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Code Issues Releases Activity

Make it easy to enable or disable logging in separate modules

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This commit is contained in:
James Cotton 2011-03-16 15:19:18 -05:00
parent 77910a93ab
commit 74ea0e5ac2
5 changed files with 324 additions and 354 deletions
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28
androidgcs/src/org/openpilot/uavtalk/Telemetry.java
View File

@ -17,6 +17,9 @@ 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;
@ -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();

41
androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
View File

@ -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();
}
}

12
androidgcs/src/org/openpilot/uavtalk/UAVObject.java
View File

@ -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();
/**

2
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
View File

@ -358,7 +358,7 @@ public class UAVObjectField {
//throw new Exception("Sorry I haven't implemented strings yet");
}
}
obj.updated();
//obj.updated();
}
}

555
androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
View File

@ -9,21 +9,30 @@ 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;
}
@ -32,26 +41,34 @@ public class UAVTalk extends Observable{
*/
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
@ -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;
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;
@ -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
@ -608,22 +583,22 @@ public class UAVTalk extends Observable{
// 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);
@ -644,103 +618,80 @@ 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)
* @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));
@ -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
@ -769,8 +720,8 @@ 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
@ -778,17 +729,19 @@ public class UAVTalk extends Observable{
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;
@ -802,32 +755,22 @@ 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
* 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.
* \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;
}
}