From f5c76056d0014ec533924e650c4edcd85d38a0ad Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Mon, 14 Dec 2015 11:31:31 -0800
Subject: [PATCH] Retry initial param request if it fails

Plus notify user
---
 src/FactSystem/ParameterLoader.cc | 17 +++++++++++++++++
 src/FactSystem/ParameterLoader.h  |  2 ++
 2 files changed, 19 insertions(+)

diff --git a/src/FactSystem/ParameterLoader.cc b/src/FactSystem/ParameterLoader.cc
index 587df5949..91d072602 100644
--- a/src/FactSystem/ParameterLoader.cc
+++ b/src/FactSystem/ParameterLoader.cc
@@ -62,6 +62,10 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
     // We signal this to ouselves in order to start timer on our thread
     connect(this, &ParameterLoader::restartWaitingParamTimer, this, &ParameterLoader::_restartWaitingParamTimer);
 
+    _initialRequestTimeoutTimer.setSingleShot(true);
+    _initialRequestTimeoutTimer.setInterval(6000);
+    connect(&_initialRequestTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_initialRequestTimeout);
+
     _waitingParamTimeoutTimer.setSingleShot(true);
     _waitingParamTimeoutTimer.setInterval(1000);
     connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout);
@@ -92,6 +96,8 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
         return;
     }
 
+    _initialRequestTimeoutTimer.stop();
+
     qCDebug(ParameterLoaderLog) << "_parameterUpdate (usaId:" << uasId <<
                                     "componentId:" << componentId <<
                                     "name:" << parameterName <<
@@ -296,6 +302,10 @@ void ParameterLoader::refreshAllParameters(void)
 {
     _dataMutex.lock();
 
+    if (!_initialLoadComplete) {
+        _initialRequestTimeoutTimer.start();
+    }
+
     // Reset index wait lists
     foreach (int componentId, _paramCountMap.keys()) {
         // Add/Update all indices to the wait list, parameter index is 0-based
@@ -859,3 +869,10 @@ void ParameterLoader::_checkInitialLoadComplete(void)
         emit parametersReady(false);
     }
 }
+
+void ParameterLoader::_initialRequestTimeout(void)
+{
+    qgcApp()->showMessage("Vehicle did not respond to request for parameters, retrying");
+    refreshAllParameters();
+    _initialRequestTimeoutTimer.start();
+}
diff --git a/src/FactSystem/ParameterLoader.h b/src/FactSystem/ParameterLoader.h
index 5a82e81fd..74775d778 100644
--- a/src/FactSystem/ParameterLoader.h
+++ b/src/FactSystem/ParameterLoader.h
@@ -108,6 +108,7 @@ private slots:
     void _restartWaitingParamTimer(void);
     void _waitingParamTimeout(void);
     void _tryCacheLookup(void);
+    void _initialRequestTimeout(void);
     
 private:
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
@@ -148,6 +149,7 @@ private:
     
     int _totalParamCount;   ///< Number of parameters across all components
     
+    QTimer _initialRequestTimeoutTimer;
     QTimer _waitingParamTimeoutTimer;
     QTimer _cacheTimeoutTimer;
     
-- 
2.22.0