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Commit 9c6775fb authored by lm's avatar lm
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Added setting for action retransmission, implementation of actual retransmission pending

parent e3fcf441
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Inline Side-by-side
Showing with 99 additions and 7 deletions
src/comm/MAVLinkProtocol.cc
View file @ 9c6775fb
......@@ -47,6 +47,8 @@ MAVLinkProtocol::MAVLinkProtocol() :
m_paramRetransmissionTimeout(350),
m_paramRewriteTimeout(500),
m_paramGuardEnabled(true),
m_actionGuardEnabled(false),
m_actionRetransmissionTimeout(100),
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId)
{
......@@ -442,6 +444,15 @@ void MAVLinkProtocol::enableParamGuard(bool enabled)
}
}
void MAVLinkProtocol::enableActionGuard(bool enabled)
{
if (enabled != m_actionGuardEnabled)
{
m_actionGuardEnabled = enabled;
emit actionGuardChanged(m_actionGuardEnabled);
}
}
void MAVLinkProtocol::setParamRetransmissionTimeout(int ms)
{
if (ms != m_paramRetransmissionTimeout)
......@@ -460,6 +471,15 @@ void MAVLinkProtocol::setParamRewriteTimeout(int ms)
}
}
void MAVLinkProtocol::setActionRetransmissionTimeout(int ms)
{
if (ms != m_actionRetransmissionTimeout)
{
m_actionRetransmissionTimeout = ms;
emit actionRetransmissionTimeoutChanged(m_actionRetransmissionTimeout);
}
}
void MAVLinkProtocol::enableLogging(bool enabled)
{
bool changed = false;
......
src/comm/MAVLinkProtocol.h
View file @ 9c6775fb
......@@ -77,12 +77,16 @@ public:
int getVersion() { return MAVLINK_VERSION; }
/** @brief Get the name of the packet log file */
QString getLogfileName();
/** @brief Enable / disable parameter retransmission */
/** @brief Get state of parameter retransmission */
bool paramGuardEnabled() { return m_paramGuardEnabled; }
/** @brief Set parameter read timeout */
/** @brief Get parameter read timeout */
int getParamRetransmissionTimeout() { return m_paramRetransmissionTimeout; }
/** @brief Set parameter wrtie timeout */
/** @brief Get parameter write timeout */
int getParamRewriteTimeout() { return m_paramRewriteTimeout; }
/** @brief Get state of action retransmission */
bool actionGuardEnabled() { return m_actionGuardEnabled; }
/** @brief Get parameter read timeout */
int getActionRetransmissionTimeout() { return m_actionRetransmissionTimeout; }
public slots:
/** @brief Receive bytes from a communication interface */
......@@ -108,12 +112,18 @@ public slots:
/** @brief Enable / disable parameter retransmission */
void enableParamGuard(bool enabled);
/** @brief Enable / disable action retransmission */
void enableActionGuard(bool enabled);
/** @brief Set parameter read timeout */
void setParamRetransmissionTimeout(int ms);
/** @brief Set parameter write timeout */
void setParamRewriteTimeout(int ms);
/** @brief Set parameter read timeout */
void setActionRetransmissionTimeout(int ms);
/** @brief Set log file name */
void setLogfileName(const QString& filename);
......@@ -138,7 +148,9 @@ protected:
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
int m_paramRewriteTimeout; ///< Timeout for sending re-write request
bool m_paramGuardEnabled; ///< Retransmission/rewrite enabled
bool m_paramGuardEnabled; ///< Parameter retransmission/rewrite enabled
bool m_actionGuardEnabled; ///< Action request retransmission enabled
int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
QMutex receiveMutex; ///< Mutex to protect receiveBytes function
int lastIndex[256][256];
int totalReceiveCounter;
......@@ -169,6 +181,10 @@ signals:
void paramRetransmissionTimeoutChanged(int ms);
/** @brief Emitted if param write timeout changed */
void paramRewriteTimeoutChanged(int ms);
/** @brief Emitted if action guard status changed */
void actionGuardChanged(bool enabled);
/** @brief Emitted if actiion request timeout changed */
void actionRetransmissionTimeoutChanged(int ms);
};
#endif // MAVLINKPROTOCOL_H_
src/ui/MAVLinkSettingsWidget.cc
View file @ 9c6775fb
......@@ -50,10 +50,14 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled());
m_ui->multiplexingCheckBox->setChecked(protocol->multiplexingEnabled());
m_ui->systemIdSpinBox->setValue(protocol->getSystemId());
m_ui->paramGuardCheckBox->setChecked(protocol->paramGuardEnabled());
m_ui->paramRetransmissionSpinBox->setValue(protocol->getParamRetransmissionTimeout());
m_ui->paramRewriteSpinBox->setValue(protocol->getParamRewriteTimeout());
m_ui->actionGuardCheckBox->setChecked(protocol->actionGuardEnabled());
m_ui->actionRetransmissionSpinBox->setValue(protocol->getActionRetransmissionTimeout());
// Connect actions
// Heartbeat
connect(protocol, SIGNAL(heartbeatChanged(bool)), m_ui->heartbeatCheckBox, SLOT(setChecked(bool)));
......@@ -79,6 +83,12 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
connect(m_ui->paramRetransmissionSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setParamRetransmissionTimeout(int)));
connect(protocol, SIGNAL(paramRewriteTimeoutChanged(int)), m_ui->paramRewriteSpinBox, SLOT(setValue(int)));
connect(m_ui->paramRewriteSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setParamRewriteTimeout(int)));
// Action guard
connect(protocol, SIGNAL(actionGuardChanged(bool)), m_ui->actionGuardCheckBox, SLOT(setChecked(bool)));
connect(m_ui->actionGuardCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableActionGuard(bool)));
connect(protocol, SIGNAL(actionRetransmissionTimeoutChanged(int)), m_ui->actionRetransmissionSpinBox, SLOT(setValue(int)));
connect(m_ui->actionRetransmissionSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setActionRetransmissionTimeout(int)));
// Update values
m_ui->versionLabel->setText(tr("MAVLINK_VERSION: %1").arg(protocol->getVersion()));
......@@ -87,8 +97,6 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
// Connect visibility updates
connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionLabel, SLOT(setVisible(bool)));
m_ui->versionLabel->setVisible(protocol->versionCheckEnabled());
//connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), m_ui->versionSpacer, SLOT(setVisible(bool)));
//connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), m_ui->logFileSpacer, SLOT(setVisible(bool)));
// Logging visibility
connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileLabel, SLOT(setVisible(bool)));
m_ui->logFileLabel->setVisible(protocol->loggingEnabled());
......@@ -108,6 +116,11 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
m_ui->paramRewriteSpinBox->setVisible(protocol->paramGuardEnabled());
connect(protocol, SIGNAL(paramGuardChanged(bool)), m_ui->paramRewriteLabel, SLOT(setVisible(bool)));
m_ui->paramRewriteLabel->setVisible(protocol->paramGuardEnabled());
// Action guard visibility
connect(protocol, SIGNAL(actionGuardChanged(bool)), m_ui->actionRetransmissionSpinBox, SLOT(setVisible(bool)));
m_ui->actionRetransmissionSpinBox->setVisible(protocol->actionGuardEnabled());
connect(protocol, SIGNAL(actionGuardChanged(bool)), m_ui->actionRetransmissionLabel, SLOT(setVisible(bool)));
m_ui->actionRetransmissionLabel->setVisible(protocol->actionGuardEnabled());
// TODO implement filtering
// and then remove these two lines
......
src/ui/MAVLinkSettingsWidget.ui
View file @ 9c6775fb
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>431</width>
<height>349</height>
<height>387</height>
</rect>
</property>
<property name="windowTitle">
......@@ -245,6 +245,49 @@
</property>
</widget>
</item>
<item row="14" column="0" colspan="3">
<widget class="QCheckBox" name="actionGuardCheckBox">
<property name="text">
<string>Enable retransmission of actions / commands</string>
</property>
</widget>
</item>
<item row="15" column="0">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>8</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="15" column="1">
<widget class="QLabel" name="actionRetransmissionLabel">
<property name="text">
<string>Action request retransmission timeout</string>
</property>
</widget>
</item>
<item row="15" column="2">
<widget class="QSpinBox" name="actionRetransmissionSpinBox">
<property name="suffix">
<string> ms</string>
</property>
<property name="minimum">
<number>20</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
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