rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

AndroidGCS Telemetry: Use a runnable for the transaction timeout. Now all of

Browse Source 
telemetry is using handlers nicely, but we still can have multiple
transactions queued for the same object.
This commit is contained in:
James Cotton 2012-08-15 01:14:57 -05:00
parent 9f326f28d8
commit b614368359
1 changed files with 118 additions and 168 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

286
androidgcs/src/org/openpilot/uavtalk/Telemetry.java
View File

@ -126,7 +126,7 @@ public class Telemetry {
ListIterator<List<UAVObject>> li = objs.listIterator();
while (li.hasNext())
registerObject(li.next().get(0)); // we only need to register one
// instance per object type
// instance per object type
// Listen to new object creations
objMngr.addNewInstanceObserver(new Observer() {
@ -146,25 +146,15 @@ public class Telemetry {
utalk.setOnTransactionCompletedListener(utalk.new OnTransactionCompletedListener() {
@Override
void TransactionSucceeded(UAVObject data) {
try {
transactionCompleted(data, true);
} catch (IOException e) {
// Disconnect when stream fails
utalk.setOnTransactionCompletedListener(null);
}
transactionCompleted(data, true);
}
@Override
void TransactionFailed(UAVObject data) {
try {
if (DEBUG)
Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
if (DEBUG)
Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
transactionCompleted(data, false);
} catch (IOException e) {
// Disconnect when stream fails
utalk.setOnTransactionCompletedListener(null);
}
transactionCompleted(data, false);
}
});
@ -182,28 +172,6 @@ public class Telemetry {
txRetries = 0;
}
synchronized void transTimerSetPeriod(int periodMs) {
if (transTimerTask != null)
transTimerTask.cancel();
if (transTimer != null)
transTimer.purge();
transTimer = new Timer();
transTimerTask = new TimerTask() {
@Override
public void run() {
try {
transactionTimeout();
} catch (IOException e) {
cancel();
}
}
};
transTimer.schedule(transTimerTask, periodMs, periodMs);
}
synchronized void updateTimerSetPeriod(int periodMs) {
if (updateTimer != null) {
updateTimer.cancel();
@ -354,7 +322,7 @@ public class Telemetry {
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (obj.isMetadata())
eventMask |= EV_UNPACKED; // we also need to act on remote
// updates (unpack events)
// updates (unpack events)
connectToObjectInstances(obj, eventMask);
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
@ -364,7 +332,7 @@ public class Telemetry {
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (obj.isMetadata())
eventMask |= EV_UNPACKED; // we also need to act on remote
// updates (unpack events)
// updates (unpack events)
connectToObjectInstances(obj, eventMask);
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
@ -376,106 +344,12 @@ public class Telemetry {
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (obj.isMetadata())
eventMask |= EV_UNPACKED; // we also need to act on remote
// updates (unpack events)
// updates (unpack events)
connectToObjectInstances(obj, eventMask);
}
}
/**
* Called when a transaction is successfully completed (uavtalk event)
*
* @throws IOException
*/
private void transactionCompleted(UAVObject obj, boolean result)
throws IOException {
if (DEBUG) Log.d(TAG, "UAVTalk transactionCompleted");
// Check if there is a pending transaction and the objects match
if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
// Complete transaction
synchronized(transTimer) {
transTimer.cancel();
transPending = false;
}
//Send signal
obj.transactionCompleted(result);
} else {
if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
transPending = false;
}
}
/**
* Called when a transaction is not completed within the timeout period
* (timer event)
*
* @throws IOException
*/
private void transactionTimeout() throws IOException {
if (DEBUG)
Log.d(TAG, "Telemetry: transaction timeout.");
synchronized (transTimer) {
transTimer.cancel();
// Proceed only if there is a pending transaction
if (transPending) {
// Check if more retries are pending
if (transInfo.retriesRemaining > 0) {
--transInfo.retriesRemaining;
processObjectTransaction();
++txRetries;
} else {
if (ERROR)
Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
// Terminate transaction. This triggers UAVTalk to send a transaction
// failed signal which will make the next queue entry be processed
// Note this is UAVTalk listener TransactionFailed function
// object specific transaction failed.
utalk.cancelPendingTransaction(transInfo.obj);
++txErrors;
}
}
}
}
/**
* Start an object transaction with UAVTalk, all information is stored in
* transInfo
*
* @throws IOException
*/
private void processObjectTransaction() throws IOException {
if (transPending) {
if (DEBUG)
Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
// Initiate transaction
if (transInfo.objRequest) {
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
} else {
utalk.sendObject(transInfo.obj, transInfo.acked,
transInfo.allInstances);
}
// Start timer if a response is expected
if (transInfo.objRequest || transInfo.acked) {
transTimerSetPeriod(REQ_TIMEOUT_MS);
} else {
synchronized (transTimer) {
transTimer.cancel();
transPending = false;
}
}
} else {
if (ERROR)
Log.e(TAG, "Error: inside of processObjectTransaction with no transPending");
}
}
/**
* Check is any objects are pending for periodic updates TODO: Clean-up
*
@ -513,6 +387,8 @@ public class Telemetry {
- offset;
// Send object
startTime = System.currentTimeMillis();
if (DEBUG) Log.d(TAG, "Manual update: " + objinfo.obj.getName());
handler.updatedManual(objinfo.obj);
// enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL,
// true, false);
@ -584,12 +460,6 @@ public class Telemetry {
if (updateTimer != null)
updateTimer.cancel();
updateTimer = null;
if (transTimerTask != null)
transTimerTask.cancel();
transTimerTask = null;
if (transTimer != null)
transTimer.cancel();
transTimer = null;
}
/**
@ -604,8 +474,6 @@ public class Telemetry {
private Timer updateTimer;
private TimerTask updateTimerTask;
private Timer transTimer;
private TimerTask transTimerTask;
private int timeToNextUpdateMs;
private int txErrors;
@ -664,14 +532,15 @@ public class Telemetry {
}
/**
* Perform an update on an object where on an event based on the contents provided
* to the constructors. This update will also set a timeout for transaction failure.
*/
class ObjectRunnable implements Runnable {
// ! Transaction information to perform
private final ObjectQueueInfo objInfo;
// private final ObjectTransactionInfo transInfo = new
// ObjectTransactionInfo();
ObjectRunnable(ObjectQueueInfo info) {
Assert.assertNotNull(info);
objInfo = info;
@ -725,48 +594,129 @@ public class Telemetry {
// Determine if this will schedule a new transaction
newTransactionPending = !(newTrans.objRequest || newTrans.acked);
// 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());
handler.postDelayed(this, 100);
return;
}
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());
handler.postDelayed(this, 100);
return;
}
// Store this as the active transaction
transPending = newTransactionPending;
transInfo = newTrans;
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
// 3. Execute transaction
try {
// Initiate transaction
// 3. Execute transaction by sending the appropriate UAVTalk command
if (transInfo.objRequest) {
if (DEBUG) Log.d(TAG, "Sending object request");
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() + " " + transInfo.obj.toStringData());
if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
}
// TODO: Block if request expected (??)
if (transPending) {
transTimerSetPeriod(REQ_TIMEOUT_MS);
} else if (transTimer != null) {
synchronized(transTimer) {
transTimer.cancel();
transPending = false;
}
}
} catch (IOException e) {
// TODO Auto-generated catch block
Log.e(TAG, "E");
if (ERROR) Log.e(TAG, "Unable to send UAVTalk message");
e.printStackTrace();
}
// Post a timeout timer if a response is epxected
if (transPending)
handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
}
}
}
}
/**
* Runnable posted to handle a timeout of a transaction. Tracks the number of retry attempts
* retries that many, and finally sends a transaction failed signal.
*/
final Runnable transactionTimeout = new Runnable() {
@Override
public void run() {
// Lock on the transaction
synchronized (transInfo) {
// Proceed only if there is a pending transaction
if (!transPending) {
if (WARN) Log.w(TAG,"Transaction completed but timeout still called. Probable race condition");
return;
}
if (DEBUG) Log.d(TAG, "Telemetry: transaction timeout.");
// Check if more retries are pending
if (transInfo.retriesRemaining > 0) {
--transInfo.retriesRemaining;
// Repeat whatever is required for this transaction type
// (transInfo.objRequest) {
if (DEBUG) Log.d(TAG, "Sending object request");
try {
// Execute transaction by sending the appropriate UAVTalk command
if (transInfo.objRequest) {
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());
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
}
} catch (IOException e) {
if (ERROR) Log.e(TAG, "Unable to send UAVTalk message");
e.printStackTrace();
}
handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
++txRetries;
} else {
if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
// Terminate transaction. This triggers UAVTalk to send a transaction
// failed signal which will make the next queue entry be processed
// Note this is UAVTalk listener TransactionFailed function
// object specific transaction failed.
utalk.cancelPendingTransaction(transInfo.obj);
++txErrors;
}
}
}
};
/**
* Called when a transaction is successfully completed (UAVTalk event) and maps that to
* the appropriate object event as well as canceling the pending transaction and timeout
*/
private void transactionCompleted(UAVObject obj, boolean result) {
if (DEBUG) Log.d(TAG, "UAVTalk transactionCompleted");
// Check if there is a pending transaction and the objects match
synchronized(transInfo) {
if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
// Cancel timeout and complete transaction
handler.removeCallbacks(transactionTimeout);
transPending = false;
//Send signal
obj.transactionCompleted(result);
} else {
if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
transPending = false;
}
}
}
}