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Code Issues Releases Activity

Make sure the USB scheduling is thread safe.

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This commit is contained in:
James Cotton 2012-08-12 14:12:35 -05:00
parent 69fbefee85
commit 75ce520503
1 changed files with 65 additions and 45 deletions
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110
androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
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@ -312,7 +312,7 @@ public class HidUAVTalk extends TelemetryTask {
public void run() { public void run() {
// Enqueue the first read // Enqueue the first read
readData(); queueRead();
while (!shutdown) { while (!shutdown) {
// If there are no request // If there are no request
@ -325,9 +325,8 @@ public class HidUAVTalk extends TelemetryTask {
} else if (returned == writeRequest) { } else if (returned == writeRequest) {
if (DEBUG) Log.d(TAG, "Received write completed request"); if (DEBUG) Log.d(TAG, "Received write completed request");
writePending = false; writePending = false;
sendData();
} }
sendData();
} }
} }
@ -351,63 +350,79 @@ public class HidUAVTalk extends TelemetryTask {
* it to the input stream * it to the input stream
*/ */
ByteBuffer readBuffer = ByteBuffer.allocate(MAX_HID_PACKET_SIZE); ByteBuffer readBuffer = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
private void queueRead() {
if(!readRequest.queue(readBuffer, MAX_HID_PACKET_SIZE)) {
if (ERROR) Log.e(TAG, "Failed to queue request");
} else
readPending = true;
}
public void readData() {
if (!readPending) { /**
queueRead(); * Schedules a USB read
} else { // We just received a read */
private void queueRead() {
synchronized(readRequest) {
if(!readRequest.queue(readBuffer, MAX_HID_PACKET_SIZE)) {
if (ERROR) Log.e(TAG, "Failed to queue request");
} else
readPending = true;
}
}
/**
* Reads data from the last USB transaction and schedules another read
*/
public void readData() {
synchronized(readRequest) {
if (!readPending) {
if (ERROR) Log.e(TAG, "Tried to read read while a transaction was not pending");
return;
}
// We just received a read
readPending = false; readPending = false;
// Packet format: // Packet format:
// 0: Report ID (1) // 0: Report ID (1)
// 1: Number of valid bytes // 1: Number of valid bytes
// 2:63: Data // 2:63: Data
int dataSize = readBuffer.get(1); // Data size int dataSize = readBuffer.get(1); // Data size
//Assert.assertEquals(1, buffer.get()); // Report ID //Assert.assertEquals(1, buffer.get()); // Report ID
//Assert.assertTrue(dataSize < buffer.capacity()); //Assert.assertTrue(dataSize < buffer.capacity());
if (readBuffer.get(0) != 1 || readBuffer.get(1) < 0 || readBuffer.get(1) > (readBuffer.capacity() - 2)) { if (readBuffer.get(0) != 1 || readBuffer.get(1) < 0 || readBuffer.get(1) > (readBuffer.capacity() - 2)) {
if (ERROR) Log.e(TAG, "Badly formatted HID packet"); if (ERROR) Log.e(TAG, "Badly formatted HID packet");
} else { } else {
byte[] dst = new byte[dataSize]; byte[] dst = new byte[dataSize];
readBuffer.position(2); readBuffer.position(2);
readBuffer.get(dst, 0, dataSize); readBuffer.get(dst, 0, dataSize);
if (DEBUG) Log.d(TAG, "Entered read"); if (DEBUG) Log.d(TAG, "Entered read");
inTalkStream.write(dst); inTalkStream.write(dst);
if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes"); if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
} }
// Queue another read // Queue another read
queueRead(); queueRead();
}
}
} }
/** /**
* Send a packet if data is available * Send a packet if data is available
*/ */
public void sendData() { public void sendData() {
synchronized(writeRequest) {
// Don't try and send data till previous request completes
if (writePending)
return;
// Don't try and send data till previous request completes ByteBuffer packet = outTalkStream.getHIDpacket();
if (writePending) if (packet != null) {
return; if (DEBUG) Log.d(TAG, "Writing to device()");
ByteBuffer packet = outTalkStream.getHIDpacket(); int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
if (packet != null) { Assert.assertTrue(packet.capacity() <= bufferDataLength);
if (DEBUG) Log.d(TAG, "Writing to device()");
int bufferDataLength = usbEndpointWrite.getMaxPacketSize(); if(writeRequest.queue(packet, bufferDataLength))
Assert.assertTrue(packet.capacity() <= bufferDataLength); writePending = true;
else if (ERROR)
if(writeRequest.queue(packet, bufferDataLength)) Log.e(TAG, "Write queuing failed");
writePending = true; }
else if (ERROR)
Log.e(TAG, "Write queuing failed");
} }
} }
@ -446,6 +461,9 @@ public class HidUAVTalk extends TelemetryTask {
data.put((byte) oneByte); data.put((byte) oneByte);
data.notify(); data.notify();
} }
// If there is not a write request queued, add one
sendData();
} }
@Override @Override
@ -457,6 +475,8 @@ public class HidUAVTalk extends TelemetryTask {
data.put(b); data.put(b);
data.notify(); data.notify();
} }
sendData();
} }
}; };