mirror of
https://bitbucket.org/librepilot/librepilot.git
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Most of the work on Telemetry.java as well as lots of signals for various
object events
This commit is contained in:
James Cotton
parent
3d7f4e2273
commit
cb5e690de0
@ -1,8 +1,18 @@
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package org.openpilot.uavtalk;
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import java.util.LinkedList;
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import java.util.List;
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import java.util.ListIterator;
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import java.util.Observable;
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import java.util.Observer;
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import java.util.Queue;
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import java.util.Timer;
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import java.util.TimerTask;
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import org.openpilot.uavtalk.UAVObject.Acked;
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public class Telemetry {
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private TelemetryStats stats;
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public class TelemetryStats {
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public int txBytes;
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public int rxBytes;
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@ -15,11 +25,612 @@ public class Telemetry {
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public int txRetries;
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} ;
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public TelemetryStats getStats() {
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return stats;
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}
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class ObjectTimeInfo {
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UAVObject obj;
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int updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
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int timeToNextUpdateMs; /** Time delay to the next update */
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};
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class ObjectQueueInfo {
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UAVObject obj;
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int event;
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boolean allInstances;
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};
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class ObjectTransactionInfo {
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UAVObject obj;
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boolean allInstances;
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boolean objRequest;
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int retriesRemaining;
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Acked acked;
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} ;
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public void resetStats() {
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stats = new TelemetryStats();
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/**
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* Events generated by objects. Not enum because used in mask.
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*/
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private static final int EV_UNPACKED = 0x01; /** Object data updated by unpacking */
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private static final int EV_UPDATED = 0x02; /** Object data updated by changing the data structure */
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private static final int EV_UPDATED_MANUAL = 0x04; /** Object update event manually generated */
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private static final int EV_UPDATE_REQ = 0x08; /** Request to update object data */
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/**
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* Constructor
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*/
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public Telemetry(UAVTalk utalk, UAVObjectManager objMngr)
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{
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this.utalk = utalk;
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this.objMngr = objMngr;
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// Process all objects in the list
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List< List<UAVObject> > objs = objMngr.getObjects();
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ListIterator<List<UAVObject>> li = objs.listIterator();
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while(li.hasNext())
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registerObject(li.next().get(0)); // we only need to register one instance per object type
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// Listen to new object creations
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objMngr.addNewInstanceObserver(new Observer() {
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public void update(Observable observable, Object data) {
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newInstance((UAVObject) data);
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}
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});
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objMngr.addNewObjectObserver(new Observer() {
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public void update(Observable observable, Object data) {
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newObject((UAVObject) data);
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}
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});
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// Listen to transaction completions
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utalk.addObserver(new Observer() {
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public void update(Observable observable, Object data) {
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transactionCompleted((UAVObject) data);
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}
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});
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// Get GCS stats object
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gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
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// Setup transaction timer
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transPending = false;
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transTimer = new Timer();
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transTimerTask = new TimerTask() {
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@Override
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public void run() {
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transactionTimeout();
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}
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};
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// Setup and start the periodic timer
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timeToNextUpdateMs = 0;
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updateTimer = new Timer();
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updateTimerTask = new TimerTask() {
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@Override
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public void run() {
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processPeriodicUpdates();
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}
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};
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updateTimer.scheduleAtFixedRate(updateTimerTask, 1000, 1000);
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// Setup and start the stats timer
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txErrors = 0;
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txRetries = 0;
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}
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/**
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* Register a new object for periodic updates (if enabled)
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*/
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private void registerObject(UAVObject obj)
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{
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// Setup object for periodic updates
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addObject(obj);
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// Setup object for telemetry updates
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updateObject(obj);
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}
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/**
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* Add an object in the list used for periodic updates
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*/
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private void addObject(UAVObject obj)
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{
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// Check if object type is already in the list
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ListIterator<ObjectTimeInfo> li = objList.listIterator();
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while(li.hasNext()) {
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ObjectTimeInfo n = li.next();
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if( n.obj.getObjID() == obj.getObjID() )
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{
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// Object type (not instance!) is already in the list, do nothing
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return;
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}
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}
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// If this point is reached, then the object type is new, let's add it
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ObjectTimeInfo timeInfo = new ObjectTimeInfo();
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timeInfo.obj = obj;
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timeInfo.timeToNextUpdateMs = 0;
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timeInfo.updatePeriodMs = 0;
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objList.add(timeInfo);
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}
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/**
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* Update the object's timers
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*/
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private void setUpdatePeriod(UAVObject obj, int periodMs)
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{
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// Find object type (not instance!) and update its period
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ListIterator<ObjectTimeInfo> li = objList.listIterator();
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while(li.hasNext()) {
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ObjectTimeInfo n = li.next();
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if ( n.obj.getObjID() == obj.getObjID() )
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{
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n.updatePeriodMs = periodMs;
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n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random()).nextDouble()); // avoid bunching of updates
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}
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}
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}
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/**
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* Connect to all instances of an object depending on the event mask specified
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*/
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private void connectToObjectInstances(UAVObject obj, int eventMask)
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{
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List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
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ListIterator<UAVObject> li = objs.listIterator();
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while(li.hasNext())
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{
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obj = li.next();
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//TODO: Disconnect all
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// obj.disconnect(this);
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// Connect only the selected events
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if ( (eventMask&EV_UNPACKED) != 0)
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{
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obj.addUnpackedObserver(new Observer() {
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public void update(Observable observable, Object data) {
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objectUnpacked( (UAVObject) data);
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}
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});
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}
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if ( (eventMask&EV_UPDATED) != 0)
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{
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obj.addUpdatedAutoObserver(new Observer() {
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public void update(Observable observable, Object data) {
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objectUpdatedAuto( (UAVObject) data);
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}
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});
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}
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if ( (eventMask&EV_UPDATED_MANUAL) != 0)
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{
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obj.addUpdatedManualObserver(new Observer() {
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public void update(Observable observable, Object data) {
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objectUpdatedManual( (UAVObject) data);
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}
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});
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}
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if ( (eventMask&EV_UPDATE_REQ) != 0)
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{
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obj.addUpdatedObserver(new Observer() {
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public void update(Observable observable, Object data) {
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updateRequested( (UAVObject) data);
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}
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});
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}
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}
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}
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/**
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* Update an object based on its metadata properties
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*/
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private void updateObject(UAVObject obj)
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{
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// Get metadata
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UAVObject.Metadata metadata = obj.getMetadata();
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// Setup object depending on update mode
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int eventMask;
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if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
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{
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// Set update period
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setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
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// Connect signals for all instances
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if(obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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}
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else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
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{
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect signals for all instances
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eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if(obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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}
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else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
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{
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect signals for all instances
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if(obj.isMetadata())
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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connectToObjectInstances(obj, eventMask);
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}
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else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_NEVER )
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{
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// Set update period
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setUpdatePeriod(obj, 0);
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// Disconnect from object
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connectToObjectInstances(obj, 0);
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}
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}
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/**
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* Called when a transaction is successfully completed (uavtalk event)
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*/
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private void transactionCompleted(UAVObject obj)
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{
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// Check if there is a pending transaction and the objects match
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if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
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{
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// qDebug() << QString("Telemetry: transaction completed for %1").arg(obj->getName());
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// Complete transaction
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transTimer.cancel();
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transPending = false;
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// Send signal
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obj.transactionCompleted(true);
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// Process new object updates from queue
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processObjectQueue();
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} else
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{
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// qDebug() << "Error: received a transaction completed when did not expect it.";
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}
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}
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/**
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* Called when a transaction is not completed within the timeout period (timer event)
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*/
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private void transactionTimeout()
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{
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// qDebug() << "Telemetry: transaction timeout.";
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transTimer.cancel();
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// Proceed only if there is a pending transaction
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if ( transPending )
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{
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// Check if more retries are pending
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if (transInfo.retriesRemaining > 0)
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{
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--transInfo.retriesRemaining;
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processObjectTransaction();
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++txRetries;
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}
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else
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{
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// Terminate transaction
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utalk.cancelTransaction();
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transPending = false;
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// Send signal
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transInfo.obj.transactionCompleted(false);
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// Process new object updates from queue
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processObjectQueue();
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++txErrors;
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}
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}
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}
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/**
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* Start an object transaction with UAVTalk, all information is stored in transInfo
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*/
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private void processObjectTransaction()
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{
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if (transPending)
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{
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// qDebug() << tr("Process Object transaction for %1").arg(transInfo.obj->getName());
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// Initiate transaction
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if (transInfo.objRequest)
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{
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utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
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}
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else
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{
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utalk.sendObject(transInfo.obj, transInfo.acked == Acked.TRUE, transInfo.allInstances);
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}
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// Start timer if a response is expected
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if ( transInfo.objRequest || transInfo.acked == Acked.TRUE )
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{
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transTimer.scheduleAtFixedRate(transTimerTask, REQ_TIMEOUT_MS, REQ_TIMEOUT_MS);
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}
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else
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{
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transTimer.cancel();
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transPending = false;
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}
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} else
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{
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// qDebug() << "Error: inside of processObjectTransaction with no transPending";
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}
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}
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/**
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* Process the event received from an object
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*/
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private void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
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{
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// Push event into queue
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// qDebug() << "Push event into queue for obj " << QString("%1 event %2").arg(obj->getName()).arg(event);
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ObjectQueueInfo objInfo = new ObjectQueueInfo();
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objInfo.obj = obj;
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objInfo.event = event;
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objInfo.allInstances = allInstances;
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if (priority)
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{
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if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
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{
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objPriorityQueue.add(objInfo);
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}
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else
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{
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++txErrors;
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obj.transactionCompleted(false);
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//qxtLog->warning(tr("Telemetry: priority event queue is full, event lost (%1)").arg(obj->getName()));
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}
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}
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else
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{
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if ( objQueue.size() < MAX_QUEUE_SIZE )
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{
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objQueue.add(objInfo);
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}
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else
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{
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++txErrors;
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obj.transactionCompleted(false);
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}
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}
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// If there is no transaction in progress then process event
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if (!transPending)
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{
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// qDebug() << "No transaction pending, process object queue...";
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processObjectQueue();
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} else
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{
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// qDebug() << "Transaction pending, DO NOT process object queue...";
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}
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}
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/**
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* Process events from the object queue
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*/
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private void processObjectQueue()
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{
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// qDebug() << "Process object queue " << tr("- Depth (%1 %2)").arg(objQueue.length()).arg(objPriorityQueue.length());
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// Don nothing if a transaction is already in progress (should not happen)
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if (transPending)
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{
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// qxtLog->error("Telemetry: Dequeue while a transaction pending!");
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return;
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}
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// Get object information from queue (first the priority and then the regular queue)
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ObjectQueueInfo objInfo;
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if ( !objPriorityQueue.isEmpty() )
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{
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objInfo = objPriorityQueue.remove();
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}
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else if ( !objQueue.isEmpty() )
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{
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objInfo = objQueue.remove();
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}
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else
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{
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return;
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}
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// Check if a connection has been established, only process GCSTelemetryStats updates
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// (used to establish the connection)
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if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
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{
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objQueue.clear();
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if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
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{
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objInfo.obj.transactionCompleted(false);
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return;
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}
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}
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// Setup transaction (skip if unpack event)
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if ( objInfo.event != EV_UNPACKED )
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{
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UAVObject.Metadata metadata = objInfo.obj.getMetadata();
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transInfo.obj = objInfo.obj;
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transInfo.allInstances = objInfo.allInstances;
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transInfo.retriesRemaining = MAX_RETRIES;
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transInfo.acked = metadata.gcsTelemetryAcked;
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if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
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{
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transInfo.objRequest = false;
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}
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else if ( objInfo.event == EV_UPDATE_REQ )
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{
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transInfo.objRequest = true;
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}
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// Start transaction
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transPending = true;
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processObjectTransaction();
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} else
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{
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// qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
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}
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// If this is a metaobject then make necessary telemetry updates
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if (objInfo.obj.isMetadata())
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{
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UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
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updateObject( metaobj.getParentObject() );
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}
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// The fact we received an unpacked event does not mean that
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// we do not have additional objects still in the queue,
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// so we have to reschedule queue processing to make sure they are not
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// stuck:
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if ( objInfo.event == EV_UNPACKED )
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processObjectQueue();
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}
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/**
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* Check is any objects are pending for periodic updates
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* TODO: Clean-up
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*/
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private synchronized void processPeriodicUpdates()
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{
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// Stop timer
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updateTimer.cancel();
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// Iterate through each object and update its timer, if zero then transmit object.
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// Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
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int minDelay = MAX_UPDATE_PERIOD_MS;
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ObjectTimeInfo objinfo;
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int elapsedMs = 0;
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long startTime;
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int offset;
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ListIterator<ObjectTimeInfo> li = objList.listIterator();
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while(li.hasNext())
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{
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objinfo = li.next();
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// If object is configured for periodic updates
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if (objinfo.updatePeriodMs > 0)
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{
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objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
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// Check if time for the next update
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if (objinfo.timeToNextUpdateMs <= 0)
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{
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// Reset timer
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offset = (-objinfo.timeToNextUpdateMs) % objinfo.updatePeriodMs;
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objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
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// Send object
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startTime = System.currentTimeMillis();
|
||||
processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
|
||||
elapsedMs = (int) (System.currentTimeMillis() - startTime);
|
||||
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
|
||||
timeToNextUpdateMs += elapsedMs;
|
||||
}
|
||||
// Update minimum delay
|
||||
if (objinfo.timeToNextUpdateMs < minDelay)
|
||||
{
|
||||
minDelay = objinfo.timeToNextUpdateMs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Check if delay for the next update is too short
|
||||
if (minDelay < MIN_UPDATE_PERIOD_MS)
|
||||
{
|
||||
minDelay = MIN_UPDATE_PERIOD_MS;
|
||||
}
|
||||
|
||||
// Done
|
||||
timeToNextUpdateMs = minDelay;
|
||||
|
||||
// Restart timer
|
||||
//updateTimer->start(timeToNextUpdateMs);
|
||||
updateTimer.scheduleAtFixedRate(updateTimerTask, timeToNextUpdateMs, timeToNextUpdateMs);
|
||||
}
|
||||
|
||||
public TelemetryStats getStats()
|
||||
{
|
||||
// Get UAVTalk stats
|
||||
UAVTalk.ComStats utalkStats = utalk.getStats();
|
||||
|
||||
// Update stats
|
||||
TelemetryStats stats = new TelemetryStats();
|
||||
stats.txBytes = utalkStats.txBytes;
|
||||
stats.rxBytes = utalkStats.rxBytes;
|
||||
stats.txObjectBytes = utalkStats.txObjectBytes;
|
||||
stats.rxObjectBytes = utalkStats.rxObjectBytes;
|
||||
stats.rxObjects = utalkStats.rxObjects;
|
||||
stats.txObjects = utalkStats.txObjects;
|
||||
stats.txErrors = utalkStats.txErrors + txErrors;
|
||||
stats.rxErrors = utalkStats.rxErrors;
|
||||
stats.txRetries = txRetries;
|
||||
|
||||
// Done
|
||||
return stats;
|
||||
}
|
||||
|
||||
public synchronized void resetStats()
|
||||
{
|
||||
utalk.resetStats();
|
||||
txErrors = 0;
|
||||
txRetries = 0;
|
||||
}
|
||||
|
||||
private synchronized void objectUpdatedAuto(UAVObject obj)
|
||||
{
|
||||
processObjectUpdates(obj, EV_UPDATED, false, true);
|
||||
}
|
||||
|
||||
private synchronized void objectUpdatedManual(UAVObject obj)
|
||||
{
|
||||
processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
|
||||
}
|
||||
|
||||
private synchronized void objectUnpacked(UAVObject obj)
|
||||
{
|
||||
processObjectUpdates(obj, EV_UNPACKED, false, true);
|
||||
}
|
||||
|
||||
private synchronized void updateRequested(UAVObject obj)
|
||||
{
|
||||
processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
|
||||
}
|
||||
|
||||
private void newObject(UAVObject obj)
|
||||
{
|
||||
registerObject(obj);
|
||||
}
|
||||
|
||||
private synchronized void newInstance(UAVObject obj)
|
||||
{
|
||||
registerObject(obj);
|
||||
}
|
||||
|
||||
/**
|
||||
* Private variables
|
||||
*/
|
||||
private TelemetryStats stats;
|
||||
private UAVObjectManager objMngr;
|
||||
private UAVTalk utalk;
|
||||
private UAVObject gcsStatsObj;
|
||||
private List<ObjectTimeInfo> objList;
|
||||
private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
|
||||
private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
|
||||
private ObjectTransactionInfo transInfo;
|
||||
private boolean transPending;
|
||||
|
||||
private Timer updateTimer;
|
||||
private TimerTask updateTimerTask;
|
||||
private Timer transTimer;
|
||||
private TimerTask transTimerTask;
|
||||
|
||||
private int timeToNextUpdateMs;
|
||||
private int txErrors;
|
||||
private int txRetries;
|
||||
|
||||
/**
|
||||
* Private constants
|
||||
*/
|
||||
private static final int REQ_TIMEOUT_MS = 250;
|
||||
private static final int MAX_RETRIES = 2;
|
||||
private static final int MAX_UPDATE_PERIOD_MS = 1000;
|
||||
private static final int MIN_UPDATE_PERIOD_MS = 1;
|
||||
private static final int MAX_QUEUE_SIZE = 20;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
@ -123,7 +123,7 @@ public class TelemetryMonitor {
|
||||
// Connect to object
|
||||
//connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
|
||||
// Request update
|
||||
obj.requestUpdate();
|
||||
tel.requestUpdate(obj);
|
||||
objPending = obj;
|
||||
}
|
||||
|
||||
|
||||
@ -8,7 +8,7 @@ import java.util.Observer;
|
||||
import java.util.Observable;
|
||||
|
||||
public abstract class UAVObject {
|
||||
|
||||
|
||||
public class CallbackListener extends Observable {
|
||||
private UAVObject parent;
|
||||
|
||||
@ -20,6 +20,31 @@ public abstract class UAVObject {
|
||||
setChanged();
|
||||
notifyObservers(parent);
|
||||
}
|
||||
public void event (Object data) {
|
||||
setChanged();
|
||||
notifyObservers(data);
|
||||
}
|
||||
}
|
||||
|
||||
public class TransactionResult {
|
||||
public UAVObject obj;
|
||||
public boolean success;
|
||||
public TransactionResult(UAVObject obj, boolean success) {
|
||||
this.obj = obj;
|
||||
this.success = success;
|
||||
}
|
||||
}
|
||||
|
||||
private CallbackListener transactionCompletedListeners = new CallbackListener(this);
|
||||
public void addTransactionCompleted(Observer o) {
|
||||
synchronized(transactionCompletedListeners) {
|
||||
transactionCompletedListeners.addObserver(o);
|
||||
}
|
||||
}
|
||||
void transactionCompleted(boolean status) {
|
||||
synchronized(transactionCompletedListeners) {
|
||||
transactionCompletedListeners.event(new TransactionResult(this,status));
|
||||
}
|
||||
}
|
||||
|
||||
private CallbackListener updatedListeners = new CallbackListener(this);
|
||||
@ -47,6 +72,30 @@ public abstract class UAVObject {
|
||||
}
|
||||
}
|
||||
|
||||
private CallbackListener updatedAutoListeners = new CallbackListener(this);
|
||||
public void addUpdatedAutoObserver(Observer o) {
|
||||
synchronized(updatedAutoListeners) {
|
||||
updatedAutoListeners.addObserver(o);
|
||||
}
|
||||
}
|
||||
void updatedAuto() {
|
||||
synchronized(updatedAutoListeners) {
|
||||
updatedAutoListeners.event();
|
||||
}
|
||||
}
|
||||
|
||||
private CallbackListener updatedManualListeners = new CallbackListener(this);
|
||||
public void addUpdatedManualObserver(Observer o) {
|
||||
synchronized(updatedManualListeners) {
|
||||
updatedManualListeners.addObserver(o);
|
||||
}
|
||||
}
|
||||
void updatedManual() {
|
||||
synchronized(updatedManualListeners) {
|
||||
updatedManualListeners.event();
|
||||
}
|
||||
}
|
||||
|
||||
public abstract boolean isMetadata();
|
||||
|
||||
/**
|
||||
|
||||
@ -102,7 +102,6 @@ public class UAVObjectManager {
|
||||
newInstance.event(newObj);
|
||||
}
|
||||
obj.initialize(mobj);
|
||||
//emit new instance signal
|
||||
instList.add(obj);
|
||||
newInstance.event(obj);
|
||||
|
||||
@ -155,7 +154,7 @@ public class UAVObjectManager {
|
||||
List<UAVObject> ls = new ArrayList<UAVObject>();
|
||||
ls.add(obj);
|
||||
objects.add(ls);
|
||||
//emit newObject(obj);
|
||||
newObject.event(obj);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -7,8 +7,9 @@ import java.io.InputStream;
|
||||
import java.io.OutputStream;
|
||||
import java.nio.ByteBuffer;
|
||||
import java.nio.ByteOrder;
|
||||
import java.util.Observable;
|
||||
|
||||
public class UAVTalk {
|
||||
public class UAVTalk extends Observable{
|
||||
|
||||
private Thread inputProcessingThread = null;
|
||||
/**
|
||||
@ -632,8 +633,8 @@ public class UAVTalk {
|
||||
if (respObj != null && respObj.getObjID() == obj.getObjID() && (respObj.getInstID() == obj.getInstID() || respAllInstances))
|
||||
{
|
||||
respObj = null;
|
||||
// TODO: Signals
|
||||
// emit transactionCompleted(obj);
|
||||
setChanged();
|
||||
notifyObservers(obj);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user