Fixed race issues in config upload, tested to be reliable now - board startup...

Fixed race issues in config upload, tested to be reliable now - board startup scripts now need the other half of testing

files/styles/style-dark.css

@@ -249,7 +249,12 @@ QLabel#noUas {
 }
 
 QMessageBox QLabel {
-    font-size: 12pt;
+    font-size: 14pt;
+}
+
+QMessageBox {
+    min-width: 400px;
+    min-height: 300px;
 }
 
 QLabel#calibrationExplanationLabel {

src/comm/MAVLinkProtocol.cc

@@ -250,9 +250,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         if (decodeState == 0 && !decodedFirstPacket)
         {
             nonmavlinkCount++;
-            if (nonmavlinkCount > 500 && !warnedUserNonMavlink)
+            if (nonmavlinkCount > 2000 && !warnedUserNonMavlink)
             {
-                //500 bytes with no mavlink message. Are we connected to a mavlink capable device?
+                //2000 bytes with no mavlink message. Are we connected to a mavlink capable device?
                 if (!checkedUserNonMavlink)
                 {
                     link->requestReset();

src/comm/SerialLink.cc

@@ -183,7 +183,7 @@ void SerialLink::run()
         if (m_transmitBuffer.count() > 0) {
             QMutexLocker writeLocker(&m_writeMutex);
             int numWritten = m_port->write(m_transmitBuffer);
-            bool txSuccess = m_port->waitForBytesWritten(1);
+            bool txSuccess = m_port->waitForBytesWritten(5);
             if (!txSuccess || (numWritten != m_transmitBuffer.count())) {
                 linkErrorCount++;
                 qDebug() << "TX Error! wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes";

src/ui/QGCPX4VehicleConfig.cc

@@ -1182,12 +1182,11 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
 
     // Raw value
     float mappedVal = rcMappedValue[rcToFunctionMapping[chan]];
-    bool isMapped = (((float)UINT16_MAX) != mappedVal);
+    float deltaRaw = fabsf(fval - rcValue[chan]);
     float delta = fabsf(fval - mappedVal);
     if (!configEnabled && !calibrationEnabled &&
-            (!isMapped ||
-                (delta < 12.0f && rcValue[chan] > 800 && rcValue[chan] < 2200) )
-             ) {
+        (deltaRaw < 12.0f && delta < 12.0f && rcValue[chan] > 800 && rcValue[chan] < 2200))
+    {
         //ignore tiny jitter values
         return;
     }

src/ui/QGCPX4VehicleConfig.ui

@@ -798,40 +798,6 @@
          </font>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_11">
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_7">
-           <item>
-            <spacer name="horizontalSpacer_8">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QComboBox" name="multiRotorComboBox"/>
-           </item>
-           <item>
-            <widget class="QPushButton" name="loadMultiRotorDefaultsButton">
-             <property name="font">
-              <font>
-               <pointsize>13</pointsize>
-               <weight>50</weight>
-               <bold>false</bold>
-              </font>
-             </property>
-             <property name="text">
-              <string>Load Platform Defaults</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_6">
            <item>
@@ -853,8 +819,8 @@
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>492</width>
+                   <height>828</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_4">
@@ -890,8 +856,8 @@
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>491</width>
+                   <height>828</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_5">
@@ -914,33 +880,6 @@
        </widget>
        <widget class="QWidget" name="advancedTab">
         <layout class="QVBoxLayout" name="verticalLayout_13">
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_2">
-           <item>
-            <spacer name="horizontalSpacer_9">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QComboBox" name="platformSelectorComboBox"/>
-           </item>
-           <item>
-            <widget class="QPushButton" name="loadPlatformDefaultsButton">
-             <property name="text">
-              <string>Load Platform Defaults</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_3">
            <item>

src/ui/px4_configuration/QGCPX4AirframeConfig.cc

 #include <QMessageBox>
+#include <QProgressDialog>
 #include <QDebug>
+#include <QTimer>
 
 #include "QGCPX4AirframeConfig.h"
 #include "ui_QGCPX4AirframeConfig.h"
@@ -7,10 +9,14 @@
 #include "UASManager.h"
 #include "LinkManager.h"
 #include "UAS.h"
+#include "QGC.h"
 
 QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) :
     QWidget(parent),
     mav(NULL),
+    progress(NULL),
+    pendingParams(0),
+    configState(CONFIG_STATE_ABORT),
     selectedId(-1),
     ui(new Ui::QGCPX4AirframeConfig)
 {
@@ -75,6 +81,7 @@ void QGCPX4AirframeConfig::parameterChanged(int uas, int component, QString para
             setAirframeID(index);
             ui->statusLabel->setText(tr("Onboard start script ID: #%1").arg(index));
         } else {
+            uncheckAll();
             ui->statusLabel->setText(tr("System not configured for autostart."));
         }
     }
@@ -171,12 +178,14 @@ void QGCPX4AirframeConfig::applyAndReboot()
     if (paramMgr->countOnboardParams() == 0 &&
             paramMgr->countPendingParams() == 0)
     {
-        paramMgr->requestParameterListIfEmpty();
-        QGC::SLEEP::msleep(100);
+        paramMgr->requestParameterList();
+        QGC::SLEEP::msleep(300);
     }
 
+    QList<int> components = paramMgr->getComponentForParam("SYS_AUTOSTART");
+
     // Guard against the case of an edit where we didn't receive all params yet
-    if (paramMgr->countPendingParams() > 0)
+    if (paramMgr->countPendingParams() > 0 || components.count() == 0)
     {
         QMessageBox msgBox;
         msgBox.setText(tr("Parameter sync with UAS not yet complete"));
@@ -188,8 +197,6 @@ void QGCPX4AirframeConfig::applyAndReboot()
         return;
     }
 
-    QList<int> components = paramMgr->getComponentForParam("SYS_AUTOSTART");
-
     // Guard against multiple components responding - this will never show in practice
     if (components.count() != 1) {
         QMessageBox msgBox;
@@ -202,32 +209,137 @@ void QGCPX4AirframeConfig::applyAndReboot()
         return;
     }
 
-    qDebug() << "Setting comp" << components.first() << "SYS_AUTOSTART" << (qint32)selectedId;
-
-    paramMgr->setPendingParam(components.first(),"SYS_AUTOSTART", (qint32)selectedId);
-
-    //need to set autoconfig in order for PX4 to pick up the selected airframe params
-    if (ui->defaultGainsCheckBox->checkState() == Qt::Checked)
-            setAutoConfig(true);
-
-    // Send pending params and then write them to persistent storage when done
-    paramMgr->sendPendingParameters(true);
-
-    // Reboot
-    //TODO right now this relies upon the above send & persist finishing before the reboot command is received...
-    QMessageBox msgBox(this);
-    msgBox.setText(tr("Storing Parameters and Rebooting Autopilot"));
-    msgBox.setInformativeText(tr("Please wait a few seconds for the reboot to complete."));
-    msgBox.setStandardButtons(QMessageBox::NoButton);
-    msgBox.setModal(false);
-    msgBox.show();
-    QGC::SLEEP::sleep(2);
-    mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
-    QGC::SLEEP::msleep(200);
-    LinkManager::instance()->disconnectAll();
-    QGC::SLEEP::sleep(8);
-    LinkManager::instance()->connectAll();
-    msgBox.close();
+    // This is really evil: 'fake' a thread by
+    // periodic work queue calls and clock
+    // through a small state machine
+    // ugh.. if we just had time to do this properly.
+
+    // To the reader who can't program and wants to whine:
+    // this is not beautiful, but technically completely
+    // sound. If you want to fix it, you'd be welcome
+    // to rebase the link, param manager and UI classes
+    // on a proper threading framework - which I'd love to do
+    // if I just had more time..
+
+    configState = CONFIG_STATE_SEND;
+    QTimer::singleShot(200, this, SLOT(checkConfigState()));
+}
+
+void QGCPX4AirframeConfig::checkConfigState()
+{
+
+    if (configState == CONFIG_STATE_SEND)
+    {
+        QList<int> components = paramMgr->getComponentForParam("SYS_AUTOSTART");
+        qDebug() << "Setting comp" << components.first() << "SYS_AUTOSTART" << (qint32)selectedId;
+
+        paramMgr->setPendingParam(components.first(),"SYS_AUTOSTART", (qint32)selectedId);
+
+        //need to set autoconfig in order for PX4 to pick up the selected airframe params
+        if (ui->defaultGainsCheckBox->checkState() == Qt::Checked)
+                setAutoConfig(true);
+
+        // Send pending params and then write them to persistent storage when done
+        paramMgr->sendPendingParameters(true);
+
+        configState = CONFIG_STATE_WAIT_PENDING;
+        pendingParams = 0;
+        QTimer::singleShot(2000, this, SLOT(checkConfigState()));
+        return;
+    }
+
+    if (configState == CONFIG_STATE_WAIT_PENDING) {
+        // Guard against the case of an edit where we didn't receive all params yet
+        if (paramMgr->countPendingParams() > 0)
+        {
+            if (pendingParams == 0) {
+
+                pendingParams = paramMgr->countPendingParams();
+
+                if (progress)
+                    delete progress;
+
+                progress = new QProgressDialog("Writing parameters", "Abort Send", 0, pendingParams, this);
+                progress->setWindowModality(Qt::WindowModal);
+                progress->setMinimumDuration(2000);
+            }
+
+            qDebug() << "PENDING" << paramMgr->countPendingParams() << "PROGRESS" << pendingParams - paramMgr->countPendingParams();
+            progress->setValue(pendingParams - paramMgr->countPendingParams());
+
+            if (progress->wasCanceled()) {
+                configState = CONFIG_STATE_ABORT;
+                pendingParams = 0;
+                return;
+            }
+        } else {
+            pendingParams = 0;
+            configState = CONFIG_STATE_REBOOT;
+        }
+
+        qDebug() << "PENDING PARAMS WAIT PENDING: " << paramMgr->countPendingParams();
+        QTimer::singleShot(1000, this, SLOT(checkConfigState()));
+        return;
+    }
+
+    if (configState == CONFIG_STATE_REBOOT) {
+
+        // Reboot
+        //TODO right now this relies upon the above send & persist finishing before the reboot command is received...
+
+        unsigned pendingMax = 20;
+
+        qDebug() << "PENDING PARAMS REBOOT BEFORE" << pendingParams;
+
+        if (pendingParams == 0) {
+            pendingParams = 1;
+
+            if (progress)
+                delete progress;
+
+            progress = new QProgressDialog("Waiting for autopilot reboot", "Abort", 0, pendingMax, this);
+            progress->setWindowModality(Qt::WindowModal);
+            qDebug() << "Waiting for reboot, pending" << pendingParams;
+        }
+
+        if (pendingParams == 3) {
+            qDebug() << "REQUESTING REBOOT";
+            mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
+            mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
+        }
+
+        if (pendingParams == 4) {
+            qDebug() << "DISCONNECT AIRFRAME";
+            LinkManager::instance()->disconnectAll();
+        }
+
+        if (pendingParams == 14) {
+            qDebug() << "CONNECT AIRFRAME";
+            LinkManager::instance()->connectAll();
+        }
+        if (pendingParams == 15) {
+            qDebug() << "DISCONNECT AIRFRAME";
+            LinkManager::instance()->disconnectAll();
+        }
+        if (pendingParams == 16) {
+            qDebug() << "CONNECT AIRFRAME";
+            LinkManager::instance()->connectAll();
+        }
+
+        if (pendingParams < pendingMax) {
+            progress->setValue(pendingParams);
+            QTimer::singleShot(1000, this, SLOT(checkConfigState()));
+        } else {
+            paramMgr->requestParameterList();
+            progress->setValue(pendingMax);
+            configState = CONFIG_STATE_ABORT;
+            pendingParams = 0;
+            return;
+        }
+        qDebug() << "PENDING PARAMS REBOOT AFTER:" << pendingParams;
+        pendingParams++;
+        return;
+    }
 }
 
 void QGCPX4AirframeConfig::setAutoConfig(bool enabled)

src/ui/px4_configuration/QGCPX4AirframeConfig.h

@@ -4,6 +4,8 @@
 #include <QWidget>
 #include <UASInterface.h>
 
+class QProgressDialog;
+
 namespace Ui {
 class QGCPX4AirframeConfig;
 }
@@ -67,6 +69,9 @@ public slots:
      */
     void applyAndReboot();
 
+protected slots:
+    void checkConfigState();
+
 protected:
 
     /**
@@ -83,9 +88,19 @@ protected:
 
     void uncheckAll();
 
+    enum CONFIG_STATE {
+        CONFIG_STATE_ABORT = 0,
+        CONFIG_STATE_SEND,
+        CONFIG_STATE_WAIT_PENDING,
+        CONFIG_STATE_REBOOT
+    };
+
 private:
     UASInterface* mav;
     QGCUASParamManager *paramMgr;
+    QProgressDialog* progress;
+    unsigned pendingParams;
+    enum CONFIG_STATE configState;
     int selectedId;
     Ui::QGCPX4AirframeConfig *ui;
 };