Added some missing files. Improved object browser to use ListView.

ExpandableListView next.

androidgcs/Doc/AndroidArchitecture.txt

@@ -0,0 +1,31 @@
+------- TELEMETRY ---------
+The Telemetry system has been implemented, and is composed of a few
+major components:
+
+Telemetry.java - receives command to transmit objects through telemetry and
+also emits notification when transactions are completed
+
+TelemetryMonitor.java - monitors the FlightTelemetryStats and GCSTelemetryStats
+to establish when a working connection is in place.  Also initiates downloading
+all the objects on a new connection.
+
+UAVObjectManager.java - the central data store.  The data is actually stored
+within objects, but this maintains the handles to all of them.
+
+UAVTalk.java - the actual communication layer.  Can packetize an object and
+insert into stream and process the incoming stream and update objects
+accordingly.
+
+---- MESSAGE PASSING ----
+The current implementation/analog to the slots/sockets in QT are Observers
+which are registered as added to an Observable.  This is used extensibly within
+the telemetry system.  I will continue to use this _within_ the Telemetry
+module so it doesn't depend on any android features.
+
+In android there is a constraint that UI operations should all be done from the
+UI thread.  The most common way to do this is for the UI object (such as
+Activity) to instantiate a Handler to which messages or runnables are posted.
+
+So for external objects they will register a runnable somehow...
+
+

androidgcs/res/layout/main.xml

@@ -1,13 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:orientation="vertical"
-    android:layout_width="fill_parent"
-    android:layout_height="fill_parent"
-    >
-<TextView  
-    android:layout_width="fill_parent" 
-    android:layout_height="wrap_content" 
-    />
-<TextView android:text="TextView" android:id="@+id/textView1" android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
-<ToggleButton android:text="ToggleButton" android:id="@+id/toggleButton1" android:layout_width="wrap_content" android:layout_height="wrap_content"></ToggleButton>
-</LinearLayout>
+<RelativeLayout   xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+    <ListView android:layout_width="match_parent" android:layout_height="wrap_content" android:id="@+id/object_list"></ListView>
+</RelativeLayout>

androidgcs/res/layout/object_view.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TextView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    android:padding="10dp"
+    android:textSize="16sp" >
+</TextView>

androidgcs/res/menu/options_menu.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:title="@string/menu_item_settings" android:id="@+id/menu_settings"></item>
+    <item android:title="@string/menu_item_connect" android:id="@+id/menu_connect"></item>
+    <item android:title="@string/menu_item_disconnect" android:id="@+id/menu_disconnect"></item>
+</menu>

androidgcs/res/values/strings.xml

@@ -1,4 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
     <string name="app_name">OpenPilot GCS</string>
+    <string name="menu_item_settings">Settings</string>
+    <string name="menu_item_connect">Connect</string>
+    <string name="menu_item_disconnect">Disconnect</string>
+    <string name="object_browser_title">OpenPilot Object Browser</string>
 </resources>

androidgcs/res/xml/telemetry_widget_info.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<appwidget-provider
+  xmlns:android="http://schemas.android.com/apk/res/android">
+    android:minWidth="294dp"
+    android:minHeight="72dp"
+    android:updatePeriodMillis="86400000"
+    android:initialLayout="@layout/telemetry_widget">
+    <!--  android:configure="com.example.android.ExampleAppWidgetConfigure" -->
+</appwidget-provider>

androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java

@@ -1,5 +1,8 @@
 package org.openpilot.androidgcs;
 
+import java.util.Observable;
+import java.util.Observer;
+
 import org.openpilot.uavtalk.Telemetry;
 import org.openpilot.uavtalk.TelemetryMonitor;
 import org.openpilot.uavtalk.UAVDataObject;
@@ -27,7 +30,7 @@ import android.widget.Toast;
 public class OPTelemetryService extends Service {
 
 	// Logging settings
-	private final String TAG = "OPTElemetryService";
+	private final String TAG = "OPTelemetryService";
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
@@ -44,10 +47,13 @@ public class OPTelemetryService extends Service {
 	private ServiceHandler mServiceHandler;
 
 	// Message ids
-	final int MSG_START = 0;
-	final int MSG_CONNECT_BT = 1;
-	final int MSG_CONNECT_FAKE = 2;
-	final int MSG_TOAST = 100;
+	static final int MSG_START        = 0;
+	static final int MSG_CONNECT_BT   = 1;
+	static final int MSG_CONNECT_FAKE = 2;
+	static final int MSG_DISCONNECT   = 3;
+	static final int MSG_TOAST        = 100;
+
+	private boolean terminate = false;
 
 	private Thread activeTelem;
 
@@ -65,12 +71,28 @@ public class OPTelemetryService extends Service {
 				System.out.println("HERE");
 				stopSelf(msg.arg2);
 			case MSG_CONNECT_BT:
+				terminate = false;
 				activeTelem = new BTTelemetryThread();
 				activeTelem.start();
 				break;
 			case MSG_CONNECT_FAKE:
+				terminate = false;
 				activeTelem = new FakeTelemetryThread();
 				activeTelem.start();
+				break;
+			case MSG_DISCONNECT:
+				terminate = true;
+				try {
+					activeTelem.join();
+				} catch (InterruptedException e) {
+					e.printStackTrace();
+				}
+				activeTelem = null;
+
+				Intent intent = new Intent();
+				intent.setAction(INTENT_ACTION_DISCONNECTED);
+				sendBroadcast(intent,null);
+
 				break;
 			case MSG_TOAST:
 				Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT);
@@ -129,8 +151,18 @@ public class OPTelemetryService extends Service {
 			msg.arg1 = MSG_CONNECT_FAKE;
 			mServiceHandler.sendMessage(msg);
 		}
+		public void openBTConnection() {
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_CONNECT_BT;
+			mServiceHandler.sendMessage(msg);
+		}
+		public void stopConnection() {
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_DISCONNECT;
+			mServiceHandler.sendMessage(msg);
+		}
 	};
-	
+
 	public void toastMessage(String msgText) {
 		Message msg = mServiceHandler.obtainMessage();
 		msg.arg1 = MSG_TOAST;
@@ -151,17 +183,17 @@ public class OPTelemetryService extends Service {
 			objMngr = new UAVObjectManager();
 			UAVObjectsInitialize.register(objMngr);
 		}
-		
+
 		public void run() {
-			System.out.println("Runnin fake thread");
+			System.out.println("Running fake thread");
 
 			Intent intent = new Intent();
 			intent.setAction(INTENT_ACTION_CONNECTED);
 			sendBroadcast(intent,null);
-			
+
 			//toastMessage("Started fake telemetry thread");
 			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
-			while(true) {
+			while( !terminate ) {
 				systemStats.updated();
 				try {
 					Thread.sleep(1000);
@@ -176,7 +208,7 @@ public class OPTelemetryService extends Service {
 		private UAVObjectManager objMngr;
 		private UAVTalk uavTalk;
 		private Telemetry tel;
-		//private TelemetryMonitor mon;
+		private TelemetryMonitor mon;
 
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
@@ -217,10 +249,21 @@ public class OPTelemetryService extends Service {
 
 			uavTalk = bt.getUavtalk();
 			tel = new Telemetry(uavTalk, objMngr);
-			new TelemetryMonitor(objMngr,tel);
+			mon = new TelemetryMonitor(objMngr,tel);
+			mon.addObserver(new Observer() {
+				public void update(Observable arg0, Object arg1) {
+					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
+						Intent intent = new Intent();
+						intent.setAction(INTENT_ACTION_CONNECTED);
+						sendBroadcast(intent,null);					
+					}
+				}				
+			});
+
 
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
-			while(true) {
+			while( !terminate ) {
 				if( !uavTalk.processInputStream() )
 					break;
 			}

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

@@ -1,42 +1,67 @@
 package org.openpilot.androidgcs;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
+import android.database.DataSetObserver;
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
+import android.view.Menu;
+import android.view.MenuInflater;
+import android.view.MenuItem;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.ArrayAdapter;
+import android.widget.ExpandableListAdapter;
+import android.widget.ExpandableListView;
+import android.widget.ListView;
+import android.widget.SimpleAdapter;
+import android.widget.SimpleExpandableListAdapter;
 import android.widget.TextView;
-import android.widget.ToggleButton;
+import android.widget.Toast;
 
+import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 
 public class ObjectBrowser extends ObjectManagerActivity {
 
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		switch(item.getItemId()) {
+		case R.id.menu_connect:
+			binder.openBTConnection();
+			return true;
+		case R.id.menu_disconnect:
+			binder.stopConnection();
+			updateText.run();
+			return true;
+		case R.id.menu_settings:
+			return true;
+		default:
+			return super.onOptionsItemSelected(item);
+		}
+
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.options_menu, menu);
+		return true;
+	}
+
 	private final String TAG = "ObjectBrower";
 	boolean connected;
 
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
-			ToggleButton button = (ToggleButton) findViewById(R.id.toggleButton1);
-			button.setChecked(!connected);
-
-			Log.d(TAG,"HERE" + connected);
-
-			TextView text = (TextView) findViewById(R.id.textView1);
-
-			UAVObject obj1 = objMngr.getObject("SystemStats");
-			UAVObject obj2 = objMngr.getObject("AttitudeRaw");
-			UAVObject obj3 = objMngr.getObject("AttitudeActual");
-			UAVObject obj4 = objMngr.getObject("SystemAlarms");
-
-			if(obj1 == null || obj2 == null || obj3 == null || obj4 == null)
-				return;
-
-			Log.d(TAG,"And here");
-			text.setText(obj1.toString() + "\n" + obj2.toString() + "\n" + obj3.toString() + "\n" + obj4.toString() );
-
+			Log.d(TAG,"Update");
+			update();
 		}
 	};
 
@@ -44,16 +69,15 @@ public class ObjectBrowser extends ObjectManagerActivity {
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
-		setContentView(R.layout.main);
+		setContentView(R.layout.main);		
 	}
 
 	@Override
 	void onOPConnected() {
-		//		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
+		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
-
+		
 		UAVObject obj = objMngr.getObject("SystemStats");
-		Log.d(TAG, ((Boolean) (obj == null)).toString());
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
 				public void update(Observable observable, Object data) {
@@ -62,4 +86,18 @@ public class ObjectBrowser extends ObjectManagerActivity {
 			});
 
 	}
+	
+	public void update() {
+		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
+		List<UAVDataObject> linearized = new ArrayList<UAVDataObject>();
+		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
+		while(li.hasNext()) {
+			linearized.addAll(li.next());
+		}
+		
+		ArrayAdapter<UAVDataObject> adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, linearized);
+		ListView objects = (ListView) findViewById(R.id.object_list);
+		objects.setAdapter(adapter);
+
+	}
 }

androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java

@@ -85,7 +85,6 @@ public abstract class ObjectManagerActivity extends Activity {
 			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
 			if (DEBUG) Log.d(TAG,"Service bound");
 			binder = (LocalBinder) service;			
-			binder.openFakeConnection();
 		}
 
 		public void onServiceDisconnected(ComponentName name) {

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

@@ -10,10 +10,10 @@ import java.util.TimerTask;
 
 import android.util.Log;
 
-public class TelemetryMonitor {
+public class TelemetryMonitor extends Observable{
 
 	private static final String TAG = "TelemetryMonitor";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -31,6 +31,12 @@ public class TelemetryMonitor {
 	private long lastUpdateTime;
 	private List<UAVObject> queue;
 	
+	private boolean connected = false;
+	private boolean objects_updated = false;
+	
+	public boolean getConnected() { return connected; };
+	public boolean getObjectsUpdated() { return objects_updated; };
+	
 	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
 	{
 	    this.objMngr = objMngr;
@@ -116,8 +122,9 @@ public class TelemetryMonitor {
 	    if ( queue.isEmpty() )
 	    {
 	    	if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
-	        //qxtLog->debug("Object retrieval completed");
-	        //emit connected();
+	    	objects_updated = true;
+	    	setChanged();
+	    	notifyObservers();
 	        return;
 	    }
 	    // Get next object from the queue
@@ -260,9 +267,9 @@ public class TelemetryMonitor {
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
 	    
-	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
-	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
-	    boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
+	    boolean gcsConnected = statusField.getValue().equals("Connected");
+	    boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
+	    boolean flightConnected = flightStatsObj.getField("Status").equals("Connected");
 	    
 	    if (  !gcsConnected || !flightConnected )
 	    {
@@ -275,14 +282,21 @@ public class TelemetryMonitor {
 	    {
 	    	if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
+	    	connected = true;
+	    	objects_updated = false;
 	        startRetrievingObjects();
+	        setChanged();
 	    }
 	    if (gcsDisconnected && gcsStatusChanged)
 	    {
 	    	if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
-	        //emit disconnected();
+	    	connected = false;
+	    	objects_updated = false;
+	        setChanged();
 	    }
+        notifyObservers();
+
 	}
 
 	private void setPeriod(int ms) {

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

@@ -197,8 +197,7 @@ public class UAVTalk extends Observable {
 			 return false;
 		 }
 
-		 // System.out.println("Received byte " + val + " in state + " +
-		 // rxState);
+		 //System.out.println("Received byte " + val + " in state + " + rxState);
 		 processInputByte(val);
 		 return true;
 	}