Reimplement write and read timeout retransmission

Also move default component ID into data model

src/uas/QGCUASParamManager.cc

@@ -11,8 +11,7 @@ QGCUASParamManager::QGCUASParamManager(QObject *parent) :
     QObject(parent),
     mav(NULL),
     paramDataModel(this),
-    paramCommsMgr(NULL),
-    defaultComponentId(-1)
+    paramCommsMgr(NULL)
 {
 
 
@@ -63,22 +62,7 @@ void QGCUASParamManager::clearAllPendingParams()
 
 int QGCUASParamManager::getDefaultComponentId()
 {
-    int result = 0;
-
-    if (-1 != defaultComponentId)
-        return defaultComponentId;
-
-    QList<int> components = getComponentForParam("SYS_AUTOSTART");//TODO is this the best way to find the right component?
-
-    // Guard against multiple components responding - this will never show in practice
-    if (1 == components.count()) {
-        result = components.first();
-        defaultComponentId = result;
-    }
-
-    qDebug() << "Default compId: " << result;
-
-    return result;
+    return paramDataModel.getDefaultComponentId();
 }
 
 QList<int> QGCUASParamManager::getComponentForParam(const QString& parameter) const
@@ -119,7 +103,6 @@ void QGCUASParamManager::requestParameterListIfEmpty()
     if (mav) {
         int totalOnboard = paramDataModel.countOnboardParams();
         if (totalOnboard < 2) { //TODO arbitrary constant, maybe 0 is OK?
-            defaultComponentId = -1; //reset this ...we have no idea what the default component ID is
             requestParameterList();
         }
     }
@@ -135,7 +118,7 @@ void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant va
 {
     if ((0 == compId) || (-1 == compId)) {
         //attempt to get an actual component ID
-        compId = getDefaultComponentId();
+        compId = paramDataModel.getDefaultComponentId();
     }
     paramDataModel.updatePendingParamWithValue(compId,paramName,value);
 }
@@ -152,7 +135,7 @@ void QGCUASParamManager::setPendingParam(int compId,  const QString& paramName,
 {
     if ((0 == compId) || (-1 == compId)) {
         //attempt to get an actual component ID
-        compId = getDefaultComponentId();
+        compId = paramDataModel.getDefaultComponentId();
     }
     paramDataModel.updatePendingParamWithValue(compId,paramName,value);
 }

src/uas/QGCUASParamManager.h

@@ -125,7 +125,6 @@ protected:
     UASInterface*           mav;   ///< The MAV this manager is controlling
     UASParameterDataModel  paramDataModel;///< Shared data model of parameters
     UASParameterCommsMgr*   paramCommsMgr; ///< Shared comms mgr for parameters
-    int             defaultComponentId; ///< Cached default component ID
 
 };
 

src/uas/UASParameterCommsMgr.h

@@ -32,8 +32,9 @@ public:
 
 
 protected:
-    /** @brief Activate / deactivate parameter retransmission */
-    virtual void setRetransmissionGuardEnabled(bool enabled);
+
+    /** @brief activate the silence timer if there are unack'd reads or writes */
+    virtual void updateSilenceTimer();
 
     virtual void setParameterStatusMsg(const QString& msg, ParamCommsStatusLevel_t level=ParamCommsStatusLevel_OK);
 
@@ -43,6 +44,12 @@ protected:
     /** @brief clear transmissionMissingPackets and transmissionMissingWriteAckPackets */
     void clearRetransmissionLists(int& missingReadCount, int& missingWriteCount );
 
+    /** @brief we are waiting for a response to this read param request */
+    virtual void markReadParamWaiting(int compId, int paramId);
+
+    /** @brief we are waiting for a response to this write param request */
+    void markWriteParamWaiting(int compId, QString paramName, QVariant value);
+
     void resendReadWriteRequests();
     void resetAfterListReceive();
 
@@ -75,8 +82,8 @@ public slots:
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
 
-    /** @brief Check for missing parameters */
-    virtual void retransmissionGuardTick();
+    /** @brief The max silence time expired */
+    virtual void silenceTimerExpired();
 
     /** @brief Request a single parameter update by name */
     virtual void requestParameterUpdate(int component, const QString& parameter);
@@ -88,28 +95,24 @@ public slots:
 
 protected:
 
+
+    QMap<int, int> knownParamListSize;///< The known param list size for each component, by component ID
+    quint64 lastReceiveTime; ///< The last time we received anything from our partner
+    quint64 lastSilenceTimerReset;
     UASInterface* mav;   ///< The MAV we're talking to
 
+    int maxSilenceTimeout; ///< If nothing received within this period of time, abandon resends
+
     UASParameterDataModel* paramDataModel;
 
-    // Communications management
-    QVector<bool> receivedParamsList; ///< Successfully received parameters
-    QMap<int, QList<int>* > missingReadPackets; ///< Missing packets
-    QMap<int, QMap<QString, QVariant>* > missingWriteAckPackets; ///< Missing write ACK packets
-    bool transmissionListMode;       ///< Currently requesting list
-    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
-    bool transmissionActive;         ///< Missing packets, working on list?
     bool persistParamsAfterSend; ///< Copy all parameters to persistent storage after sending
-    quint64 transmissionTimeout;     ///< Timeout
-    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
-    quint64 lastTimerReset;     ///< Last time the guard timer was reset, to prevent premature firing
-    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;
+    QMap<int, QSet<int>*> readsWaiting; ///< All reads that have not yet been received, by component ID
+    int retransmitBurstLimit; ///< Number of packets requested for retransmission per burst
+    int silenceTimeout; ///< If nothing received within this period of time, start resends
+    QTimer silenceTimer;      ///< Timer handling parameter retransmission
+    bool transmissionListMode;       ///< Currently requesting list
+    QMap<int, QMap<QString, QVariant>* > writesWaiting; ///< All writes that have not yet been ack'd, by component ID
+
 
 };
     

src/uas/UASParameterDataModel.cc

@@ -9,7 +9,8 @@
 #include "QGCMAVLink.h"
 
 UASParameterDataModel::UASParameterDataModel(QObject *parent) :
-    QObject(parent)
+    QObject(parent),
+    defaultComponentId(-1)
 {
     onboardParameters.clear();
     pendingParameters.clear();
@@ -199,6 +200,26 @@ bool UASParameterDataModel::getOnboardParamValue(int componentId, const QString&
     return false;
 }
 
+int UASParameterDataModel::getDefaultComponentId()
+{
+    int result = 0;
+
+    if (-1 != defaultComponentId)
+        return defaultComponentId;
+
+    QList<int> components = getComponentForOnboardParam("SYS_AUTOSTART");//TODO is this the best way to find the right component?
+
+    // Guard against multiple components responding - this will never show in practice
+    if (1 == components.count()) {
+        result = components.first();
+        defaultComponentId = result;
+    }
+
+    qDebug() << "Default compId: " << result;
+
+    return result;
+}
+
 QList<int> UASParameterDataModel::getComponentForOnboardParam(const QString& parameter) const
 {
     QList<int> components;

src/uas/UASParameterDataModel.h

@@ -28,6 +28,9 @@ public:
     virtual QString getParamDescription(const QString& param) { return paramDescriptions.value(param, ""); }
     virtual void setParamDescriptions(const QMap<QString,QString>& paramInfo);
 
+    /** @brief Get the default component ID for the UAS */
+    virtual int getDefaultComponentId();
+
     //TODO make this method protected?
      /** @brief Ensure that the data model is aware of this component
       * @param compId Id of the component
@@ -113,6 +116,8 @@ public slots:
     virtual void clearAllPendingParams();
 
 protected:
+    int             defaultComponentId; ///< Cached default component ID
+
     int     uasId; ///< The UAS / MAV to which this data model pertains
     QMap<int, QMap<QString, QVariant>* > pendingParameters; ///< Changed values that have not yet been transmitted to the UAS, by component ID
     QMap<int, QMap<QString, QVariant>* > onboardParameters; ///< All parameters confirmed to be stored onboard the UAS, by component ID