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Commit d18e0394 authored by Don Gagne's avatar Don Gagne
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Make sure timer start/stop happens on class thread

parent a02485c9
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Showing with 63 additions and 19 deletions
src/uas/UASParameterCommsMgr.cc
View file @ d18e0394
......@@ -19,8 +19,9 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent) :
silenceTimeout(1000),
transmissionListMode(false)
{
// We signal to ourselves to start/stop timer on our own thread
connect(this, SIGNAL(_startSilenceTimer(void)), this, SLOT(_startSilenceTimerOnThisThread(void)));
connect(this, SIGNAL(_stopSilenceTimer(void)), this, SLOT(_stopSilenceTimerOnThisThread(void)));
}
UASParameterCommsMgr* UASParameterCommsMgr::initWithUAS(UASInterface* uas)
......@@ -254,7 +255,7 @@ void UASParameterCommsMgr::silenceTimerExpired()
qDebug() << "maxSilenceTimeout exceeded: " << totalElapsed;
int missingReads, missingWrites;
clearRetransmissionLists(missingReads,missingWrites);
silenceTimer.stop();
emit _stopSilenceTimer(); // Stop timer on our thread;
lastReceiveTime = 0;
lastSilenceTimerReset = curTime;
setParameterStatusMsg(tr("TIMEOUT: Abandoning %1 reads %2 writes after %3 seconds").arg(missingReads).arg(missingWrites).arg(totalElapsed/1000));
......@@ -370,13 +371,14 @@ void UASParameterCommsMgr::updateSilenceTimer()
if (0 == lastReceiveTime) {
lastReceiveTime = lastSilenceTimerReset;
}
silenceTimer.start(silenceTimeout);
// We signal this to ourselves so timer is started on the right thread
emit _startSilenceTimer();
}
else {
//all parameters have been received, broadcast to UI
emit parameterListUpToDate();
resetAfterListReceive();
silenceTimer.stop();
emit _stopSilenceTimer(); // Stop timer on our thread;
lastReceiveTime = 0;
}
......@@ -547,3 +549,12 @@ UASParameterCommsMgr::~UASParameterCommsMgr()
}
void UASParameterCommsMgr::_startSilenceTimerOnThisThread(void)
{
silenceTimer.start(silenceTimeout);
}
void UASParameterCommsMgr::_stopSilenceTimerOnThisThread(void)
{
silenceTimer.stop();
}
src/uas/UASParameterCommsMgr.h
View file @ d18e0394
......@@ -68,6 +68,11 @@ signals:
/** @brief We updated the parameter status message */
void parameterStatusMsgUpdated(QString msg, int level);
/// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
void _startSilenceTimer(void);
void _stopSilenceTimer(void);
public slots:
/** @brief Iterate through all components, through all pending parameters and send them to UAS */
......@@ -113,7 +118,10 @@ protected:
bool transmissionListMode; ///< Currently requesting list
QMap<int, QMap<QString, QVariant>* > writesWaiting; ///< All writes that have not yet been ack'd, by component ID
private slots:
/// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
void _startSilenceTimerOnThisThread(void);
void _stopSilenceTimerOnThisThread(void);
};
......
src/uas/UASWaypointManager.cc
View file @ d18e0394
......@@ -61,6 +61,10 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
{
uasid = 0;
}
// We signal to ourselves here so that tiemrs are started and stopped on correct thread
connect(this, SIGNAL(_startProtocolTimer(void)), this, SLOT(_startProtocolTimerOnThisThread(void)));
connect(this, SIGNAL(_stopProtocolTimer(void)), this, SLOT(_stopProtocolTimerOnThisThread(void)));
}
UASWaypointManager::~UASWaypointManager()
......@@ -133,7 +137,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
{
if (current_state == WP_GETLIST && systemId == current_partner_systemid) {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
emit _startProtocolTimer(); // Start timer on correct thread
current_retries = PROTOCOL_MAX_RETRIES;
//Clear the old edit-list before receiving the new one
......@@ -152,7 +156,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
current_state = WP_GETLIST_GETWPS;
sendWaypointRequest(current_wp_id);
} else {
protocol_timer.stop();
emit _stopProtocolTimer(); // Stop the time on our thread
QTime time = QTime::currentTime();
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
current_state = WP_IDLE;
......@@ -171,7 +175,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp)
{
if (systemId == current_partner_systemid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
emit _startProtocolTimer(); // Start timer on our thread
current_retries = PROTOCOL_MAX_RETRIES;
if(wp->seq == current_wp_id) {
......@@ -202,7 +206,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
current_partner_systemid = 0;
current_partner_compid = 0;
protocol_timer.stop();
emit _stopProtocolTimer(); // Stop timer on our thread
emit readGlobalWPFromUAS(false);
QTime time = QTime::currentTime();
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
......@@ -230,7 +234,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
if (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) {
if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0)) {
//all waypoints sent and ack received
protocol_timer.stop();
emit _stopProtocolTimer(); // Stop timer on our thread
current_state = WP_IDLE;
readWaypoints(false); //Update "Onboard Waypoints"-tab immediately after the waypoint list has been sent.
QTime time = QTime::currentTime();
......@@ -269,10 +273,10 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
emit updateStatusString(tr("ERROR: Unspecified error"));
break;
}
protocol_timer.stop();
emit _stopProtocolTimer(); // Stop timer on our thread
current_state = WP_IDLE;
} else if(current_state == WP_CLEARLIST) {
protocol_timer.stop();
emit _stopProtocolTimer(); // Stop timer on our thread
current_state = WP_IDLE;
QTime time = QTime::currentTime();
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
......@@ -283,7 +287,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr)
{
if (systemId == current_partner_systemid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
emit _startProtocolTimer(); // Start timer on our thread
current_retries = PROTOCOL_MAX_RETRIES;
if (wpr->seq < waypoint_buffer.count()) {
......@@ -314,7 +318,7 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
if (systemId == uasid) {
// FIXME Petri
if (current_state == WP_SETCURRENT) {
protocol_timer.stop();
emit _stopProtocolTimer(); // Stop timer on our thread
current_state = WP_IDLE;
// update the local main storage
......@@ -362,7 +366,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
if(current_state == WP_IDLE) {
//send change to UAS - important to note: if the transmission fails, we have inconsistencies
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
emit _startProtocolTimer(); // Start timer on our thread
current_retries = PROTOCOL_MAX_RETRIES;
current_state = WP_SETCURRENT;
......@@ -594,7 +598,7 @@ void UASWaypointManager::clearWaypointList()
{
if (current_state == WP_IDLE)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
emit _startProtocolTimer(); // Start timer on our thread
current_retries = PROTOCOL_MAX_RETRIES;
current_state = WP_CLEARLIST;
......@@ -847,7 +851,10 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
emit waypointEditableListChanged();
}
*/
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
// We are signalling ourselves here so that the timer gets started on the right thread
emit _startProtocolTimer();
current_retries = PROTOCOL_MAX_RETRIES;
current_state = WP_GETLIST;
......@@ -899,7 +906,7 @@ void UASWaypointManager::writeWaypoints()
if (current_state == WP_IDLE) {
// Send clear all if count == 0
if (waypointsEditable.count() > 0) {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
emit _startProtocolTimer(); // Start timer on our thread
current_retries = PROTOCOL_MAX_RETRIES;
current_count = waypointsEditable.count();
......@@ -1128,3 +1135,14 @@ float UASWaypointManager::getHomeAltitudeOffsetDefault()
{
return defaultAltitudeHomeOffset;
}
void UASWaypointManager::_startProtocolTimerOnThisThread(void)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
}
void UASWaypointManager::_stopProtocolTimerOnThisThread(void)
{
protocol_timer.stop();
}
src/uas/UASWaypointManager.h
View file @ d18e0394
......@@ -160,6 +160,13 @@ signals:
void loadWPFile(); ///< emits signal that a file wp has been load
void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS
void _startProtocolTimer(void); ///< emits signal to start protocol timer
void _stopProtocolTimer(void); ///< emits signal to stop protocol timer
private slots:
void _startProtocolTimerOnThisThread(void); ///< Starts the protocol timer
void _stopProtocolTimerOnThisThread(void); ///< Starts the protocol timer
private:
UAS* uas; ///< Reference to the corresponding UAS
......
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