Merge branch 'master' of

https://github.com/NeuronRobotics/java-bowler.git

Conflicts:
	javasdk/NRSDK/lib/nrjavaserial-3.9.0.jar

Author: madhephaestus

javasdk/NRSDK/lib/nrjavaserial-3.9.0.jar

@@ -437,12 +437,19 @@ public void setFree(boolean isFree, BowlerDatagramFactory factory) {
 		setFree(isFree);
 	}
 
+	private void setNotFree(){
+		clear();
+		timeout.stop();
+	}
+	
+	private void setToFree(){
+		timeout.initialize(BowlerDatagramFactory.getPacketTimeout(), this);
+	}
 	void setFree(boolean isFree) {
 		if(isFree== true){
-			clear();
-			timeout.stop();
+			setNotFree();
 		}else{
-			timeout.initialize(BowlerDatagramFactory.getPacketTimeout(), this);
+			setToFree();
 		}
 		this.isPackedAvailibleForLoading = isFree;
 	}

javasdk/NRSDK/src/com/neuronrobotics/sdk/common/BowlerDatagram.java

@@ -28,6 +28,7 @@ public class BowlerDatagramFactory {
 
 	private static BowlerDatagram pool [];
 	private static int failed=0;
+	private static int lastIndex = 0;
 	private static int poolDefaultSize = 1500;
 	private static long packetTimeout = 2000;
 
@@ -57,11 +58,20 @@ private static synchronized BowlerDatagram getNextPacket(){
 		BowlerDatagram ref = null;
 
 		//Find the most recent free packet from the pool
-		for(int i=0;(i<pool.length && ref==null);i++){
+		for(int i=lastIndex;(i<pool.length && ref==null);i++){
 			//Log.warning("Checking pool packet "+i);
 			if(pool[i].isFree()){
+				lastIndex=i;
 				ref=pool[i];
 			}
+			if(i==pool.length-1){
+				//loop around since we started at the last index
+				i=0;
+			}
+			if(i==lastIndex-1){
+				//looped around, bail
+				i=pool.length;
+			}
 		}
 		if(ref == null){
 			//The whole list was search and no free packets were found

javasdk/NRSDK/src/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java

@@ -57,11 +57,11 @@ public boolean isTimedOut() {
 	}
 
 	public void initialize(long sleepTime,IthreadedTimoutListener listener) {
-		stop();
-		this.time = (sleepTime);
+		//stop();
 		setStartTime(System.currentTimeMillis());
+		this.time = (sleepTime);
 		setTimeoutListener(listener);
-		timerThread.addTimer(this);
+		//timerThread.addTimer(this);
 	}
 
 	public long getAmountOfTimeForTimerToRun() {
@@ -83,6 +83,7 @@ public void run(){
 			while(true){
 				if(getTimers().size()>0){
 					toRemove.clear();
+					
 					for(int i=0;i<getTimers().size();i++){
 						try{
 							ThreadedTimeout t = getTimers().get(i);
@@ -112,15 +113,15 @@ public void addTimer(ThreadedTimeout time){
 				if(!getTimers().contains(time))
 					getTimers().add(time);
 			}catch (Exception e){
-					
+				e.printStackTrace();
 			}
 		}
 		public void removeTimer(ThreadedTimeout time){
 			try{
 				if(getTimers().contains(time))
 					getTimers().remove(time);
 			}catch (Exception e){
-				
+				e.printStackTrace();
 			}
 
 		}