Fixed bug in object signals that stopped updates sending. Various tweaks.

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

@@ -1,5 +1,6 @@
 package org.openpilot.uavtalk;
 
+import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.ListIterator;
@@ -91,6 +92,15 @@ public class Telemetry {
 
         // Setup transaction timer
         transPending = false;
+        // Setup and start the periodic timer
+        timeToNextUpdateMs = 0;
+        updateTimerSetPeriod(1000);
+        // Setup and start the stats timer
+        txErrors = 0;
+        txRetries = 0;
+    }
+    
+    synchronized void transTimerSetPeriod(int periodMs) {
         transTimer = new Timer();
         transTimerTask = new TimerTask() {
 			@Override
@@ -98,9 +108,10 @@ public class Telemetry {
 				transactionTimeout();
 			}        	
         };
-        // Setup and start the periodic timer
+        transTimer.schedule(transTimerTask, periodMs, periodMs);
-        timeToNextUpdateMs = 0;
+    }
     
+    synchronized void updateTimerSetPeriod(int periodMs) {
         updateTimer = new Timer();
         updateTimerTask = new TimerTask() {
 			@Override
@@ -108,10 +119,8 @@ public class Telemetry {
 				processPeriodicUpdates();
 			}        	
         };
-        updateTimer.scheduleAtFixedRate(updateTimerTask, 1000, 1000);
+        updateTimer.schedule(updateTimerTask, periodMs, periodMs);
-        // Setup and start the stats timer
+
-        txErrors = 0;
-        txRetries = 0;
     }
 
     /**
@@ -341,7 +350,7 @@ public class Telemetry {
             // Start timer if a response is expected
             if ( transInfo.objRequest || transInfo.acked == Acked.TRUE )
             {
-            	transTimer.scheduleAtFixedRate(transTimerTask, REQ_TIMEOUT_MS, REQ_TIMEOUT_MS);
+            	transTimerSetPeriod(REQ_TIMEOUT_MS);
             }
             else
             {
@@ -433,6 +442,7 @@ public class Telemetry {
 
         // Check if a connection has been established, only process GCSTelemetryStats updates
         // (used to establish the connection)
+        gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
         if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
         {
             objQueue.clear();
@@ -538,8 +548,7 @@ public class Telemetry {
         timeToNextUpdateMs = minDelay;
 
         // Restart timer
-        //updateTimer->start(timeToNextUpdateMs);
+        updateTimerSetPeriod(timeToNextUpdateMs);
-        updateTimer.scheduleAtFixedRate(updateTimerTask, timeToNextUpdateMs, timeToNextUpdateMs);
     }
 
     public TelemetryStats getStats()
@@ -607,10 +616,10 @@ public class Telemetry {
     private UAVObjectManager objMngr;
     private UAVTalk utalk;
     private UAVObject gcsStatsObj;
-    private List<ObjectTimeInfo> objList;
+    private List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
     private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
     private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
-    private ObjectTransactionInfo transInfo;
+    private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
     private boolean transPending;
     
     private Timer updateTimer;

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

@@ -92,7 +92,7 @@ public class TelemetryMonitor {
 	        }
 	    }
 	    // Start retrieving
-	    Log.d(TAG,"Starting to retrieve meta and settings objects from the autopilot (%1 objects)" + queue.size()) ;
+	    System.out.println(TAG + "Starting to retrieve meta and settings objects from the autopilot (" + queue.size() + " objects)");
 	    retrieveNextObject();
 	}
 
@@ -120,7 +120,7 @@ public class TelemetryMonitor {
 	    // Get next object from the queue
 	    UAVObject obj = queue.remove(0);
 	    
-	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
+//	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
@@ -161,6 +161,10 @@ public class TelemetryMonitor {
 	public synchronized void flightStatsUpdated(UAVObject obj)
 	{
 	    // Force update if not yet connected
+	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+	    
+	    System.out.println(flightStatsObj.toString());
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
@@ -204,8 +208,17 @@ public class TelemetryMonitor {
 	    }
 
 	    // Update connection state
-	    UAVObjectField statusField = gcsStatsObj.getField("Connection");
+	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+	    if(gcsStatsObj == null) {
+	    	System.out.println("No GCS stats yet");
+	    	return;
+	    }
+	    UAVObjectField statusField = gcsStatsObj.getField("Status");
 	    String oldStatus = (String) statusField.getValue();
+	    
+	    System.out.println("GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
+
 	    if ( oldStatus.compareTo("Disconnected") == 0 )
 	    {
 	        // Request connection
@@ -217,6 +230,7 @@ public class TelemetryMonitor {
 	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
 	        {
 	        	statusField.setValue("Connected");
+	        	System.out.println("Connected" + statusField.toString());
 	        }
 	    }
 	    else if ( oldStatus.compareTo("Connected") == 0 )
@@ -230,11 +244,18 @@ public class TelemetryMonitor {
 
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
+	    
+	    if(gcsStatusChanged)
+	    	System.out.println("GCS Status changed");
 	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
 	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
+	    
+	    if(gcsConnected) 
+	    	System.out.println("Detected here");
 	    if (  gcsStatusChanged ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
 	    {
+	    	System.out.println("Sending gcs status\n\n\n");
 	        gcsStatsObj.updated();
 	    }
 
@@ -242,14 +263,15 @@ public class TelemetryMonitor {
 	    if (gcsConnected && gcsStatusChanged)
 	    {
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
-	        Log.d(TAG,"Connection with the autopilot established");
+	    	System.out.println(TAG + " Connection with the autopilot established");
+	        //Log.d(TAG,"Connection with the autopilot established");
 	        startRetrievingObjects();
 	    }
 	    if (gcsDisconnected && gcsStatusChanged)
 	    {
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
-	        Log.d(TAG,"Connection with the autopilot lost");
+	        System.out.println(TAG + " Connection with the autopilot lost");
-	        Log.d(TAG,"Trying to connect to the autopilot");
+	        //Log.d(TAG,"Trying to connect to the autopilot");
 	        //emit disconnected();
 	    }
 	}
@@ -260,6 +282,7 @@ public class TelemetryMonitor {
 
 		periodicTask.cancel();
 		currentPeriod = ms;
+		periodicTask = new Timer();
 	    periodicTask.scheduleAtFixedRate(new TimerTask() {
 			@Override
 			public void run() {

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

@@ -24,7 +24,7 @@ public abstract class UAVDataObject extends UAVObject {
 	    super.initialize(instID);
 	}
 
-	public boolean isMetadata() { return true; };
+	public boolean isMetadata() { return false; };
 	/**
 	 * Assign a metaobject
 	 */

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

@@ -53,11 +53,14 @@ public abstract class UAVObject {
 			updatedListeners.addObserver(o);
 		}
 	}
-	void updated() {
+	void updated(boolean manually) {
 		synchronized(updatedListeners) {
 			updatedListeners.event();
 		}
+		if(manually)
+			updatedManual();
 	}
+	void updated() { updated(true); };
 	
 	private CallbackListener unpackedListeners = new CallbackListener(this);
 	public void addUnpackedObserver(Observer o) {
@@ -67,7 +70,6 @@ public abstract class UAVObject {
 	}
 	void unpacked() {
 		synchronized(unpackedListeners) {
-			System.out.println("Unpacked!: " + unpackedListeners.countObservers() + " " + getName());
 			unpackedListeners.event();
 		}
 	}
@@ -387,7 +389,7 @@ public abstract class UAVObject {
 		
 		// Trigger all the listeners for the unpack event
 		unpacked();
-		updated();
+		updated(false);
 		
 		return numBytes;
 	}

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

@@ -131,7 +131,7 @@ public class UAVObjectField {
             case UINT32:
             	// TODO: Deal properly with unsigned
                 for (int index = 0; index < numElements; ++index) {
-                	Integer val = (Integer) getValue(index);
+                	Integer val = (int) ( ((Long) getValue(index)).longValue() & 0xffffffffL);
                 	dataOut.putInt(val);
                 }
                 break;
@@ -364,7 +364,7 @@ public class UAVObjectField {
     
     public double getDouble() { return getDouble(0); };
     public double getDouble(int index) {
-    	return Double.valueOf((Double) getValue(index));
+    	return ((Number) getValue(index)).doubleValue();
     }
     
     public void setDouble(double value) { setDouble(value, 0); };

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

@@ -200,9 +200,9 @@ public class UAVTalk extends Observable{
 	 * \param[in] allInstances If set true then all instances will be updated
 	 * \return Success (true), Failure (false)
 	 */
-	public boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
+	public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
 	{
-		//QMutexLocker locker(mutex);
+		System.out.println("Sending obj: " + obj.toString());
 		if (acked)
 		{
 			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
@@ -216,9 +216,8 @@ public class UAVTalk extends Observable{
 	/**
 	 * Cancel a pending transaction
 	 */
-	public void cancelTransaction()
+	public synchronized void cancelTransaction()
 	{
-		//QMutexLocker locker(mutex);
 		respObj = null;
 	}
 
@@ -250,6 +249,7 @@ public class UAVTalk extends Observable{
 		}
 		else if (type == TYPE_OBJ)
 		{
+			System.out.println("Transmitting object: " + obj.toString());
 			return transmitObject(obj, TYPE_OBJ, allInstances);
 		}
 		else
@@ -763,7 +763,12 @@ public class UAVTalk extends Observable{
 		bbuf.put((byte) (updateCRC(0, bbuf.array()) & 0xff));
 
 		try {
-			outStream.write(bbuf.array());
+			int packlen = bbuf.position();
+			bbuf.position(0);
+			byte [] dst = new byte[packlen];
+			bbuf.get(dst,0,packlen);
+			System.out.println("Outputting: " + dst.length);
+			outStream.write(dst);
 		} catch (IOException e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();