AndroidGCS: Add copyright headers to the UAVTalk/UAVObject/Telemetry implementations.

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

@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       Telemetry.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Port of Telemetry.cpp from the GCS.  Handles transactions on the
+ *             UAVTalk channel.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.io.IOException;
@@ -76,11 +100,13 @@ public class Telemetry {
 
         // Listen to new object creations
         objMngr.addNewInstanceObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
         		newInstance((UAVObject) data);
 			}
         });
         objMngr.addNewObjectObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
         		newObject((UAVObject) data);
         	}
@@ -88,6 +114,7 @@ public class Telemetry {
 
         // Listen to transaction completions
         utalk.addObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
 				try {
 					transactionCompleted((UAVObject) data);
@@ -228,6 +255,7 @@ public class Telemetry {
             if ( (eventMask&EV_UNPACKED) != 0)
             {
             	obj.addUnpackedObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 	            		try {
 							objectUnpacked( (UAVObject) data);
@@ -241,6 +269,7 @@ public class Telemetry {
             if ( (eventMask&EV_UPDATED) != 0)
             {
             	obj.addUpdatedAutoObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 						try {
 							objectUpdatedAuto( (UAVObject) data);
@@ -254,6 +283,7 @@ public class Telemetry {
             if ( (eventMask&EV_UPDATED_MANUAL) != 0)
             {
             	obj.addUpdatedManualObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 						try {
 							objectUpdatedManual( (UAVObject) data);
@@ -267,6 +297,7 @@ public class Telemetry {
             if ( (eventMask&EV_UPDATE_REQ) != 0)
             {
             	obj.addUpdateRequestedObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 						try {
 							updateRequested( (UAVObject) data);
@@ -692,13 +723,13 @@ public class Telemetry {
 	/**
 	 * Private variables
 	 */
-    private UAVObjectManager objMngr;
+    private final UAVObjectManager objMngr;
-    private UAVTalk utalk;
+    private final UAVTalk utalk;
     private UAVObject gcsStatsObj;
-    private List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
+    private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
-    private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
+    private final Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
-    private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
+    private final Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
-    private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
+    private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
     private boolean transPending;
 
     private Timer updateTimer;

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

@@ -1,3 +1,28 @@
+/**
+ ******************************************************************************
+ * @file       TelemetryMonitor.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      High level monitoring of telemetry to handle connection and
+ *             disconnection and then signal the rest of the application.
+ *             This also makes sure to fetch all objects on initial connection.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.io.IOException;
@@ -22,15 +47,15 @@ public class TelemetryMonitor extends Observable{
     static final int STATS_CONNECT_PERIOD_MS = 1000;
     static final int CONNECTION_TIMEOUT_MS = 8000;
 
-	private UAVObjectManager objMngr;
+	private final UAVObjectManager objMngr;
-	private Telemetry tel;
+	private final Telemetry tel;
 //	private UAVObject objPending;
 	private UAVObject gcsStatsObj;
 	private UAVObject flightStatsObj;
 	private Timer periodicTask;
 	private int currentPeriod;
 	private long lastUpdateTime;
-	private List<UAVObject> queue;
+	private final List<UAVObject> queue;
 
 	private boolean connected = false;
 	private boolean objects_updated = false;
@@ -50,6 +75,7 @@ public class TelemetryMonitor extends Observable{
 	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
 
 	    flightStatsObj.addUpdatedObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
 				try {
 					flightStatsUpdated((UAVObject) data);
@@ -146,6 +172,7 @@ public class TelemetryMonitor extends Observable{
 
 	    // TODO: Does this need to stay here permanently?  This appears to be used for setup mainly
 	    obj.addTransactionCompleted(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
 				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
 				if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
@@ -224,12 +251,12 @@ public class TelemetryMonitor extends Observable{
 	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats reset");
 
 	    // Need to compute time because this update is not regular enough
-	    float dT = (float) (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
+	    float dT = (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
 	    lastStatsTime = System.currentTimeMillis();
 
 	    // Update stats object
-	    gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / dT );
+	    gcsStatsObj.getField("RxDataRate").setDouble( telStats.rxBytes / dT );
-	    gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / dT );
+	    gcsStatsObj.getField("TxDataRate").setDouble( telStats.txBytes / dT );
 	    UAVObjectField field = gcsStatsObj.getField("RxFailures");
 	    field.setDouble(field.getDouble() + telStats.rxErrors);
 	    field = gcsStatsObj.getField("TxFailures");

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

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       UAVDataObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      The base object for all UAVO data.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 public abstract class UAVDataObject extends UAVObject {
@@ -24,6 +47,7 @@ public abstract class UAVDataObject extends UAVObject {
 	    super.initialize(instID);
 	}
 
+	@Override
 	public boolean isMetadata() { return false; };
 	/**
 	 * Assign a metaobject
@@ -45,6 +69,7 @@ public abstract class UAVDataObject extends UAVObject {
 	/**
 	 * Set the object's metadata
 	 */
+	@Override
 	public void setMetadata(Metadata mdata)
 	{
 	    if ( mobj != null )
@@ -56,6 +81,7 @@ public abstract class UAVDataObject extends UAVObject {
 	/**
 	 * Get the object's metadata
 	 */
+	@Override
 	public Metadata getMetadata()
 	{
 	    if ( mobj != null)
@@ -82,6 +108,6 @@ public abstract class UAVDataObject extends UAVObject {
     }
 
     private UAVMetaObject mobj;
-    private boolean isSet;
+    private final boolean isSet;
 
 }

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

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       UAVMetaObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base object for all UAVO meta data
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
@@ -67,6 +90,7 @@ public class UAVMetaObject extends UAVObject {
 	 * Set the metadata of the metaobject, this function will
 	 * do nothing since metaobjects have read-only metadata.
 	 */
+	@Override
 	public void setMetadata(Metadata mdata)
 	{
 		return; // can not update metaobject's metadata
@@ -75,6 +99,7 @@ public class UAVMetaObject extends UAVObject {
 	/**
 	 * Get the metadata of the metaobject
 	 */
+	@Override
 	public Metadata getMetadata()
 	{
 		return ownMetadata;
@@ -83,6 +108,7 @@ public class UAVMetaObject extends UAVObject {
 	/**
 	 * Get the default metadata
 	 */
+	@Override
 	public Metadata getDefaultMetadata()
 	{
 		return ownMetadata;
@@ -110,8 +136,8 @@ public class UAVMetaObject extends UAVObject {
 	}
 
 
-	private UAVObject parent;
+	private final UAVObject parent;
-	private Metadata ownMetadata;
+	private final Metadata ownMetadata;
 	private Metadata parentMetadata;
 
 

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

@@ -1,16 +1,39 @@
+/**
+ ******************************************************************************
+ * @file       UAVObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base object for UAVDataObject and UAVMetaObject.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.ListIterator;
-import java.util.Observer;
 import java.util.Observable;
+import java.util.Observer;
 
 public abstract class UAVObject {
 
 	public class CallbackListener extends Observable {
-		private UAVObject parent;
+		private final UAVObject parent;
 
 		public CallbackListener(UAVObject parent) {
 			this.parent = parent;
@@ -39,7 +62,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener transactionCompletedListeners = new CallbackListener(this);
+	private final CallbackListener transactionCompletedListeners = new CallbackListener(this);
 	public void addTransactionCompleted(Observer o) {
 		synchronized(transactionCompletedListeners) {
 			transactionCompletedListeners.addObserver(o);
@@ -56,7 +79,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updatedListeners = new CallbackListener(this);
+	private final CallbackListener updatedListeners = new CallbackListener(this);
 	public void removeUpdatedObserver(Observer o) {
 		synchronized(updatedListeners) {
 			updatedListeners.deleteObserver(o);
@@ -76,7 +99,7 @@ public abstract class UAVObject {
 	}
 	public void updated() { updated(true); };
 
-	private CallbackListener unpackedListeners = new CallbackListener(this);
+	private final CallbackListener unpackedListeners = new CallbackListener(this);
 	public void addUnpackedObserver(Observer o) {
 		synchronized(unpackedListeners) {
 			unpackedListeners.addObserver(o);
@@ -88,7 +111,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updatedAutoListeners = new CallbackListener(this);
+	private final CallbackListener updatedAutoListeners = new CallbackListener(this);
 	public void addUpdatedAutoObserver(Observer o) {
 		synchronized(updatedAutoListeners) {
 			updatedAutoListeners.addObserver(o);
@@ -100,7 +123,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updatedManualListeners = new CallbackListener(this);
+	private final CallbackListener updatedManualListeners = new CallbackListener(this);
 	public void addUpdatedManualObserver(Observer o) {
 		synchronized(updatedManualListeners) {
 			updatedManualListeners.addObserver(o);
@@ -112,7 +135,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updateRequestedListeners = new CallbackListener(this);
+	private final CallbackListener updateRequestedListeners = new CallbackListener(this);
 	public void addUpdateRequestedObserver(Observer o) {
 		synchronized(updateRequestedListeners) {
 			updateRequestedListeners.addObserver(o);
@@ -774,6 +797,7 @@ public abstract class UAVObject {
 	/**
 	 * Java specific functions
 	 */
+	@Override
 	public synchronized UAVObject clone() {
 		UAVObject newObj = clone();
 		List<UAVObjectField> newFields = new ArrayList<UAVObjectField>();

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

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       Telemetry.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Implementation of all the UAVObjectFields.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
@@ -144,7 +167,7 @@ public class UAVObjectField {
             case ENUM:
             	List<Byte> l = (List<Byte>) data;
                 for (int index = 0; index < numElements; ++index)
-                	dataOut.put((Byte) l.get(index));
+                	dataOut.put(l.get(index));
                 break;
             case BITFIELD:
             	for (int index = 0; index < numElements; ++index) {
@@ -196,7 +219,7 @@ public class UAVObjectField {
             {
             	List<Short> l = (List<Short>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		int signedval = (int) dataIn.get();  // this sign extends it
+            		int signedval = dataIn.get();  // this sign extends it
             		int unsignedval = signedval & 0xff;    // drop sign extension
             		l.set(index, (short) unsignedval);
             	}
@@ -206,7 +229,7 @@ public class UAVObjectField {
             {
             	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		int signedval = (int) dataIn.getShort();  // this sign extends it
+            		int signedval = dataIn.getShort();  // this sign extends it
             		int unsignedval = signedval & 0xffff;    // drop sign extension
             		l.set(index, unsignedval);
             	}
@@ -216,7 +239,7 @@ public class UAVObjectField {
             {
             	List<Long> l = (List<Long>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		long signedval = (long) dataIn.getInt();  // this sign extends it
+            		long signedval = dataIn.getInt();  // this sign extends it
             		long unsignedval = signedval & 0xffffffffL;    // drop sign extension
             		l.set(index, unsignedval);
             	}
@@ -235,7 +258,7 @@ public class UAVObjectField {
             {
             	List<Short> l = (List<Short>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		int signedval = (int) dataIn.get();  // this sign extends it
+            		int signedval = dataIn.get();  // this sign extends it
             		int unsignedval = signedval & 0xff;    // drop sign extension
             		l.set(index, (short) unsignedval);
             	}
@@ -367,7 +390,7 @@ public class UAVObjectField {
     				// Test if numeric constant passed in
     				val = ((Number) data).byteValue();
     			} catch (Exception e) {
-    				val = (byte) options.indexOf((String) data);
+    				val = (byte) options.indexOf(data);
     			}
     			//if(val < 0) throw new Exception("Enumerated value not found");
     			List<Byte> l = (List<Byte>) this.data;
@@ -474,6 +497,7 @@ public class UAVObjectField {
         }
     }
 
+	@Override
 	public String toString() {
         String sout = new String();
         sout += name + ": ";
@@ -572,43 +596,43 @@ public class UAVObjectField {
         switch (type)
         {
             case INT8:
-            	data = (Object) new ArrayList<Byte>(this.numElements);
+            	data = new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case INT16:
-            	data = (Object) new ArrayList<Short>(this.numElements);
+            	data = new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case INT32:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case UINT8:
-            	data = (Object) new ArrayList<Short>(this.numElements);
+            	data = new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case UINT16:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case UINT32:
-            	data = (Object) new ArrayList<Long>(this.numElements);
+            	data = new ArrayList<Long>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case FLOAT32:
-            	data = (Object) new ArrayList<Float>(this.numElements);
+            	data = new ArrayList<Float>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case ENUM:
-            	data = (Object) new ArrayList<Byte>(this.numElements);
+            	data = new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case BITFIELD:
-            	data = (Object) new ArrayList<Short>(this.numElements);
+            	data = new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case STRING:
-            	data = (Object) new ArrayList<String>(this.numElements);
+            	data = new ArrayList<String>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             default:

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

@@ -1,3 +1,28 @@
+/**
+ ******************************************************************************
+ * @file       UAVObjectManager.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Critical class.  This is the data store for all UAVOs.  Allows
+ *             other objects to access and change this data.  Takes care of
+ *             propagating changes to the UAV.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.util.ArrayList;
@@ -14,13 +39,13 @@ public class UAVObjectManager {
 			notifyObservers(obj);
 		}
 	}
-	private CallbackListener newInstance = new CallbackListener();
+	private final CallbackListener newInstance = new CallbackListener();
 	public void addNewInstanceObserver(Observer o) {
 		synchronized(newInstance) {
 			newInstance.addObserver(o);
 		}
 	}
-	private CallbackListener newObject = new CallbackListener();
+	private final CallbackListener newObject = new CallbackListener();
 	public void addNewObjectObserver(Observer o) {
 		synchronized(newObject) {
 			newObject.addObserver(o);
@@ -29,7 +54,7 @@ public class UAVObjectManager {
 	private final int MAX_INSTANCES = 10;
 
 	// Use array list to store objects since rarely added or deleted
-	private List<List<UAVObject>> objects = new ArrayList<List<UAVObject>>();  
+	private final List<List<UAVObject>> objects = new ArrayList<List<UAVObject>>();
 
 	public UAVObjectManager()
 	{

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

@@ -1,3 +1,29 @@
+/**
+ ******************************************************************************
+ * @file       UAVTalk.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      The protocol layer implementation of UAVTalk.  Serializes objects
+ *             for transmission (which is done in the object itself which is aware
+ *             of byte packing) wraps that in the UAVTalk packet.  Parses UAVTalk
+ *             packets and updates the UAVObjectManager.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.io.IOException;
@@ -26,6 +52,7 @@ public class UAVTalk extends Observable {
 		if (inputProcessingThread == null)
 
 			inputProcessingThread = new Thread() {
+				@Override
 				public void run() {
 					while(true) {
 						try {
@@ -753,7 +780,7 @@ public class UAVTalk extends Observable {
 
 	int updateCRC(int crc, byte[] data, int length) {
 		for (int i = 0; i < length; i++)
-			crc = updateCRC(crc, (int) data[i]);
+			crc = updateCRC(crc, data[i]);
 		return crc;
 	}