From 13ecf8196624aa0189a27b0237921ae81a7185dc Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Thu, 8 Aug 2013 11:14:48 -0700
Subject: [PATCH] keep the received params list clean

---
 src/uas/UASParameterCommsMgr.cc | 43 +++++++++++++++++++--------------
 src/uas/UASParameterDataModel.h |  8 +++---
 src/ui/QGCParamWidget.cc        |  4 +--
 3 files changed, 31 insertions(+), 24 deletions(-)

diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 58f02733e..8b65d65ee 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -99,15 +99,14 @@ void UASParameterCommsMgr::requestParameterList()
 void UASParameterCommsMgr::retransmissionGuardTick()
 {
     if (transmissionActive) {
-        if (transmissionListMode) {
-            if (transmissionListSizeKnown.isEmpty() ) {
-                //we are still waitin for the first parameter list response
-                if (QGC::groundTimeMilliseconds() > this->listRecvTimeout) {
-                    //re-request parameters
-                    setParameterStatusMsg(tr("TIMEOUT: Re-requesting param list"),ParamCommsStatusLevel_Warning);
-                    listRecvTimeout = QGC::groundTimeMilliseconds() + 10000;
-                    mav->requestParameters();
-                }
+
+        if (transmissionListMode && transmissionListSizeKnown.isEmpty() ) {
+            //we are still waitin for the first parameter list response
+            if (QGC::groundTimeMilliseconds() > this->listRecvTimeout) {
+                //re-request parameters
+                setParameterStatusMsg(tr("TIMEOUT: Re-requesting param list"),ParamCommsStatusLevel_Warning);
+                listRecvTimeout = QGC::groundTimeMilliseconds() + 10000;
+                mav->requestParameters();
             }
             return;
         }
@@ -142,8 +141,8 @@ void UASParameterCommsMgr::retransmissionGuardTick()
         // Re-request at maximum retransmissionBurstRequestSize parameters at once
         // to prevent link flooding
         QMap<int, QMap<QString, QVariant>*>::iterator i;
-        QMap<int, QMap<QString, QVariant>*> onboardParams = paramDataModel->getOnboardParameters();
-        for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
+        QMap<int, QMap<QString, QVariant>*>* onboardParams = paramDataModel->getOnboardParameters();
+        for (i = onboardParams->begin(); i != onboardParams->end(); ++i) {
             // Iterate through the parameters of the component
             int component = i.key();
             // Request n parameters from this component (at maximum)
@@ -175,7 +174,7 @@ void UASParameterCommsMgr::retransmissionGuardTick()
                 if (count < retransmissionBurstRequestSize) {
                     // Re-request write operation
                     QVariant value = missingParams->value(key);
-                    switch ((int)onboardParams.value(component)->value(key).type())
+                    switch ((int)onboardParams->value(component)->value(key).type())
                     {
                     case QVariant::Int:
                     {
@@ -395,13 +394,20 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
             // Mark list size as known
             transmissionListSizeKnown.insert(compId, true);
 
-            // Mark all parameters as missing
+            qDebug() << "Mark all parameters as missing";
+            QList<int>* compParamList = transmissionMissingPackets.value(compId);
             for (int i = 0; i < paramCount; ++i) {
-                if (!transmissionMissingPackets.value(compId)->contains(i)) {
-                    transmissionMissingPackets.value(compId)->append(i);
+                if (!compParamList->contains(i)) {
+                    if (i != paramId) {
+                        compParamList->append(i);
+                    }
+                    else {
+                        qDebug() << "Already received " << paramId;
+                    }
                 }
             }
 
+
             // There is only one transmission timeout for all components
             // since components do not manage their transmission,
             // the longest timeout is safe for all components.
@@ -491,7 +497,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
     else {
         qDebug() << "missCount:" << missCount << "missWriteCount:" << missWriteCount;
         foreach (int key, transmissionMissingPackets.keys()) {
-            qDebug() << "Missing:" << key  ;
+            QList<int>* list = transmissionMissingPackets.value(key);
+            qDebug() << "Component" << key << "missing numParams:" << list->count() ;
         }
     }
 }
@@ -509,9 +516,9 @@ void UASParameterCommsMgr::sendPendingParameters()
 {
     // Iterate through all components, through all pending parameters and send them to UAS
     int parametersSent = 0;
-    QMap<int, QMap<QString, QVariant>*> changedValues = paramDataModel->getPendingParameters();
+    QMap<int, QMap<QString, QVariant>*>* changedValues = paramDataModel->getPendingParameters();
     QMap<int, QMap<QString, QVariant>*>::iterator i;
-    for (i = changedValues.begin(); i != changedValues.end(); ++i) {
+    for (i = changedValues->begin(); i != changedValues->end(); ++i) {
         // Iterate through the parameters of the component
         int compid = i.key();
         QMap<QString, QVariant>* comp = i.value();
diff --git a/src/uas/UASParameterDataModel.h b/src/uas/UASParameterDataModel.h
index 352fb0eea..219eff900 100644
--- a/src/uas/UASParameterDataModel.h
+++ b/src/uas/UASParameterDataModel.h
@@ -69,12 +69,12 @@ public:
         return onboardParameters.value(componentId);
     }
 
-    QMap<int, QMap<QString, QVariant>* >  getPendingParameters() {
-       return pendingParameters;
+    QMap<int, QMap<QString, QVariant>* >*  getPendingParameters() {
+       return &pendingParameters;
    }
 
-    QMap<int, QMap<QString, QVariant>* > getOnboardParameters() {
-       return onboardParameters;
+    QMap<int, QMap<QString, QVariant>* >* getOnboardParameters() {
+       return &onboardParameters;
    }
 
 
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index b125b083a..7600d1576 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -432,9 +432,9 @@ void QGCParamWidget::writeParameters()
     int changedParamCount = 0;
 
     QMap<int, QMap<QString, QVariant>*>::iterator i;
-    QMap<int, QMap<QString, QVariant>*> changedValues = paramDataModel->getPendingParameters();
+    QMap<int, QMap<QString, QVariant>*>* changedValues = paramDataModel->getPendingParameters();
 
-    for (i = changedValues.begin(); i != changedValues.end() , (0 == changedParamCount);  ++i) {
+    for (i = changedValues->begin(); (i != changedValues->end()) && (0 == changedParamCount);  ++i) {
         // Iterate through the parameters of the component
         QMap<QString, QVariant>* compPending = i.value();
         changedParamCount += compPending->count();
-- 
2.22.0