diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java index b403f85e3..c754c8329 100644 --- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java +++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java @@ -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(); diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java index e2050fc25..a5885e7bc 100644 --- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java +++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java @@ -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(); } } diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java index b74df9218..ba3bf1ae3 100644 --- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java +++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java @@ -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(); /** diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java index 8d792bb39..de2059e90 100644 --- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java +++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java @@ -358,7 +358,7 @@ public class UAVObjectField { //throw new Exception("Sorry I haven't implemented strings yet"); } } - obj.updated(); + //obj.updated(); } } diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java index 825f9d9fe..33daefab7 100644 --- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java +++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java @@ -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; } - - }