
{
|
||||
synchronized void updateAck(UAVObject obj) {
|
||||
if (respObj != null && respObj.getObjID() == obj.getObjID()
|
||||
&& (respObj.getInstID() == obj.getInstID() || respAllInstances)) {
|
||||
respObj = null;
|
||||
setChanged();
|
||||
notifyObservers(obj);
|
||||
@ -643,111 +617,88 @@ public class UAVTalk extends Observable{
|
||||
}
|
||||
|
||||
/**
|
||||
* Send an object through the telemetry link.
|
||||
* \param[in] obj Object to send
|
||||
* \param[in] type Transaction type
|
||||
* \param[in] allInstances True is all instances of the object are to be sent
|
||||
* \return Success (true), Failure (false)
|
||||
* Send an object through the telemetry link.
|
||||
* @param[in] obj Object to send
|
||||
* @param[in] type Transaction type
|
||||
* @param[in] allInstances True is all instances of the object are to be sent
|
||||
* @return Success (true), Failure (false)
|
||||
*/
|
||||
public boolean transmitObject(UAVObject obj, int type, boolean allInstances)
|
||||
{
|
||||
// If all instances are requested on a single instance object it is an error
|
||||
if (allInstances && obj.isSingleInstance())
|
||||
{
|
||||
public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) {
|
||||
// If all instances are requested on a single instance object it is an
|
||||
// error
|
||||
if (allInstances && obj.isSingleInstance()) {
|
||||
allInstances = false;
|
||||
}
|
||||
|
||||
// Process message type
|
||||
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
|
||||
{
|
||||
if (allInstances)
|
||||
{
|
||||
if (type == TYPE_OBJ || type == TYPE_OBJ_ACK) {
|
||||
if (allInstances) {
|
||||
// Get number of instances
|
||||
int numInst = objMngr.getNumInstances(obj.getObjID());
|
||||
// Send all instances
|
||||
for (int instId = 0; instId < numInst; ++instId)
|
||||
{
|
||||
for (int instId = 0; instId < numInst; ++instId) {
|
||||
UAVObject inst = objMngr.getObject(obj.getObjID(), instId);
|
||||
transmitSingleObject(inst, type, false);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
return transmitSingleObject(obj, type, false);
|
||||
}
|
||||
}
|
||||
else if (type == TYPE_OBJ_REQ)
|
||||
{
|
||||
} else if (type == TYPE_OBJ_REQ) {
|
||||
return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
|
||||
}
|
||||
else if (type == TYPE_ACK)
|
||||
{
|
||||
if (!allInstances)
|
||||
{
|
||||
} else if (type == TYPE_ACK) {
|
||||
if (!allInstances) {
|
||||
return transmitSingleObject(obj, TYPE_ACK, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Send an object through the telemetry link.
|
||||
* \param[in] obj Object handle to send
|
||||
* \param[in] type Transaction type
|
||||
* \return Success (true), Failure (false)
|
||||
* Send an object through the telemetry link. \param[in] obj Object handle
|
||||
* to send \param[in] type Transaction type \return Success (true), Failure
|
||||
* (false)
|
||||
*/
|
||||
public synchronized boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
|
||||
{
|
||||
public synchronized boolean transmitSingleObject(UAVObject obj, int type,
|
||||
boolean allInstances) {
|
||||
int length;
|
||||
int dataOffset;
|
||||
int objId;
|
||||
int instId;
|
||||
int allInstId = ALL_INSTANCES;
|
||||
|
||||
assert(objMngr != null && outStream != null);
|
||||
|
||||
|
||||
assert (objMngr != null && outStream != null);
|
||||
|
||||
ByteBuffer bbuf = ByteBuffer.allocate(MAX_PACKET_LENGTH);
|
||||
bbuf.order(ByteOrder.LITTLE_ENDIAN);
|
||||
|
||||
// Determine data length
|
||||
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
|
||||
{
|
||||
if (type == TYPE_OBJ_REQ || type == TYPE_ACK) {
|
||||
length = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
length = obj.getNumBytes();
|
||||
}
|
||||
|
||||
|
||||
// Setup type and object id fields
|
||||
bbuf.put((byte) (SYNC_VAL & 0xff));
|
||||
bbuf.put((byte) (type & 0xff));
|
||||
bbuf.putShort((short) (length +
|
||||
2 /* SYNC, Type */ +
|
||||
2 /* Size */ +
|
||||
4 /* ObjID */ +
|
||||
(obj.isSingleInstance() ? 0 : 2) ));
|
||||
bbuf
|
||||
.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
|
||||
.isSingleInstance() ? 0 : 2)));
|
||||
bbuf.putInt(obj.getObjID());
|
||||
|
||||
|
||||
// Setup instance ID if one is required
|
||||
if ( !obj.isSingleInstance() )
|
||||
{
|
||||
if (!obj.isSingleInstance()) {
|
||||
// Check if all instances are requested
|
||||
if (allInstances)
|
||||
bbuf.putShort((short) (allInstId & 0xffff));
|
||||
else
|
||||
bbuf.putShort((short) (obj.getInstID() & 0xffff));
|
||||
}
|
||||
|
||||
|
||||
// Check length
|
||||
if (length >= MAX_PAYLOAD_LENGTH)
|
||||
return false;
|
||||
@ -755,7 +706,7 @@ public class UAVTalk extends Observable{
|
||||
// Copy data (if any)
|
||||
if (length > 0)
|
||||
try {
|
||||
if ( obj.pack(bbuf) == 0)
|
||||
if (obj.pack(bbuf) == 0)
|
||||
return false;
|
||||
} catch (Exception e) {
|
||||
// TODO Auto-generated catch block
|
||||
@ -769,26 +720,28 @@ public class UAVTalk extends Observable{
|
||||
try {
|
||||
int packlen = bbuf.position();
|
||||
bbuf.position(0);
|
||||
byte [] dst = new byte[packlen];
|
||||
bbuf.get(dst,0,packlen);
|
||||
byte[] dst = new byte[packlen];
|
||||
bbuf.get(dst, 0, packlen);
|
||||
outStream.write(dst);
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
e.printStackTrace();
|
||||
return false;
|
||||
}
|
||||
|
||||
// //TODO: Need to use a different outStream type and check that the backlog isn't more than TX_BUFFER_SIZE
|
||||
// // Send buffer, check that the transmit backlog does not grow above limit
|
||||
// if ( io->bytesToWrite() < TX_BUFFER_SIZE )
|
||||
// {
|
||||
// io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// ++stats.txErrors;
|
||||
// return false;
|
||||
// }
|
||||
|
||||
// //TODO: Need to use a different outStream type and check that the
|
||||
// backlog isn't more than TX_BUFFER_SIZE
|
||||
// // Send buffer, check that the transmit backlog does not grow above
|
||||
// limit
|
||||
// if ( io->bytesToWrite() < TX_BUFFER_SIZE )
|
||||
// {
|
||||
// io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// ++stats.txErrors;
|
||||
// return false;
|
||||
// }
|
||||
|
||||
// Update stats
|
||||
++stats.txObjects;
|
||||
@ -801,33 +754,23 @@ public class UAVTalk extends Observable{
|
||||
|
||||
/**
|
||||
* Update the crc value with new data.
|
||||
*
|
||||
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
|
||||
* using the configuration:
|
||||
* Width = 8
|
||||
* Poly = 0x07
|
||||
* XorIn = 0x00
|
||||
* ReflectIn = False
|
||||
* XorOut = 0x00
|
||||
* ReflectOut = False
|
||||
* Algorithm = table-driven
|
||||
*
|
||||
* \param crc The current crc value.
|
||||
* \param data Pointer to a buffer of \a data_len bytes.
|
||||
* \param length Number of bytes in the \a data buffer.
|
||||
* \return The updated crc value.
|
||||
*
|
||||
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ using the
|
||||
* configuration: Width = 8 Poly = 0x07 XorIn = 0x00 ReflectIn = False
|
||||
* XorOut = 0x00 ReflectOut = False Algorithm = table-driven
|
||||
*
|
||||
* \param crc The current crc value. \param data Pointer to a buffer of \a
|
||||
* data_len bytes. \param length Number of bytes in the \a data buffer.
|
||||
* \return The updated crc value.
|
||||
*/
|
||||
int updateCRC(int crc, int data)
|
||||
{
|
||||
int updateCRC(int crc, int data) {
|
||||
return crc_table[crc ^ (data & 0xff)];
|
||||
}
|
||||
int updateCRC(int crc, byte [] data, int length)
|
||||
{
|
||||
|
||||
int updateCRC(int crc, byte[] data, int length) {
|
||||
for (int i = 0; i < length; i++)
|
||||
crc = updateCRC(crc, (int) data[i]);
|
||||
return crc;
|
||||
return crc;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user