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Commit 94504df9 authored by Gus Grubba's avatar Gus Grubba
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Handle parameter out of bounds when setting options change. 

Increase param ack timeout.
Retry when param set failed.
parent 82484b49
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Inline Side-by-side
Showing with 145 additions and 38 deletions
src/Camera/QGCCameraControl.cc
View file @ 94504df9
......@@ -160,6 +160,8 @@ QGCCameraControl::_initWhenReady()
}
connect(_vehicle, &Vehicle::mavCommandResult, this, &QGCCameraControl::_mavCommandResult);
connect(&_captureStatusTimer, &QTimer::timeout, this, &QGCCameraControl::_requestCaptureStatus);
connect(&_updateTimer, &QTimer::timeout, this, &QGCCameraControl::_updateTimeout);
_updateTimer.setSingleShot(true);
_captureStatusTimer.setSingleShot(true);
QTimer::singleShot(2500, this, &QGCCameraControl::_requestStorageInfo);
_captureStatusTimer.start(2750);
......@@ -871,40 +873,102 @@ QGCCameraControl::_processCondition(const QString condition)
void
QGCCameraControl::_updateRanges(Fact* pFact)
{
QMap<Fact*, QVariant> valuesSet;
QMap<Fact*, QGCCameraOptionRange*> rangesSet;
QMap<Fact*, QString> rangesReset;
QStringList valuesRequested;
QStringList changedList;
QStringList resetList;
qCDebug(CameraControlLogVerbose) << "_updateRanges(" << pFact->name() << ")";
//-- Iterate range sets
//-- Iterate range sets looking for limited ranges
foreach(QGCCameraOptionRange* pRange, _optionRanges) {
//-- If this fact or one of its conditions is part of this range set
if(!changedList.contains(pRange->targetParam) && (pRange->param == pFact->name() || pRange->condition.contains(pFact->name()))) {
Fact* pRFact = getFact(pRange->param); //-- This parameter
Fact* pTFact = getFact(pRange->targetParam); //-- The target parameter (the one its range is to change)
if(pRFact && pTFact) {
qCDebug(CameraControlLogVerbose) << "Check new set of options for" << pTFact->name();
QString option = pRFact->rawValueString(); //-- This parameter value
//-- If this value (and condition) triggers a change in the target range
qCDebug(CameraControlLogVerbose) << "Range value:" << pRange->value << "Current value:" << option << "Condition:" << pRange->condition;
if(pRange->value == option && _processCondition(pRange->condition)) {
//-- Set limited range set
if(pTFact->enumStrings() != pRange->optNames) {
pTFact->setEnumInfo(pRange->optNames, pRange->optVariants);
emit pTFact->enumsChanged();
//-- Set limited range set
rangesSet[pTFact] = pRange;
//-- Adjust current index if outside new limts
if(!pRange->optVariants.contains(pTFact->rawValue()) && _activeSettings.contains(pTFact->name())) {
qCDebug(CameraControlLogVerbose) << pTFact->name() << "was" << pTFact->enumOrValueString() << "and is now" << pRange->optNames[0];
//-- We need to preemt the new option
valuesSet[pTFact] = pRange->optVariants[0];
}
qCDebug(CameraControlLogVerbose) << "Limited:" << pRange->targetParam << pRange->optNames;
}
changedList << pRange->targetParam;
} else {
if(!resetList.contains(pRange->targetParam)) {
if(pTFact->enumStrings() != _originalOptNames[pRange->targetParam]) {
//-- Restore full option set
pTFact->setEnumInfo(_originalOptNames[pRange->targetParam], _originalOptValues[pRange->targetParam]);
emit pTFact->enumsChanged();
qCDebug(CameraControlLogVerbose) << "Full:" << pRange->targetParam << _originalOptNames[pRange->targetParam];
}
resetList << pRange->targetParam;
}
}
}
}
//-- Iterate range sets again looking for resets
foreach(QGCCameraOptionRange* pRange, _optionRanges) {
if(!changedList.contains(pRange->targetParam) && (pRange->param == pFact->name() || pRange->condition.contains(pFact->name()))) {
Fact* pTFact = getFact(pRange->targetParam); //-- The target parameter (the one its range is to change)
if(!resetList.contains(pRange->targetParam)) {
if(pTFact->enumStrings() != _originalOptNames[pRange->targetParam]) {
//-- Restore full option set
rangesReset[pTFact] = pRange->targetParam;
qCDebug(CameraControlLogVerbose) << "Restore full set:" << pRange->targetParam << _originalOptNames[pRange->targetParam];
//-- Retrive the current option for this setting as the index into the options might be pointing to something else.
if(!valuesRequested.contains(pTFact->name())) {
valuesRequested << pTFact->name();
}
}
resetList << pRange->targetParam;
}
}
}
//-- Update limited range set
foreach (Fact* pFact, rangesSet.keys()) {
pFact->setEnumInfo(rangesSet[pFact]->optNames, rangesSet[pFact]->optVariants);
if(!_updates.contains(pFact)) {
_paramIO[pFact->name()]->optNames = rangesSet[pFact]->optNames;
_paramIO[pFact->name()]->optVariants = rangesSet[pFact]->optVariants;
_updates << pFact;
}
}
//-- Restore full range set
foreach (Fact* pFact, rangesReset.keys()) {
pFact->setEnumInfo(_originalOptNames[rangesReset[pFact]], _originalOptValues[rangesReset[pFact]]);
if(!_updates.contains(pFact)) {
_paramIO[pFact->name()]->optNames = _originalOptNames[rangesReset[pFact]];
_paramIO[pFact->name()]->optVariants = _originalOptValues[rangesReset[pFact]];
_updates << pFact;
}
}
//-- Send new values where new range forced it
foreach(Fact* pFact, valuesSet.keys()) {
pFact->_containerSetRawValue(valuesSet[pFact]);
_paramIO[pFact->name()]->sendParameter(true);
}
//-- Update values for restored ranges
foreach (QString factName, valuesRequested) {
_paramIO[factName]->paramRequest();
}
//-- Update UI (Asynchronous state where values come back after a while)
if(_updates.size()) {
_updateTimer.start(500);
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_updateTimeout()
{
//-- Update UI
foreach (Fact* pFact, _updates) {
pFact->setEnumInfo(_paramIO[pFact->name()]->optNames, _paramIO[pFact->name()]->optVariants);
qCDebug(CameraControlLogVerbose) << "Update enums" << pFact->name() << pFact->enumStrings();
emit pFact->enumsChanged();
}
_updates.clear();
}
//-----------------------------------------------------------------------------
......
src/Camera/QGCCameraControl.h
View file @ 94504df9
......@@ -168,6 +168,7 @@ private slots:
void _mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
void _dataReady (QByteArray data);
void _paramDone ();
void _updateTimeout ();
private:
bool _handleLocalization (QByteArray& bytes);
......@@ -205,9 +206,11 @@ protected:
QStringList _activeSettings;
QStringList _settings;
QTimer _captureStatusTimer;
QTimer _updateTimer;
QList<QGCCameraOptionExclusion*> _valueExclusions;
QList<QGCCameraOptionRange*> _optionRanges;
QMap<QString, QStringList> _originalOptNames;
QMap<QString, QVariantList> _originalOptValues;
QMap<QString, QGCCameraParamIO*> _paramIO;
QVector<Fact*> _updates;
};
src/Camera/QGCCameraIO.cc
View file @ 94504df9
......@@ -20,12 +20,13 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
, _sentRetries(0)
, _requestRetries(0)
, _done(false)
, _updateOnSet(false)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
_paramWriteTimer.setSingleShot(true);
_paramWriteTimer.setInterval(1000);
_paramWriteTimer.setInterval(3000);
_paramRequestTimer.setSingleShot(true);
_paramRequestTimer.setInterval(2000);
_paramRequestTimer.setInterval(3000);
connect(&_paramWriteTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramWriteTimeout);
connect(&_paramRequestTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramRequestTimeout);
connect(_fact, &Fact::rawValueChanged, this, &QGCCameraParamIO::_factChanged);
......@@ -75,7 +76,7 @@ void
QGCCameraParamIO::_factChanged(QVariant value)
{
Q_UNUSED(value);
qCDebug(CameraControlLog) << "UI Fact" << _fact->name() << "changed";
qCDebug(CameraIOLog) << "UI Fact" << _fact->name() << "changed";
//-- TODO: Do we really want to update the UI now or only when we receive the ACK?
_control->factChanged(_fact);
}
......@@ -85,11 +86,21 @@ void
QGCCameraParamIO::_containerRawValueChanged(const QVariant value)
{
Q_UNUSED(value);
qCDebug(CameraControlLog) << "Send Fact" << _fact->name();
qCDebug(CameraIOLog) << "Update Fact" << _fact->name();
_sentRetries = 0;
_sendParameter();
}
//-----------------------------------------------------------------------------
void
QGCCameraParamIO::sendParameter(bool updateUI)
{
qCDebug(CameraIOLog) << "Send Fact" << _fact->name();
_sentRetries = 0;
_updateOnSet = updateUI;
_sendParameter();
}
//-----------------------------------------------------------------------------
void
QGCCameraParamIO::_sendParameter()
......@@ -147,9 +158,10 @@ QGCCameraParamIO::_paramWriteTimeout()
{
if(++_sentRetries > 3) {
qCWarning(CameraIOLog) << "No response for param set:" << _fact->name();
_updateOnSet = false;
} else {
//-- Send it again
qCDebug(CameraIOLog) << "Param set retry:" << _fact->name();
qCDebug(CameraIOLog) << "Param set retry:" << _fact->name() << _sentRetries;
_sendParameter();
_paramWriteTimer.start();
}
......@@ -164,6 +176,10 @@ QGCCameraParamIO::handleParamAck(const mavlink_param_ext_ack_t& ack)
QVariant val = _valueFromMessage(ack.param_value, ack.param_type);
if(_fact->rawValue() != val) {
_fact->_containerSetRawValue(val);
if(_updateOnSet) {
_updateOnSet = false;
_control->factChanged(_fact);
}
}
} else if(ack.param_result == PARAM_ACK_IN_PROGRESS) {
//-- Wait a bit longer for this one
......@@ -171,7 +187,12 @@ QGCCameraParamIO::handleParamAck(const mavlink_param_ext_ack_t& ack)
_paramWriteTimer.start();
} else {
if(ack.param_result == PARAM_ACK_FAILED) {
qCWarning(CameraIOLog) << "Param set failed:" << _fact->name();
if(++_sentRetries > 3) {
//-- Try again
qCWarning(CameraIOLog) << "Param set failed:" << _fact->name() << _sentRetries;
_paramWriteTimer.start();
}
return;
} else if(ack.param_result == PARAM_ACK_VALUE_UNSUPPORTED) {
qCWarning(CameraIOLog) << "Param set unsuported:" << _fact->name();
}
......@@ -248,20 +269,31 @@ QGCCameraParamIO::_paramRequestTimeout()
} else {
//-- Request it again
qCDebug(CameraIOLog) << "Param request retry:" << _fact->name();
char param_id[MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
memset(param_id, 0, sizeof(param_id));
strncpy(param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN);
mavlink_message_t msg;
mavlink_msg_param_ext_request_read_pack_chan(
_pMavlink->getSystemId(),
_pMavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&msg,
_vehicle->id(),
_control->compID(),
param_id,
-1);
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
paramRequest(false);
_paramRequestTimer.start();
}
}
//-----------------------------------------------------------------------------
void
QGCCameraParamIO::paramRequest(bool reset)
{
if(reset) {
_requestRetries = 0;
}
char param_id[MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
memset(param_id, 0, sizeof(param_id));
strncpy(param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN);
mavlink_message_t msg;
mavlink_msg_param_ext_request_read_pack_chan(
_pMavlink->getSystemId(),
_pMavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&msg,
_vehicle->id(),
_control->compID(),
param_id,
-1);
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
_paramRequestTimer.start();
}
src/Camera/QGCCameraIO.h
View file @ 94504df9
......@@ -25,6 +25,11 @@ public:
void handleParamValue (const mavlink_param_ext_value_t& value);
void setParamRequest ();
bool paramDone () { return _done; }
void paramRequest (bool reset = true);
void sendParameter (bool updateUI = false);
QStringList optNames;
QVariantList optVariants;
private slots:
void _paramWriteTimeout ();
......@@ -46,6 +51,7 @@ private:
QTimer _paramWriteTimer;
QTimer _paramRequestTimer;
bool _done;
bool _updateOnSet;
MAV_PARAM_TYPE _mavParamType;
MAVLinkProtocol* _pMavlink;
};
......
src/FactSystem/Fact.cc
View file @ 94504df9
......@@ -84,8 +84,9 @@ void Fact::forceSetRawValue(const QVariant& value)
if (_metaData->convertAndValidateRaw(value, true /* convertOnly */, typedValue, errorString)) {
_rawValue.setValue(typedValue);
_sendValueChangedSignal(cookedValue());
emit _containerRawValueChanged(rawValue());
//-- Must be in this order
emit rawValueChanged(_rawValue);
emit _containerRawValueChanged(rawValue());
}
} else {
qWarning() << kMissingMetadata;
......@@ -102,8 +103,9 @@ void Fact::setRawValue(const QVariant& value)
if (typedValue != _rawValue) {
_rawValue.setValue(typedValue);
_sendValueChangedSignal(cookedValue());
emit _containerRawValueChanged(rawValue());
//-- Must be in this order
emit rawValueChanged(_rawValue);
emit _containerRawValueChanged(rawValue());
}
}
} else {
......@@ -235,7 +237,7 @@ QVariantList Fact::enumValues(void) const
void Fact::setEnumInfo(const QStringList& strings, const QVariantList& values)
{
if (_metaData) {
return _metaData->setEnumInfo(strings, values);
_metaData->setEnumInfo(strings, values);
} else {
qWarning() << kMissingMetadata;
}
......
src/FactSystem/FactMetaData.h
View file @ 94504df9
......@@ -125,7 +125,7 @@ public:
void setRawUnits (const QString& rawUnits);
void setRebootRequired (bool rebootRequired) { _rebootRequired = rebootRequired; }
void setIncrement (double increment) { _increment = increment; }
void setHasControl (bool bValue) { _hasControl = bValue; }
void setHasControl (bool bValue) { _hasControl = bValue; }
void setTranslators(Translator rawTranslator, Translator cookedTranslator);
......
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