mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
Merge remote-tracking branch 'revo/james/revo' into brian/revo_link
Conflicts: ground/openpilotgcs/src/plugins/plugins.pro
This commit is contained in:
commit
e3f7c1d138
2
Makefile
2
Makefile
@ -473,7 +473,7 @@ gcs_clean: openpilotgcs_clean
|
|||||||
openpilotgcs: uavobjects_gcs
|
openpilotgcs: uavobjects_gcs
|
||||||
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
|
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
|
||||||
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
|
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
|
||||||
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) && \
|
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) $(GCS_QMAKE_OPTS) && \
|
||||||
$(MAKE) -w ; \
|
$(MAKE) -w ; \
|
||||||
)
|
)
|
||||||
|
|
||||||
|
@ -28,9 +28,10 @@ import android.util.Log;
|
|||||||
public class HidUAVTalk extends TelemetryTask {
|
public class HidUAVTalk extends TelemetryTask {
|
||||||
|
|
||||||
private static final String TAG = HidUAVTalk.class.getSimpleName();
|
private static final String TAG = HidUAVTalk.class.getSimpleName();
|
||||||
public static int LOGLEVEL = 0;
|
public static final int LOGLEVEL = 1;
|
||||||
public static boolean WARN = LOGLEVEL > 1;
|
public static final boolean DEBUG = LOGLEVEL > 2;
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||||||
public static boolean DEBUG = LOGLEVEL > 0;
|
public static final boolean WARN = LOGLEVEL > 1;
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||||||
|
public static final boolean ERROR = LOGLEVEL > 0;
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||||||
|
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||||||
//! USB constants
|
//! USB constants
|
||||||
private static final int MAX_HID_PACKET_SIZE = 64;
|
private static final int MAX_HID_PACKET_SIZE = 64;
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||||||
@ -46,7 +47,24 @@ public class HidUAVTalk extends TelemetryTask {
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|||||||
|
|
||||||
private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
|
private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
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||||||
|
|
||||||
UsbDevice currentDevice;
|
private UsbDevice currentDevice;
|
||||||
|
private UsbEndpoint usbEndpointRead;
|
||||||
|
private UsbEndpoint usbEndpointWrite;
|
||||||
|
private UsbManager usbManager;
|
||||||
|
private PendingIntent permissionIntent;
|
||||||
|
private UsbDeviceConnection usbDeviceConnection;
|
||||||
|
private IntentFilter permissionFilter;
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||||||
|
private UsbInterface usbInterface = null;
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||||||
|
private TalkInputStream inTalkStream;
|
||||||
|
private TalkOutputStream outTalkStream;
|
||||||
|
private final UsbRequest writeRequest = null;
|
||||||
|
private UsbRequest readRequest = null;
|
||||||
|
private Thread readThread;
|
||||||
|
private Thread writeThread;
|
||||||
|
|
||||||
|
private boolean readPending = false;
|
||||||
|
private boolean writePending = false;
|
||||||
|
private IntentFilter deviceAttachedFilter;
|
||||||
|
|
||||||
public HidUAVTalk(OPTelemetryService service) {
|
public HidUAVTalk(OPTelemetryService service) {
|
||||||
super(service);
|
super(service);
|
||||||
@ -56,15 +74,21 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
public void disconnect() {
|
public void disconnect() {
|
||||||
|
|
||||||
CleanUpAndClose();
|
CleanUpAndClose();
|
||||||
//hostDisplayActivity.unregisterReceiver(usbReceiver);
|
telemService.unregisterReceiver(usbReceiver);
|
||||||
telemService.unregisterReceiver(usbPermissionReceiver);
|
telemService.unregisterReceiver(usbPermissionReceiver);
|
||||||
|
|
||||||
super.disconnect();
|
super.disconnect();
|
||||||
|
|
||||||
try {
|
try {
|
||||||
if(readWriteThread != null) {
|
if(readThread != null) {
|
||||||
readWriteThread.join();
|
readThread.interrupt(); // Make sure not blocking for data
|
||||||
readWriteThread = null;
|
readThread.join();
|
||||||
|
readThread = null;
|
||||||
|
}
|
||||||
|
if(writeThread != null) {
|
||||||
|
writeThread.interrupt();
|
||||||
|
writeThread.join();
|
||||||
|
writeThread = null;
|
||||||
}
|
}
|
||||||
} catch (InterruptedException e) {
|
} catch (InterruptedException e) {
|
||||||
e.printStackTrace();
|
e.printStackTrace();
|
||||||
@ -75,13 +99,6 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
readRequest.close();
|
readRequest.close();
|
||||||
readRequest = null;
|
readRequest = null;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (writeRequest != null) {
|
|
||||||
writeRequest.cancel();
|
|
||||||
writeRequest.close();
|
|
||||||
writeRequest = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
@ -94,6 +111,11 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
permissionFilter = new IntentFilter(ACTION_USB_PERMISSION);
|
permissionFilter = new IntentFilter(ACTION_USB_PERMISSION);
|
||||||
telemService.registerReceiver(usbPermissionReceiver, permissionFilter);
|
telemService.registerReceiver(usbPermissionReceiver, permissionFilter);
|
||||||
|
|
||||||
|
deviceAttachedFilter = new IntentFilter();
|
||||||
|
deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_ATTACHED);
|
||||||
|
deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED);
|
||||||
|
telemService.registerReceiver(usbReceiver, deviceAttachedFilter);
|
||||||
|
|
||||||
// Go through all the devices plugged in
|
// Go through all the devices plugged in
|
||||||
HashMap<String, UsbDevice> deviceList = usbManager.getDeviceList();
|
HashMap<String, UsbDevice> deviceList = usbManager.getDeviceList();
|
||||||
if (DEBUG) Log.d(TAG, "Found " + deviceList.size() + " devices");
|
if (DEBUG) Log.d(TAG, "Found " + deviceList.size() + " devices");
|
||||||
@ -160,7 +182,6 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
/* TODO: Detect dettached events and close the connection
|
|
||||||
private final BroadcastReceiver usbReceiver = new BroadcastReceiver()
|
private final BroadcastReceiver usbReceiver = new BroadcastReceiver()
|
||||||
{
|
{
|
||||||
@Override
|
@Override
|
||||||
@ -179,8 +200,10 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
{
|
{
|
||||||
if (device.equals(currentDevice))
|
if (device.equals(currentDevice))
|
||||||
{
|
{
|
||||||
|
telemService.toastMessage("Device unplugged while in use");
|
||||||
|
if (DEBUG) Log.d(TAG, "Matching device disconnected");
|
||||||
// call your method that cleans up and closes communication with the device
|
// call your method that cleans up and closes communication with the device
|
||||||
CleanUpAndClose();
|
disconnect();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -197,36 +220,13 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}; */
|
};
|
||||||
|
|
||||||
private UsbEndpoint usbEndpointRead;
|
|
||||||
|
|
||||||
private UsbEndpoint usbEndpointWrite;
|
|
||||||
|
|
||||||
private UsbManager usbManager;
|
|
||||||
|
|
||||||
private PendingIntent permissionIntent;
|
|
||||||
|
|
||||||
private UsbDeviceConnection connectionRead;
|
|
||||||
|
|
||||||
private UsbDeviceConnection connectionWrite;
|
|
||||||
|
|
||||||
private IntentFilter permissionFilter;
|
|
||||||
|
|
||||||
protected void CleanUpAndClose() {
|
protected void CleanUpAndClose() {
|
||||||
if (UsingSingleInterface) {
|
if(usbDeviceConnection != null && usbInterface != null)
|
||||||
if(connectionRead != null && usbInterfaceRead != null)
|
usbDeviceConnection.releaseInterface(usbInterface);
|
||||||
connectionRead.releaseInterface(usbInterfaceRead);
|
usbInterface = null;
|
||||||
usbInterfaceRead = null;
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
if(connectionRead != null && usbInterfaceRead != null)
|
|
||||||
connectionRead.releaseInterface(usbInterfaceRead);
|
|
||||||
if(connectionWrite != null && usbInterfaceWrite != null)
|
|
||||||
connectionWrite.releaseInterface(usbInterfaceWrite);
|
|
||||||
usbInterfaceWrite = null;
|
|
||||||
usbInterfaceRead = null;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
//Validating the Connected Device - Before asking for permission to connect to the device, it is essential that you ensure that this is a device that you support or expect to connect to. This can be done by validating the devices Vendor ID and Product ID.
|
//Validating the Connected Device - Before asking for permission to connect to the device, it is essential that you ensure that this is a device that you support or expect to connect to. This can be done by validating the devices Vendor ID and Product ID.
|
||||||
@ -244,14 +244,6 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
private UsbInterface usbInterfaceRead = null;
|
|
||||||
private UsbInterface usbInterfaceWrite = null;
|
|
||||||
private final boolean UsingSingleInterface = true;
|
|
||||||
|
|
||||||
private TalkInputStream inTalkStream;
|
|
||||||
private TalkOutputStream outTalkStream;
|
|
||||||
UsbRequest writeRequest = null;
|
|
||||||
|
|
||||||
boolean ConnectToDeviceInterface(UsbDevice connectDevice) {
|
boolean ConnectToDeviceInterface(UsbDevice connectDevice) {
|
||||||
// Connecting to the Device - If you are reading and writing, then the device
|
// Connecting to the Device - If you are reading and writing, then the device
|
||||||
// can either have two end points on a single interface, or two interfaces
|
// can either have two end points on a single interface, or two interfaces
|
||||||
@ -262,87 +254,51 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
UsbEndpoint ep1 = null;
|
UsbEndpoint ep1 = null;
|
||||||
UsbEndpoint ep2 = null;
|
UsbEndpoint ep2 = null;
|
||||||
|
|
||||||
|
|
||||||
if (UsingSingleInterface)
|
|
||||||
{
|
|
||||||
// Using the same interface for reading and writing
|
// Using the same interface for reading and writing
|
||||||
usbInterfaceRead = connectDevice.getInterface(0x2);
|
usbInterface = connectDevice.getInterface(0x2);
|
||||||
usbInterfaceWrite = usbInterfaceRead;
|
if (usbInterface.getEndpointCount() == 2)
|
||||||
if (usbInterfaceRead.getEndpointCount() == 2)
|
|
||||||
{
|
{
|
||||||
ep1 = usbInterfaceRead.getEndpoint(0);
|
ep1 = usbInterface.getEndpoint(0);
|
||||||
ep2 = usbInterfaceRead.getEndpoint(1);
|
ep2 = usbInterface.getEndpoint(1);
|
||||||
}
|
}
|
||||||
}
|
|
||||||
else // if (!UsingSingleInterface)
|
|
||||||
{
|
|
||||||
usbInterfaceRead = connectDevice.getInterface(0x01);
|
|
||||||
usbInterfaceWrite = connectDevice.getInterface(0x02);
|
|
||||||
if ((usbInterfaceRead.getEndpointCount() == 1) && (usbInterfaceWrite.getEndpointCount() == 1))
|
|
||||||
{
|
|
||||||
ep1 = usbInterfaceRead.getEndpoint(0);
|
|
||||||
ep2 = usbInterfaceWrite.getEndpoint(0);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if ((ep1 == null) || (ep2 == null))
|
if ((ep1 == null) || (ep2 == null))
|
||||||
{
|
{
|
||||||
if (DEBUG) Log.d(TAG, "Null endpoints");
|
if (ERROR) Log.e(TAG, "Null endpoints");
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Determine which endpoint is the read, and which is the write
|
// Determine which endpoint is the read, and which is the write
|
||||||
|
|
||||||
if (ep1.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
|
if (ep1.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
|
||||||
{
|
{
|
||||||
if (ep1.getDirection() == UsbConstants.USB_DIR_IN)
|
if (ep1.getDirection() == UsbConstants.USB_DIR_IN)
|
||||||
{
|
|
||||||
usbEndpointRead = ep1;
|
usbEndpointRead = ep1;
|
||||||
}
|
|
||||||
else if (ep1.getDirection() == UsbConstants.USB_DIR_OUT)
|
else if (ep1.getDirection() == UsbConstants.USB_DIR_OUT)
|
||||||
{
|
|
||||||
usbEndpointWrite = ep1;
|
usbEndpointWrite = ep1;
|
||||||
}
|
}
|
||||||
}
|
|
||||||
if (ep2.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
|
if (ep2.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
|
||||||
{
|
{
|
||||||
if (ep2.getDirection() == UsbConstants.USB_DIR_IN)
|
if (ep2.getDirection() == UsbConstants.USB_DIR_IN)
|
||||||
{
|
|
||||||
usbEndpointRead = ep2;
|
usbEndpointRead = ep2;
|
||||||
}
|
|
||||||
else if (ep2.getDirection() == UsbConstants.USB_DIR_OUT)
|
else if (ep2.getDirection() == UsbConstants.USB_DIR_OUT)
|
||||||
{
|
|
||||||
usbEndpointWrite = ep2;
|
usbEndpointWrite = ep2;
|
||||||
}
|
}
|
||||||
}
|
|
||||||
if ((usbEndpointRead == null) || (usbEndpointWrite == null))
|
if ((usbEndpointRead == null) || (usbEndpointWrite == null))
|
||||||
{
|
{
|
||||||
if (DEBUG) Log.d(TAG, "Endpoints wrong way around");
|
if (ERROR) Log.e(TAG, "Could not find write and read endpoint");
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
connectionRead = usbManager.openDevice(connectDevice);
|
|
||||||
connectionRead.claimInterface(usbInterfaceRead, true);
|
|
||||||
|
|
||||||
|
// Claim the interface
|
||||||
|
usbDeviceConnection = usbManager.openDevice(connectDevice);
|
||||||
|
usbDeviceConnection.claimInterface(usbInterface, true);
|
||||||
|
|
||||||
if (UsingSingleInterface)
|
|
||||||
{
|
|
||||||
connectionWrite = connectionRead;
|
|
||||||
}
|
|
||||||
else // if (!UsingSingleInterface)
|
|
||||||
{
|
|
||||||
connectionWrite = usbManager.openDevice(connectDevice);
|
|
||||||
connectionWrite.claimInterface(usbInterfaceWrite, true);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (DEBUG) Log.d(TAG, "Opened endpoints");
|
if (DEBUG) Log.d(TAG, "Opened endpoints");
|
||||||
|
|
||||||
// Create the USB requests
|
// Create the USB requests
|
||||||
readRequest = new UsbRequest();
|
readRequest = new UsbRequest();
|
||||||
readRequest.initialize(connectionRead, usbEndpointRead);
|
readRequest.initialize(usbDeviceConnection, usbEndpointRead);
|
||||||
|
|
||||||
writeRequest = new UsbRequest();
|
|
||||||
writeRequest.initialize(connectionWrite, usbEndpointWrite);
|
|
||||||
|
|
||||||
inTalkStream = new TalkInputStream();
|
inTalkStream = new TalkInputStream();
|
||||||
outTalkStream = new TalkOutputStream();
|
outTalkStream = new TalkOutputStream();
|
||||||
@ -355,22 +311,48 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
}
|
}
|
||||||
});
|
});
|
||||||
|
|
||||||
readWriteThread = new Thread(new Runnable() {
|
readThread = new Thread(new Runnable() {
|
||||||
@Override
|
@Override
|
||||||
public void run() {
|
public void run() {
|
||||||
|
// Enqueue the first read
|
||||||
|
queueRead();
|
||||||
while (!shutdown) {
|
while (!shutdown) {
|
||||||
|
UsbRequest returned = usbDeviceConnection.requestWait();
|
||||||
|
if (returned == readRequest) {
|
||||||
|
if (DEBUG) Log.d(TAG, "Received read request");
|
||||||
readData();
|
readData();
|
||||||
sendData();
|
} else {
|
||||||
|
Log.e(TAG, "Received unknown USB response");
|
||||||
|
break;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
}, "HID Read Write");
|
}, "HID Read");
|
||||||
readWriteThread.start();
|
readThread.start();
|
||||||
|
|
||||||
|
writeThread = new Thread(new Runnable() {
|
||||||
|
@Override
|
||||||
|
public void run() {
|
||||||
|
if (DEBUG) Log.d(TAG, "Starting HID write thread");
|
||||||
|
while(!shutdown) {
|
||||||
|
try {
|
||||||
|
if (sendDataSynchronous() == false)
|
||||||
|
break;
|
||||||
|
} catch (InterruptedException e) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (DEBUG) Log.d(TAG, "Ending HID write thread");
|
||||||
|
}
|
||||||
|
}, "HID Write");
|
||||||
|
writeThread.start();
|
||||||
|
|
||||||
|
telemService.toastMessage("HID Device Opened");
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
Thread readWriteThread;
|
|
||||||
|
|
||||||
void displayBuffer(String msg, byte[] buf) {
|
void displayBuffer(String msg, byte[] buf) {
|
||||||
msg += " (";
|
msg += " (";
|
||||||
@ -384,71 +366,100 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
* Gets a report from HID, extract the meaningful data and push
|
* Gets a report from HID, extract the meaningful data and push
|
||||||
* it to the input stream
|
* it to the input stream
|
||||||
*/
|
*/
|
||||||
UsbRequest readRequest = null;
|
ByteBuffer readBuffer = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
|
||||||
public int readData() {
|
|
||||||
int bufferDataLength = usbEndpointRead.getMaxPacketSize();
|
|
||||||
ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
|
|
||||||
|
|
||||||
// queue a request on the interrupt endpoint
|
/**
|
||||||
if(!readRequest.queue(buffer, bufferDataLength)) {
|
* Schedules a USB read
|
||||||
if (DEBUG) Log.d(TAG, "Failed to queue request");
|
*/
|
||||||
return 0;
|
private void queueRead() {
|
||||||
|
synchronized(readRequest) {
|
||||||
|
if(!readRequest.queue(readBuffer, MAX_HID_PACKET_SIZE)) {
|
||||||
|
if (ERROR) Log.e(TAG, "Failed to queue request");
|
||||||
|
} else
|
||||||
|
readPending = true;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if (DEBUG) Log.d(TAG, "Request queued");
|
/**
|
||||||
|
* Reads data from the last USB transaction and schedules another read
|
||||||
|
*/
|
||||||
|
public void readData() {
|
||||||
|
synchronized(readRequest) {
|
||||||
|
|
||||||
int dataSize;
|
if (!readPending) {
|
||||||
// wait for status event
|
if (ERROR) Log.e(TAG, "Tried to read read while a transaction was not pending");
|
||||||
if (connectionRead.requestWait() == readRequest) {
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// We just received a read
|
||||||
|
readPending = false;
|
||||||
// Packet format:
|
// Packet format:
|
||||||
// 0: Report ID (1)
|
// 0: Report ID (1)
|
||||||
// 1: Number of valid bytes
|
// 1: Number of valid bytes
|
||||||
// 2:63: Data
|
// 2:63: Data
|
||||||
|
|
||||||
dataSize = buffer.get(1); // Data size
|
int dataSize = readBuffer.get(1); // Data size
|
||||||
//Assert.assertEquals(1, buffer.get()); // Report ID
|
//Assert.assertEquals(1, buffer.get()); // Report ID
|
||||||
//Assert.assertTrue(dataSize < buffer.capacity());
|
//Assert.assertTrue(dataSize < buffer.capacity());
|
||||||
|
|
||||||
if (buffer.get(0) != 1 || buffer.get(1) < 0 || buffer.get(1) > (buffer.capacity() - 2)) {
|
if (readBuffer.get(0) != 1 || readBuffer.get(1) < 0 || readBuffer.get(1) > (readBuffer.capacity() - 2)) {
|
||||||
if (DEBUG) Log.d(TAG, "Badly formatted HID packet");
|
if (ERROR) Log.e(TAG, "Badly formatted HID packet");
|
||||||
} else {
|
} else {
|
||||||
byte[] dst = new byte[dataSize];
|
byte[] dst = new byte[dataSize];
|
||||||
buffer.position(2);
|
readBuffer.position(2);
|
||||||
buffer.get(dst, 0, dataSize);
|
readBuffer.get(dst, 0, dataSize);
|
||||||
if (DEBUG) Log.d(TAG, "Entered read");
|
if (DEBUG) Log.d(TAG, "Entered read");
|
||||||
inTalkStream.write(dst);
|
inTalkStream.write(dst);
|
||||||
if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
|
if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
|
||||||
}
|
}
|
||||||
} else
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
return dataSize;
|
// Queue another read
|
||||||
|
queueRead();
|
||||||
|
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Send a packet if data is available
|
* Send a packet if data is available
|
||||||
*/
|
*/
|
||||||
public void sendData() {
|
public void sendData() {
|
||||||
ByteBuffer packet = null;
|
synchronized(writeRequest) {
|
||||||
do { // Send all the data available to prevent sending backlog
|
// Don't try and send data till previous request completes
|
||||||
packet = outTalkStream.getHIDpacket();
|
if (writePending)
|
||||||
|
return;
|
||||||
|
|
||||||
|
ByteBuffer packet = outTalkStream.getHIDpacket();
|
||||||
if (packet != null) {
|
if (packet != null) {
|
||||||
if (DEBUG) Log.d(TAG, "Writing to device()");
|
if (DEBUG) Log.d(TAG, "Writing to device()");
|
||||||
|
|
||||||
int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
|
int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
|
||||||
Assert.assertTrue(packet.capacity() <= bufferDataLength);
|
Assert.assertTrue(packet.capacity() <= bufferDataLength);
|
||||||
|
|
||||||
writeRequest.queue(packet, bufferDataLength);
|
if(writeRequest.queue(packet, bufferDataLength))
|
||||||
try
|
writePending = true;
|
||||||
{
|
else if (ERROR)
|
||||||
if (!writeRequest.equals(connectionWrite.requestWait()))
|
Log.e(TAG, "Write queuing failed");
|
||||||
Log.e(TAG, "writeRequest failed");
|
|
||||||
}
|
|
||||||
catch (Exception ex)
|
|
||||||
{
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
} while (packet != null);
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Send a packet if data is available
|
||||||
|
* @throws InterruptedException
|
||||||
|
*/
|
||||||
|
public boolean sendDataSynchronous() throws InterruptedException {
|
||||||
|
|
||||||
|
ByteBuffer packet = outTalkStream.getHIDpacketBlocking();
|
||||||
|
if (packet != null) {
|
||||||
|
if (DEBUG) Log.d(TAG, "sendDataSynchronous() Writing to device()");
|
||||||
|
|
||||||
|
if (usbDeviceConnection.bulkTransfer(usbEndpointWrite, packet.array(), MAX_HID_PACKET_SIZE, 1000) < 0) {
|
||||||
|
Log.e(TAG, "Failed to perform bulk write");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
/*********** Helper classes for telemetry streams ************/
|
/*********** Helper classes for telemetry streams ************/
|
||||||
@ -458,6 +469,20 @@ public class HidUAVTalk extends TelemetryTask {
|
|||||||
// and ByteFifo.put(byte [])
|
// and ByteFifo.put(byte [])
|
||||||
ByteFifo data = new ByteFifo();
|
ByteFifo data = new ByteFifo();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Blocks until data is available and then returns a properly formatted HID packet
|
||||||
|
*/
|
||||||
|
public ByteBuffer getHIDpacketBlocking() throws InterruptedException {
|
||||||
|
synchronized(data) {
|
||||||
|
if (data.remaining() == 0)
|
||||||
|
data.wait();
|
||||||
|
return getHIDpacket();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Gets data from the ByteFifo in a properly formatted HID packet
|
||||||
|
*/
|
||||||
public ByteBuffer getHIDpacket() {
|
public ByteBuffer getHIDpacket() {
|
||||||
ByteBuffer packet = null;
|
ByteBuffer packet = null;
|
||||||
synchronized(data) {
|
synchronized(data) {
|
||||||
|
@ -26,16 +26,10 @@
|
|||||||
*/
|
*/
|
||||||
package org.openpilot.androidgcs.telemetry;
|
package org.openpilot.androidgcs.telemetry;
|
||||||
|
|
||||||
import java.io.IOException;
|
|
||||||
import java.lang.ref.WeakReference;
|
import java.lang.ref.WeakReference;
|
||||||
import java.util.Observable;
|
|
||||||
import java.util.Observer;
|
|
||||||
|
|
||||||
import org.openpilot.uavtalk.Telemetry;
|
|
||||||
import org.openpilot.uavtalk.TelemetryMonitor;
|
|
||||||
import org.openpilot.uavtalk.UAVDataObject;
|
import org.openpilot.uavtalk.UAVDataObject;
|
||||||
import org.openpilot.uavtalk.UAVObjectManager;
|
import org.openpilot.uavtalk.UAVObjectManager;
|
||||||
import org.openpilot.uavtalk.UAVTalk;
|
|
||||||
import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
|
import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
|
||||||
|
|
||||||
import android.app.Service;
|
import android.app.Service;
|
||||||
@ -127,7 +121,7 @@ public class OPTelemetryService extends Service {
|
|||||||
break;
|
break;
|
||||||
case 2:
|
case 2:
|
||||||
Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
|
Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
|
||||||
activeTelem = new BTTelemetryThread();
|
//activeTelem = new BTTelemetryThread();
|
||||||
break;
|
break;
|
||||||
case 3:
|
case 3:
|
||||||
Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
|
Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
|
||||||
@ -347,6 +341,8 @@ public class OPTelemetryService extends Service {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
private class BTTelemetryThread extends Thread implements TelemTask {
|
private class BTTelemetryThread extends Thread implements TelemTask {
|
||||||
|
|
||||||
private final UAVObjectManager objMngr;
|
private final UAVObjectManager objMngr;
|
||||||
@ -401,7 +397,7 @@ public class OPTelemetryService extends Service {
|
|||||||
@Override
|
@Override
|
||||||
public void update(Observable arg0, Object arg1) {
|
public void update(Observable arg0, Object arg1) {
|
||||||
if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
|
if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
|
||||||
if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
|
if(mon.getConnected() ) {
|
||||||
Intent intent = new Intent();
|
Intent intent = new Intent();
|
||||||
intent.setAction(INTENT_ACTION_CONNECTED);
|
intent.setAction(INTENT_ACTION_CONNECTED);
|
||||||
sendBroadcast(intent,null);
|
sendBroadcast(intent,null);
|
||||||
@ -423,6 +419,5 @@ public class OPTelemetryService extends Service {
|
|||||||
}
|
}
|
||||||
if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
|
if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
|
||||||
}
|
}
|
||||||
|
};*/
|
||||||
};
|
|
||||||
}
|
}
|
||||||
|
@ -105,8 +105,8 @@ public abstract class TelemetryTask implements Runnable {
|
|||||||
// Create the required telemetry objects attached to this
|
// Create the required telemetry objects attached to this
|
||||||
// data stream
|
// data stream
|
||||||
uavTalk = new UAVTalk(inStream, outStream, objMngr);
|
uavTalk = new UAVTalk(inStream, outStream, objMngr);
|
||||||
tel = new Telemetry(uavTalk, objMngr);
|
tel = new Telemetry(uavTalk, objMngr, Looper.myLooper());
|
||||||
mon = new TelemetryMonitor(objMngr,tel);
|
mon = new TelemetryMonitor(objMngr,tel, telemService);
|
||||||
|
|
||||||
// Create an observer to notify system of connection
|
// Create an observer to notify system of connection
|
||||||
mon.addObserver(connectionObserver);
|
mon.addObserver(connectionObserver);
|
||||||
|
@ -35,15 +35,24 @@ import java.util.Timer;
|
|||||||
import java.util.TimerTask;
|
import java.util.TimerTask;
|
||||||
import java.util.concurrent.ConcurrentLinkedQueue;
|
import java.util.concurrent.ConcurrentLinkedQueue;
|
||||||
|
|
||||||
|
import junit.framework.Assert;
|
||||||
|
import android.os.Handler;
|
||||||
|
import android.os.Looper;
|
||||||
import android.util.Log;
|
import android.util.Log;
|
||||||
|
|
||||||
public class Telemetry {
|
public class Telemetry {
|
||||||
|
/**
|
||||||
|
* Telemetry provides a messaging handler to handle all the object updates
|
||||||
|
* and transfer requests. This handler can either be attached to a new loop
|
||||||
|
* attached to the thread started by the telemetry service.
|
||||||
|
*/
|
||||||
|
|
||||||
private final String TAG = "Telemetry";
|
private final String TAG = "Telemetry";
|
||||||
public static int LOGLEVEL = 1;
|
public static int LOGLEVEL = 0;
|
||||||
public static boolean WARN = LOGLEVEL > 2;
|
public static boolean DEBUG = LOGLEVEL > 2;
|
||||||
public static boolean DEBUG = LOGLEVEL > 1;
|
public static boolean WARN = LOGLEVEL > 1;
|
||||||
public static boolean ERROR = LOGLEVEL > 0;
|
public static boolean ERROR = LOGLEVEL > 0;
|
||||||
|
|
||||||
public class TelemetryStats {
|
public class TelemetryStats {
|
||||||
public int txBytes;
|
public int txBytes;
|
||||||
public int rxBytes;
|
public int rxBytes;
|
||||||
@ -54,12 +63,14 @@ public class Telemetry {
|
|||||||
public int txErrors;
|
public int txErrors;
|
||||||
public int rxErrors;
|
public int rxErrors;
|
||||||
public int txRetries;
|
public int txRetries;
|
||||||
} ;
|
};
|
||||||
|
|
||||||
class ObjectTimeInfo {
|
class ObjectTimeInfo {
|
||||||
UAVObject obj;
|
UAVObject obj;
|
||||||
int updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
|
int updatePeriodMs;
|
||||||
int timeToNextUpdateMs; /** Time delay to the next update */
|
/** Update period in ms or 0 if no periodic updates are needed */
|
||||||
|
int timeToNextUpdateMs;
|
||||||
|
/** Time delay to the next update */
|
||||||
};
|
};
|
||||||
|
|
||||||
class ObjectQueueInfo {
|
class ObjectQueueInfo {
|
||||||
@ -71,10 +82,12 @@ public class Telemetry {
|
|||||||
public boolean equals(Object e) {
|
public boolean equals(Object e) {
|
||||||
try {
|
try {
|
||||||
ObjectQueueInfo o = (ObjectQueueInfo) e;
|
ObjectQueueInfo o = (ObjectQueueInfo) e;
|
||||||
return o.obj.getObjID() == obj.getObjID() && o.event == event && o.allInstances == allInstances;
|
return o.obj.getObjID() == obj.getObjID() && o.event == event
|
||||||
|
&& o.allInstances == allInstances;
|
||||||
} catch (Exception err) {
|
} catch (Exception err) {
|
||||||
|
|
||||||
};
|
}
|
||||||
|
;
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
@ -85,29 +98,37 @@ public class Telemetry {
|
|||||||
boolean objRequest;
|
boolean objRequest;
|
||||||
int retriesRemaining;
|
int retriesRemaining;
|
||||||
boolean acked;
|
boolean acked;
|
||||||
} ;
|
};
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Events generated by objects. Not enum because used in mask.
|
* Events generated by objects. Not enum because used in mask.
|
||||||
*/
|
*/
|
||||||
private static final int EV_UNPACKED = 0x01; /** Object data updated by unpacking */
|
private static final int EV_UNPACKED = 0x01;
|
||||||
private static final int EV_UPDATED = 0x02; /** Object data updated by changing the data structure */
|
/** Object data updated by unpacking */
|
||||||
private static final int EV_UPDATED_MANUAL = 0x04; /** Object update event manually generated */
|
private static final int EV_UPDATED = 0x02;
|
||||||
private static final int EV_UPDATE_REQ = 0x08; /** Request to update object data */
|
/** Object data updated by changing the data structure */
|
||||||
|
private static final int EV_UPDATED_MANUAL = 0x04;
|
||||||
|
/** Object update event manually generated */
|
||||||
|
private static final int EV_UPDATE_REQ = 0x08;
|
||||||
|
|
||||||
|
/** Request to update object data */
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Constructor
|
* Constructor
|
||||||
*/
|
*/
|
||||||
public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr)
|
public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr, Looper l) {
|
||||||
{
|
|
||||||
this.utalk = utalkIn;
|
this.utalk = utalkIn;
|
||||||
this.objMngr = objMngr;
|
this.objMngr = objMngr;
|
||||||
|
|
||||||
|
// Create a handler for object messages
|
||||||
|
handler = new ObjectUpdateHandler(l);
|
||||||
|
|
||||||
// Process all objects in the list
|
// Process all objects in the list
|
||||||
List< List<UAVObject> > objs = objMngr.getObjects();
|
List<List<UAVObject>> objs = objMngr.getObjects();
|
||||||
ListIterator<List<UAVObject>> li = objs.listIterator();
|
ListIterator<List<UAVObject>> li = objs.listIterator();
|
||||||
while(li.hasNext())
|
while (li.hasNext())
|
||||||
registerObject(li.next().get(0)); // we only need to register one instance per object type
|
registerObject(li.next().get(0)); // we only need to register one
|
||||||
|
// instance per object type
|
||||||
|
|
||||||
// Listen to new object creations
|
// Listen to new object creations
|
||||||
objMngr.addNewInstanceObserver(new Observer() {
|
objMngr.addNewInstanceObserver(new Observer() {
|
||||||
@ -124,27 +145,18 @@ public class Telemetry {
|
|||||||
});
|
});
|
||||||
|
|
||||||
// Listen to transaction completions from uavtalk
|
// Listen to transaction completions from uavtalk
|
||||||
utalk.setOnTransactionCompletedListener(
|
utalk.setOnTransactionCompletedListener(utalk.new OnTransactionCompletedListener() {
|
||||||
utalk.new OnTransactionCompletedListener() {
|
|
||||||
@Override
|
@Override
|
||||||
void TransactionSucceeded(UAVObject data) {
|
void TransactionSucceeded(UAVObject data) {
|
||||||
try {
|
|
||||||
transactionCompleted(data, true);
|
transactionCompleted(data, true);
|
||||||
} catch (IOException e) {
|
|
||||||
// Disconnect when stream fails
|
|
||||||
utalk.setOnTransactionCompletedListener(null);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
void TransactionFailed(UAVObject data) {
|
void TransactionFailed(UAVObject data) {
|
||||||
try {
|
if (DEBUG)
|
||||||
if (DEBUG) Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
|
Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
|
||||||
|
|
||||||
transactionCompleted(data, false);
|
transactionCompleted(data, false);
|
||||||
} catch (IOException e) {
|
|
||||||
// Disconnect when stream fails
|
|
||||||
utalk.setOnTransactionCompletedListener(null);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
});
|
});
|
||||||
@ -162,28 +174,6 @@ public class Telemetry {
|
|||||||
txRetries = 0;
|
txRetries = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
synchronized void transTimerSetPeriod(int periodMs) {
|
|
||||||
if(transTimerTask != null)
|
|
||||||
transTimerTask.cancel();
|
|
||||||
|
|
||||||
if(transTimer != null)
|
|
||||||
transTimer.purge();
|
|
||||||
|
|
||||||
transTimer = new Timer();
|
|
||||||
|
|
||||||
transTimerTask = new TimerTask() {
|
|
||||||
@Override
|
|
||||||
public void run() {
|
|
||||||
try {
|
|
||||||
transactionTimeout();
|
|
||||||
} catch (IOException e) {
|
|
||||||
cancel();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
transTimer.schedule(transTimerTask, periodMs, periodMs);
|
|
||||||
}
|
|
||||||
|
|
||||||
synchronized void updateTimerSetPeriod(int periodMs) {
|
synchronized void updateTimerSetPeriod(int periodMs) {
|
||||||
if (updateTimer != null) {
|
if (updateTimer != null) {
|
||||||
updateTimer.cancel();
|
updateTimer.cancel();
|
||||||
@ -212,8 +202,7 @@ public class Telemetry {
|
|||||||
/**
|
/**
|
||||||
* Register a new object for periodic updates (if enabled)
|
* Register a new object for periodic updates (if enabled)
|
||||||
*/
|
*/
|
||||||
private synchronized void registerObject(UAVObject obj)
|
private synchronized void registerObject(UAVObject obj) {
|
||||||
{
|
|
||||||
// Setup object for periodic updates
|
// Setup object for periodic updates
|
||||||
addObject(obj);
|
addObject(obj);
|
||||||
|
|
||||||
@ -224,15 +213,14 @@ public class Telemetry {
|
|||||||
/**
|
/**
|
||||||
* Add an object in the list used for periodic updates
|
* Add an object in the list used for periodic updates
|
||||||
*/
|
*/
|
||||||
private synchronized void addObject(UAVObject obj)
|
private synchronized void addObject(UAVObject obj) {
|
||||||
{
|
|
||||||
// Check if object type is already in the list
|
// Check if object type is already in the list
|
||||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||||
while(li.hasNext()) {
|
while (li.hasNext()) {
|
||||||
ObjectTimeInfo n = li.next();
|
ObjectTimeInfo n = li.next();
|
||||||
if( n.obj.getObjID() == obj.getObjID() )
|
if (n.obj.getObjID() == obj.getObjID()) {
|
||||||
{
|
// Object type (not instance!) is already in the list, do
|
||||||
// Object type (not instance!) is already in the list, do nothing
|
// nothing
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -248,16 +236,15 @@ public class Telemetry {
|
|||||||
/**
|
/**
|
||||||
* Update the object's timers
|
* Update the object's timers
|
||||||
*/
|
*/
|
||||||
private synchronized void setUpdatePeriod(UAVObject obj, int periodMs)
|
private synchronized void setUpdatePeriod(UAVObject obj, int periodMs) {
|
||||||
{
|
|
||||||
// Find object type (not instance!) and update its period
|
// Find object type (not instance!) and update its period
|
||||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||||
while(li.hasNext()) {
|
while (li.hasNext()) {
|
||||||
ObjectTimeInfo n = li.next();
|
ObjectTimeInfo n = li.next();
|
||||||
if ( n.obj.getObjID() == obj.getObjID() )
|
if (n.obj.getObjID() == obj.getObjID()) {
|
||||||
{
|
|
||||||
n.updatePeriodMs = periodMs;
|
n.updatePeriodMs = periodMs;
|
||||||
n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random()).nextDouble()); // avoid bunching of updates
|
n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random())
|
||||||
|
.nextDouble()); // avoid bunching of updates
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -265,63 +252,44 @@ public class Telemetry {
|
|||||||
final Observer unpackedObserver = new Observer() {
|
final Observer unpackedObserver = new Observer() {
|
||||||
@Override
|
@Override
|
||||||
public void update(Observable observable, Object data) {
|
public void update(Observable observable, Object data) {
|
||||||
try {
|
handler.unpacked((UAVObject) data);
|
||||||
enqueueObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
|
|
||||||
} catch (IOException e) {
|
|
||||||
// TODO Auto-generated catch block
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
final Observer updatedAutoObserver = new Observer() {
|
final Observer updatedAutoObserver = new Observer() {
|
||||||
@Override
|
@Override
|
||||||
public void update(Observable observable, Object data) {
|
public void update(Observable observable, Object data) {
|
||||||
try {
|
handler.updatedAuto((UAVObject) data);
|
||||||
enqueueObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
|
|
||||||
} catch (IOException e) {
|
|
||||||
// TODO Auto-generated catch block
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
final Observer updatedManualObserver = new Observer() {
|
final Observer updatedManualObserver = new Observer() {
|
||||||
@Override
|
@Override
|
||||||
public void update(Observable observable, Object data) {
|
public void update(Observable observable, Object data) {
|
||||||
try {
|
handler.updatedManual((UAVObject) data);
|
||||||
enqueueObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
|
|
||||||
} catch (IOException e) {
|
|
||||||
// TODO Auto-generated catch block
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
final Observer updatedRequestedObserver = new Observer() {
|
final Observer updatedRequestedObserver = new Observer() {
|
||||||
@Override
|
@Override
|
||||||
public void update(Observable observable, Object data) {
|
public void update(Observable observable, Object data) {
|
||||||
try {
|
handler.updateRequested((UAVObject) data);
|
||||||
enqueueObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
|
|
||||||
} catch (IOException e) {
|
|
||||||
// TODO Auto-generated catch block
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Connect to all instances of an object depending on the event mask specified
|
* Connect to all instances of an object depending on the event mask
|
||||||
|
* specified
|
||||||
*/
|
*/
|
||||||
private synchronized void connectToObjectInstances(UAVObject obj, int eventMask)
|
private synchronized void connectToObjectInstances(UAVObject obj,
|
||||||
{
|
int eventMask) {
|
||||||
List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
|
List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
|
||||||
ListIterator<UAVObject> li = objs.listIterator();
|
ListIterator<UAVObject> li = objs.listIterator();
|
||||||
while(li.hasNext())
|
while (li.hasNext()) {
|
||||||
{
|
|
||||||
obj = li.next();
|
obj = li.next();
|
||||||
|
|
||||||
// Disconnect all previous observers from telemetry. This is imortant as this can
|
// Disconnect all previous observers from telemetry. This is
|
||||||
|
// imortant as this can
|
||||||
// be called multiple times
|
// be called multiple times
|
||||||
obj.removeUnpackedObserver(unpackedObserver);
|
obj.removeUnpackedObserver(unpackedObserver);
|
||||||
obj.removeUpdatedAutoObserver(updatedAutoObserver);
|
obj.removeUpdatedAutoObserver(updatedAutoObserver);
|
||||||
@ -329,13 +297,13 @@ public class Telemetry {
|
|||||||
obj.removeUpdateRequestedObserver(updatedRequestedObserver);
|
obj.removeUpdateRequestedObserver(updatedRequestedObserver);
|
||||||
|
|
||||||
// Connect only the selected events
|
// Connect only the selected events
|
||||||
if ( (eventMask&EV_UNPACKED) != 0)
|
if ((eventMask & EV_UNPACKED) != 0)
|
||||||
obj.addUnpackedObserver(unpackedObserver);
|
obj.addUnpackedObserver(unpackedObserver);
|
||||||
if ( (eventMask&EV_UPDATED) != 0)
|
if ((eventMask & EV_UPDATED) != 0)
|
||||||
obj.addUpdatedAutoObserver(updatedAutoObserver);
|
obj.addUpdatedAutoObserver(updatedAutoObserver);
|
||||||
if ( (eventMask&EV_UPDATED_MANUAL) != 0)
|
if ((eventMask & EV_UPDATED_MANUAL) != 0)
|
||||||
obj.addUpdatedManualObserver(updatedManualObserver);
|
obj.addUpdatedManualObserver(updatedManualObserver);
|
||||||
if ( (eventMask&EV_UPDATE_REQ) != 0)
|
if ((eventMask & EV_UPDATE_REQ) != 0)
|
||||||
obj.addUpdateRequestedObserver(updatedRequestedObserver);
|
obj.addUpdateRequestedObserver(updatedRequestedObserver);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -343,337 +311,103 @@ public class Telemetry {
|
|||||||
/**
|
/**
|
||||||
* Update an object based on its metadata properties
|
* Update an object based on its metadata properties
|
||||||
*/
|
*/
|
||||||
private synchronized void updateObject(UAVObject obj)
|
private void updateObject(UAVObject obj) {
|
||||||
{
|
|
||||||
// Get metadata
|
// Get metadata
|
||||||
UAVObject.Metadata metadata = obj.getMetadata();
|
UAVObject.Metadata metadata = obj.getMetadata();
|
||||||
|
|
||||||
// Setup object depending on update mode
|
// Setup object depending on update mode
|
||||||
int eventMask;
|
int eventMask;
|
||||||
if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
|
if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC) {
|
||||||
{
|
|
||||||
// Set update period
|
// Set update period
|
||||||
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
|
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
|
||||||
// Connect signals for all instances
|
// Connect signals for all instances
|
||||||
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||||
if(obj.isMetadata())
|
if (obj.isMetadata())
|
||||||
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
|
eventMask |= EV_UNPACKED; // we also need to act on remote
|
||||||
|
// updates (unpack events)
|
||||||
|
|
||||||
connectToObjectInstances(obj, eventMask);
|
connectToObjectInstances(obj, eventMask);
|
||||||
}
|
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
|
||||||
else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
|
|
||||||
{
|
|
||||||
// Set update period
|
// Set update period
|
||||||
setUpdatePeriod(obj, 0);
|
setUpdatePeriod(obj, 0);
|
||||||
// Connect signals for all instances
|
// Connect signals for all instances
|
||||||
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||||
if(obj.isMetadata())
|
if (obj.isMetadata())
|
||||||
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
|
eventMask |= EV_UNPACKED; // we also need to act on remote
|
||||||
|
// updates (unpack events)
|
||||||
|
|
||||||
connectToObjectInstances(obj, eventMask);
|
connectToObjectInstances(obj, eventMask);
|
||||||
}
|
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
|
||||||
else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED )
|
|
||||||
{
|
|
||||||
// TODO
|
// TODO
|
||||||
}
|
} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL) {
|
||||||
else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
|
|
||||||
{
|
|
||||||
// Set update period
|
// Set update period
|
||||||
setUpdatePeriod(obj, 0);
|
setUpdatePeriod(obj, 0);
|
||||||
// Connect signals for all instances
|
// Connect signals for all instances
|
||||||
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
|
||||||
if(obj.isMetadata())
|
if (obj.isMetadata())
|
||||||
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
|
eventMask |= EV_UNPACKED; // we also need to act on remote
|
||||||
|
// updates (unpack events)
|
||||||
|
|
||||||
connectToObjectInstances(obj, eventMask);
|
connectToObjectInstances(obj, eventMask);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Called when a transaction is successfully completed (uavtalk event)
|
* Check is any objects are pending for periodic updates TODO: Clean-up
|
||||||
|
*
|
||||||
* @throws IOException
|
* @throws IOException
|
||||||
*/
|
*/
|
||||||
private synchronized void transactionCompleted(UAVObject obj, boolean result) throws IOException
|
private void processPeriodicUpdates() throws IOException {
|
||||||
{
|
|
||||||
if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
|
|
||||||
// Check if there is a pending transaction and the objects match
|
|
||||||
if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
|
|
||||||
{
|
|
||||||
if (DEBUG) Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
|
|
||||||
// Complete transaction
|
|
||||||
transTimer.cancel();
|
|
||||||
transPending = false;
|
|
||||||
|
|
||||||
//Send signal
|
if (DEBUG)
|
||||||
obj.transactionCompleted(result);
|
Log.d(TAG, "processPeriodicUpdates()");
|
||||||
// Process new object updates from queue
|
|
||||||
processObjectQueue();
|
|
||||||
} else
|
|
||||||
{
|
|
||||||
if (ERROR) Log.e(TAG,"Error: received a transaction completed when did not expect it.");
|
|
||||||
transPending = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Called when a transaction is not completed within the timeout period (timer event)
|
|
||||||
* @throws IOException
|
|
||||||
*/
|
|
||||||
private synchronized void transactionTimeout() throws IOException
|
|
||||||
{
|
|
||||||
if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
|
|
||||||
transTimer.cancel();
|
|
||||||
// Proceed only if there is a pending transaction
|
|
||||||
if ( transPending )
|
|
||||||
{
|
|
||||||
// Check if more retries are pending
|
|
||||||
if (transInfo.retriesRemaining > 0)
|
|
||||||
{
|
|
||||||
--transInfo.retriesRemaining;
|
|
||||||
processObjectTransaction();
|
|
||||||
++txRetries;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
|
|
||||||
|
|
||||||
// Terminate transaction. This triggers UAVTalk to send a transaction
|
|
||||||
// failed signal which will make the next queue entry be processed
|
|
||||||
// Note this is UAVTalk listener TransactionFailed function and not the
|
|
||||||
// object specific transaction failed.
|
|
||||||
utalk.cancelPendingTransaction(transInfo.obj);
|
|
||||||
++txErrors;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Start an object transaction with UAVTalk, all information is stored in transInfo
|
|
||||||
* @throws IOException
|
|
||||||
*/
|
|
||||||
private synchronized void processObjectTransaction() throws IOException
|
|
||||||
{
|
|
||||||
if (transPending)
|
|
||||||
{
|
|
||||||
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
|
||||||
// Initiate transaction
|
|
||||||
if (transInfo.objRequest)
|
|
||||||
{
|
|
||||||
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
|
|
||||||
}
|
|
||||||
// Start timer if a response is expected
|
|
||||||
if ( transInfo.objRequest || transInfo.acked )
|
|
||||||
{
|
|
||||||
transTimerSetPeriod(REQ_TIMEOUT_MS);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
transTimer.cancel();
|
|
||||||
transPending = false;
|
|
||||||
}
|
|
||||||
} else
|
|
||||||
{
|
|
||||||
if (ERROR) Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Enqueue the event received from an object. This is the main method that handles all the callbacks
|
|
||||||
* from UAVObjects (due to updates, or update requests)
|
|
||||||
*/
|
|
||||||
private void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
|
|
||||||
{
|
|
||||||
// Push event into queue
|
|
||||||
if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
|
|
||||||
if(event == 8 && obj.getName().compareTo("GCSTelemetryStats") == 0)
|
|
||||||
Thread.dumpStack();
|
|
||||||
ObjectQueueInfo objInfo = new ObjectQueueInfo();
|
|
||||||
objInfo.obj = obj;
|
|
||||||
objInfo.event = event;
|
|
||||||
objInfo.allInstances = allInstances;
|
|
||||||
if (priority)
|
|
||||||
{
|
|
||||||
// Only enqueue if an identical transaction does not already exist
|
|
||||||
if(!objPriorityQueue.contains(objInfo)) {
|
|
||||||
if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
|
|
||||||
{
|
|
||||||
objPriorityQueue.add(objInfo);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
++txErrors;
|
|
||||||
obj.transactionCompleted(false);
|
|
||||||
Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// Only enqueue if an identical transaction does not already exist
|
|
||||||
if(!objQueue.contains(objInfo)) {
|
|
||||||
if ( objQueue.size() < MAX_QUEUE_SIZE )
|
|
||||||
{
|
|
||||||
objQueue.add(objInfo);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
++txErrors;
|
|
||||||
obj.transactionCompleted(false);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// If there is no transaction in progress then process event
|
|
||||||
if (!transPending)
|
|
||||||
{
|
|
||||||
processObjectQueue();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Process events from the object queue
|
|
||||||
* @throws IOException
|
|
||||||
*/
|
|
||||||
private void processObjectQueue() throws IOException
|
|
||||||
{
|
|
||||||
if (DEBUG) 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)
|
|
||||||
{
|
|
||||||
if (WARN) Log.e(TAG,"Dequeue while a transaction pending");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Get object information from queue (first the priority and then the regular queue)
|
|
||||||
ObjectQueueInfo objInfo;
|
|
||||||
synchronized (objPriorityQueue) {
|
|
||||||
if ( !objPriorityQueue.isEmpty() )
|
|
||||||
{
|
|
||||||
objInfo = objPriorityQueue.remove();
|
|
||||||
} else {
|
|
||||||
synchronized (objQueue) {
|
|
||||||
if ( !objQueue.isEmpty() )
|
|
||||||
{
|
|
||||||
objInfo = objQueue.remove();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Check if a connection has been established, only process GCSTelemetryStats updates
|
|
||||||
// (used to establish the connection)
|
|
||||||
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
|
||||||
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
|
|
||||||
{
|
|
||||||
objQueue.clear();
|
|
||||||
if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
|
|
||||||
{
|
|
||||||
if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
|
|
||||||
objInfo.obj.transactionCompleted(false);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Setup transaction (skip if unpack event)
|
|
||||||
if ( objInfo.event != EV_UNPACKED )
|
|
||||||
{
|
|
||||||
UAVObject.Metadata metadata = objInfo.obj.getMetadata();
|
|
||||||
transInfo.obj = objInfo.obj;
|
|
||||||
transInfo.allInstances = objInfo.allInstances;
|
|
||||||
transInfo.retriesRemaining = MAX_RETRIES;
|
|
||||||
transInfo.acked = metadata.GetGcsTelemetryAcked();
|
|
||||||
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
|
|
||||||
{
|
|
||||||
transInfo.objRequest = false;
|
|
||||||
}
|
|
||||||
else if ( objInfo.event == EV_UPDATE_REQ )
|
|
||||||
{
|
|
||||||
transInfo.objRequest = true;
|
|
||||||
}
|
|
||||||
// Start transaction
|
|
||||||
transPending = true;
|
|
||||||
processObjectTransaction();
|
|
||||||
} else
|
|
||||||
{
|
|
||||||
// qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
|
|
||||||
}
|
|
||||||
|
|
||||||
// If this is a metaobject then make necessary telemetry updates
|
|
||||||
if (objInfo.obj.isMetadata())
|
|
||||||
{
|
|
||||||
UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
|
|
||||||
updateObject( metaobj.getParentObject() );
|
|
||||||
}
|
|
||||||
|
|
||||||
// The fact we received an unpacked event does not mean that
|
|
||||||
// we do not have additional objects still in the queue,
|
|
||||||
// so we have to reschedule queue processing to make sure they are not
|
|
||||||
// stuck:
|
|
||||||
if ( objInfo.event == EV_UNPACKED && !transPending)
|
|
||||||
processObjectQueue();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Check is any objects are pending for periodic updates
|
|
||||||
* TODO: Clean-up
|
|
||||||
* @throws IOException
|
|
||||||
*/
|
|
||||||
private synchronized void processPeriodicUpdates() throws IOException
|
|
||||||
{
|
|
||||||
|
|
||||||
if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
|
|
||||||
// Stop timer
|
// Stop timer
|
||||||
|
|
||||||
updateTimer.cancel();
|
updateTimer.cancel();
|
||||||
|
|
||||||
// Iterate through each object and update its timer, if zero then transmit object.
|
// Iterate through each object and update its timer, if zero then
|
||||||
// Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
|
// transmit object.
|
||||||
|
// Also calculate smallest delay to next update (will be used for
|
||||||
|
// setting timeToNextUpdateMs)
|
||||||
int minDelay = MAX_UPDATE_PERIOD_MS;
|
int minDelay = MAX_UPDATE_PERIOD_MS;
|
||||||
ObjectTimeInfo objinfo;
|
ObjectTimeInfo objinfo;
|
||||||
int elapsedMs = 0;
|
int elapsedMs = 0;
|
||||||
long startTime;
|
long startTime;
|
||||||
int offset;
|
int offset;
|
||||||
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
ListIterator<ObjectTimeInfo> li = objList.listIterator();
|
||||||
while(li.hasNext())
|
while (li.hasNext()) {
|
||||||
{
|
|
||||||
objinfo = li.next();
|
objinfo = li.next();
|
||||||
// If object is configured for periodic updates
|
// If object is configured for periodic updates
|
||||||
if (objinfo.updatePeriodMs > 0)
|
if (objinfo.updatePeriodMs > 0) {
|
||||||
{
|
|
||||||
objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
|
objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
|
||||||
// Check if time for the next update
|
// Check if time for the next update
|
||||||
if (objinfo.timeToNextUpdateMs <= 0)
|
if (objinfo.timeToNextUpdateMs <= 0) {
|
||||||
{
|
|
||||||
// Reset timer
|
// Reset timer
|
||||||
offset = (-objinfo.timeToNextUpdateMs) % objinfo.updatePeriodMs;
|
offset = (-objinfo.timeToNextUpdateMs)
|
||||||
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
|
% objinfo.updatePeriodMs;
|
||||||
|
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs
|
||||||
|
- offset;
|
||||||
// Send object
|
// Send object
|
||||||
startTime = System.currentTimeMillis();
|
startTime = System.currentTimeMillis();
|
||||||
enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
|
|
||||||
|
if (DEBUG) Log.d(TAG, "Manual update: " + objinfo.obj.getName());
|
||||||
|
handler.updatedManual(objinfo.obj);
|
||||||
|
// enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL,
|
||||||
|
// true, false);
|
||||||
elapsedMs = (int) (System.currentTimeMillis() - startTime);
|
elapsedMs = (int) (System.currentTimeMillis() - startTime);
|
||||||
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
|
// Update timeToNextUpdateMs with the elapsed delay of
|
||||||
|
// sending the object;
|
||||||
timeToNextUpdateMs += elapsedMs;
|
timeToNextUpdateMs += elapsedMs;
|
||||||
}
|
}
|
||||||
// Update minimum delay
|
// Update minimum delay
|
||||||
if (objinfo.timeToNextUpdateMs < minDelay)
|
if (objinfo.timeToNextUpdateMs < minDelay) {
|
||||||
{
|
|
||||||
minDelay = objinfo.timeToNextUpdateMs;
|
minDelay = objinfo.timeToNextUpdateMs;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Check if delay for the next update is too short
|
// Check if delay for the next update is too short
|
||||||
if (minDelay < MIN_UPDATE_PERIOD_MS)
|
if (minDelay < MIN_UPDATE_PERIOD_MS) {
|
||||||
{
|
|
||||||
minDelay = MIN_UPDATE_PERIOD_MS;
|
minDelay = MIN_UPDATE_PERIOD_MS;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -684,8 +418,7 @@ public class Telemetry {
|
|||||||
updateTimerSetPeriod(timeToNextUpdateMs);
|
updateTimerSetPeriod(timeToNextUpdateMs);
|
||||||
}
|
}
|
||||||
|
|
||||||
public TelemetryStats getStats()
|
public TelemetryStats getStats() {
|
||||||
{
|
|
||||||
// Get UAVTalk stats
|
// Get UAVTalk stats
|
||||||
UAVTalk.ComStats utalkStats = utalk.getStats();
|
UAVTalk.ComStats utalkStats = utalk.getStats();
|
||||||
|
|
||||||
@ -705,41 +438,30 @@ public class Telemetry {
|
|||||||
return stats;
|
return stats;
|
||||||
}
|
}
|
||||||
|
|
||||||
public synchronized void resetStats()
|
public void resetStats() {
|
||||||
{
|
|
||||||
utalk.resetStats();
|
utalk.resetStats();
|
||||||
txErrors = 0;
|
txErrors = 0;
|
||||||
txRetries = 0;
|
txRetries = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
private void newObject(UAVObject obj) {
|
||||||
private void newObject(UAVObject obj)
|
|
||||||
{
|
|
||||||
registerObject(obj);
|
registerObject(obj);
|
||||||
}
|
}
|
||||||
|
|
||||||
private synchronized void newInstance(UAVObject obj)
|
private synchronized void newInstance(UAVObject obj) {
|
||||||
{
|
|
||||||
registerObject(obj);
|
registerObject(obj);
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Stop all the telemetry timers
|
* Stop all the telemetry timers
|
||||||
*/
|
*/
|
||||||
public void stopTelemetry()
|
public void stopTelemetry() {
|
||||||
{
|
|
||||||
if (updateTimerTask != null)
|
if (updateTimerTask != null)
|
||||||
updateTimerTask.cancel();
|
updateTimerTask.cancel();
|
||||||
updateTimerTask = null;
|
updateTimerTask = null;
|
||||||
if (updateTimer != null)
|
if (updateTimer != null)
|
||||||
updateTimer.cancel();
|
updateTimer.cancel();
|
||||||
updateTimer = null;
|
updateTimer = null;
|
||||||
if (transTimerTask != null)
|
|
||||||
transTimerTask.cancel();
|
|
||||||
transTimerTask = null;
|
|
||||||
if (transTimer != null)
|
|
||||||
transTimer.cancel();
|
|
||||||
transTimer = null;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@ -749,15 +471,11 @@ public class Telemetry {
|
|||||||
private final UAVTalk utalk;
|
private final UAVTalk utalk;
|
||||||
private UAVObject gcsStatsObj;
|
private UAVObject gcsStatsObj;
|
||||||
private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
|
private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
|
||||||
private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
|
||||||
private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
|
||||||
private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
|
|
||||||
private boolean transPending;
|
private boolean transPending;
|
||||||
|
|
||||||
private Timer updateTimer;
|
private Timer updateTimer;
|
||||||
private TimerTask updateTimerTask;
|
private TimerTask updateTimerTask;
|
||||||
private Timer transTimer;
|
|
||||||
private TimerTask transTimerTask;
|
|
||||||
|
|
||||||
private int timeToNextUpdateMs;
|
private int timeToNextUpdateMs;
|
||||||
private int txErrors;
|
private int txErrors;
|
||||||
@ -770,8 +488,267 @@ public class Telemetry {
|
|||||||
private static final int MAX_RETRIES = 2;
|
private static final int MAX_RETRIES = 2;
|
||||||
private static final int MAX_UPDATE_PERIOD_MS = 1000;
|
private static final int MAX_UPDATE_PERIOD_MS = 1000;
|
||||||
private static final int MIN_UPDATE_PERIOD_MS = 1;
|
private static final int MIN_UPDATE_PERIOD_MS = 1;
|
||||||
private static final int MAX_QUEUE_SIZE = 20;
|
|
||||||
|
static private ObjectUpdateHandler handler;
|
||||||
|
|
||||||
|
//! Accessor for the object updated handler
|
||||||
|
ObjectUpdateHandler getHandler() { return handler; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Handler which posts all the messages for individual object updates
|
||||||
|
*/
|
||||||
|
public class ObjectUpdateHandler extends Handler {
|
||||||
|
|
||||||
|
// ! This can only be created while attaching to a particular looper
|
||||||
|
ObjectUpdateHandler(Looper l) {
|
||||||
|
super(l);
|
||||||
|
}
|
||||||
|
|
||||||
|
Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
|
||||||
|
|
||||||
|
// ! Generic enqueue
|
||||||
|
void enqueueObjectUpdates(UAVObject obj, int event,
|
||||||
|
boolean allInstances, boolean priority) {
|
||||||
|
|
||||||
|
if (DEBUG) Log.d(TAG, "Enqueing update " + obj.getName() + " event " + event);
|
||||||
|
|
||||||
|
ObjectQueueInfo objInfo = new ObjectQueueInfo();
|
||||||
|
objInfo.obj = obj;
|
||||||
|
objInfo.event = event;
|
||||||
|
objInfo.allInstances = allInstances;
|
||||||
|
|
||||||
|
// For now maintain a list of objects in the queue so we don't add duplicates
|
||||||
|
// later we should make the runnables static to each class so we can use removeCallback
|
||||||
|
synchronized(objQueue) {
|
||||||
|
if (objQueue.contains(objInfo)) {
|
||||||
|
if (WARN) Log.w(TAG, "Found previously scheduled queue element: " + objInfo.obj.getName());
|
||||||
|
} else {
|
||||||
|
objQueue.add(objInfo);
|
||||||
|
post(new ObjectRunnable(objInfo));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public boolean removeActivatedQueue(ObjectQueueInfo objInfo) {
|
||||||
|
synchronized(objQueue) {
|
||||||
|
if (objQueue.remove(objInfo)) {
|
||||||
|
if (WARN) Log.w(TAG, "Unable to find queue element to remove");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// ! Enqueue an unpacked event
|
||||||
|
void unpacked(UAVObject obj) {
|
||||||
|
enqueueObjectUpdates(obj, EV_UNPACKED, false, true);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ! Enqueue an updated auto event
|
||||||
|
void updatedAuto(UAVObject obj) {
|
||||||
|
enqueueObjectUpdates(obj, EV_UPDATED, false, true);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ! Enqueue an updated manual event
|
||||||
|
void updatedManual(UAVObject obj) {
|
||||||
|
enqueueObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ! Enqueue an update requested event
|
||||||
|
void updateRequested(UAVObject obj) {
|
||||||
|
enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Perform an update on an object where on an event based on the contents provided
|
||||||
|
* to the constructors. This update will also set a timeout for transaction failure.
|
||||||
|
*/
|
||||||
|
class ObjectRunnable implements Runnable {
|
||||||
|
|
||||||
|
// ! Transaction information to perform
|
||||||
|
private final ObjectQueueInfo objInfo;
|
||||||
|
|
||||||
|
ObjectRunnable(ObjectQueueInfo info) {
|
||||||
|
Assert.assertNotNull(info);
|
||||||
|
objInfo = info;
|
||||||
|
}
|
||||||
|
|
||||||
|
// ! Perform the transaction on the looper thread
|
||||||
|
@Override
|
||||||
|
public void run() {
|
||||||
|
if (DEBUG) Log.d(TAG, "Object transaction running. Event:" + objInfo.event);
|
||||||
|
// 1. Check GCS is connected, throw this out if not
|
||||||
|
// 2. Set up a transaction which includes multiple retries, whether
|
||||||
|
// to wait for ack etc
|
||||||
|
// 3. Send UAVTalk message
|
||||||
|
// 4. Based on transaction type either wait for update or end
|
||||||
|
|
||||||
|
// 1. Check if a connection has been established, only process
|
||||||
|
// GCSTelemetryStats updates
|
||||||
|
// (used to establish the connection)
|
||||||
|
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
|
||||||
|
if (((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0) {
|
||||||
|
if (objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID()) {
|
||||||
|
if (DEBUG)
|
||||||
|
Log.d(TAG, "transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
|
||||||
|
objInfo.obj.transactionCompleted(false);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// If this is a metaobject then make necessary telemetry updates
|
||||||
|
// (this is why we catch unpack)
|
||||||
|
if (objInfo.obj.isMetadata()) {
|
||||||
|
UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
|
||||||
|
updateObject(metaobj.getParentObject());
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2. Setup transaction (skip if unpack event)
|
||||||
|
ObjectTransactionInfo newTrans = new ObjectTransactionInfo();
|
||||||
|
boolean newTransactionPending = false;
|
||||||
|
if (objInfo.event != EV_UNPACKED) {
|
||||||
|
UAVObject.Metadata metadata = objInfo.obj.getMetadata();
|
||||||
|
newTrans.obj = objInfo.obj;
|
||||||
|
newTrans.allInstances = objInfo.allInstances;
|
||||||
|
newTrans.retriesRemaining = MAX_RETRIES;
|
||||||
|
newTrans.acked = metadata.GetGcsTelemetryAcked();
|
||||||
|
if (objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL) {
|
||||||
|
newTrans.objRequest = false;
|
||||||
|
} else if (objInfo.event == EV_UPDATE_REQ) {
|
||||||
|
newTrans.objRequest = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Determine if this will schedule a new transaction
|
||||||
|
newTransactionPending = (newTrans.objRequest || newTrans.acked);
|
||||||
|
|
||||||
|
synchronized (transInfo) {
|
||||||
|
|
||||||
|
// If there is a transaction pending and this would set up a new one reschedule it
|
||||||
|
if (transPending && newTransactionPending) {
|
||||||
|
if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName() + " existing transaction for " + transInfo.obj.getName());
|
||||||
|
handler.postDelayed(this, 100);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Store this as the active transaction
|
||||||
|
transPending = newTransactionPending;
|
||||||
|
transInfo = newTrans;
|
||||||
|
|
||||||
|
if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
|
||||||
|
|
||||||
|
// Remove this one from the list of pending transactions
|
||||||
|
handler.removeActivatedQueue(objInfo);
|
||||||
|
|
||||||
|
try {
|
||||||
|
|
||||||
|
// 3. Execute transaction by sending the appropriate UAVTalk command
|
||||||
|
if (transInfo.objRequest) {
|
||||||
|
if (DEBUG) Log.d(TAG, "Sending object request " + transInfo.obj.getName());
|
||||||
|
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
||||||
|
} else {
|
||||||
|
if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
|
||||||
|
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
|
||||||
|
}
|
||||||
|
|
||||||
|
} catch (IOException e) {
|
||||||
|
if (ERROR) Log.e(TAG, "Unable to send UAVTalk message");
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Post a timeout timer if a response is epxected
|
||||||
|
if (transPending)
|
||||||
|
handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Runnable posted to handle a timeout of a transaction. Tracks the number of retry attempts
|
||||||
|
* retries that many, and finally sends a transaction failed signal.
|
||||||
|
*/
|
||||||
|
final Runnable transactionTimeout = new Runnable() {
|
||||||
|
@Override
|
||||||
|
public void run() {
|
||||||
|
// Lock on the transaction
|
||||||
|
synchronized (transInfo) {
|
||||||
|
|
||||||
|
// Proceed only if there is a pending transaction
|
||||||
|
if (!transPending) {
|
||||||
|
if (WARN) Log.w(TAG,"Transaction completed but timeout still called. Probable race condition");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (DEBUG) Log.d(TAG, "Telemetry: transaction timeout.");
|
||||||
|
|
||||||
|
// Check if more retries are pending
|
||||||
|
if (transInfo.retriesRemaining > 0) {
|
||||||
|
--transInfo.retriesRemaining;
|
||||||
|
|
||||||
|
// Repeat whatever is required for this transaction type
|
||||||
|
// (transInfo.objRequest) {
|
||||||
|
if (DEBUG) Log.d(TAG, "Sending object request");
|
||||||
|
|
||||||
|
try {
|
||||||
|
// Execute transaction by sending the appropriate UAVTalk command
|
||||||
|
if (transInfo.objRequest) {
|
||||||
|
if (DEBUG) Log.d(TAG, "Sending object request" + transInfo.obj.getName());
|
||||||
|
utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
|
||||||
|
} else {
|
||||||
|
if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
|
||||||
|
utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
|
||||||
|
}
|
||||||
|
} catch (IOException e) {
|
||||||
|
if (ERROR) Log.e(TAG, "Unable to send UAVTalk message");
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
|
||||||
|
handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
|
||||||
|
|
||||||
|
++txRetries;
|
||||||
|
} else {
|
||||||
|
if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
|
||||||
|
|
||||||
|
// Terminate transaction. This triggers UAVTalk to send a transaction
|
||||||
|
// failed signal which will make the next queue entry be processed
|
||||||
|
// Note this is UAVTalk listener TransactionFailed function
|
||||||
|
// object specific transaction failed.
|
||||||
|
utalk.cancelPendingTransaction(transInfo.obj);
|
||||||
|
++txErrors;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Called when a transaction is successfully completed (UAVTalk event) and maps that to
|
||||||
|
* the appropriate object event as well as canceling the pending transaction and timeout
|
||||||
|
*/
|
||||||
|
private void transactionCompleted(UAVObject obj, boolean result) {
|
||||||
|
|
||||||
|
if (DEBUG) Log.d(TAG, "UAVTalk transactionCompleted");
|
||||||
|
|
||||||
|
// Check if there is a pending transaction and the objects match
|
||||||
|
synchronized(transInfo) {
|
||||||
|
if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
|
||||||
|
if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
|
||||||
|
|
||||||
|
// Cancel timeout and complete transaction
|
||||||
|
handler.removeCallbacks(transactionTimeout);
|
||||||
|
transPending = false;
|
||||||
|
|
||||||
|
//Send signal
|
||||||
|
obj.transactionCompleted(result);
|
||||||
|
} else {
|
||||||
|
if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
|
||||||
|
transPending = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -34,6 +34,8 @@ import java.util.Observer;
|
|||||||
import java.util.Timer;
|
import java.util.Timer;
|
||||||
import java.util.TimerTask;
|
import java.util.TimerTask;
|
||||||
|
|
||||||
|
import org.openpilot.androidgcs.telemetry.OPTelemetryService;
|
||||||
|
|
||||||
import android.util.Log;
|
import android.util.Log;
|
||||||
|
|
||||||
public class TelemetryMonitor extends Observable {
|
public class TelemetryMonitor extends Observable {
|
||||||
@ -60,6 +62,7 @@ public class TelemetryMonitor extends Observable {
|
|||||||
private long lastUpdateTime;
|
private long lastUpdateTime;
|
||||||
private final List<UAVObject> queue;
|
private final List<UAVObject> queue;
|
||||||
|
|
||||||
|
private OPTelemetryService telemService;
|
||||||
private boolean connected = false;
|
private boolean connected = false;
|
||||||
private boolean objects_updated = false;
|
private boolean objects_updated = false;
|
||||||
|
|
||||||
@ -71,6 +74,11 @@ public class TelemetryMonitor extends Observable {
|
|||||||
return objects_updated;
|
return objects_updated;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel, OPTelemetryService s) {
|
||||||
|
this(objMngr, tel);
|
||||||
|
telemService = s;
|
||||||
|
}
|
||||||
|
|
||||||
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel) {
|
public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel) {
|
||||||
this.objMngr = objMngr;
|
this.objMngr = objMngr;
|
||||||
this.tel = tel;
|
this.tel = tel;
|
||||||
@ -171,7 +179,9 @@ public class TelemetryMonitor extends Observable {
|
|||||||
public synchronized void retrieveNextObject() throws IOException {
|
public synchronized void retrieveNextObject() throws IOException {
|
||||||
// If queue is empty return
|
// If queue is empty return
|
||||||
if (queue.isEmpty()) {
|
if (queue.isEmpty()) {
|
||||||
if (DEBUG || true) Log.d(TAG, "All objects retrieved: Connected Successfully");
|
if (telemService != null)
|
||||||
|
telemService.toastMessage("Connected");
|
||||||
|
if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
|
||||||
objects_updated = true;
|
objects_updated = true;
|
||||||
if (!HANDSHAKE_IS_CONNECTED) {
|
if (!HANDSHAKE_IS_CONNECTED) {
|
||||||
setChanged();
|
setChanged();
|
||||||
|
@ -1,6 +1,6 @@
|
|||||||
package org.openpilot.uavtalk;
|
package org.openpilot.uavtalk;
|
||||||
|
|
||||||
import static org.junit.Assert.*;
|
import static org.junit.Assert.fail;
|
||||||
|
|
||||||
import java.io.IOException;
|
import java.io.IOException;
|
||||||
import java.net.InetAddress;
|
import java.net.InetAddress;
|
||||||
@ -8,7 +8,8 @@ import java.net.Socket;
|
|||||||
|
|
||||||
import org.junit.Test;
|
import org.junit.Test;
|
||||||
import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
|
import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
|
||||||
import org.openpilot.uavtalk.UAVTalk;
|
|
||||||
|
import android.os.Looper;
|
||||||
|
|
||||||
|
|
||||||
public class TelemetryMonitorTest {
|
public class TelemetryMonitorTest {
|
||||||
@ -44,7 +45,8 @@ public class TelemetryMonitorTest {
|
|||||||
Thread inputStream = talk.getInputProcessThread();
|
Thread inputStream = talk.getInputProcessThread();
|
||||||
inputStream.start();
|
inputStream.start();
|
||||||
|
|
||||||
Telemetry tel = new Telemetry(talk, objMngr);
|
Looper.prepare();
|
||||||
|
Telemetry tel = new Telemetry(talk, objMngr, Looper.myLooper());
|
||||||
@SuppressWarnings("unused")
|
@SuppressWarnings("unused")
|
||||||
TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
|
TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
|
||||||
|
|
||||||
|
@ -503,6 +503,7 @@ endif
|
|||||||
|
|
||||||
CFLAGS += -Wall
|
CFLAGS += -Wall
|
||||||
CFLAGS += -Werror
|
CFLAGS += -Werror
|
||||||
|
CFLAGS += -ffunction-sections -fdata-sections
|
||||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||||
# Compiler flags to generate dependency files:
|
# Compiler flags to generate dependency files:
|
||||||
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
||||||
|
@ -100,6 +100,13 @@ static void altitudeTask(void *parameters)
|
|||||||
|
|
||||||
// TODO: Check the pressure sensor and set a warning if it fails test
|
// TODO: Check the pressure sensor and set a warning if it fails test
|
||||||
|
|
||||||
|
// Option to change the interleave between Temp and Pressure conversions
|
||||||
|
// Undef for normal operation
|
||||||
|
//#define PIOS_MS5611_SLOW_TEMP_RATE 20
|
||||||
|
|
||||||
|
#ifdef PIOS_MS5611_SLOW_TEMP_RATE
|
||||||
|
uint8_t temp_press_interleave_count = 1;
|
||||||
|
#endif
|
||||||
// Main task loop
|
// Main task loop
|
||||||
while (1)
|
while (1)
|
||||||
{
|
{
|
||||||
@ -128,12 +135,21 @@ static void altitudeTask(void *parameters)
|
|||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
float temp, press;
|
float temp, press;
|
||||||
|
#ifdef PIOS_MS5611_SLOW_TEMP_RATE
|
||||||
|
temp_press_interleave_count --;
|
||||||
|
if(temp_press_interleave_count == 0)
|
||||||
|
{
|
||||||
|
#endif
|
||||||
// Update the temperature data
|
// Update the temperature data
|
||||||
PIOS_MS5611_StartADC(TemperatureConv);
|
PIOS_MS5611_StartADC(TemperatureConv);
|
||||||
vTaskDelay(PIOS_MS5611_GetDelay());
|
vTaskDelay(PIOS_MS5611_GetDelay());
|
||||||
PIOS_MS5611_ReadADC();
|
PIOS_MS5611_ReadADC();
|
||||||
|
|
||||||
|
#ifdef PIOS_MS5611_SLOW_TEMP_RATE
|
||||||
|
temp_press_interleave_count=PIOS_MS5611_SLOW_TEMP_RATE;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
// Update the pressure data
|
// Update the pressure data
|
||||||
PIOS_MS5611_StartADC(PressureConv);
|
PIOS_MS5611_StartADC(PressureConv);
|
||||||
vTaskDelay(PIOS_MS5611_GetDelay());
|
vTaskDelay(PIOS_MS5611_GetDelay());
|
||||||
|
@ -56,7 +56,6 @@ static uint32_t oversampling;
|
|||||||
static const struct pios_ms5611_cfg * dev_cfg;
|
static const struct pios_ms5611_cfg * dev_cfg;
|
||||||
static int32_t i2c_id;
|
static int32_t i2c_id;
|
||||||
|
|
||||||
static enum pios_ms5611_osr osr = MS5611_OSR_256;
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Initialise the MS5611 sensor
|
* Initialise the MS5611 sensor
|
||||||
@ -90,10 +89,10 @@ int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type)
|
|||||||
{
|
{
|
||||||
/* Start the conversion */
|
/* Start the conversion */
|
||||||
if (Type == TemperatureConv) {
|
if (Type == TemperatureConv) {
|
||||||
while (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR + osr) != 0)
|
while (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR + oversampling) != 0)
|
||||||
continue;
|
continue;
|
||||||
} else if (Type == PressureConv) {
|
} else if (Type == PressureConv) {
|
||||||
while (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR + osr) != 0)
|
while (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR + oversampling) != 0)
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -106,7 +105,7 @@ int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type)
|
|||||||
* @brief Return the delay for the current osr
|
* @brief Return the delay for the current osr
|
||||||
*/
|
*/
|
||||||
int32_t PIOS_MS5611_GetDelay() {
|
int32_t PIOS_MS5611_GetDelay() {
|
||||||
switch(osr) {
|
switch(oversampling) {
|
||||||
case MS5611_OSR_256:
|
case MS5611_OSR_256:
|
||||||
return 2;
|
return 2;
|
||||||
case MS5611_OSR_512:
|
case MS5611_OSR_512:
|
||||||
|
@ -131,7 +131,7 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
|||||||
#if defined(PIOS_INCLUDE_MS5611)
|
#if defined(PIOS_INCLUDE_MS5611)
|
||||||
#include "pios_ms5611.h"
|
#include "pios_ms5611.h"
|
||||||
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
|
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
|
||||||
.oversampling = 1,
|
.oversampling = MS5611_OSR_512,
|
||||||
};
|
};
|
||||||
#endif /* PIOS_INCLUDE_MS5611 */
|
#endif /* PIOS_INCLUDE_MS5611 */
|
||||||
|
|
||||||
|
@ -1399,7 +1399,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
|
|||||||
.I2C_Ack = I2C_Ack_Enable,
|
.I2C_Ack = I2C_Ack_Enable,
|
||||||
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
||||||
.I2C_DutyCycle = I2C_DutyCycle_2,
|
.I2C_DutyCycle = I2C_DutyCycle_2,
|
||||||
.I2C_ClockSpeed = 40000, /* bits/s */
|
.I2C_ClockSpeed = 400000, /* bits/s */
|
||||||
},
|
},
|
||||||
.transfer_timeout_ms = 50,
|
.transfer_timeout_ms = 50,
|
||||||
.scl = {
|
.scl = {
|
||||||
|
@ -225,7 +225,6 @@ void ConfigGadgetWidget::updatePipXStatus(UAVObject *)
|
|||||||
qDebug()<<"ConfigGadgetWidget onPipxtremeConnect";
|
qDebug()<<"ConfigGadgetWidget onPipxtremeConnect";
|
||||||
QWidget *qwd = new ConfigPipXtremeWidget(this);
|
QWidget *qwd = new ConfigPipXtremeWidget(this);
|
||||||
ftw->insertTab(ConfigGadgetWidget::pipxtreme, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));
|
ftw->insertTab(ConfigGadgetWidget::pipxtreme, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));
|
||||||
ftw->setCurrentIndex(ConfigGadgetWidget::pipxtreme);
|
|
||||||
pipxConnected = true;
|
pipxConnected = true;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -109,7 +109,7 @@ OsgViewerWidget::OsgViewerWidget(QWidget *parent) : QWidget(parent)
|
|||||||
setAttribute(Qt::WA_PaintOnScreen, true);
|
setAttribute(Qt::WA_PaintOnScreen, true);
|
||||||
|
|
||||||
osg::Group* root = new osg::Group;
|
osg::Group* root = new osg::Group;
|
||||||
osg::Node* earth = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/osgearth/tests/boston.earth");
|
osg::Node* earth = osgDB::readNodeFile("/Users/Cotton/Programming/osg/osgearth/tests/boston.earth");
|
||||||
mapNode = osgEarth::MapNode::findMapNode( earth );
|
mapNode = osgEarth::MapNode::findMapNode( earth );
|
||||||
if (!mapNode)
|
if (!mapNode)
|
||||||
{
|
{
|
||||||
@ -225,10 +225,10 @@ osg::Node* OsgViewerWidget::createAirplane()
|
|||||||
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
|
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
|
||||||
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
|
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
|
||||||
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
|
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
|
||||||
uav = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/OpenPilot/artwork/3D Model/planes/Easystar/easystar.3ds");
|
uav = osgDB::readNodeFile("/Users/Cotton/Programming/OpenPilot/artwork/3D Model/planes/Easystar/easystar.3ds");
|
||||||
break;
|
break;
|
||||||
default:
|
default:
|
||||||
uav = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/OpenPilot/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS");
|
uav = osgDB::readNodeFile("/Users/Cotton/Programming/OpenPilot/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS");
|
||||||
}
|
}
|
||||||
|
|
||||||
if(uav) {
|
if(uav) {
|
||||||
|
@ -197,11 +197,13 @@ plugin_uavobjectutil.depends += plugin_uavobjects
|
|||||||
SUBDIRS += plugin_uavobjectutil
|
SUBDIRS += plugin_uavobjectutil
|
||||||
|
|
||||||
# OSG Earth View plugin
|
# OSG Earth View plugin
|
||||||
;; plugin_osgearthview.subdir = osgearthview
|
OSG {
|
||||||
;; plugin_osgearthview.depends = plugin_coreplugin
|
plugin_osgearthview.subdir = osgearthview
|
||||||
;; plugin_osgearthview.depends += plugin_uavobjects
|
plugin_osgearthview.depends = plugin_coreplugin
|
||||||
;; plugin_osgearthview.depends += plugin_uavobjectwidgetutils
|
plugin_osgearthview.depends += plugin_uavobjects
|
||||||
;; SUBDIRS += plugin_osgearthview
|
plugin_osgearthview.depends += plugin_uavobjectwidgetutils
|
||||||
|
SUBDIRS += plugin_osgearthview
|
||||||
|
}
|
||||||
|
|
||||||
# Magic Waypoint gadget
|
# Magic Waypoint gadget
|
||||||
plugin_magicwaypoint.subdir = magicwaypoint
|
plugin_magicwaypoint.subdir = magicwaypoint
|
||||||
|
Loading…
Reference in New Issue
Block a user