From f94f1875280de435316086310f4518921aca2bab Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 14 Oct 2012 19:43:58 -0500
Subject: [PATCH] AndroidGCS: Remove an unnecessary check that was triggering
 false positive telemetry errors

---
 .../openpilot/uavtalk/TelemetryMonitor.java   | 18 +++++++++++-------
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 19 +++++--------------
 2 files changed, 16 insertions(+), 21 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index b1313b578..053c2a227 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -50,7 +50,7 @@ public class TelemetryMonitor extends Observable {
 	static final int STATS_CONNECT_PERIOD_MS = 1000;
 	static final int CONNECTION_TIMEOUT_MS = 8000;
 
-	private final boolean HANDSHAKE_IS_CONNECTED = false;
+	private final boolean HANDSHAKE_IS_CONNECTED = true;
 
 	private final UAVObjectManager objMngr;
 	private final Telemetry tel;
@@ -77,7 +77,8 @@ public class TelemetryMonitor extends Observable {
 		return objects_updated;
 	};
 
-	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel, OPTelemetryService s) {
+	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel,
+			OPTelemetryService s) {
 		this(objMngr, tel);
 		telemService = s;
 	}
@@ -373,7 +374,9 @@ public class TelemetryMonitor extends Observable {
 				startRetrievingObjects();
 			else
 				firmwareIapObj.updateRequested();
-			if (HANDSHAKE_IS_CONNECTED) setChanged(); // Enabling this line makes the opConnected signal occur whenever we get a handshake
+			if (HANDSHAKE_IS_CONNECTED)
+				setChanged(); // Enabling this line makes the opConnected signal
+								// occur whenever we get a handshake
 		}
 		if (gcsDisconnected && gcsStatusChanged) {
 			if (DEBUG)
@@ -423,16 +426,17 @@ public class TelemetryMonitor extends Observable {
 			if (DEBUG) Log.d(TAG, "Received firmware IAP Updated message");
 
 			UAVObjectField description = firmwareIapObj.getField("Description");
-			if(description == null || description.getNumElements() < 100) {
+			if (description == null || description.getNumElements() < 100) {
 				telemService.toastMessage("Failed to determine UAVO set");
 			} else {
 				final int HASH_SIZE_USED = 8;
 				String jarName = new String();
-				for(int i = 0; i < HASH_SIZE_USED; i++)
-					jarName += Integer.toHexString((int) description.getDouble(i+60));
+				for (int i = 0; i < HASH_SIZE_USED; i++)
+					jarName += Integer.toHexString((int) description
+							.getDouble(i + 60));
 				jarName += ".jar";
 				if (DEBUG) Log.d(TAG, "Attempting to load: " + jarName);
-				if (telemService.loadUavobjects(jarName, objMngr) ) {
+				if (telemService.loadUavobjects(jarName, objMngr)) {
 					telemService.toastMessage("Loaded appropriate UAVO set");
 					objectsRegistered = true;
 					try {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index da27f4dc0..fae619714 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -418,7 +418,7 @@ public class UAVTalk {
 				{
 					UAVObject rxObj = objMngr.getObject(rxObjId);
 					if (rxObj == null) {
-						if (DEBUG) Log.d(TAG, "Unknown ID: " + rxObjId);
+						if (WARN) Log.w(TAG, "Unknown ID: " + rxObjId);
 						stats.rxErrors++;
 						rxState = RxStateType.STATE_SYNC;
 						break;
@@ -432,17 +432,7 @@ public class UAVTalk {
 
 					// Check length and determine next state
 					if (rxLength >= MAX_PAYLOAD_LENGTH) {
-						stats.rxErrors++;
-						rxState = RxStateType.STATE_SYNC;
-						break;
-					}
-
-					// Check the lengths match
-					if ((rxPacketLength + rxLength) != packetSize) { // packet error
-						// -
-						// mismatched
-						// packet
-						// size
+						if (WARN) Log.w(TAG, "Greater than max payload length");
 						stats.rxErrors++;
 						rxState = RxStateType.STATE_SYNC;
 						break;
@@ -506,7 +496,7 @@ public class UAVTalk {
 				rxCSPacket = rxbyte;
 
 				if (rxCS != rxCSPacket) { // packet error - faulty CRC
-					if (DEBUG) Log.d(TAG,"Bad crc");
+					if (WARN) Log.w(TAG,"Bad crc");
 					stats.rxErrors++;
 					rxState = RxStateType.STATE_SYNC;
 					break;
@@ -515,7 +505,7 @@ public class UAVTalk {
 				if (rxPacketLength != (packetSize + 1)) { // packet error -
 					// mismatched packet
 					// size
-					if (DEBUG) Log.d(TAG,"Bad size");
+					if (WARN) Log.w(TAG,"Bad size");
 					stats.rxErrors++;
 					rxState = RxStateType.STATE_SYNC;
 					break;
@@ -532,6 +522,7 @@ public class UAVTalk {
 				break;
 
 			default:
+				if (WARN) Log.w(TAG, "Bad state");
 				rxState = RxStateType.STATE_SYNC;
 				stats.rxErrors++;
 			}