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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 594978e2ab
commit 8dc6b09b96
5 changed files with 324 additions and 354 deletions
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30
androidgcs/src/org/openpilot/uavtalk/Telemetry.java
View File

@ -17,7 +17,10 @@ import android.util.Log;
public class Telemetry { public class Telemetry {
private final String TAG = "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 class TelemetryStats {
public int txBytes; public int txBytes;
public int rxBytes; public int rxBytes;
@ -227,7 +230,7 @@ public class Telemetry {
} }
if ( (eventMask&EV_UPDATE_REQ) != 0) if ( (eventMask&EV_UPDATE_REQ) != 0)
{ {
obj.addUpdatedObserver(new Observer() { obj.addUpdateRequestedObserver(new Observer() {
public void update(Observable observable, Object data) { public void update(Observable observable, Object data) {
updateRequested( (UAVObject) data); updateRequested( (UAVObject) data);
} }
@ -293,10 +296,11 @@ public class Telemetry {
*/ */
private synchronized void transactionCompleted(UAVObject obj) private synchronized void transactionCompleted(UAVObject obj)
{ {
if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
// Check if there is a pending transaction and the objects match // Check if there is a pending transaction and the objects match
if ( transPending && transInfo.obj.getObjID() == obj.getObjID() ) 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 // Complete transaction
transTimer.cancel(); transTimer.cancel();
transPending = false; transPending = false;
@ -315,7 +319,7 @@ public class Telemetry {
*/ */
private synchronized void transactionTimeout() private synchronized void transactionTimeout()
{ {
Log.d(TAG,"Telemetry: transaction timeout."); if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
transTimer.cancel(); transTimer.cancel();
// Proceed only if there is a pending transaction // Proceed only if there is a pending transaction
if ( transPending ) if ( transPending )
@ -348,7 +352,7 @@ public class Telemetry {
{ {
if (transPending) 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 // Initiate transaction
if (transInfo.objRequest) if (transInfo.objRequest)
{ {
@ -380,7 +384,9 @@ public class Telemetry {
private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
{ {
// Push event into queue // 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(); ObjectQueueInfo objInfo = new ObjectQueueInfo();
objInfo.obj = obj; objInfo.obj = obj;
objInfo.event = event; objInfo.event = event;
@ -414,12 +420,7 @@ public class Telemetry {
// If there is no transaction in progress then process event // If there is no transaction in progress then process event
if (!transPending) if (!transPending)
{ {
processObjectQueue(); processObjectQueue();
} else
{
Log.d(TAG,"Transaction pending, DO NOT process object queue...");
} }
} }
@ -428,7 +429,7 @@ public class Telemetry {
*/ */
private synchronized void processObjectQueue() 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) // Don nothing if a transaction is already in progress (should not happen)
if (transPending) if (transPending)
@ -460,6 +461,9 @@ public class Telemetry {
objQueue.clear(); objQueue.clear();
if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() ) 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); objInfo.obj.transactionCompleted(false);
return; return;
} }
@ -511,6 +515,8 @@ public class Telemetry {
*/ */
private synchronized void processPeriodicUpdates() private synchronized void processPeriodicUpdates()
{ {
if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
// Stop timer // Stop timer
updateTimer.cancel(); updateTimer.cancel();

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

@ -57,6 +57,8 @@ public class TelemetryMonitor {
*/ */
public synchronized void startRetrievingObjects() public synchronized void startRetrievingObjects()
{ {
Log.d(TAG, "Start retrieving objects");
// Clear object queue // Clear object queue
queue.clear(); queue.clear();
// Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue // 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() public void stopRetrievingObjects()
{ {
//qxtLog->debug("Object retrieval has been cancelled"); Log.d(TAG, "Stop retrieving objects");
queue.clear(); queue.clear();
} }
@ -113,6 +115,7 @@ public class TelemetryMonitor {
// If queue is empty return // If queue is empty return
if ( queue.isEmpty() ) if ( queue.isEmpty() )
{ {
Log.d(TAG, "All objects retrieved: Connected Successfully");
//qxtLog->debug("Object retrieval completed"); //qxtLog->debug("Object retrieval completed");
//emit connected(); //emit connected();
return; return;
@ -121,8 +124,7 @@ public class TelemetryMonitor {
UAVObject obj = queue.remove(0); UAVObject obj = queue.remove(0);
if(obj == null) { if(obj == null) {
Log.e(TAG, "Got null object forom transaction queue"); throw new Error("Got null object forom transaction queue");
return;
} }
Log.d(TAG, "Retrieving object: " + obj.getName()) ; Log.d(TAG, "Retrieving object: " + obj.getName()) ;
@ -130,6 +132,7 @@ public class TelemetryMonitor {
obj.addTransactionCompleted(new Observer() { obj.addTransactionCompleted(new Observer() {
public void update(Observable observable, Object data) { public void update(Observable observable, Object data) {
UAVObject.TransactionResult result = (UAVObject.TransactionResult) 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); transactionCompleted(result.obj, result.success);
} }
}); });
@ -146,11 +149,16 @@ public class TelemetryMonitor {
{ {
//QMutexLocker locker(mutex); //QMutexLocker locker(mutex);
// Disconnect from sending object // Disconnect from sending object
Log.d(TAG,"transactionCompleted"); Log.d(TAG,"transactionCompleted. Status: " + success);
// TODO: Need to be able to disconnect signals // TODO: Need to be able to disconnect signals
//obj->disconnect(this); //obj->disconnect(this);
objPending = null; objPending = null;
if(!success) {
Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
return;
}
// Process next object if telemetry is still available // Process next object if telemetry is still available
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 ) if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
{ {
@ -184,6 +192,7 @@ public class TelemetryMonitor {
public synchronized void processStatsUpdates() public synchronized void processStatsUpdates()
{ {
// Get telemetry stats // Get telemetry stats
Log.d(TAG, "processStatsUpdates()");
Telemetry.TelemetryStats telStats = tel.getStats(); Telemetry.TelemetryStats telStats = tel.getStats();
tel.resetStats(); tel.resetStats();
@ -221,9 +230,9 @@ public class TelemetryMonitor {
return; return;
} }
UAVObjectField statusField = gcsStatsObj.getField("Status"); 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 ) if ( oldStatus.compareTo("Disconnected") == 0 )
{ {
@ -236,7 +245,7 @@ public class TelemetryMonitor {
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 ) if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
{ {
statusField.setValue("Connected"); statusField.setValue("Connected");
System.out.println("Connected" + statusField.toString()); Log.d(TAG,"Connected" + statusField.toString());
} }
} }
else if ( oldStatus.compareTo("Connected") == 0 ) else if ( oldStatus.compareTo("Connected") == 0 )
@ -251,31 +260,31 @@ public class TelemetryMonitor {
// Force telemetry update if not yet connected // Force telemetry update if not yet connected
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue()); boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
if(gcsStatusChanged) if(gcsStatusChanged) {
System.out.println("GCS Status changed"); 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 gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0; boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
if ( gcsStatusChanged || if ( !gcsConnected || !flightConnected )
((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
{ {
System.out.println("Sending gcs status\n\n\n"); Log.d(TAG,"Sending gcs status");
gcsStatsObj.updated(); gcsStatsObj.updated();
} }
// Act on new connections or disconnections // Act on new connections or disconnections
if (gcsConnected && gcsStatusChanged) if (gcsConnected && gcsStatusChanged)
{ {
Log.d(TAG,"Connection with the autopilot established");
setPeriod(STATS_UPDATE_PERIOD_MS); setPeriod(STATS_UPDATE_PERIOD_MS);
System.out.println(TAG + " Connection with the autopilot established");
//Log.d(TAG,"Connection with the autopilot established");
startRetrievingObjects(); startRetrievingObjects();
} }
if (gcsDisconnected && gcsStatusChanged) if (gcsDisconnected && gcsStatusChanged)
{ {
Log.d(TAG,"Trying to connect to the autopilot");
setPeriod(STATS_CONNECT_PERIOD_MS); 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(); //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(); 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"); //throw new Exception("Sorry I haven't implemented strings yet");
} }
} }
obj.updated(); //obj.updated();
} }
} }

593
androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
View File

@ -9,49 +9,66 @@ import java.nio.ByteBuffer;
import java.nio.ByteOrder; import java.nio.ByteOrder;
import java.util.Observable; 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; private Thread inputProcessingThread = null;
/** /**
* A reference to the thread for processing the incoming stream * A reference to the thread for processing the incoming stream
*
* @return * @return
*/ */
public Thread getInputProcessThread() { public Thread getInputProcessThread() {
if(inputProcessingThread == null) if (inputProcessingThread == null)
inputProcessingThread = new Thread() { inputProcessingThread = new Thread() {
public void run() { public void run() {
processInputStream(); processInputStream();
} }
}; };
return inputProcessingThread; return inputProcessingThread;
} }
/** /**
* Constants * Constants
*/ */
private static final int SYNC_VAL = 0x3C; private static final int SYNC_VAL = 0x3C;
private static final short crc_table[] = { private static final short crc_table[] = { 0x00, 0x07, 0x0e, 0x09, 0x1c,
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d, 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, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, 0x94, 0x9d, 0x9a, 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 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_MASK = 0xFC;
static final int TYPE_VER = 0x20; 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_OBJ_ACK = (TYPE_VER | 0x02);
static final int TYPE_ACK = (TYPE_VER | 0x03); 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 MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2),
static final int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2), object ID (4), instance ID(2, not used in single objects) // 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 CHECKSUM_LENGTH = 1;
static final int MAX_PAYLOAD_LENGTH = 256; 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 ALL_INSTANCES = 0xFFFF;
static final int TX_BUFFER_SIZE = 2*1024; static final int TX_BUFFER_SIZE = 2 * 1024;
/** /**
* Private data * Private data
@ -93,12 +114,12 @@ public class UAVTalk extends Observable{
int rxCSPacket, rxCS; int rxCSPacket, rxCS;
int rxCount; int rxCount;
int packetSize; int packetSize;
RxStateType rxState; RxStateType rxState;
ComStats stats = new ComStats(); ComStats stats = new ComStats();
/** /**
* Comm stats * Comm stats
*/ */
public class ComStats { public class ComStats {
public int txBytes = 0; public int txBytes = 0;
public int rxBytes = 0; public int rxBytes = 0;
@ -113,8 +134,8 @@ public class UAVTalk extends Observable{
/** /**
* Constructor * Constructor
*/ */
public UAVTalk(InputStream inStream, OutputStream outStream, UAVObjectManager objMngr) public UAVTalk(InputStream inStream, OutputStream outStream,
{ UAVObjectManager objMngr) {
this.objMngr = objMngr; this.objMngr = objMngr;
this.inStream = inStream; this.inStream = inStream;
this.outStream = outStream; this.outStream = outStream;
@ -122,7 +143,7 @@ public class UAVTalk extends Observable{
rxState = RxStateType.STATE_SYNC; rxState = RxStateType.STATE_SYNC;
rxPacketLength = 0; rxPacketLength = 0;
//mutex = new QMutex(QMutex::Recursive); // mutex = new QMutex(QMutex::Recursive);
respObj = null; respObj = null;
resetStats(); resetStats();
@ -131,88 +152,80 @@ public class UAVTalk extends Observable{
rxBuffer = ByteBuffer.allocate(MAX_PAYLOAD_LENGTH); rxBuffer = ByteBuffer.allocate(MAX_PAYLOAD_LENGTH);
rxBuffer.order(ByteOrder.LITTLE_ENDIAN); 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 * Reset the statistics counters
*/ */
public void resetStats() public void resetStats() {
{ // QMutexLocker locker(mutex);
//QMutexLocker locker(mutex);
stats = new ComStats(); stats = new ComStats();
} }
/** /**
* Get the statistics counters * Get the statistics counters
*/ */
public ComStats getStats() public ComStats getStats() {
{ // QMutexLocker locker(mutex);
//QMutexLocker locker(mutex);
return stats; return stats;
} }
/** /**
* Called each time there are data in the input buffer * Called each time there are data in the input buffer
*/ */
public void processInputStream() public void processInputStream() {
{
int val; int val;
while (true) while (true) {
{
try { try {
//inStream.wait(); // inStream.wait();
val = inStream.read(); val = inStream.read();
} /*catch (InterruptedException e) { } /*
// TODO Auto-generated catch block * catch (InterruptedException e) { // TODO Auto-generated catch
System.out.println("Connection was aborted\n"); * block System.out.println("Connection was aborted\n");
e.printStackTrace(); * e.printStackTrace(); break; }
break; */catch (IOException e) {
}*/ catch (IOException e) {
// TODO Auto-generated catch block // TODO Auto-generated catch block
System.out.println("Error reading from stream\n"); System.out.println("Error reading from stream\n");
e.printStackTrace(); e.printStackTrace();
break; break;
} }
if(val == -1) { if (val == -1) {
System.out.println("End of stream, terminating processInputStream thread"); System.out
.println("End of stream, terminating processInputStream thread");
break; break;
} }
//System.out.println("Received byte " + val + " in state + " + rxState); // System.out.println("Received byte " + val + " in state + " +
// rxState);
processInputByte(val); processInputByte(val);
} }
} }
/** /**
* Request an update for the specified object, on success the object data would have been * Request an update for the specified object, on success the object data
* updated by the GCS. * would have been updated by the GCS. \param[in] obj Object to update
* \param[in] obj Object to update
* \param[in] allInstances If set true then all instances will be updated * \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false) * \return Success (true), Failure (false)
*/ */
public boolean sendObjectRequest(UAVObject obj, boolean allInstances) public boolean sendObjectRequest(UAVObject obj, boolean allInstances) {
{ // QMutexLocker locker(mutex);
//QMutexLocker locker(mutex);
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances); return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
} }
/** /**
* Send the specified object through the telemetry link. * Send the specified object through the telemetry link. \param[in] obj
* \param[in] obj Object to send * Object to send \param[in] acked Selects if an ack is required \param[in]
* \param[in] acked Selects if an ack is required * allInstances If set true then all instances will be updated \return
* \param[in] allInstances If set true then all instances will be updated * Success (true), Failure (false)
* \return Success (true), Failure (false)
*/ */
public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances) public synchronized boolean sendObject(UAVObject obj, boolean acked,
{ boolean allInstances) {
if (acked) if (acked) {
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances); return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
} } else {
else
{
return objectTransaction(obj, TYPE_OBJ, allInstances); return objectTransaction(obj, TYPE_OBJ, allInstances);
} }
} }
@ -220,64 +233,49 @@ public class UAVTalk extends Observable{
/** /**
* Cancel a pending transaction * Cancel a pending transaction
*/ */
public synchronized void cancelTransaction() public synchronized void cancelTransaction() {
{
respObj = null; respObj = null;
} }
/** /**
* Execute the requested transaction on an object. * Execute the requested transaction on an object. \param[in] obj Object
* \param[in] obj Object * \param[in] type Transaction type TYPE_OBJ: send object, TYPE_OBJ_REQ:
* \param[in] type Transaction type * request object update TYPE_OBJ_ACK: send object with an ack \param[in]
* TYPE_OBJ: send object, * allInstances If set true then all instances will be updated \return
* TYPE_OBJ_REQ: request object update * Success (true), Failure (false)
* 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 // Send object depending on if a response is needed
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
{ if (transmitObject(obj, type, allInstances)) {
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj; respObj = obj;
respAllInstances = allInstances; respAllInstances = allInstances;
return true; return true;
} } else {
else
{
return false; return false;
} }
} } else if (type == TYPE_OBJ) {
else if (type == TYPE_OBJ)
{
return transmitObject(obj, TYPE_OBJ, allInstances); return transmitObject(obj, TYPE_OBJ, allInstances);
} } else {
else
{
return false; return false;
} }
} }
/** /**
* Process an byte from the telemetry stream. * Process an byte from the telemetry stream. \param[in] rxbyte Received
* \param[in] rxbyte Received byte * byte \return Success (true), Failure (false)
* \return Success (true), Failure (false)
*/ */
public synchronized boolean processInputByte(int rxbyte) public synchronized boolean processInputByte(int rxbyte) {
{ assert (objMngr != null);
assert(objMngr != null);
// Update stats // Update stats
stats.rxBytes++; stats.rxBytes++;
rxPacketLength++; // update packet byte count rxPacketLength++; // update packet byte count
// Receive state machine // Receive state machine
switch (rxState) switch (rxState) {
{
case STATE_SYNC: case STATE_SYNC:
if (rxbyte != SYNC_VAL) if (rxbyte != SYNC_VAL)
@ -296,8 +294,7 @@ public class UAVTalk extends Observable{
// Update CRC // Update CRC
rxCS = updateCRC(rxCS, rxbyte); rxCS = updateCRC(rxCS, rxbyte);
if ((rxbyte & TYPE_MASK) != TYPE_VER) if ((rxbyte & TYPE_MASK) != TYPE_VER) {
{
rxState = RxStateType.STATE_SYNC; rxState = RxStateType.STATE_SYNC;
break; break;
} }
@ -315,8 +312,7 @@ public class UAVTalk extends Observable{
// Update CRC // Update CRC
rxCS = updateCRC(rxCS, rxbyte); rxCS = updateCRC(rxCS, rxbyte);
if (rxCount == 0) if (rxCount == 0) {
{
packetSize += rxbyte; packetSize += rxbyte;
rxCount++; rxCount++;
break; break;
@ -324,10 +320,12 @@ public class UAVTalk extends Observable{
packetSize += (rxbyte << 8) & 0xff00; packetSize += (rxbyte << 8) & 0xff00;
if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) if (packetSize < MIN_HEADER_LENGTH
{ // incorrect packet size || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect
// packet
// size
rxState = RxStateType.STATE_SYNC; rxState = RxStateType.STATE_SYNC;
break; break;
} }
rxCount = 0; rxCount = 0;
@ -348,8 +346,7 @@ public class UAVTalk extends Observable{
rxObjId = rxTmpBuffer.getInt(0); rxObjId = rxTmpBuffer.getInt(0);
{ {
UAVObject rxObj = objMngr.getObject(rxObjId); UAVObject rxObj = objMngr.getObject(rxObjId);
if (rxObj == null) if (rxObj == null) {
{
stats.rxErrors++; stats.rxErrors++;
rxState = RxStateType.STATE_SYNC; rxState = RxStateType.STATE_SYNC;
break; break;
@ -361,38 +358,38 @@ public class UAVTalk extends Observable{
else else
rxLength = rxObj.getNumBytes(); rxLength = rxObj.getNumBytes();
// Check length and determine next state // Check length and determine next state
if (rxLength >= MAX_PAYLOAD_LENGTH) if (rxLength >= MAX_PAYLOAD_LENGTH) {
{ stats.rxErrors++;
stats.rxErrors++; rxState = RxStateType.STATE_SYNC;
rxState = RxStateType.STATE_SYNC; break;
break; }
}
// Check the lengths match // Check the lengths match
if ((rxPacketLength + rxLength) != packetSize) if ((rxPacketLength + rxLength) != packetSize) { // packet error
{ // packet error - mismatched packet size // -
stats.rxErrors++; // mismatched
rxState = RxStateType.STATE_SYNC; // packet
break; // 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) // Check if this is a single instance object (i.e. if the
if (rxObj.isSingleInstance()) // instance ID field is coming next)
{ if (rxObj.isSingleInstance()) {
// If there is a payload get it, otherwise receive checksum // If there is a payload get it, otherwise receive checksum
if (rxLength > 0) if (rxLength > 0)
rxState = RxStateType.STATE_DATA; rxState = RxStateType.STATE_DATA;
else
rxState = RxStateType.STATE_CS;
rxInstId = 0;
rxCount = 0;
}
else else
{ rxState = RxStateType.STATE_CS;
rxState = RxStateType.STATE_INSTID; rxInstId = 0;
rxCount = 0; rxCount = 0;
} } else {
rxState = RxStateType.STATE_INSTID;
rxCount = 0;
}
} }
break; break;
@ -419,7 +416,7 @@ public class UAVTalk extends Observable{
break; break;
case STATE_DATA: case STATE_DATA:
// Update CRC // Update CRC
rxCS = updateCRC(rxCS, rxbyte); rxCS = updateCRC(rxCS, rxbyte);
@ -436,15 +433,15 @@ public class UAVTalk extends Observable{
// The CRC byte // The CRC byte
rxCSPacket = rxbyte; rxCSPacket = rxbyte;
if (rxCS != rxCSPacket) if (rxCS != rxCSPacket) { // packet error - faulty CRC
{ // packet error - faulty CRC
stats.rxErrors++; stats.rxErrors++;
rxState = RxStateType.STATE_SYNC; rxState = RxStateType.STATE_SYNC;
break; break;
} }
if (rxPacketLength != (packetSize + 1)) if (rxPacketLength != (packetSize + 1)) { // packet error -
{ // packet error - mismatched packet size // mismatched packet
// size
stats.rxErrors++; stats.rxErrors++;
rxState = RxStateType.STATE_SYNC; rxState = RxStateType.STATE_SYNC;
break; break;
@ -468,103 +465,84 @@ public class UAVTalk extends Observable{
} }
/** /**
* Receive an object. This function process objects received through the telemetry stream. * Receive an object. This function process objects received through the
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK) * telemetry stream. \param[in] type Type of received message (TYPE_OBJ,
* \param[in] obj Handle of the received object * TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK) \param[in] obj Handle of the
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances. * received object \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES
* \param[in] data Data buffer * for all instances. \param[in] data Data buffer \param[in] length Buffer
* \param[in] length Buffer length * length \return Success (true), Failure (false)
* \return Success (true), Failure (false)
*/ */
public boolean receiveObject(int type, int objId, int instId, ByteBuffer data) public boolean receiveObject(int type, int objId, int instId,
{ ByteBuffer data) {
assert(objMngr != null); assert (objMngr != null);
UAVObject obj = null; UAVObject obj = null;
boolean error = false; boolean error = false;
boolean allInstances = (instId == ALL_INSTANCES? true : false); boolean allInstances = (instId == ALL_INSTANCES ? true : false);
// Process message type // Process message type
switch (type) { switch (type) {
case TYPE_OBJ: case TYPE_OBJ:
// All instances, not allowed for OBJ messages // All instances, not allowed for OBJ messages
if (!allInstances) if (!allInstances) {
{ if (DEBUG) Log.d(TAG,"Received object: " + objMngr.getObject(objId).getName());
System.out.println("Received object: " + objMngr.getObject(objId).getName());
// Get object and update its data // Get object and update its data
obj = updateObject(objId, instId, data); obj = updateObject(objId, instId, data);
// Check if an ack is pending // Check if an ack is pending
if ( obj != null ) if (obj != null) {
{
updateAck(obj); updateAck(obj);
} } else {
else
{
error = true; error = true;
} }
} } else {
else
{
error = true; error = true;
} }
break; break;
case TYPE_OBJ_ACK: case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages // All instances, not allowed for OBJ_ACK messages
if (!allInstances) if (!allInstances) {
{ // System.out.println("Received object ack: " + objId + " " +
// System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName()); // objMngr.getObject(objId).getName());
// Get object and update its data // Get object and update its data
obj = updateObject(objId, instId, data); obj = updateObject(objId, instId, data);
// Transmit ACK // Transmit ACK
if ( obj != null ) if (obj != null) {
{
transmitObject(obj, TYPE_ACK, false); transmitObject(obj, TYPE_ACK, false);
} } else {
else
{
error = true; error = true;
} }
} } else {
else
{
error = true; error = true;
} }
break; break;
case TYPE_OBJ_REQ: case TYPE_OBJ_REQ:
// Get object, if all instances are requested get instance 0 of the object // Get object, if all instances are requested get instance 0 of the
// System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName()); // object
if (allInstances) // System.out.println("Received object request: " + objId + " " +
{ // objMngr.getObject(objId).getName());
if (allInstances) {
obj = objMngr.getObject(objId); obj = objMngr.getObject(objId);
} } else {
else
{
obj = objMngr.getObject(objId, instId); obj = objMngr.getObject(objId, instId);
} }
// If object was found transmit it // If object was found transmit it
if (obj != null) if (obj != null) {
{
transmitObject(obj, TYPE_OBJ, allInstances); transmitObject(obj, TYPE_OBJ, allInstances);
} } else {
else
{
error = true; error = true;
} }
break; break;
case TYPE_ACK: case TYPE_ACK:
// All instances, not allowed for ACK messages // All instances, not allowed for ACK messages
if (!allInstances) if (!allInstances) {
{ // System.out.println("Received ack: " + objId + " " +
// System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName()); // objMngr.getObject(objId).getName());
// Get object // Get object
obj = objMngr.getObject(objId, instId); obj = objMngr.getObject(objId, instId);
// Check if an ack is pending // Check if an ack is pending
if (obj != null) if (obj != null) {
{
updateAck(obj); updateAck(obj);
} } else {
else
{
error = true; error = true;
} }
} }
@ -577,23 +555,20 @@ public class UAVTalk extends Observable{
} }
/** /**
* Update the data of an object from a byte array (unpack). * Update the data of an object from a byte array (unpack). If the object
* If the object instance could not be found in the list, then a * instance could not be found in the list, then a new one is created.
* new one is created.
*/ */
public synchronized UAVObject updateObject(int objId, int instId, ByteBuffer data) public synchronized UAVObject updateObject(int objId, int instId,
{ ByteBuffer data) {
assert(objMngr != null); assert (objMngr != null);
// Get object // Get object
UAVObject obj = objMngr.getObject(objId, instId); UAVObject obj = objMngr.getObject(objId, instId);
// If the instance does not exist create it // If the instance does not exist create it
if (obj == null) if (obj == null) {
{
// Get the object type // Get the object type
UAVObject tobj = objMngr.getObject(objId); UAVObject tobj = objMngr.getObject(objId);
if (tobj == null) if (tobj == null) {
{
return null; return null;
} }
// Make sure this is a data object // Make sure this is a data object
@ -604,26 +579,26 @@ public class UAVTalk extends Observable{
// Failed to cast to a data object // Failed to cast to a data object
return null; return null;
} }
// Create a new instance, unpack and register // Create a new instance, unpack and register
UAVDataObject instobj = dobj.clone(instId); UAVDataObject instobj = dobj.clone(instId);
try { try {
if ( !objMngr.registerObject(instobj) ) if (!objMngr.registerObject(instobj)) {
{
return null; return null;
} }
} catch (Exception e) { } catch (Exception e) {
// TODO Auto-generated catch block // TODO Auto-generated catch block
e.printStackTrace(); 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); instobj.unpack(data);
return instobj; return instobj;
} } else {
else
{
// Unpack data into object instance // 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); obj.unpack(data);
return obj; return obj;
} }
@ -632,10 +607,9 @@ public class UAVTalk extends Observable{
/** /**
* Check if a transaction is pending and if yes complete it. * Check if a transaction is pending and if yes complete it.
*/ */
public void updateAck(UAVObject obj) synchronized void updateAck(UAVObject obj) {
{ if (respObj != null && respObj.getObjID() == obj.getObjID()
if (respObj != null && respObj.getObjID() == obj.getObjID() && (respObj.getInstID() == obj.getInstID() || respAllInstances)) && (respObj.getInstID() == obj.getInstID() || respAllInstances)) {
{
respObj = null; respObj = null;
setChanged(); setChanged();
notifyObservers(obj); notifyObservers(obj);
@ -643,111 +617,88 @@ public class UAVTalk extends Observable{
} }
/** /**
* Send an object through the telemetry link. * Send an object through the telemetry link.
* \param[in] obj Object to send * @param[in] obj Object to send
* \param[in] type Transaction type * @param[in] type Transaction type
* \param[in] allInstances True is all instances of the object are to be sent * @param[in] allInstances True is all instances of the object are to be sent
* \return Success (true), Failure (false) * @return Success (true), Failure (false)
*/ */
public boolean transmitObject(UAVObject obj, int type, boolean allInstances) public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) {
{ // If all instances are requested on a single instance object it is an
// If all instances are requested on a single instance object it is an error // error
if (allInstances && obj.isSingleInstance()) if (allInstances && obj.isSingleInstance()) {
{
allInstances = false; allInstances = false;
} }
// Process message type // Process message type
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK ) if (type == TYPE_OBJ || type == TYPE_OBJ_ACK) {
{ if (allInstances) {
if (allInstances)
{
// Get number of instances // Get number of instances
int numInst = objMngr.getNumInstances(obj.getObjID()); int numInst = objMngr.getNumInstances(obj.getObjID());
// Send all instances // Send all instances
for (int instId = 0; instId < numInst; ++instId) for (int instId = 0; instId < numInst; ++instId) {
{
UAVObject inst = objMngr.getObject(obj.getObjID(), instId); UAVObject inst = objMngr.getObject(obj.getObjID(), instId);
transmitSingleObject(inst, type, false); transmitSingleObject(inst, type, false);
} }
return true; return true;
} } else {
else
{
return transmitSingleObject(obj, type, false); return transmitSingleObject(obj, type, false);
} }
} } else if (type == TYPE_OBJ_REQ) {
else if (type == TYPE_OBJ_REQ)
{
return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances); return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
} } else if (type == TYPE_ACK) {
else if (type == TYPE_ACK) if (!allInstances) {
{
if (!allInstances)
{
return transmitSingleObject(obj, TYPE_ACK, false); return transmitSingleObject(obj, TYPE_ACK, false);
} } else {
else
{
return false; return false;
} }
} } else {
else
{
return false; return false;
} }
} }
/** /**
* Send an object through the telemetry link. * Send an object through the telemetry link. \param[in] obj Object handle
* \param[in] obj Object handle to send * to send \param[in] type Transaction type \return Success (true), Failure
* \param[in] type Transaction type * (false)
* \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 length;
int dataOffset; int dataOffset;
int objId; int objId;
int instId; int instId;
int allInstId = ALL_INSTANCES; int allInstId = ALL_INSTANCES;
assert(objMngr != null && outStream != null); assert (objMngr != null && outStream != null);
ByteBuffer bbuf = ByteBuffer.allocate(MAX_PACKET_LENGTH); ByteBuffer bbuf = ByteBuffer.allocate(MAX_PACKET_LENGTH);
bbuf.order(ByteOrder.LITTLE_ENDIAN); bbuf.order(ByteOrder.LITTLE_ENDIAN);
// Determine data length // Determine data length
if (type == TYPE_OBJ_REQ || type == TYPE_ACK) if (type == TYPE_OBJ_REQ || type == TYPE_ACK) {
{
length = 0; length = 0;
} } else {
else
{
length = obj.getNumBytes(); length = obj.getNumBytes();
} }
// Setup type and object id fields // Setup type and object id fields
bbuf.put((byte) (SYNC_VAL & 0xff)); bbuf.put((byte) (SYNC_VAL & 0xff));
bbuf.put((byte) (type & 0xff)); bbuf.put((byte) (type & 0xff));
bbuf.putShort((short) (length + bbuf
2 /* SYNC, Type */ + .putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
2 /* Size */ + .isSingleInstance() ? 0 : 2)));
4 /* ObjID */ +
(obj.isSingleInstance() ? 0 : 2) ));
bbuf.putInt(obj.getObjID()); bbuf.putInt(obj.getObjID());
// Setup instance ID if one is required // Setup instance ID if one is required
if ( !obj.isSingleInstance() ) if (!obj.isSingleInstance()) {
{
// Check if all instances are requested // Check if all instances are requested
if (allInstances) if (allInstances)
bbuf.putShort((short) (allInstId & 0xffff)); bbuf.putShort((short) (allInstId & 0xffff));
else else
bbuf.putShort((short) (obj.getInstID() & 0xffff)); bbuf.putShort((short) (obj.getInstID() & 0xffff));
} }
// Check length // Check length
if (length >= MAX_PAYLOAD_LENGTH) if (length >= MAX_PAYLOAD_LENGTH)
return false; return false;
@ -755,7 +706,7 @@ public class UAVTalk extends Observable{
// Copy data (if any) // Copy data (if any)
if (length > 0) if (length > 0)
try { try {
if ( obj.pack(bbuf) == 0) if (obj.pack(bbuf) == 0)
return false; return false;
} catch (Exception e) { } catch (Exception e) {
// TODO Auto-generated catch block // TODO Auto-generated catch block
@ -769,26 +720,28 @@ public class UAVTalk extends Observable{
try { try {
int packlen = bbuf.position(); int packlen = bbuf.position();
bbuf.position(0); bbuf.position(0);
byte [] dst = new byte[packlen]; byte[] dst = new byte[packlen];
bbuf.get(dst,0,packlen); bbuf.get(dst, 0, packlen);
outStream.write(dst); outStream.write(dst);
} catch (IOException e) { } catch (IOException e) {
// TODO Auto-generated catch block // TODO Auto-generated catch block
e.printStackTrace(); e.printStackTrace();
return false; return false;
} }
// //TODO: Need to use a different outStream type and check that the backlog isn't more than TX_BUFFER_SIZE // //TODO: Need to use a different outStream type and check that the
// // Send buffer, check that the transmit backlog does not grow above limit // backlog isn't more than TX_BUFFER_SIZE
// if ( io->bytesToWrite() < TX_BUFFER_SIZE ) // // Send buffer, check that the transmit backlog does not grow above
// { // limit
// io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH); // if ( io->bytesToWrite() < TX_BUFFER_SIZE )
// } // {
// else // io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
// { // }
// ++stats.txErrors; // else
// return false; // {
// } // ++stats.txErrors;
// return false;
// }
// Update stats // Update stats
++stats.txObjects; ++stats.txObjects;
@ -801,33 +754,23 @@ public class UAVTalk extends Observable{
/** /**
* Update the crc value with new data. * Update the crc value with new data.
* *
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ using the
* using the configuration: * configuration: Width = 8 Poly = 0x07 XorIn = 0x00 ReflectIn = False
* Width = 8 * XorOut = 0x00 ReflectOut = False Algorithm = table-driven
* Poly = 0x07 *
* XorIn = 0x00 * \param crc The current crc value. \param data Pointer to a buffer of \a
* ReflectIn = False * data_len bytes. \param length Number of bytes in the \a data buffer.
* XorOut = 0x00 * \return The updated crc value.
* 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)]; 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++) for (int i = 0; i < length; i++)
crc = updateCRC(crc, (int) data[i]); crc = updateCRC(crc, (int) data[i]);
return crc; return crc;
} }
} }