Works on Nook, but recursive loop too deep in registering objects

androidgcs/AndroidManifest.xml

@@ -5,8 +5,18 @@
       android:versionName="1.0">
     <uses-sdk android:minSdkVersion="7" />
 
-    <application android:icon="@drawable/icon" android:label="@string/app_name">
+	<uses-permission android:name="android.permission.BLUETOOTH" />
+	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+	
+    <application android:icon="@drawable/icon" android:label="@string/app_name" >
 
+        <activity android:name="ObjectBrowser"
+                  android:label="@string/app_name">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
 
     </application>
 </manifest>

androidgcs/default.properties

@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=android-7
+target=android-10

androidgcs/res/layout/main.xml

@@ -7,6 +7,5 @@
 <TextView  
     android:layout_width="fill_parent" 
     android:layout_height="wrap_content" 
-    android:text="@string/hello"
     />
 </LinearLayout>

androidgcs/res/values/strings.xml

@@ -1,5 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <string name="hello">Hello World!</string>
     <string name="app_name">OpenPilot GCS</string>
 </resources>

androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

@@ -0,0 +1,129 @@
+package org.openpilot.androidgcs;
+
+import java.io.IOException;
+import java.util.Set;
+import java.util.UUID;
+
+import android.app.Activity;
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothSocket;
+import android.content.Intent;
+import android.os.Bundle;
+import android.util.Log;
+
+import org.openpilot.androidgcs.*;
+import org.openpilot.uavtalk.Telemetry;
+import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+
+public class ObjectBrowser extends Activity {
+	
+	private final String TAG = "ObjectBrower";
+	private final String DEVICE_NAME = "RN42-222D";
+	private final int REQUEST_ENABLE_BT = 0;
+	private UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
+	BluetoothAdapter mBluetoothAdapter;
+	UAVObjectManager objMngr;
+	UAVTalk uavTalk;
+	
+    /** Called when the activity is first created. */
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.main);
+        
+        Log.d(TAG, "Launching Object Browser");
+        
+        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+        if (mBluetoothAdapter == null) {
+            // Device does not support Bluetooth
+        	Log.d(TAG, "Device does not support Bluetooth");
+        	return;
+        }
+        
+        if (!mBluetoothAdapter.isEnabled()) {
+            Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
+            startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT);
+        } else {
+        	queryDevices();
+        }
+    }
+    
+    @Override
+    public void onActivityResult(int requestCode, int resultCode, Intent data) {
+    	if(requestCode == REQUEST_ENABLE_BT && resultCode == RESULT_OK) {
+    		Log.d(TAG, "Bluetooth started succesfully");
+    		queryDevices();
+    	}
+    	if(requestCode == REQUEST_ENABLE_BT && resultCode != RESULT_OK)
+    		Log.d(TAG, "Bluetooth could not be started");
+    	
+    }
+    
+    public void queryDevices() {
+    	Log.d(TAG, "Searching for devices");
+		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
+		// If there are paired devices
+		if (pairedDevices.size() > 0) {
+		    // Loop through paired devices
+		    for (BluetoothDevice device : pairedDevices) {
+		        // Add the name and address to an array adapter to show in a ListView
+		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
+		    	Log.d(TAG, "Paired device: " + device.getName());
+		    	if(device.getName().compareTo(DEVICE_NAME) == 0) {
+		    		openTelmetryBluetooth(device);
+		    		openTelmetryBluetooth(device);
+		    		}
+		    }
+		}
+    	
+    }
+
+	private void openTelmetryBluetooth(BluetoothDevice device) {
+		Log.d(TAG, "Opening conncetion to " + device.getName());
+		BluetoothSocket socket = null;
+		try {
+			socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
+		} catch (IOException e) {
+			Log.e(TAG,"Unable to create Rfcomm socket");
+			e.printStackTrace();			
+		}
+		
+		mBluetoothAdapter.cancelDiscovery();
+		
+		try {
+			socket.connect();
+		}
+		catch (IOException e) {
+			Log.e(TAG,"Unable to connect to requested device", e);
+            try {
+                socket.close();
+            } catch (IOException e2) {
+                Log.e(TAG, "unable to close() socket during connection failure", e2);
+            }
+			return;
+		}
+
+		objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+
+		try {
+			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
+		} catch (IOException e) {
+			Log.e(TAG,"Error starting UAVTalk");
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			return;
+		}
+		
+		Thread inputStream = uavTalk.getInputProcessThread();
+		inputStream.start();
+		
+		Telemetry tel = new Telemetry(uavTalk, objMngr);
+		TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
+
+	}
+}

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

@@ -12,8 +12,12 @@ import java.util.TimerTask;
 
 import org.openpilot.uavtalk.UAVObject.Acked;
 
+import android.util.Log;
+
 public class Telemetry {
 	
+	private final String TAG = "Telemetry";
+	
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -133,7 +137,7 @@ public class Telemetry {
     /**
      * Register a new object for periodic updates (if enabled)
      */
-    private void registerObject(UAVObject obj)
+    private synchronized void registerObject(UAVObject obj)
     {
         // Setup object for periodic updates
         addObject(obj);
@@ -145,7 +149,7 @@ public class Telemetry {
     /**
      * Add an object in the list used for periodic updates
      */
-    private void addObject(UAVObject obj)
+    private synchronized void addObject(UAVObject obj)
     {
         // Check if object type is already in the list
     	ListIterator<ObjectTimeInfo> li = objList.listIterator();
@@ -169,7 +173,7 @@ public class Telemetry {
     /**
      * Update the object's timers
      */
-    private void setUpdatePeriod(UAVObject obj, int periodMs)
+    private synchronized void setUpdatePeriod(UAVObject obj, int periodMs)
     {
         // Find object type (not instance!) and update its period
     	ListIterator<ObjectTimeInfo> li = objList.listIterator();
@@ -186,7 +190,7 @@ public class Telemetry {
     /**
      * Connect to all instances of an object depending on the event mask specified
      */
-    private void connectToObjectInstances(UAVObject obj, int eventMask)
+    private synchronized void connectToObjectInstances(UAVObject obj, int eventMask)
     {
         List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
         ListIterator<UAVObject> li = objs.listIterator();
@@ -235,7 +239,7 @@ public class Telemetry {
     /**
      * Update an object based on its metadata properties
      */
-    private void updateObject(UAVObject obj)
+    private synchronized void updateObject(UAVObject obj)
     {
         // Get metadata
         UAVObject.Metadata metadata = obj.getMetadata();
@@ -287,12 +291,12 @@ public class Telemetry {
     /**
      * Called when a transaction is successfully completed (uavtalk event)
      */
-    private void transactionCompleted(UAVObject obj)
+    private synchronized void transactionCompleted(UAVObject obj)
     {
         // Check if there is a pending transaction and the objects match
         if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
         {
-        //    qDebug() << QString("Telemetry: transaction completed for %1").arg(obj->getName());
+        	Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
             // Complete transaction
         	transTimer.cancel();
             transPending = false;
@@ -302,16 +306,16 @@ public class Telemetry {
             processObjectQueue();
         } else
         {
-      //      qDebug() << "Error: received a transaction completed when did not expect it.";
+        	Log.e(TAG,"Error: received a transaction completed when did not expect it.");
         }
     }
 
     /**
      * Called when a transaction is not completed within the timeout period (timer event)
      */
-    private void transactionTimeout()
+    private synchronized void transactionTimeout()
     {
-//        qDebug() << "Telemetry: transaction timeout.";
+    	Log.d(TAG,"Telemetry: transaction timeout.");
         transTimer.cancel();
         // Proceed only if there is a pending transaction
         if ( transPending )
@@ -340,11 +344,11 @@ public class Telemetry {
     /**
      * Start an object transaction with UAVTalk, all information is stored in transInfo
      */
-    private void processObjectTransaction()
+    private synchronized void processObjectTransaction()
     {
         if (transPending)
         {
-        //    qDebug() << tr("Process Object transaction for %1").arg(transInfo.obj->getName());
+        	Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
             // Initiate transaction
             if (transInfo.objRequest)
             {
@@ -366,17 +370,17 @@ public class Telemetry {
             }
         } else
         {
-      //      qDebug() << "Error: inside of processObjectTransaction with no transPending";
+        	Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
         }
     }
 
     /**
      * Process the event received from an object
      */
-    private 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
-//        qDebug() << "Push event into queue for obj " << QString("%1 event %2").arg(obj->getName()).arg(event);
+    	Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
         ObjectQueueInfo objInfo = new ObjectQueueInfo();
         objInfo.obj = obj;
         objInfo.event = event;
@@ -391,7 +395,7 @@ public class Telemetry {
             {
                 ++txErrors;
                 obj.transactionCompleted(false);
-                //qxtLog->warning(tr("Telemetry: priority event queue is full, event lost (%1)").arg(obj->getName()));
+                Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
             }
         }
         else
@@ -410,25 +414,26 @@ public class Telemetry {
         // If there is no transaction in progress then process event
         if (!transPending)
         {
-        //    qDebug() << "No transaction pending, process object queue...";
+
             processObjectQueue();
+
         } else
         {
-       //     qDebug() << "Transaction pending, DO NOT process object queue...";
+        	Log.d(TAG,"Transaction pending, DO NOT process object queue...");
         }
     }
 
     /**
      * Process events from the object queue
      */
-    private void processObjectQueue()
+    private synchronized void processObjectQueue()
     {
-      //  qDebug() << "Process object queue " << tr("- Depth (%1 %2)").arg(objQueue.length()).arg(objPriorityQueue.length());
+      	Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
 
         // Don nothing if a transaction is already in progress (should not happen)
         if (transPending)
         {
-//            qxtLog->error("Telemetry: Dequeue while a transaction pending!");
+        	Log.e(TAG,"Dequeue while a transaction pending");
             return;
         }
 

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

@@ -55,7 +55,7 @@ public class TelemetryMonitor {
 	/**
 	 * Initiate object retrieval, initialize queue with objects to be retrieved.
 	 */
-	public void startRetrievingObjects()
+	public synchronized void startRetrievingObjects()
 	{
 	    // Clear object queue
 	    queue.clear();
@@ -108,7 +108,7 @@ public class TelemetryMonitor {
 	/**
 	 * Retrieve the next object in the queue
 	 */
-	public void retrieveNextObject()
+	public synchronized void retrieveNextObject()
 	{
 	    // If queue is empty return
 	    if ( queue.isEmpty() )
@@ -120,7 +120,12 @@ public class TelemetryMonitor {
 	    // Get next object from the queue
 	    UAVObject obj = queue.remove(0);
 	    
-//	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
+	    if(obj == null) {
+	    	Log.e(TAG, "Got null object forom transaction queue");
+	    	return;
+	    }
+	    	    
+	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
@@ -137,10 +142,12 @@ public class TelemetryMonitor {
 	/**
 	 * Called by the retrieved object when a transaction is completed.
 	 */
-	public void transactionCompleted(UAVObject obj, boolean success)
+	public synchronized void transactionCompleted(UAVObject obj, boolean success)
 	{
 	    //QMutexLocker locker(mutex);
 	    // Disconnect from sending object
+		Log.d(TAG,"transactionCompleted");
+		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
 	    objPending = null;
 	    

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

@@ -17,12 +17,16 @@ public abstract class UAVObject {
 		}
 
 		public void event () {
-			setChanged();
-			notifyObservers(parent);
+			synchronized(this) {
+				setChanged();
+				notifyObservers(parent);
+			}
 		}
 		public void event (Object data) {
-			setChanged();
-			notifyObservers(data);
+			synchronized(this) {
+				setChanged();
+				notifyObservers(data);
+			}
 		}
 	}