/**
* Disconnect a mavlink connection. If the operation is successful, it will be reported through
* the MavLinkConnectionListener interface.
*/
public void disconnect() {
if (mConnectionStatus.get() == MAVLINK_DISCONNECTED
|| (mConnectThread == null && mTaskThread == null)) {
return;
}
try {
final long disconnectTime = System.currentTimeMillis();
mConnectionStatus.set(MAVLINK_DISCONNECTED);
mConnectionTime.set(-1);
if (mConnectThread != null && mConnectThread.isAlive() && !mConnectThread.isInterrupted()) {
mConnectThread.interrupt();
}
if (mTaskThread != null && mTaskThread.isAlive() && !mTaskThread.isInterrupted()) {
mTaskThread.interrupt();
}
closeConnection();
reportDisconnect(disconnectTime);
} catch (IOException e) {
mLogger.logErr(TAG, e);
reportComError(e.getMessage());
}
}
private void queueToLog(byte[] packetData) {
if (packetData != null) {
if (!mPacketsToLog.offer(packetData)) {
mLogger.logErr(TAG, "Unable to log mavlink packet. Queue is full!");
}
}
}
protected void onConnectionOpened() {
if (mConnectionStatus.compareAndSet(MAVLINK_CONNECTING, MAVLINK_CONNECTED)) {
mLogger.logInfo(TAG, "Starting manager thread.");
mTaskThread = new Thread(mManagerTask, "MavLinkConnection-Manager Thread");
mTaskThread.start();
}
}
/**
* Establish a mavlink connection. If the connection is successful, it will be reported through
* the MavLinkConnectionListener interface.
*/
public void connect() {
if (mConnectionStatus.compareAndSet(MAVLINK_DISCONNECTED, MAVLINK_CONNECTING)) {
mLogger.logInfo(TAG, "Starting connection thread.");
mConnectThread = new Thread(mConnectingTask, "MavLinkConnection-Connecting Thread");
mConnectThread.start();
reportConnecting();
}
}
public void removeLoggingPath(String tag) {
if (tag == null || tag.length() == 0) return;
Pair<String, BufferedOutputStream> logInfo = loggingOutStreams.remove(tag);
if (logInfo != null) {
BufferedOutputStream outStream = logInfo.second;
if (outStream != null) {
try {
outStream.close();
} catch (IOException e) {
mLogger.logErr(TAG, "IO Exception while closing " + logInfo.first, e);
}
}
}
}
public void sendMavPacket(MAVLinkPacket packet) {
final byte[] packetData = packet.encodePacket();
if (!mPacketsToSend.offer(packetData)) {
mLogger.logErr(TAG, "Unable to send mavlink packet. Packet queue is full!");
}
}
protected void onConnectionFailed(String errMsg) {
mLogger.logInfo(TAG, "Unable to establish connection: " + errMsg);
reportComError(errMsg);
disconnect();
}
