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Code Issues Releases Activity

Initial start of the telemetry system which interfaces between UAVTalk and the

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ObjectManager/Objects
This commit is contained in:
James Cotton 2011-03-07 11:27:21 -06:00
parent 01e9d1a472
commit b0f8267588
3 changed files with 293 additions and 0 deletions
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25
androidgcs/src/org/openpilot/uavtalk/Telemetry.java Normal file
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package org.openpilot.uavtalk;
public class Telemetry {
private TelemetryStats stats;
public class TelemetryStats {
public int txBytes;
public int rxBytes;
public int txObjectBytes;
public int rxObjectBytes;
public int rxObjects;
public int txObjects;
public int txErrors;
public int rxErrors;
public int txRetries;
} ;
public TelemetryStats getStats() {
return stats;
}
public void resetStats() {
stats = new TelemetryStats();
}
}

5
androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java Normal file
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package org.openpilot.uavtalk;
public class TelemetryManager {
}

263
androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java Normal file
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package org.openpilot.uavtalk;
import java.util.ArrayList;
import java.util.List;
import java.util.ListIterator;
import java.util.Observable;
import java.util.Observer;
import java.util.Timer;
import java.util.TimerTask;
import org.openpilot.uavtalk.uavobjects.FlightTelemetryStats;
import org.openpilot.uavtalk.uavobjects.GCSTelemetryStats;
import android.util.Log;
public class TelemetryMonitor {
private static final String TAG = "TelemetryMonitor";
static final int STATS_UPDATE_PERIOD_MS = 4000;
static final int STATS_CONNECT_PERIOD_MS = 1000;
static final int CONNECTION_TIMEOUT_MS = 8000;
private UAVObjectManager objMngr;
private Telemetry tel;
private UAVObject objPending;
private UAVObject gcsStatsObj;
private UAVObject flightStatsObj;
private Timer periodicTask;
private int currentPeriod;
private List<UAVObject> queue;
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
{
this.objMngr = objMngr;
this.tel = tel;
this.objPending = null;
queue = new ArrayList<UAVObject>();
// Get stats objects
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
flightStatsObj = objMngr.getObject("FlightTelemetryStats");
flightStatsObj.addUpdatedObserver(new Observer() {
public void update(Observable observable, Object data) {
flightStatsUpdated((UAVObject) data);
}
});
// Start update timer
setPeriod(STATS_CONNECT_PERIOD_MS);
}
/**
* Initiate object retrieval, initialize queue with objects to be retrieved.
*/
public void startRetrievingObjects()
{
// Clear object queue
queue.clear();
// Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
List< List<UAVObject> > objs = objMngr.getObjects();
ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
while( objListIterator.hasNext() )
{
List <UAVObject> instList = objListIterator.next();
UAVObject obj = instList.get(0);
UAVObject.Metadata mdata = obj.getMetadata();
if ( mdata.gcsTelemetryUpdateMode != UAVObject.UpdateMode.UPDATEMODE_NEVER )
{
if ( obj.isMetadata() )
{
queue.add(obj);
}
else /* Data object */
{
UAVDataObject dobj = (UAVDataObject) obj;
if ( dobj.isSettings() )
{
queue.add(obj);
}
else
{
if ( mdata.flightTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
{
queue.add(obj);
}
}
}
}
}
// Start retrieving
Log.d(TAG,"Starting to retrieve meta and settings objects from the autopilot (%1 objects)" + queue.size()) ;
retrieveNextObject();
}
/**
* Cancel the object retrieval
*/
public void stopRetrievingObjects()
{
//qxtLog->debug("Object retrieval has been cancelled");
queue.clear();
}
/**
* Retrieve the next object in the queue
*/
public void retrieveNextObject()
{
// If queue is empty return
if ( queue.isEmpty() )
{
//qxtLog->debug("Object retrieval completed");
//emit connected();
return;
}
// Get next object from the queue
UAVObject obj = queue.remove(0);
Log.d(TAG, "Retrieving object: " + obj.getName()) ;
// Connect to object
//connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
// Request update
obj.requestUpdate();
objPending = obj;
}
/**
* Called by the retrieved object when a transaction is completed.
*/
public void transactionCompleted(UAVObject obj, boolean success)
{
//QMutexLocker locker(mutex);
// Disconnect from sending object
//obj->disconnect(this);
objPending = null;
// Process next object if telemetry is still available
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
{
retrieveNextObject();
}
else
{
stopRetrievingObjects();
}
}
/**
* Called each time the flight stats object is updated by the autopilot
*/
public synchronized void flightStatsUpdated(UAVObject obj)
{
// Force update if not yet connected
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
{
processStatsUpdates();
}
}
/**
* Called periodically to update the statistics and connection status.
*/
public synchronized void processStatsUpdates()
{
// Get telemetry stats
Telemetry.TelemetryStats telStats = tel.getStats();
tel.resetStats();
// Update stats object
gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / ((float)currentPeriod/1000.0) );
gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / ((float)currentPeriod/1000.0) );
UAVObjectField field = gcsStatsObj.getField("RxFailures");
field.setDouble(field.getDouble() + telStats.rxErrors);
field = gcsStatsObj.getField("TxFailures");
field.setDouble(field.getDouble() + telStats.txErrors);
field = gcsStatsObj.getField("TxRetries");
field.setDouble(field.getDouble() + telStats.txRetries);
// Check for a connection timeout
boolean connectionTimeout;
if ( telStats.rxObjects > 0 )
{
//connectionTimer.start();
}
if ( connectionTimer.elapsed() > CONNECTION_TIMEOUT_MS )
{
connectionTimeout = true;
}
else
{
connectionTimeout = false;
}
// Update connection state
int oldStatus = gcsStats.Status;
if ( gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED )
{
// Request connection
gcsStats.Status = GCSTelemetryStats::STATUS_HANDSHAKEREQ;
}
else if ( gcsStats.Status == GCSTelemetryStats::STATUS_HANDSHAKEREQ )
{
// Check for connection acknowledge
if ( flightStats.Status == FlightTelemetryStats::STATUS_HANDSHAKEACK )
{
gcsStats.Status = GCSTelemetryStats::STATUS_CONNECTED;
}
}
else if ( gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED )
{
// Check if the connection is still active and the the autopilot is still connected
if (flightStats.Status == FlightTelemetryStats::STATUS_DISCONNECTED || connectionTimeout)
{
gcsStats.Status = GCSTelemetryStats::STATUS_DISCONNECTED;
}
}
// Set data
gcsStatsObj->setData(gcsStats);
// Force telemetry update if not yet connected
if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED ||
flightStats.Status != FlightTelemetryStats::STATUS_CONNECTED )
{
gcsStatsObj->updated();
}
// Act on new connections or disconnections
if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED && gcsStats.Status != oldStatus)
{
setPeriod(STATS_UPDATE_PERIOD_MS);
statsTimer->setInterval(STATS_UPDATE_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot established");
startRetrievingObjects();
}
if (gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED && gcsStats.Status != oldStatus)
{
setPeriod(STATS_CONNECT_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot lost");
Log.d(TAG,"Trying to connect to the autopilot");
emit disconnected();
}
}
private void setPeriod(int ms) {
if(periodicTask == null)
periodicTask = new Timer();
periodicTask.cancel();
currentPeriod = ms;
periodicTask.scheduleAtFixedRate(new TimerTask() {
@Override
public void run() {
processStatsUpdates();
}
}, currentPeriod, currentPeriod);
}
}