From 3090fcf2596a04125fe57f19dce2db6e9f6e0fc5 Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Thu, 8 Aug 2013 10:20:52 -0700
Subject: [PATCH] Retransmit param list request; fix null data model

---
 libs/eigen/Eigen/src/Core/BandMatrix.h |  1 +
 src/uas/UAS.cc                         | 12 ++++++++----
 src/uas/UASParameterCommsMgr.cc        | 27 ++++++++++++++++++++++----
 src/uas/UASParameterCommsMgr.h         |  1 +
 4 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/libs/eigen/Eigen/src/Core/BandMatrix.h b/libs/eigen/Eigen/src/Core/BandMatrix.h
index dda8efba3..e6922b50f 100644
--- a/libs/eigen/Eigen/src/Core/BandMatrix.h
+++ b/libs/eigen/Eigen/src/Core/BandMatrix.h
@@ -285,6 +285,7 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
         m_rows(rows), m_supers(supers), m_subs(subs)
     {
       //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows());
+        cols=0; //workaround for compiler warning
     }
 
     /** \returns the number of columns */
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 89f9d44e8..2a95b0886 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -234,6 +234,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 */
 UAS::~UAS()
 {
+    delete paramCommsMgr;
+    delete paramDataModel;
     writeSettings();
     delete links;
     delete statusTimeout;
@@ -2029,8 +2031,10 @@ void UAS::forwardMessage(mavlink_message_t message)
                 {
                     if(serial != links->at(i))
                     {
-                        qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
-                        sendMessage(serial, message);
+                        if (link->isConnected()) {
+                            qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
+                            sendMessage(serial, message);
+                        }
                     }
                 }
             }
@@ -2541,7 +2545,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
         if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
         {
-            switch (value.type())
+            switch ((int)value.type())
             {
             case QVariant::Char:
                 union_value.param_float = (unsigned char)value.toChar().toAscii();
@@ -2566,7 +2570,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         }
         else
         {
-            switch (value.type())
+            switch ((int)value.type())
             {
             case QVariant::Char:
                 union_value.param_int8 = (unsigned char)value.toChar().toAscii();
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 93cab1d19..bdd2494b2 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -10,6 +10,7 @@
 UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
     QObject(parent),
     mav(uas),
+    paramDataModel(NULL),
     transmissionListMode(false),
     transmissionActive(false),
     transmissionTimeout(0),
@@ -17,7 +18,7 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
     rewriteTimeout(500),
     retransmissionBurstRequestSize(5)
 {
-    mav = uas;
+    paramDataModel = mav->getParamDataModel();
     loadParamCommsSettings();
 
 
@@ -57,6 +58,8 @@ void UASParameterCommsMgr::loadParamCommsSettings()
     settings.endGroup();
 }
 
+
+
 /**
  * Send a request to deliver the list of onboard parameters
  * from the MAV.
@@ -82,7 +85,9 @@ void UASParameterCommsMgr::requestParameterList()
         transmissionActive = true;
 
         setParameterStatusMsg(tr("Requested param list.. waiting"));
+        listRecvTimeout = QGC::groundTimeMilliseconds() + 10000;
         mav->requestParameters();
+        setRetransmissionGuardEnabled(true);
     }
     else {
         qDebug() << __FILE__ << __LINE__ << "Ignoring requestParameterList because we're receiving params list";
@@ -94,6 +99,17 @@ void UASParameterCommsMgr::requestParameterList()
 void UASParameterCommsMgr::retransmissionGuardTick()
 {
     if (transmissionActive) {
+        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;
+        }
+
         qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD ACTIVE, CHECKING FOR DROPS..";
 
         // Check for timeout
@@ -466,11 +482,9 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
             transmissionMissingPackets.value(key)->clear();
         }
 
+        setRetransmissionGuardEnabled(false);
         //all parameters have been received, broadcast to UI
         emit parameterListUpToDate();
-        //TODO in UI
-        // Expand visual tree
-        //tree->expandItem(tree->topLevelItem(0));
     }
 }
 
@@ -527,5 +541,10 @@ void UASParameterCommsMgr::sendPendingParameters()
 UASParameterCommsMgr::~UASParameterCommsMgr()
 {
     setRetransmissionGuardEnabled(false);
+
+    QString ptrStr;
+    ptrStr.sprintf("%8p", this);
+    qDebug() <<  "UASParameterCommsMgr destructor: " << ptrStr ;
+
 }
 
diff --git a/src/uas/UASParameterCommsMgr.h b/src/uas/UASParameterCommsMgr.h
index 3ac5f53d6..03286c1e1 100644
--- a/src/uas/UASParameterCommsMgr.h
+++ b/src/uas/UASParameterCommsMgr.h
@@ -98,6 +98,7 @@ protected:
     int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
     int rewriteTimeout; ///< Write request timeout, in milliseconds
     int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
+    quint64 listRecvTimeout;     ///< How long to wait for first parameter list response before re-requesting
 
     // Status
     QString parameterStatusMsg;
-- 
2.22.0