rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

AndroidGCS Telemetry: Fix the determination of whether a transaction is pending

Browse Source
This commit is contained in:
James Cotton 2012-08-15 02:02:05 -05:00
parent 7f028f6d42
commit 8a5819379a
1 changed files with 37 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
androidgcs/src/org/openpilot/uavtalk/Telemetry.java
View File

@ -30,8 +30,10 @@ import java.util.List;
import java.util.ListIterator;
import java.util.Observable;
import java.util.Observer;
import java.util.Queue;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.ConcurrentLinkedQueue;
import junit.framework.Assert;
import android.os.Handler;
@ -487,8 +489,14 @@ public class Telemetry {
private static final int MAX_UPDATE_PERIOD_MS = 1000;
private static final int MIN_UPDATE_PERIOD_MS = 1;
private final ObjectUpdateHandler handler;
static private ObjectUpdateHandler handler;
//! Accessor for the object updated handler
ObjectUpdateHandler getHandler() { return handler; }
/**
* Handler which posts all the messages for individual object updates
*/
public class ObjectUpdateHandler extends Handler {
// ! This can only be created while attaching to a particular looper
@ -496,6 +504,8 @@ public class Telemetry {
super(l);
}
Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
// ! Generic enqueue
void enqueueObjectUpdates(UAVObject obj, int event,
boolean allInstances, boolean priority) {
@ -507,7 +517,26 @@ public class Telemetry {
objInfo.event = event;
objInfo.allInstances = allInstances;
post(new ObjectRunnable(objInfo));
// For now maintain a list of objects in the queue so we don't add duplicates
// later we should make the runnables static to each class so we can use removeCallback
synchronized(objQueue) {
if (objQueue.contains(objInfo)) {
if (WARN) Log.w(TAG, "Found previously scheduled queue element: " + objInfo.obj.getName());
} else {
objQueue.add(objInfo);
post(new ObjectRunnable(objInfo));
}
}
}
public boolean removeActivatedQueue(ObjectQueueInfo objInfo) {
synchronized(objQueue) {
if (objQueue.remove(objInfo)) {
if (WARN) Log.w(TAG, "Unable to find queue element to remove");
return false;
}
}
return true;
}
// ! Enqueue an unpacked event
@ -592,13 +621,13 @@ public class Telemetry {
}
// Determine if this will schedule a new transaction
newTransactionPending = !(newTrans.objRequest || newTrans.acked);
newTransactionPending = (newTrans.objRequest || newTrans.acked);
synchronized (transInfo) {
// If there is a transaction pending and this would set up a new one reschedule it
if (transPending && newTransactionPending) {
if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName());
if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName() + " existing transaction for " + transInfo.obj.getName());
handler.postDelayed(this, 100);
return;
}
@ -609,11 +638,14 @@ public class Telemetry {
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
// Remove this one from the list of pending transactions
handler.removeActivatedQueue(objInfo);
try {
// 3. Execute transaction by sending the appropriate UAVTalk command
if (transInfo.objRequest) {
if (DEBUG) Log.d(TAG, "Sending object request" + transInfo.obj.getName());
if (DEBUG) Log.d(TAG, "Sending object request " + transInfo.obj.getName());
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
} else {
if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());