Sync-up with Java Crazyflie lib

bitcraze · Dec 29, 2016 · 80dd0d8 · 80dd0d8
1 parent c88ee26
commit 80dd0d8
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Showing 7 changed files with 29 additions and 17 deletions.
diff --git a/src/se/bitcraze/crazyflie/lib/bootloader/Bootloader.java b/src/se/bitcraze/crazyflie/lib/bootloader/Bootloader.java
@@ -50,18 +50,18 @@
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+import se.bitcraze.crazyflie.lib.bootloader.Target.TargetTypes;
+import se.bitcraze.crazyflie.lib.bootloader.Utilities.BootVersion;
+import se.bitcraze.crazyflie.lib.crazyradio.ConnectionData;
+import se.bitcraze.crazyflie.lib.crtp.CrtpDriver;
+
 import com.fasterxml.jackson.core.JsonGenerationException;
 import com.fasterxml.jackson.core.JsonParseException;
 import com.fasterxml.jackson.databind.DeserializationFeature;
 import com.fasterxml.jackson.databind.JsonMappingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.SerializationFeature;
 
-import se.bitcraze.crazyflie.lib.bootloader.Target.TargetTypes;
-import se.bitcraze.crazyflie.lib.bootloader.Utilities.BootVersion;
-import se.bitcraze.crazyflie.lib.crazyradio.ConnectionData;
-import se.bitcraze.crazyflie.lib.crtp.CrtpDriver;
-
 /**
  * Bootloading utilities for the Crazyflie.
  *

diff --git a/src/se/bitcraze/crazyflie/lib/bootloader/Cloader.java b/src/se/bitcraze/crazyflie/lib/bootloader/Cloader.java
@@ -46,8 +46,8 @@
 import se.bitcraze.crazyflie.lib.crazyradio.RadioDriver;
 import se.bitcraze.crazyflie.lib.crtp.CrtpDriver;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket;
-import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket.Header;
+import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 
 /**
  * Crazyflie radio bootloader for flashing firmware.

diff --git a/src/se/bitcraze/crazyflie/lib/crazyflie/DataListener.java b/src/se/bitcraze/crazyflie/lib/crazyflie/DataListener.java
@@ -32,6 +32,12 @@
 
 /**
  * Interface for receiving notifications about data received from the Crazyflie.
+ *
+ * TODO:
+ * -add channel?
+ * -add port mask (or use CrtpPort.ALL?)
+ * -add channel mask
+ *
  */
 public abstract class DataListener {
 

diff --git a/src/se/bitcraze/crazyflie/lib/crtp/CommanderPacket.java b/src/se/bitcraze/crazyflie/lib/crtp/CommanderPacket.java
@@ -1,6 +1,6 @@
 /**
- *    ||          ____  _ __                           
- * +------+      / __ )(_) /_______________ _____  ___ 
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
  * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
  * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
  *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/

diff --git a/src/se/bitcraze/crazyflie/lib/log/Logg.java b/src/se/bitcraze/crazyflie/lib/log/Logg.java
@@ -41,13 +41,13 @@
 import se.bitcraze.crazyflie.lib.crazyflie.Crazyflie;
 import se.bitcraze.crazyflie.lib.crazyflie.DataListener;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket;
-import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket.Header;
+import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.toc.Toc;
 import se.bitcraze.crazyflie.lib.toc.TocCache;
 import se.bitcraze.crazyflie.lib.toc.TocElement;
-import se.bitcraze.crazyflie.lib.toc.TocFetchFinishedListener;
 import se.bitcraze.crazyflie.lib.toc.TocFetcher;
+import se.bitcraze.crazyflie.lib.toc.TocFetchFinishedListener;
 import se.bitcraze.crazyflie.lib.toc.VariableType;
 
 //TODO: find better name
@@ -448,6 +448,10 @@ public void create(LogConfig logConfig) {
                 noOfLogVariables++;
             } else { // Item in TOC
                 String name = variable.getName();
+                if (mToc == null) {
+                    mLogger.error("TOC is null.");
+                    return;
+                }
                 int tocElementId = mToc.getElementId(name);
                 if (tocElementId == -1) {
                     mLogger.error("Toc element " + name + " not found in TOC.");
@@ -459,7 +463,7 @@ public void create(LogConfig logConfig) {
                 if (logTocElement != null) {
                     int variableTypeId = logTocElement.getVariableTypeId();
                     if (variableTypeId == -1) {
-                        mLogger.error("VariableType " + variableType.name() + " not found in LogTocElement.VARIABLE_TYPE_MAP.");
+                        mLogger.error("No variableType found for TOC element " + logTocElement.getCompleteName() + ".");
                         //TODO: notifyLogError(logConfig);?
                         //TODO: return instead?
                         continue;

diff --git a/src/se/bitcraze/crazyflie/lib/param/Param.java b/src/se/bitcraze/crazyflie/lib/param/Param.java
@@ -41,13 +41,13 @@
 import se.bitcraze.crazyflie.lib.crazyflie.Crazyflie;
 import se.bitcraze.crazyflie.lib.crazyflie.DataListener;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket;
-import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket.Header;
+import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.toc.Toc;
 import se.bitcraze.crazyflie.lib.toc.TocCache;
 import se.bitcraze.crazyflie.lib.toc.TocElement;
-import se.bitcraze.crazyflie.lib.toc.TocFetchFinishedListener;
 import se.bitcraze.crazyflie.lib.toc.TocFetcher;
+import se.bitcraze.crazyflie.lib.toc.TocFetchFinishedListener;
 
 /**
  * Enables reading/writing of parameter values to/from the Crazyflie.

diff --git a/src/se/bitcraze/crazyflie/lib/toc/TocFetcher.java b/src/se/bitcraze/crazyflie/lib/toc/TocFetcher.java
@@ -38,8 +38,8 @@
 import se.bitcraze.crazyflie.lib.crazyflie.Crazyflie;
 import se.bitcraze.crazyflie.lib.crazyflie.DataListener;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket;
-import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.crtp.CrtpPacket.Header;
+import se.bitcraze.crazyflie.lib.crtp.CrtpPort;
 import se.bitcraze.crazyflie.lib.log.LogTocElement;
 import se.bitcraze.crazyflie.lib.param.ParamTocElement;
 
@@ -116,9 +116,9 @@ public TocState getState() {
         return this.mState;
     }
 
-    // TODO: only for testing, try to remove
-    public void setState(TocState state) {
-        this.mState = state;
+    // TODO: only for testing?
+    public int getNoOfItems() {
+        return this.mNoOfItems;
     }
 
     public void newPacketReceived(CrtpPacket packet) {
@@ -136,6 +136,7 @@ public void newPacketReceived(CrtpPacket packet) {
             if (packet.getPayload()[0] == CMD_TOC_INFO) {
                 // [self.nbr_of_items, self._crc] = struct.unpack("<BI", payload[:5])
                 this.mNoOfItems = payloadBuffer.get();
+                // Fix for TOC > 128 items (fixed by Arnaud)
                 this.mNoOfItems &= 0x00ff;
                 this.mCrc = payloadBuffer.getInt();
                 mToc.setCrc(mCrc);
@@ -163,6 +164,7 @@ public void newPacketReceived(CrtpPacket packet) {
                 // Always add new element, but only request new if it's not the last one.
 
                 // if self.requested_index != ord(payload[0]):
+             // Fix for TOC > 128 items (fixed by Arnaud)
                 if (this.mRequestedIndex != (payloadBuffer.get(0) & 0x00ff)) {
                     /*
                         # TODO: There might be a timing issue here with resending old