public bool sendObject(UAVObject obj, bool acked, bool allInstances) {
if (acked) {
return objectTransaction(obj, uavConsts.TYPE_OBJ_ACK, allInstances);
} else {
return objectTransaction(obj, uavConsts.TYPE_OBJ, allInstances);
}
}
TreeNode addNode(UAVObject b)
{
if (InvokeRequired)
return (TreeNode)this.Invoke(new addnodeDelegate(addNode), b);
else
{
TreeNode n = treeView1.Nodes.Add(b.name);
foreach (var prop in b.GetType().GetFields().Where(j => j.FieldType.BaseType == typeof(UAVObjectField)))
{
UAVObjectField f = (UAVObjectField)prop.GetValue(b);
TreeNode newnode = n.Nodes.Add(f.getName());
if (f.getNumElements() > 1)
{
for (int i = 0; i < f.getNumElements(); i++)
{
newnode.Nodes.Add(i.ToString());
}
}
/*if (fields.ContainsKey(f))
{
int n = f.getNumElements();
if (n == 1)
fields[f] = f.getValue();
else
{
object[] vals = new object[n];
for (int i = 0; i < n; i++)
vals[i] = f.getValue(i);
fields[f] = vals;
}
}*/
}
return n;
}
}
private bool objectTransaction(UAVObject obj, int type, bool allInstances) {
if (type == uavConsts.TYPE_OBJ_ACK || type == uavConsts.TYPE_OBJ_REQ || type == uavConsts.TYPE_OBJ)
{
return transmitObject(obj, type, allInstances);
} else {
return false;
}
}
public UAVMetaObject(long objID, String name, UAVDataObject parent) : base(objID, true, name) {
this.parent = parent;
ownMetadata = new Metadata();
ownMetadata.flags = 0; // TODO: Fix flags
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdatePeriod = 0;
List<String> modesBitField = new List<String>();
modesBitField.Add("FlightReadOnly");
modesBitField.Add("GCSReadOnly");
modesBitField.Add("FlightTelemetryAcked");
modesBitField.Add("GCSTelemetryAcked");
modesBitField.Add("FlightUpdatePeriodic");
modesBitField.Add("FlightUpdateOnChange");
modesBitField.Add("GCSUpdatePeriodic");
modesBitField.Add("GCSUpdateOnChange");
List<UAVObjectField> fields = new List<UAVObjectField>();
fields.Add( new UAVObjectField<bool>("Modes", "", 1, modesBitField, parent) );
fields.Add(new UAVObjectField<UInt16>("Flight Telemetry Update Period", "ms", 1, null, parent));
fields.Add(new UAVObjectField<UInt16>("GCS Telemetry Update Period", "ms", 1, null, parent));
fields.Add(new UAVObjectField<UInt16>("Logging Update Period", "ms", 1, null, parent));
int numBytes = fields.Sum(j=>j.getNumBytes());
// Initialize object
// Initialize parent
base.initialize(0);
initializeFields(fields, new ByteBuffer(numBytes), numBytes);
// Setup metadata of parent
parentMetadata = parent.getDefaultMetadata();
}
public abstract void initialize(UAVObject obj);
public abstract void TransactionFailed(UAVObject data);
public abstract void TransactionSucceeded(UAVObject data);
public bool sendObjectRequest(UAVObject obj, bool allInstances) {
return objectTransaction(obj, uavConsts.TYPE_OBJ_REQ, allInstances);
}
private void updateObjReq(UAVObject obj) {
bool succeeded = false;
// The lock on UAVTalk must be release before the transaction succeeded signal is sent
// because otherwise if a transaction timeout occurs at the same time we can get a
// deadlock:
// 1. processInputStream -> updateObjReq (locks uavtalk) -> tranactionCompleted (locks transInfo)
// 2. transactionTimeout (locks transInfo) -> sendObjectRequest -> ? -> setupTransaction (locks uavtalk)
lock (updateObjReqSyncLock)
{
if(respObj != null && respType == uavConsts.TYPE_OBJ_REQ && respObj.getObjID() == obj.getObjID() &&
((respObj.getInstID() == obj.getInstID() || !respAllInstances))) {
// Indicate complete
respObj = null;
succeeded = true;
}
}
// Notify listener
if (succeeded && transactionListener != null)
transactionListener.TransactionSucceeded(obj);
}
/**
* UAVTalk takes care of it's own transactions but if the caller knows
* it wants to give up on one (after a timeout) then it can cancel it
* @return True if that object was pending, False otherwise
*/
public bool cancelPendingTransaction(UAVObject obj) {
lock (respObj) {
if(respObj != null && respObj.getObjID() == obj.getObjID()) {
if(transactionListener != null) {
Debug.WriteLine("Canceling transaction: " + respObj.getName());
transactionListener.TransactionFailed(respObj);
}
respObj = null;
return true;
} else
return false;
}
}
/**
* This is the code that sets up a new UAVTalk packet that expects a response.
*/
private void setupTransaction(UAVObject obj, bool allInstances, int type) {
lock(this)
{
// Only cancel if it is for a different object
if(respObj != null && respObj.getObjID() != obj.getObjID())
cancelPendingTransaction(obj);
respObj = obj;
respAllInstances = allInstances;
respType = type;
}
}
/**
* Send an object through the telemetry link.
* @throws IOException
* @param[in] obj Object handle to send
* @param[in] type Transaction type \return Success (true), Failure (false)
*/
private bool transmitSingleObject(UAVObject obj, int type, bool allInstances)
{
int length;
int allInstId = uavConsts.ALL_INSTANCES;
ByteBuffer bbuf = new ByteBuffer(uavConsts.MAX_PACKET_LENGTH);
// Determine data length
if (type == uavConsts.TYPE_OBJ_REQ || type == uavConsts.TYPE_ACK)
{
length = 0;
}
else
{
length = obj.getNumBytes();
}
// Setup type and object id fields
bbuf.put((byte)(uavConsts.SYNC_VAL & 0xff));
bbuf.put((byte)(type & 0xff));
bbuf.putShort((UInt16)(length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
.isSingleInstance() ? 0 : 2)));
bbuf.putUint32((UInt32)obj.getObjID());
// Setup instance ID if one is required
if (!obj.isSingleInstance())
{
// Check if all instances are requested
if (allInstances)
bbuf.putShort((UInt16)(allInstId & 0xffff));
else
bbuf.putShort((UInt16)(obj.getInstID() & 0xffff));
}
// Check length
if (length >= uavConsts.MAX_PAYLOAD_LENGTH)
return false;
// Copy data (if any)
if (length > 0)
try
{
if (obj.pack(bbuf) == 0)
return false;
}
catch (Exception e)
{
// TODO Auto-generated catch block
Debug.Write(e.Message);
return false;
}
// Calculate checksum
bbuf.put((byte)(CRC.updateCRC(0, bbuf.array(), bbuf.position()) & 0xff));
int packlen = bbuf.position();
bbuf.position(0);
byte[] dst = new byte[packlen];
bbuf.get(dst, 0, packlen);
if (type == uavConsts.TYPE_OBJ_ACK || type == uavConsts.TYPE_OBJ_REQ)
{
// Once we send a UAVTalk packet that requires an ack or object let's set up
// the transaction here
setupTransaction(obj, allInstances, type);
}
ch.write(dst);
// Update stats
++txStats.Objects;
txStats.Bytes += bbuf.position();
txStats.ObjectBytes += length;
// Done
return true;
}
/**
* Send an object through the telemetry link.
* @param[in] obj Object to send
* @param[in] type Transaction type
* @param[in] allInstances True is all instances of the object are to be sent
* @return Success (true), Failure (false)
* @throws IOException
*/
private bool transmitObject(UAVObject obj, int type, bool allInstances)
{
// If all instances are requested on a single instance object it is an
// error
if (allInstances && obj.isSingleInstance()) {
allInstances = false;
}
// Process message type
if (type == uavConsts.TYPE_OBJ || type == uavConsts.TYPE_OBJ_ACK)
{
if (allInstances) {
// Get number of instances
int numInst = objMgr.getNumInstances(obj.getObjID());
// Send all instances
for (int instId = 0; instId < numInst; ++instId) {
// TODO: This code is buggy probably. We should send each request
// and wait for an ack in the case of an TYPE_OBJ_ACK
Debug.Assert(type != uavConsts.TYPE_OBJ_ACK); // catch any buggy calls
UAVObject inst = objMgr.getObject(obj.getObjID(), instId);
transmitSingleObject(inst, type, false);
}
return true;
} else {
return transmitSingleObject(obj, type, false);
}
}
else if (type == uavConsts.TYPE_OBJ_REQ)
{
return transmitSingleObject(obj, uavConsts.TYPE_OBJ_REQ, allInstances);
}
else if (type == uavConsts.TYPE_ACK)
{
if (!allInstances) {
return transmitSingleObject(obj, uavConsts.TYPE_ACK, false);
} else {
return false;
}
} else {
return false;
}
}
private void updateAck(UAVObject obj) {
lock (updateAckSyncLock)
{
Debug.WriteLine("Received ack: " + obj.getName());
//Assert.assertNotNull(obj);
if (respObj != null && respObj.getObjID() == obj.getObjID()
&& (respObj.getInstID() == obj.getInstID() || respAllInstances))
{
// Indicate complete
respObj = null;
// Notify listener
if (transactionListener != null)
transactionListener.TransactionSucceeded(obj);
}
}
}
private void receivedNack(UAVObject obj)
{
lock (receivedNackSyncLock)
{
if (respObj != null && (respType == uavConsts.TYPE_OBJ_REQ || respType == uavConsts.TYPE_OBJ_ACK) &&
respObj.getObjID() == obj.getObjID())
{
Debug.WriteLine("NAK: " + obj.getName());
// Indicate complete
respObj = null;
// Notify listener
if (transactionListener != null)
transactionListener.TransactionFailed(obj);
}
}
}
