The discrepancy between serial and usb is now resolved. The bulk read in

USB was working, bu the single buyte read was breaking down.

Author: madhephaestus

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

@@ -176,14 +176,11 @@ public synchronized BowlerDatagram sendSynchronusly(BowlerDatagram sendable){
 		}
 
 		if (getLastSyncronousResponse() == null){
-			try {
-				//new RuntimeException().printStackTrace();
-				Log.error("No response from device, no response in "+(System.currentTimeMillis()-startOfReciveTime)+" ms");
-				
-			} catch (Exception e) {
-				clearLastSyncronousResponse();
-				executingLock.unlock();
-				throw new RuntimeException(e);
+			Log.error("No response from device, no response in "+(System.currentTimeMillis()-startOfReciveTime)+" ms");
+			if( BowlerDatagram.isUseBowlerV4()){
+				//If the ping fails to get a response, try the older bowler format
+				Log.error("Switching to legacy parser");
+				BowlerDatagram.setUseBowlerV4(false);
 			}
 		}
 		BowlerDatagram b = getLastSyncronousResponse();
@@ -939,7 +936,8 @@ public ArrayList<RpcEncapsulation> getRpcList(String namespace,MACAddress addr)
 	 */
 	public BowlerDatagram send(BowlerAbstractCommand command,MACAddress addr, int retry) throws NoConnectionAvailableException, InvalidResponseException {	
 		for(int i=0;i<retry;i++){
-
+			if(i!=0)
+				Log.error("Re-sending");
 			BowlerDatagram ret;
 			try{
 				ret = send( command,addr);
@@ -949,10 +947,12 @@ public BowlerDatagram send(BowlerAbstractCommand command,MACAddress addr, int re
 					//if(!ret.getRPC().contains("_err"))
 
 					return ret;
+				}else{
+					 throw new InvalidResponseException("No response from device");
 				}
-			}catch(MalformattedDatagram  | NullPointerException e){
+			}catch(MalformattedDatagram |InvalidResponseException | NullPointerException e){
 				Log.error("Sending Synchronus packet and there was a failure, will retry "+(retry-i-1)+" more times");
-				ThreadUtil.wait(150*i);
+				ThreadUtil.wait(150*i);				
 			}
 
 		}
@@ -980,13 +980,9 @@ public BowlerDatagram send(BowlerAbstractCommand command,MACAddress addr) throws
 		if(back!=null){
 			addr.setValues(back.getAddress());
 		}
-		try{
-			return command.validate(back);
-		}catch (InvalidResponseException ex){
-			ex.printStackTrace();
-			Log.error("Failed to send synchronusly: "+cmd+"\r\nGot>> "+back);
-			return null;
-		}
+		
+		return command.validate(back);
+
 		//BowlerDatagramFactory.freePacket(cmd);
 
 	}
@@ -1010,7 +1006,7 @@ public PingCommand() {
 	public boolean ping(MACAddress mac) {
 		try {
 			//Log.warning("Ping device:");
-			BowlerDatagram bd = send(new PingCommand(),mac,2);
+			BowlerDatagram bd = send(new PingCommand(),mac,5);
 			if(bd !=null){
 				BowlerDatagramFactory.freePacket(bd);
 				return true;
@@ -1022,6 +1018,7 @@ public boolean ping(MACAddress mac) {
 			Log.error("No connection is available.");
 			e.printStackTrace();
 		}
+		
 		return false;
 	}
 
@@ -1161,7 +1158,7 @@ public void run() {
 		private boolean runPacketUpdate() {
 			try {
 				if(loadPacketFromPhy(bytesToPacketBuffer))
-					bytesToPacketBuffer= new ByteList();
+					bytesToPacketBuffer.clear();
 			} catch (Exception e) {
 				if(isConnected()){
 					Log.error("Data read failed "+e.getMessage());
@@ -1198,50 +1195,34 @@ public void kill() {
 
 	public boolean loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException{
 		if(dataIns!=null){	
-			while(getDataIns().available()>0){
-				long dataRead=System.currentTimeMillis();
-				//we want to run this until the buffer is clear or a packet is found
-				int b = getDataIns().read();
-				long dataReadEnd=System.currentTimeMillis();
-				if(b<0){
-					Log.error("Stream is broken - unexpected: claimed to have "+getDataIns().available()+" bytes, read in "+b);
-					//reconnect();
-					//something went wrong
-					new RuntimeException().printStackTrace();
-					return false;
-				}else{
-					
-					bytesToPacketBuffer.add(b);
-					long dataAdd=System.currentTimeMillis();
-					BowlerDatagram bd = BowlerDatagramFactory.build(bytesToPacketBuffer);
-					long dataBuild=System.currentTimeMillis();
-					if (bd!=null) {
-						Log.info("\nR<<"+bd);
-						onDataReceived(bd);
-
-						long dataSet=System.currentTimeMillis();
-						//bytesToPacketBuffer.clear();
-						
-						long bufferClear=System.currentTimeMillis();
-						
-						if((System.currentTimeMillis()-getLastWrite())>(getSleepTime()*(getPercentagePrint() /100.0))&& bd.isSyncronous() && syncListen==null){
-							Log.info("Packet recive took more then "+getPercentagePrint()+"%. " +
-									//"\nRaw receive\t"+(start-getLastWrite() )+"" +
-									//"\nStart Section\t"+(dataRead- start)+"" +
-									"\nData Read\t"+(dataReadEnd-dataRead)+"" +
-									"\nAdd data\t"+(dataAdd-dataReadEnd)+
-									"\nBuild Packet\t"+(dataBuild-dataAdd)+
-									"\nSet Packet\t"+(dataSet-dataBuild)+
-									"\nClear Packet buffer\t"+(bufferClear-dataSet)											
-									);
-						}
-
-						//Packet found, break the loop and deal with it
-						return true;
-					}
+			if(getDataIns().available()==0)
+				return false;
+			byte  [] buff = new byte[getDataIns().available()];
+			//we want to run this until the buffer is clear or a packet is found
+			int b = getDataIns().read(buff);
+		
+			if(b<0 || buff.length != b){
+				Log.error("Stream is broken - unexpected: claimed to have "+getDataIns().available()+" bytes, read in "+b);
+				//reconnect();
+				//something went wrong
+				new RuntimeException(" Buffer attempted to read "+buff.length+" got "+b).printStackTrace();
+				return false;
+			}else{
+				bytesToPacketBuffer.add(buff);
+				BowlerDatagram bd=null;
+				try{
+					bd = BowlerDatagramFactory.build(bytesToPacketBuffer);
+				}catch(Exception ex){
+					ex.printStackTrace();
+				}
+				if (bd!=null) {
+					Log.info("\nR<<"+bd);
+					onDataReceived(bd);
+					return true;
 				}
-				//Log.info("buffer: "+buffer);
 			}
+			//ThreadUtil.wait(1);
+			
 		}else{
 			Log.error("Data In is null");
 		}

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

@@ -217,23 +217,13 @@ public void parse(ByteList raw) {
 		int dataLength = raw.getUnsigned(9);
 		//Either legacy parser or the v4 parser
 		if((dataLength != raw.getBytes(11).length-1) && (dataLength != raw.getBytes(11).length) ) {
-			throw new MalformattedDatagram("Datagram payload length is mismatched");
+			throw new MalformattedDatagram("Datagram payload length is mismatched expected "+dataLength+" got "+raw.getBytes(11).length);
 		}	
-		// Put the remaining data into the data payload 
+		// Put the remaining data into the data payload  
 		setData(raw.getBytes(HEADER_SIZE,dataLength));
 
 		// Validate the CRC
 		if(!CheckCRC(raw,true) ) {
-			Log.error("CRC failed check");
-			if( BowlerDatagram.isUseBowlerV4()){
-				//If the ping fails to get a response, try the older bowler format
-				Log.error("Switching to legacy parser");
-				BowlerDatagram.setUseBowlerV4(false);
-			}else{
-				Log.error("Switching to v4 parser");
-				BowlerDatagram.setUseBowlerV4(true);
-			}
-			if(!CheckCRC(raw,true) ) 
 				throw new MalformattedDatagram("CRC does not match");
 		}else{
 			setCrc(getCRC(raw));
@@ -365,16 +355,6 @@ private int getSessionID() {
 		return getNamespaceResolutionID() >= 0 ? (int) getNamespaceResolutionID():(int) getNamespaceResolutionID()+256;
 	}
 
-	/**
-	 * Get the datagram's current data payload after the RPC.
-	 * @Deprecated use getData() instead
-	 * @return the current data payload
-	 */
-	@Deprecated
-	public ByteList getRPCData() {
-		checkValidPacket();
-		return getData();
-	}
 	/**
 	 * Get the datagram's current data payload after the RPC.
 	 *
@@ -402,7 +382,7 @@ public byte[] getBytes() {
 		bl.add(getCRC());
 		bl.add(data);
 		if(isUseBowlerV4()){
-			
+			//Log.warning("parsing v4 ");
 			setDataCrc(genDataCrc(bl));
 			bl.add(getDataCrc());
 		}
@@ -459,24 +439,25 @@ public String toString(){
 	 */
 	static boolean CheckCRC(ByteList buffer, boolean checkData) {
 		try{
-		byte generated,inPacket;
-		generated = genCrc(buffer);
-		inPacket  = getCRC(buffer);
-		if(generated != inPacket){
-			Log.error("CRC of packet is: "+generated+" Expected: "+inPacket);
-			return false;
-		}
-		
-		if(checkData && isUseBowlerV4()){
-			generated = genDataCrc(buffer);
-			inPacket  = getDataCrc(buffer);
+			byte generated,inPacket;
+			generated = genCrc(buffer);
+			inPacket  = getCRC(buffer);
 			if(generated != inPacket){
-				Log.error("Data CRC of packet is: "+generated+" Expected: "+inPacket);
+				Log.error("CRC of packet is: "+generated+" Expected: "+inPacket);
 				return false;
 			}
-		}
+			
+			if(checkData && isUseBowlerV4()){
+				generated = genDataCrc(buffer);
+				inPacket  = getDataCrc(buffer);
+				if(generated != inPacket){
+					Log.error("Data CRC of packet is: "+generated+" Expected: "+inPacket);
+					return false;
+				}
+			}
 		}catch(Exception ex){
 			if(InterruptedException.class.isInstance(ex))throw ex;
+			ex.printStackTrace();
 			return false;
 		}
 		return true;
@@ -592,6 +573,8 @@ public static boolean isUseBowlerV4() {
 	}
 
 	public static void setUseBowlerV4(boolean useBowlerV4) {
+		Log.warning("Setting V4 mode = "+useBowlerV4);
+		//new Exception().printStackTrace();
 		BowlerDatagram.useBowlerV4 = useBowlerV4;
 	}
 }

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

@@ -206,23 +206,21 @@ private static BowlerDatagram build(ByteList buffer, BowlerDatagram staticMemory
 		}
 		int totalLen = len+BowlerDatagram.HEADER_SIZE;	
 
+		if(BowlerDatagram.isUseBowlerV4())
+			totalLen+=1;
+		staticMemory.setFree(false,instance);
 		// See if all the data has arrived for this packet
-		if (buffer.size()>=(totalLen) ||  buffer.size()>=(totalLen+1)){
+		if (buffer.size()>=(totalLen)){
 			failed=0;
-			ByteList rawContent = new ByteList(buffer.popList(totalLen));
-			staticMemory.setFree(false,instance);
-			try{
-				staticMemory.parse(rawContent);
-				if(BowlerDatagram.CheckCRC(rawContent,true)){
-					return  staticMemory;
-				}else{
-					Log.error("Data CRC check Fail  "+staticMemory);
-					failed = rawContent.size();
-				}
-			}catch(Exception E){
-				E.printStackTrace();
+			ByteList rawContent = new ByteList(buffer.popList(totalLen));	
+			staticMemory.parse(rawContent);
+			if(BowlerDatagram.CheckCRC(rawContent,true)){
+				return  staticMemory;
+			}else{
 				Log.error("Data CRC check Fail  "+staticMemory);
+				failed = rawContent.size();
 			}
+			
 		}
 //		if(failed>0)
 //			Log.error("Failed out "+failed+" bytes");