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Valentin Platzgummer
qgroundcontrol
Commits
4131c134
Commit
4131c134
authored
Jan 05, 2016
by
Don Gagne
Browse files
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Plain Diff
Mission protocol robustness rework
parent
7f43851e
Changes
8
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8 changed files
with
153 additions
and
263 deletions
+153
-263
MissionManager.cc
src/MissionManager/MissionManager.cc
+106
-159
MissionManager.h
src/MissionManager/MissionManager.h
+9
-9
MissionManagerTest.cc
src/MissionManager/MissionManagerTest.cc
+29
-64
MissionManagerTest.h
src/MissionManager/MissionManagerTest.h
+4
-4
MockLink.cc
src/comm/MockLink.cc
+2
-2
MockLink.h
src/comm/MockLink.h
+1
-2
MockLinkMissionItemHandler.cc
src/comm/MockLinkMissionItemHandler.cc
+1
-20
MockLinkMissionItemHandler.h
src/comm/MockLinkMissionItemHandler.h
+1
-3
No files found.
src/MissionManager/MissionManager.cc
View file @
4131c134
This diff is collapsed.
Click to expand it.
src/MissionManager/MissionManager.h
View file @
4131c134
...
...
@@ -52,7 +52,7 @@ public:
// Property accessors
bool
inProgress
(
void
)
{
return
_retryAck
!=
AckNone
;
}
bool
inProgress
(
void
)
;
QmlObjectListModel
*
missionItems
(
void
)
{
return
&
_missionItems
;
}
// C++ methods
...
...
@@ -76,6 +76,7 @@ public:
ItemMismatchError
,
///< Vehicle returned item with seq # different than requested
VehicleError
,
///< Vehicle returned error
MissingRequestsError
,
///< Vehicle did not request all items during write sequence
MaxRetryExceeded
,
///< Retry failed
}
ErrorCode_t
;
// These values are public so the unit test can set appropriate signal wait times
...
...
@@ -106,25 +107,24 @@ private:
void
_handleMissionItem
(
const
mavlink_message_t
&
message
);
void
_handleMissionRequest
(
const
mavlink_message_t
&
message
);
void
_handleMissionAck
(
const
mavlink_message_t
&
message
);
void
_requestNextMissionItem
(
int
sequenceNumber
);
void
_requestNextMissionItem
(
void
);
void
_clearMissionItems
(
void
);
void
_sendError
(
ErrorCode_t
errorCode
,
const
QString
&
errorMsg
);
void
_retryWrite
(
void
);
void
_retryRead
(
void
);
bool
_retrySequence
(
AckType_t
ackType
);
QString
_ackTypeToString
(
AckType_t
ackType
);
QString
_missionResultToString
(
MAV_MISSION_RESULT
result
);
void
_finishTransaction
(
bool
success
);
private:
Vehicle
*
_vehicle
;
int
_cMissionItems
;
///< Mission items on vehicle
QTimer
*
_ackTimeoutTimer
;
AckType_t
_retryAck
;
int
_retryCount
;
int
_re
questItemRe
tryCount
;
int
_expectedSequenceNumber
;
bool
_readTransactionInProgress
;
bool
_writeTransactionInProgress
;
QList
<
int
>
_itemIndicesToWrite
;
///< List of mission items which still need to be written to vehicle
QList
<
int
>
_itemIndicesToRead
;
///< List of mission items which still need to be requested from vehicle
QMutex
_dataMutex
;
...
...
src/MissionManager/MissionManagerTest.cc
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4131c134
This diff is collapsed.
Click to expand it.
src/MissionManager/MissionManagerTest.h
View file @
4131c134
...
...
@@ -40,14 +40,14 @@ public:
MissionManagerTest
(
void
);
private
slots
:
void
_testWriteFailureHandlingAPM
(
void
);
void
_testReadFailureHandlingAPM
(
void
);
void
_testWriteFailureHandlingPX4
(
void
);
void
_testWriteFailureHandlingAPM
(
void
);
void
_testReadFailureHandlingPX4
(
void
);
void
_testReadFailureHandlingAPM
(
void
);
private:
void
_roundTripItems
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
,
MissionManager
::
ErrorCode_t
errorCode
,
bool
failFirstTimeOnly
);
void
_writeItems
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
,
MissionManager
::
ErrorCode_t
errorCode
,
bool
failFirstTimeOnly
);
void
_roundTripItems
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
);
void
_writeItems
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
);
void
_testWriteFailureHandlingWorker
(
void
);
void
_testReadFailureHandlingWorker
(
void
);
...
...
src/comm/MockLink.cc
View file @
4131c134
...
...
@@ -783,9 +783,9 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg)
}
}
void
MockLink
::
setMissionItemFailureMode
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
,
bool
firstTimeOnly
)
void
MockLink
::
setMissionItemFailureMode
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
)
{
_missionItemHandler
.
setMissionItemFailureMode
(
failureMode
,
firstTimeOnly
);
_missionItemHandler
.
setMissionItemFailureMode
(
failureMode
);
}
void
MockLink
::
_sendHomePosition
(
void
)
...
...
src/comm/MockLink.h
View file @
4131c134
...
...
@@ -131,8 +131,7 @@ public:
/// Sets a failure mode for unit testing
/// @param failureMode Type of failure to simulate
/// @param firstTimeOnly true: fail first call, success subsequent calls, false: fail all calls
void
setMissionItemFailureMode
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
,
bool
firstTimeOnly
);
void
setMissionItemFailureMode
(
MockLinkMissionItemHandler
::
FailureMode_t
failureMode
);
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void
sendUnexpectedMissionAck
(
MAV_MISSION_RESULT
ackType
)
{
_missionItemHandler
.
sendUnexpectedMissionAck
(
ackType
);
}
...
...
src/comm/MockLinkMissionItemHandler.cc
View file @
4131c134
...
...
@@ -119,10 +119,6 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
}
else
{
qCDebug
(
MockLinkMissionItemHandlerLog
)
<<
"_handleMissionRequestList not responding due to failure mode"
;
}
if
(
_failureFirstTimeOnly
)
{
_failureMode
=
FailNone
;
}
}
void
MockLinkMissionItemHandler
::
_handleMissionRequest
(
const
mavlink_message_t
&
msg
)
...
...
@@ -181,10 +177,6 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
_mockLink
->
respondWithMavlinkMessage
(
responseMsg
);
}
}
if
(
_failureFirstTimeOnly
)
{
_failureMode
=
FailNone
;
}
}
void
MockLinkMissionItemHandler
::
_handleMissionCount
(
const
mavlink_message_t
&
msg
)
...
...
@@ -246,10 +238,6 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
_startMissionItemResponseTimer
();
}
}
if
(
_failureFirstTimeOnly
)
{
_failureMode
=
FailNone
;
}
}
void
MockLinkMissionItemHandler
::
_sendAck
(
MAV_MISSION_RESULT
ackType
)
...
...
@@ -279,9 +267,6 @@ void MockLinkMissionItemHandler::_handleMissionItem(const mavlink_message_t& msg
Q_ASSERT
(
missionItem
.
target_system
==
_mockLink
->
vehicleId
());
Q_ASSERT
(
!
_missionItems
.
contains
(
missionItem
.
seq
));
Q_ASSERT
(
missionItem
.
seq
==
_writeSequenceIndex
);
_missionItems
[
missionItem
.
seq
]
=
missionItem
;
_writeSequenceIndex
++
;
...
...
@@ -302,9 +287,6 @@ void MockLinkMissionItemHandler::_handleMissionItem(const mavlink_message_t& msg
_sendAck
(
ack
);
}
}
if
(
_failureFirstTimeOnly
)
{
_failureMode
=
FailNone
;
}
}
void
MockLinkMissionItemHandler
::
_missionItemResponseTimeout
(
void
)
...
...
@@ -330,9 +312,8 @@ void MockLinkMissionItemHandler::sendUnexpectedMissionRequest(void)
Q_ASSERT
(
false
);
}
void
MockLinkMissionItemHandler
::
setMissionItemFailureMode
(
FailureMode_t
failureMode
,
bool
firstTimeOnly
)
void
MockLinkMissionItemHandler
::
setMissionItemFailureMode
(
FailureMode_t
failureMode
)
{
_failureFirstTimeOnly
=
firstTimeOnly
;
_failureMode
=
failureMode
;
}
...
...
src/comm/MockLinkMissionItemHandler.h
View file @
4131c134
...
...
@@ -74,8 +74,7 @@ public:
/// Sets a failure mode for unit testing
/// @param failureMode Type of failure to simulate
/// @param firstTimeOnly true: fail first call, success subsequent calls, false: fail all calls
void
setMissionItemFailureMode
(
FailureMode_t
failureMode
,
bool
firstTimeOnly
);
void
setMissionItemFailureMode
(
FailureMode_t
failureMode
);
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void
sendUnexpectedMissionAck
(
MAV_MISSION_RESULT
ackType
);
...
...
@@ -114,7 +113,6 @@ private:
QTimer
*
_missionItemResponseTimer
;
FailureMode_t
_failureMode
;
bool
_failureFirstTimeOnly
;
bool
_sendHomePositionOnEmptyList
;
MAVLinkProtocol
*
_mavlinkProtocol
;
};
...
...
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