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Code Issues Releases Activity

Fixed bug in object signals that stopped updates sending. Various tweaks.

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This commit is contained in:
James Cotton 2011-03-10 12:27:27 -06:00
parent b10c3f623d
commit f80424875e
6 changed files with 68 additions and 29 deletions
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33
androidgcs/src/org/openpilot/uavtalk/Telemetry.java
View File

@ -1,5 +1,6 @@
package org.openpilot.uavtalk;
import java.util.ArrayList;
import java.util.LinkedList;
import java.util.List;
import java.util.ListIterator;
@ -91,6 +92,15 @@ public class Telemetry {
// Setup transaction timer
transPending = false;
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
updateTimerSetPeriod(1000);
// Setup and start the stats timer
txErrors = 0;
txRetries = 0;
}
synchronized void transTimerSetPeriod(int periodMs) {
transTimer = new Timer();
transTimerTask = new TimerTask() {
@Override
@ -98,9 +108,10 @@ public class Telemetry {
transactionTimeout();
}
};
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
transTimer.schedule(transTimerTask, periodMs, periodMs);
}
synchronized void updateTimerSetPeriod(int periodMs) {
updateTimer = new Timer();
updateTimerTask = new TimerTask() {
@Override
@ -108,10 +119,8 @@ public class Telemetry {
processPeriodicUpdates();
}
};
updateTimer.scheduleAtFixedRate(updateTimerTask, 1000, 1000);
// Setup and start the stats timer
txErrors = 0;
txRetries = 0;
updateTimer.schedule(updateTimerTask, periodMs, periodMs);
}
/**
@ -341,7 +350,7 @@ public class Telemetry {
// Start timer if a response is expected
if ( transInfo.objRequest || transInfo.acked == Acked.TRUE )
{
transTimer.scheduleAtFixedRate(transTimerTask, REQ_TIMEOUT_MS, REQ_TIMEOUT_MS);
transTimerSetPeriod(REQ_TIMEOUT_MS);
}
else
{
@ -433,6 +442,7 @@ public class Telemetry {
// 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();
@ -538,8 +548,7 @@ public class Telemetry {
timeToNextUpdateMs = minDelay;
// Restart timer
//updateTimer->start(timeToNextUpdateMs);
updateTimer.scheduleAtFixedRate(updateTimerTask, timeToNextUpdateMs, timeToNextUpdateMs);
updateTimerSetPeriod(timeToNextUpdateMs);
}
public TelemetryStats getStats()
@ -607,10 +616,10 @@ public class Telemetry {
private UAVObjectManager objMngr;
private UAVTalk utalk;
private UAVObject gcsStatsObj;
private List<ObjectTimeInfo> objList;
private List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
private ObjectTransactionInfo transInfo;
private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
private boolean transPending;
private Timer updateTimer;

35
androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
View File

@ -92,7 +92,7 @@ public class TelemetryMonitor {
}
}
// Start retrieving
Log.d(TAG,"Starting to retrieve meta and settings objects from the autopilot (%1 objects)" + queue.size()) ;
System.out.println(TAG + "Starting to retrieve meta and settings objects from the autopilot (" + queue.size() + " objects)");
retrieveNextObject();
}
@ -120,7 +120,7 @@ public class TelemetryMonitor {
// Get next object from the queue
UAVObject obj = queue.remove(0);
Log.d(TAG, "Retrieving object: " + obj.getName()) ;
// Log.d(TAG, "Retrieving object: " + obj.getName()) ;
// Connect to object
obj.addTransactionCompleted(new Observer() {
public void update(Observable observable, Object data) {
@ -161,6 +161,10 @@ public class TelemetryMonitor {
public synchronized void flightStatsUpdated(UAVObject obj)
{
// Force update if not yet connected
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
flightStatsObj = objMngr.getObject("FlightTelemetryStats");
System.out.println(flightStatsObj.toString());
if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
{
@ -204,8 +208,17 @@ public class TelemetryMonitor {
}
// Update connection state
UAVObjectField statusField = gcsStatsObj.getField("Connection");
gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
flightStatsObj = objMngr.getObject("FlightTelemetryStats");
if(gcsStatsObj == null) {
System.out.println("No GCS stats yet");
return;
}
UAVObjectField statusField = gcsStatsObj.getField("Status");
String oldStatus = (String) statusField.getValue();
System.out.println("GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
if ( oldStatus.compareTo("Disconnected") == 0 )
{
// Request connection
@ -217,6 +230,7 @@ public class TelemetryMonitor {
if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
{
statusField.setValue("Connected");
System.out.println("Connected" + statusField.toString());
}
}
else if ( oldStatus.compareTo("Connected") == 0 )
@ -230,11 +244,18 @@ public class TelemetryMonitor {
// Force telemetry update if not yet connected
boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
if(gcsStatusChanged)
System.out.println("GCS Status changed");
boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
if(gcsConnected)
System.out.println("Detected here");
if ( gcsStatusChanged ||
((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
{
System.out.println("Sending gcs status\n\n\n");
gcsStatsObj.updated();
}
@ -242,14 +263,15 @@ public class TelemetryMonitor {
if (gcsConnected && gcsStatusChanged)
{
setPeriod(STATS_UPDATE_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot established");
System.out.println(TAG + " Connection with the autopilot established");
//Log.d(TAG,"Connection with the autopilot established");
startRetrievingObjects();
}
if (gcsDisconnected && gcsStatusChanged)
{
setPeriod(STATS_CONNECT_PERIOD_MS);
Log.d(TAG,"Connection with the autopilot lost");
Log.d(TAG,"Trying to connect to the autopilot");
System.out.println(TAG + " Connection with the autopilot lost");
//Log.d(TAG,"Trying to connect to the autopilot");
//emit disconnected();
}
}
@ -260,6 +282,7 @@ public class TelemetryMonitor {
periodicTask.cancel();
currentPeriod = ms;
periodicTask = new Timer();
periodicTask.scheduleAtFixedRate(new TimerTask() {
@Override
public void run() {

2
androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
View File

@ -24,7 +24,7 @@ public abstract class UAVDataObject extends UAVObject {
super.initialize(instID);
}
public boolean isMetadata() { return true; };
public boolean isMetadata() { return false; };
/**
* Assign a metaobject
*/

8
androidgcs/src/org/openpilot/uavtalk/UAVObject.java
View File

@ -53,11 +53,14 @@ public abstract class UAVObject {
updatedListeners.addObserver(o);
}
}
void updated() {
void updated(boolean manually) {
synchronized(updatedListeners) {
updatedListeners.event();
}
if(manually)
updatedManual();
}
void updated() { updated(true); };
private CallbackListener unpackedListeners = new CallbackListener(this);
public void addUnpackedObserver(Observer o) {
@ -67,7 +70,6 @@ public abstract class UAVObject {
}
void unpacked() {
synchronized(unpackedListeners) {
System.out.println("Unpacked!: " + unpackedListeners.countObservers() + " " + getName());
unpackedListeners.event();
}
}
@ -387,7 +389,7 @@ public abstract class UAVObject {
// Trigger all the listeners for the unpack event
unpacked();
updated();
updated(false);
return numBytes;
}

4
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
View File

@ -131,7 +131,7 @@ public class UAVObjectField {
case UINT32:
// TODO: Deal properly with unsigned
for (int index = 0; index < numElements; ++index) {
Integer val = (Integer) getValue(index);
Integer val = (int) ( ((Long) getValue(index)).longValue() & 0xffffffffL);
dataOut.putInt(val);
}
break;
@ -364,7 +364,7 @@ public class UAVObjectField {
public double getDouble() { return getDouble(0); };
public double getDouble(int index) {
return Double.valueOf((Double) getValue(index));
return ((Number) getValue(index)).doubleValue();
}
public void setDouble(double value) { setDouble(value, 0); };

15
androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
View File

@ -200,9 +200,9 @@ public class UAVTalk extends Observable{
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
public boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
{
//QMutexLocker locker(mutex);
System.out.println("Sending obj: " + obj.toString());
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
@ -216,9 +216,8 @@ public class UAVTalk extends Observable{
/**
* Cancel a pending transaction
*/
public void cancelTransaction()
public synchronized void cancelTransaction()
{
//QMutexLocker locker(mutex);
respObj = null;
}
@ -250,6 +249,7 @@ public class UAVTalk extends Observable{
}
else if (type == TYPE_OBJ)
{
System.out.println("Transmitting object: " + obj.toString());
return transmitObject(obj, TYPE_OBJ, allInstances);
}
else
@ -763,7 +763,12 @@ public class UAVTalk extends Observable{
bbuf.put((byte) (updateCRC(0, bbuf.array()) & 0xff));
try {
outStream.write(bbuf.array());
int packlen = bbuf.position();
bbuf.position(0);
byte [] dst = new byte[packlen];
bbuf.get(dst,0,packlen);
System.out.println("Outputting: " + dst.length);
outStream.write(dst);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();