9106367580

Committed 16 May 2024 04:12AM UTC coverage: 36.895% (+0.04%) from 36.858%

Build # 9106367580

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push

github

Committed by

web-flow

Commit Message

Merge pull request #2301 from mavlink/pr-timeout-fixes

TimeoutHandler fixes

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40 of 47 new or added lines in 4 files covered. (85.11%)

3 existing lines in 2 files now uncovered.

10890 of 29516 relevant lines covered (36.9%)

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45.93

/src/mavsdk/core/mavlink_command_sender.cpp

#include "mavlink_command_sender.h"
#include "mavlink_address.h"
#include "system_impl.h"
#include "unused.h"
#include <cmath>
#include <future>
#include <memory>

namespace mavsdk {

MavlinkCommandSender::MavlinkCommandSender(SystemImpl& system_impl) : _system_impl(system_impl)
{
    if (const char* env_p = std::getenv("MAVSDK_COMMAND_DEBUGGING")) {
        if (std::string(env_p) == "1") {
            LogDebug() << "Command debugging is on.";
            _command_debugging = true;
        }
    }

    _system_impl.register_mavlink_message_handler(
        MAVLINK_MSG_ID_COMMAND_ACK,
        [this](const mavlink_message_t& message) { receive_command_ack(message); },
        this);
}

MavlinkCommandSender::~MavlinkCommandSender()
{
    if (_command_debugging) {
        LogDebug() << "CommandSender destroyed";
    }
    _system_impl.unregister_all_mavlink_message_handlers(this);

    LockedQueue<Work>::Guard work_queue_guard(_work_queue);
    for (const auto& work : _work_queue) {
        _system_impl.unregister_timeout_handler(work->timeout_cookie);
    }
}

MavlinkCommandSender::Result
MavlinkCommandSender::send_command(const MavlinkCommandSender::CommandInt& command)
{
    // We wrap the async call with a promise and future.
    auto prom = std::make_shared<std::promise<Result>>();
    auto res = prom->get_future();

    queue_command_async(command, [prom](Result result, float progress) {
        UNUSED(progress);
        // We can only fulfill the promise once in C++11.
        // Therefore, we have to ignore the IN_PROGRESS state and wait
        // for the final result.
        if (result != Result::InProgress) {
            prom->set_value(result);
        }
    });

    // Block now to wait for result.
    return res.get();
}

MavlinkCommandSender::Result
MavlinkCommandSender::send_command(const MavlinkCommandSender::CommandLong& command)
{
    // We wrap the async call with a promise and future.
    auto prom = std::make_shared<std::promise<Result>>();
    auto res = prom->get_future();

    queue_command_async(command, [prom](Result result, float progress) {
        UNUSED(progress);
        // We can only fulfill the promise once in C++11.
        // Therefore, we have to ignore the IN_PROGRESS state and wait
        // for the final result.
        if (result != Result::InProgress) {
            prom->set_value(result);
        }
    });

    return res.get();
}

void MavlinkCommandSender::queue_command_async(
    const CommandInt& command, const CommandResultCallback& callback)
{
    if (_command_debugging) {
        LogDebug() << "COMMAND_INT " << (int)(command.command) << " to send to "
                   << (int)(command.target_system_id) << ", " << (int)(command.target_component_id);
    }

    CommandIdentification identification = identification_from_command(command);

    for (const auto& work : _work_queue) {
        if (work->identification == identification && callback == nullptr) {
            if (_command_debugging) {
                LogDebug() << "Dropping command " << static_cast<int>(identification.command)
                           << " that is already being sent";
            }
            return;
        }
    }

    auto new_work = std::make_shared<Work>();
    new_work->timeout_s = _system_impl.timeout_s();
    new_work->command = command;
    new_work->identification = identification;
    new_work->callback = callback;
    _work_queue.push_back(new_work);
}

void MavlinkCommandSender::queue_command_async(
    const CommandLong& command, const CommandResultCallback& callback)
{
    if (_command_debugging) {
        LogDebug() << "COMMAND_LONG " << (int)(command.command) << " to send to "
                   << (int)(command.target_system_id) << ", " << (int)(command.target_component_id);
    }

    CommandIdentification identification = identification_from_command(command);

    for (const auto& work : _work_queue) {
        if (work->identification == identification && callback == nullptr) {
            if (_command_debugging) {
                LogDebug() << "Dropping command " << static_cast<int>(identification.command)
                           << " that is already being sent";
            }
            return;
        }
    }

    auto new_work = std::make_shared<Work>();
    new_work->timeout_s = _system_impl.timeout_s();
    new_work->command = command;
    new_work->identification = identification;
    new_work->callback = callback;
    new_work->time_started = _system_impl.get_time().steady_time();
    _work_queue.push_back(new_work);
}

void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
{
    mavlink_command_ack_t command_ack;
    mavlink_msg_command_ack_decode(&message, &command_ack);

    if ((command_ack.target_system &&
         command_ack.target_system != _system_impl.get_own_system_id()) ||
        (command_ack.target_component &&
         command_ack.target_component != _system_impl.get_own_component_id())) {
        if (_command_debugging) {
            LogDebug() << "Ignoring command ack for command "
                       << static_cast<int>(command_ack.command) << " from "
                       << static_cast<int>(message.sysid) << '/' << static_cast<int>(message.compid)
                       << " to " << static_cast<int>(command_ack.target_system) << '/'
                       << static_cast<int>(command_ack.target_component);
        }
        return;
    }

    LockedQueue<Work>::Guard work_queue_guard(_work_queue);

    for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {
        auto work = *it;

        if (!work) {
            LogErr() << "No work available! (should not happen #1)";
            return;
        }

        if (work->identification.command != command_ack.command ||
            (work->identification.target_system_id != 0 &&
             work->identification.target_system_id != message.sysid) ||
            (work->identification.target_component_id != 0 &&
             work->identification.target_component_id != message.compid)) {
            if (_command_debugging) {
                LogDebug() << "Command ack for " << command_ack.command
                           << " (from: " << std::to_string(message.sysid) << "/"
                           << std::to_string(message.compid) << ")"
                           << " does not match command " << work->identification.command
                           << " (to: " << std::to_string(work->identification.target_system_id)
                           << "/" << std::to_string(work->identification.target_component_id) << ")"
                           << " after "
                           << _system_impl.get_time().elapsed_since_s(work->time_started) << " s";
            }
            continue;
        }

        if (_command_debugging) {
            LogDebug() << "Received command ack for " << command_ack.command << " with result "
                       << static_cast<int>(command_ack.result) << " after "
                       << _system_impl.get_time().elapsed_since_s(work->time_started) << " s";
        }

        CommandResultCallback temp_callback = work->callback;
        std::pair<Result, float> temp_result{Result::UnknownError, NAN};

        switch (command_ack.result) {
            case MAV_RESULT_ACCEPTED:
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                temp_result = {Result::Success, 1.0f};
                _work_queue.erase(it);
                break;

            case MAV_RESULT_DENIED:
                if (_command_debugging) {
                    LogDebug() << "command denied (" << work->identification.command << ").";
                    if (work->identification.command == 512) {
                        LogDebug() << "(message " << work->identification.maybe_param1 << ")";
                    }
                }
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                temp_result = {Result::Denied, NAN};
                _work_queue.erase(it);
                break;

            case MAV_RESULT_UNSUPPORTED:
                if (_command_debugging) {
                    LogDebug() << "command unsupported (" << work->identification.command << ").";
                }
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                temp_result = {Result::Unsupported, NAN};
                _work_queue.erase(it);
                break;

            case MAV_RESULT_TEMPORARILY_REJECTED:
                if (_command_debugging) {
                    LogDebug() << "command temporarily rejected (" << work->identification.command
                               << ").";
                }
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                temp_result = {Result::TemporarilyRejected, NAN};
                _work_queue.erase(it);
                break;

            case MAV_RESULT_FAILED:
                if (_command_debugging) {
                    LogDebug() << "command failed (" << work->identification.command << ").";
                }
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                temp_result = {Result::Failed, NAN};
                _work_queue.erase(it);
                break;

            case MAV_RESULT_IN_PROGRESS:
                if (_command_debugging) {
                    if (static_cast<int>(command_ack.progress) != 255) {
                        LogDebug() << "progress: " << static_cast<int>(command_ack.progress)
                                   << " % (" << work->identification.command << ").";
                    }
                }
                // If we get a progress update, we can raise the timeout
                // to something higher because we know the initial command
                // has arrived.
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                _system_impl.register_timeout_handler(
                    [this, identification = work->identification] {
                        receive_timeout(identification);
                    },
                    3.0,
                    &work->timeout_cookie);

                temp_result = {
                    Result::InProgress, static_cast<float>(command_ack.progress) / 100.0f};
                break;

            case MAV_RESULT_CANCELLED:
                if (_command_debugging) {
                    LogDebug() << "command cancelled (" << work->identification.command << ").";
                }
                _system_impl.unregister_timeout_handler(work->timeout_cookie);
                temp_result = {Result::Cancelled, NAN};
                _work_queue.erase(it);
                break;

            default:
                LogWarn() << "Received unknown ack.";
                break;
        }

        if (temp_callback != nullptr) {
            call_callback(temp_callback, temp_result.first, temp_result.second);
        }

        return;
    }

    if (_command_debugging) {
        LogDebug() << "Received ack from " << static_cast<int>(message.sysid) << '/'
                   << static_cast<int>(message.compid)
                   << " for not-existing command: " << static_cast<int>(command_ack.command)
                   << "! Ignoring...";
    } else {
        LogWarn() << "Received ack for not-existing command: "
                  << static_cast<int>(command_ack.command) << "! Ignoring...";
    }
}

void MavlinkCommandSender::receive_timeout(const CommandIdentification& identification)
{
    if (_command_debugging) {
        LogDebug() << "Got timeout!";
    }
    bool found_command = false;
    CommandResultCallback temp_callback = nullptr;
    std::pair<Result, float> temp_result{Result::UnknownError, NAN};

    LockedQueue<Work>::Guard work_queue_guard(_work_queue);

    for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {
        auto work = *it;

        if (!work) {
            LogErr() << "No work available! (should not happen #2)";
            return;
        }

        if (work->identification != identification) {
            continue;
        }

        found_command = true;

        if (work->retries_to_do > 0) {
            // We're not sure the command arrived, let's retransmit.
            LogWarn() << "sending again after "
                      << _system_impl.get_time().elapsed_since_s(work->time_started)
                      << " s, retries to do: " << work->retries_to_do << "  ("
                      << work->identification.command << ").";

            if (work->identification.command == MAV_CMD_REQUEST_MESSAGE) {
                LogWarn() << "Request was for msg ID: " << work->identification.maybe_param1;
            }

            if (!send_mavlink_message(work->command)) {
                LogErr() << "connection send error in retransmit (" << work->identification.command
                         << ").";
                temp_callback = work->callback;
                temp_result = {Result::ConnectionError, NAN};
                _work_queue.erase(it);
                break;
            } else {
                --work->retries_to_do;
                _system_impl.register_timeout_handler(
                    [this, identification = work->identification] {
                        receive_timeout(identification);
                    },
                    work->timeout_s,
                    &work->timeout_cookie);
            }
        } else {
            // We have tried retransmitting, giving up now.
            LogErr() << "Retrying failed (" << work->identification.command << ")";

            temp_callback = work->callback;
            temp_result = {Result::Timeout, NAN};
            _work_queue.erase(it);
            break;
        }
    }

    if (temp_callback != nullptr) {
        call_callback(temp_callback, temp_result.first, temp_result.second);
    }

    if (!found_command) {
        LogWarn() << "Timeout for not-existing command: "
                  << static_cast<int>(identification.command) << "! Ignoring...";
    }
}

void MavlinkCommandSender::do_work()
{
    LockedQueue<Work>::Guard work_queue_guard(_work_queue);

    for (const auto& work : _work_queue) {
        if (work->already_sent) {
            continue;
        }

        bool already_being_sent = false;
        for (const auto& other_work : _work_queue) {
            // Ignore itself:
            if (other_work == work) {
                continue;
            }

            // Check if command with same command ID is already being sent.
            if (other_work->already_sent &&
                other_work->identification.command == work->identification.command) {
                if (_command_debugging) {
                    LogDebug() << "Command " << static_cast<int>(work->identification.command)
                               << " is already being sent, waiting...";
                }
                already_being_sent = true;
                break;
            }
        }

        if (already_being_sent) {
            continue;
        }

        // LogDebug() << "sending it the first time (" << work->mavlink_command << ")";
        work->time_started = _system_impl.get_time().steady_time();

        {
            if (!send_mavlink_message(work->command)) {
                LogErr() << "connection send error (" << work->identification.command << ")";
                // In this case we try again after the timeout. Chances are slim it will work next
                // time though.
            } else {
                if (_command_debugging) {
                    LogDebug() << "Sent command " << static_cast<int>(work->identification.command);
                }
            }
        }

        work->already_sent = true;

        _system_impl.register_timeout_handler(
            [this, identification = work->identification] { receive_timeout(identification); },
            work->timeout_s,
            &work->timeout_cookie);
    }
}

void MavlinkCommandSender::call_callback(
    const CommandResultCallback& callback, Result result, float progress)
{
    if (!callback) {
        return;
    }

    // It seems that we need to queue the callback on the thread pool otherwise
    // we lock ourselves out when we send a command in the callback receiving a command result.
    auto temp_callback = callback;
    _system_impl.call_user_callback(
        [temp_callback, result, progress]() { temp_callback(result, progress); });
}

bool MavlinkCommandSender::send_mavlink_message(const Command& command)
{
    if (auto command_int = std::get_if<CommandInt>(&command)) {
        return _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
            mavlink_message_t message;
            mavlink_msg_command_int_pack_chan(
                mavlink_address.system_id,
                mavlink_address.component_id,
                channel,
                &message,
                command_int->target_system_id,
                command_int->target_component_id,
                command_int->frame,
                command_int->command,
                command_int->current,
                command_int->autocontinue,
                maybe_reserved(command_int->params.maybe_param1),
                maybe_reserved(command_int->params.maybe_param2),
                maybe_reserved(command_int->params.maybe_param3),
                maybe_reserved(command_int->params.maybe_param4),
                command_int->params.x,
                command_int->params.y,
                maybe_reserved(command_int->params.maybe_z));
            return message;
        });

    } else if (auto command_long = std::get_if<CommandLong>(&command)) {
        return _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
            mavlink_message_t message;
            mavlink_msg_command_long_pack_chan(
                mavlink_address.system_id,
                mavlink_address.component_id,
                channel,
                &message,
                command_long->target_system_id,
                command_long->target_component_id,
                command_long->command,
                command_long->confirmation,
                maybe_reserved(command_long->params.maybe_param1),
                maybe_reserved(command_long->params.maybe_param2),
                maybe_reserved(command_long->params.maybe_param3),
                maybe_reserved(command_long->params.maybe_param4),
                maybe_reserved(command_long->params.maybe_param5),
                maybe_reserved(command_long->params.maybe_param6),
                maybe_reserved(command_long->params.maybe_param7));
            return message;
        });
    } else {
        return false;
    }
}

float MavlinkCommandSender::maybe_reserved(const std::optional<float>& maybe_param) const
{
    if (maybe_param) {
        return maybe_param.value();

    } else {
        if (_system_impl.autopilot() == Autopilot::ArduPilot) {
            return 0.0f;
        } else {
            return NAN;
        }
    }
}

} // namespace mavsdk

1	#include "mavlink_command_sender.h"
2	#include "mavlink_address.h"
3	#include "system_impl.h"
4	#include "unused.h"
5	#include <cmath>
6	#include <future>
7	#include <memory>
8
9	namespace mavsdk {
10
11	MavlinkCommandSender::MavlinkCommandSender(SystemImpl& system_impl) : _system_impl(system_impl)	69✔
12	{
13	if (const char* env_p = std::getenv("MAVSDK_COMMAND_DEBUGGING")) {	69✔
14	if (std::string(env_p) == "1") {	×
15	LogDebug() << "Command debugging is on.";	×
16	_command_debugging = true;	×
17	}
18	}
19
20	_system_impl.register_mavlink_message_handler(	69✔
21	MAVLINK_MSG_ID_COMMAND_ACK,
22	[this](const mavlink_message_t& message) { receive_command_ack(message); },	39✔
23	this);
24	}	69✔
25
26	MavlinkCommandSender::~MavlinkCommandSender()	69✔
27	{
28	if (_command_debugging) {	69✔
NEW 29	LogDebug() << "CommandSender destroyed";	×
30	}
31	_system_impl.unregister_all_mavlink_message_handlers(this);	69✔
32
33	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	138✔
34	for (const auto& work : _work_queue) {	70✔
35	_system_impl.unregister_timeout_handler(work->timeout_cookie);	1✔
36	}
37	}	69✔
38
39	MavlinkCommandSender::Result
40	MavlinkCommandSender::send_command(const MavlinkCommandSender::CommandInt& command)	×
41	{
42	// We wrap the async call with a promise and future.
43	auto prom = std::make_shared<std::promise<Result>>();	×
44	auto res = prom->get_future();	×
45
46	queue_command_async(command, [prom](Result result, float progress) {	×
47	UNUSED(progress);	×
48	// We can only fulfill the promise once in C++11.
49	// Therefore, we have to ignore the IN_PROGRESS state and wait
50	// for the final result.
51	if (result != Result::InProgress) {	×
52	prom->set_value(result);	×
53	}
54	});	×
55
56	// Block now to wait for result.
57	return res.get();	×
58	}
59
60	MavlinkCommandSender::Result
61	MavlinkCommandSender::send_command(const MavlinkCommandSender::CommandLong& command)	×
62	{
63	// We wrap the async call with a promise and future.
64	auto prom = std::make_shared<std::promise<Result>>();	×
65	auto res = prom->get_future();	×
66
67	queue_command_async(command, [prom](Result result, float progress) {	×
68	UNUSED(progress);	×
69	// We can only fulfill the promise once in C++11.
70	// Therefore, we have to ignore the IN_PROGRESS state and wait
71	// for the final result.
72	if (result != Result::InProgress) {	×
73	prom->set_value(result);	×
74	}
75	});	×
76
77	return res.get();	×
78	}
79
80	void MavlinkCommandSender::queue_command_async(	×
81	const CommandInt& command, const CommandResultCallback& callback)
82	{
83	if (_command_debugging) {	×
84	LogDebug() << "COMMAND_INT " << (int)(command.command) << " to send to "	×
85	<< (int)(command.target_system_id) << ", " << (int)(command.target_component_id);	×
86	}
87
88	CommandIdentification identification = identification_from_command(command);	×
89
90	for (const auto& work : _work_queue) {	×
91	if (work->identification == identification && callback == nullptr) {	×
92	if (_command_debugging) {	×
93	LogDebug() << "Dropping command " << static_cast<int>(identification.command)	×
94	<< " that is already being sent";	×
95	}
96	return;	×
97	}
98	}
99
100	auto new_work = std::make_shared<Work>();	×
101	new_work->timeout_s = _system_impl.timeout_s();	×
102	new_work->command = command;	×
103	new_work->identification = identification;	×
104	new_work->callback = callback;	×
105	_work_queue.push_back(new_work);	×
106	}
107
108	void MavlinkCommandSender::queue_command_async(	40✔
109	const CommandLong& command, const CommandResultCallback& callback)
110	{
111	if (_command_debugging) {	40✔
112	LogDebug() << "COMMAND_LONG " << (int)(command.command) << " to send to "	×
113	<< (int)(command.target_system_id) << ", " << (int)(command.target_component_id);	×
114	}
115
116	CommandIdentification identification = identification_from_command(command);	40✔
117
118	for (const auto& work : _work_queue) {	47✔
119	if (work->identification == identification && callback == nullptr) {	7✔
120	if (_command_debugging) {	×
121	LogDebug() << "Dropping command " << static_cast<int>(identification.command)	×
122	<< " that is already being sent";	×
123	}
124	return;	×
125	}
126	}
127
128	auto new_work = std::make_shared<Work>();	80✔
129	new_work->timeout_s = _system_impl.timeout_s();	40✔
130	new_work->command = command;	40✔
131	new_work->identification = identification;	40✔
132	new_work->callback = callback;	40✔
133	new_work->time_started = _system_impl.get_time().steady_time();	40✔
134	_work_queue.push_back(new_work);	40✔
135	}
136
137	void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)	39✔
138	{
139	mavlink_command_ack_t command_ack;	39✔
140	mavlink_msg_command_ack_decode(&message, &command_ack);	39✔
141
142	if ((command_ack.target_system &&	39✔
143	command_ack.target_system != _system_impl.get_own_system_id()) \|\|	78✔
144	(command_ack.target_component &&	78✔
145	command_ack.target_component != _system_impl.get_own_component_id())) {	39✔
146	if (_command_debugging) {	×
147	LogDebug() << "Ignoring command ack for command "	×
148	<< static_cast<int>(command_ack.command) << " from "	×
149	<< static_cast<int>(message.sysid) << '/' << static_cast<int>(message.compid)	×
150	<< " to " << static_cast<int>(command_ack.target_system) << '/'	×
151	<< static_cast<int>(command_ack.target_component);	×
152	}
153	return;	×
154	}
155
156	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	39✔
157
158	for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {	43✔
159	auto work = *it;	43✔
160
161	if (!work) {	43✔
162	LogErr() << "No work available! (should not happen #1)";	×
163	return;	×
164	}
165
166	if (work->identification.command != command_ack.command \|\|	43✔
167	(work->identification.target_system_id != 0 &&	39✔
168	work->identification.target_system_id != message.sysid) \|\|	121✔
169	(work->identification.target_component_id != 0 &&	39✔
170	work->identification.target_component_id != message.compid)) {	39✔
171	if (_command_debugging) {	4✔
172	LogDebug() << "Command ack for " << command_ack.command	×
173	<< " (from: " << std::to_string(message.sysid) << "/"	×
174	<< std::to_string(message.compid) << ")"	×
175	<< " does not match command " << work->identification.command	×
176	<< " (to: " << std::to_string(work->identification.target_system_id)	×
177	<< "/" << std::to_string(work->identification.target_component_id) << ")"	×
178	<< " after "	×
179	<< _system_impl.get_time().elapsed_since_s(work->time_started) << " s";	×
180	}
181	continue;	4✔
182	}
183
184	if (_command_debugging) {	39✔
185	LogDebug() << "Received command ack for " << command_ack.command << " with result "	×
186	<< static_cast<int>(command_ack.result) << " after "	×
187	<< _system_impl.get_time().elapsed_since_s(work->time_started) << " s";	×
188	}
189
190	CommandResultCallback temp_callback = work->callback;	78✔
191	std::pair<Result, float> temp_result{Result::UnknownError, NAN};	39✔
192
193	switch (command_ack.result) {	39✔
194	case MAV_RESULT_ACCEPTED:	36✔
195	_system_impl.unregister_timeout_handler(work->timeout_cookie);	36✔
196	temp_result = {Result::Success, 1.0f};	36✔
197	_work_queue.erase(it);	36✔
198	break;	36✔
199
200	case MAV_RESULT_DENIED:	1✔
201	if (_command_debugging) {	1✔
202	LogDebug() << "command denied (" << work->identification.command << ").";	×
203	if (work->identification.command == 512) {	×
204	LogDebug() << "(message " << work->identification.maybe_param1 << ")";	×
205	}
206	}
207	_system_impl.unregister_timeout_handler(work->timeout_cookie);	1✔
208	temp_result = {Result::Denied, NAN};	1✔
209	_work_queue.erase(it);	1✔
210	break;	1✔
211
212	case MAV_RESULT_UNSUPPORTED:	×
213	if (_command_debugging) {	×
214	LogDebug() << "command unsupported (" << work->identification.command << ").";	×
215	}
216	_system_impl.unregister_timeout_handler(work->timeout_cookie);	×
217	temp_result = {Result::Unsupported, NAN};	×
218	_work_queue.erase(it);	×
219	break;	×
220
221	case MAV_RESULT_TEMPORARILY_REJECTED:	2✔
222	if (_command_debugging) {	2✔
223	LogDebug() << "command temporarily rejected (" << work->identification.command	×
224	<< ").";	×
225	}
226	_system_impl.unregister_timeout_handler(work->timeout_cookie);	2✔
227	temp_result = {Result::TemporarilyRejected, NAN};	2✔
228	_work_queue.erase(it);	2✔
229	break;	2✔
230
231	case MAV_RESULT_FAILED:	×
232	if (_command_debugging) {	×
233	LogDebug() << "command failed (" << work->identification.command << ").";	×
234	}
235	_system_impl.unregister_timeout_handler(work->timeout_cookie);	×
236	temp_result = {Result::Failed, NAN};	×
237	_work_queue.erase(it);	×
238	break;	×
239
240	case MAV_RESULT_IN_PROGRESS:	×
241	if (_command_debugging) {	×
242	if (static_cast<int>(command_ack.progress) != 255) {	×
243	LogDebug() << "progress: " << static_cast<int>(command_ack.progress)	×
244	<< " % (" << work->identification.command << ").";	×
245	}
246	}
247	// If we get a progress update, we can raise the timeout
248	// to something higher because we know the initial command
249	// has arrived.
250	_system_impl.unregister_timeout_handler(work->timeout_cookie);	×
251	_system_impl.register_timeout_handler(	×
252	[this, identification = work->identification] {	×
253	receive_timeout(identification);	×
254	},	×
255	3.0,
256	&work->timeout_cookie);	×
257
258	temp_result = {	×
259	Result::InProgress, static_cast<float>(command_ack.progress) / 100.0f};	×
260	break;	×
261
262	case MAV_RESULT_CANCELLED:	×
263	if (_command_debugging) {	×
264	LogDebug() << "command cancelled (" << work->identification.command << ").";	×
265	}
266	_system_impl.unregister_timeout_handler(work->timeout_cookie);	×
267	temp_result = {Result::Cancelled, NAN};	×
268	_work_queue.erase(it);	×
269	break;	×
270
271	default:	×
272	LogWarn() << "Received unknown ack.";	×
273	break;	×
274	}
275
276	if (temp_callback != nullptr) {	39✔
277	call_callback(temp_callback, temp_result.first, temp_result.second);	38✔
278	}
279
280	return;	39✔
281	}
282
283	if (_command_debugging) {	×
284	LogDebug() << "Received ack from " << static_cast<int>(message.sysid) << '/'	×
285	<< static_cast<int>(message.compid)	×
286	<< " for not-existing command: " << static_cast<int>(command_ack.command)	×
287	<< "! Ignoring...";	×
288	} else {
289	LogWarn() << "Received ack for not-existing command: "	×
290	<< static_cast<int>(command_ack.command) << "! Ignoring...";	×
291	}
292	}
293
294	void MavlinkCommandSender::receive_timeout(const CommandIdentification& identification)	4✔
295	{
296	if (_command_debugging) {	4✔
NEW 297	LogDebug() << "Got timeout!";	×
298	}
299	bool found_command = false;	4✔
300	CommandResultCallback temp_callback = nullptr;	4✔
301	std::pair<Result, float> temp_result{Result::UnknownError, NAN};	4✔
302
303	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	4✔
304
305	for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {	8✔
306	auto work = *it;	4✔
307
308	if (!work) {	4✔
309	LogErr() << "No work available! (should not happen #2)";	×
310	return;	×
311	}
312
313	if (work->identification != identification) {	4✔
314	continue;	×
315	}
316
317	found_command = true;	4✔
318
319	if (work->retries_to_do > 0) {	4✔
320	// We're not sure the command arrived, let's retransmit.
321	LogWarn() << "sending again after "	8✔
322	<< _system_impl.get_time().elapsed_since_s(work->time_started)	8✔
323	<< " s, retries to do: " << work->retries_to_do << " ("	4✔
324	<< work->identification.command << ").";	12✔
325
326	if (work->identification.command == MAV_CMD_REQUEST_MESSAGE) {	4✔
327	LogWarn() << "Request was for msg ID: " << work->identification.maybe_param1;	×
328	}
329
330	if (!send_mavlink_message(work->command)) {	4✔
331	LogErr() << "connection send error in retransmit (" << work->identification.command	×
332	<< ").";	×
333	temp_callback = work->callback;	×
334	temp_result = {Result::ConnectionError, NAN};	×
335	_work_queue.erase(it);	×
336	break;	×
337	} else {
338	--work->retries_to_do;	4✔
339	_system_impl.register_timeout_handler(	8✔
340	[this, identification = work->identification] {	4✔
341	receive_timeout(identification);	×
342	},	×
343	work->timeout_s,	4✔
344	&work->timeout_cookie);	4✔
345	}
346	} else {
347	// We have tried retransmitting, giving up now.
348	LogErr() << "Retrying failed (" << work->identification.command << ")";	×
349
350	temp_callback = work->callback;	×
351	temp_result = {Result::Timeout, NAN};	×
352	_work_queue.erase(it);	×
353	break;	×
354	}
355	}
356
357	if (temp_callback != nullptr) {	4✔
358	call_callback(temp_callback, temp_result.first, temp_result.second);	×
359	}
360
361	if (!found_command) {	4✔
362	LogWarn() << "Timeout for not-existing command: "	×
363	<< static_cast<int>(identification.command) << "! Ignoring...";	×
364	}
365	}
366
367	void MavlinkCommandSender::do_work()	3,084✔
368	{
369	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	6,168✔
370
371	for (const auto& work : _work_queue) {	3,178✔
372	if (work->already_sent) {	94✔
373	continue;	54✔
374	}
375
376	bool already_being_sent = false;	40✔
377	for (const auto& other_work : _work_queue) {	91✔
378	// Ignore itself:
379	if (other_work == work) {	51✔
380	continue;	40✔
381	}
382
383	// Check if command with same command ID is already being sent.
384	if (other_work->already_sent &&	18✔
385	other_work->identification.command == work->identification.command) {	7✔
386	if (_command_debugging) {	×
387	LogDebug() << "Command " << static_cast<int>(work->identification.command)	×
388	<< " is already being sent, waiting...";	×
389	}
390	already_being_sent = true;	×
391	break;	×
392	}
393	}
394
395	if (already_being_sent) {	40✔
396	continue;	×
397	}
398
399	// LogDebug() << "sending it the first time (" << work->mavlink_command << ")";
400	work->time_started = _system_impl.get_time().steady_time();	40✔
401
402	{
403	if (!send_mavlink_message(work->command)) {	40✔
404	LogErr() << "connection send error (" << work->identification.command << ")";	×
405	// In this case we try again after the timeout. Chances are slim it will work next
406	// time though.
407	} else {
408	if (_command_debugging) {	40✔
409	LogDebug() << "Sent command " << static_cast<int>(work->identification.command);	×
410	}
411	}
412	}
413
414	work->already_sent = true;	40✔
415
416	_system_impl.register_timeout_handler(	80✔
417	[this, identification = work->identification] { receive_timeout(identification); },	44✔
418	work->timeout_s,	40✔
419	&work->timeout_cookie);	40✔
420	}
421	}	3,084✔
422
423	void MavlinkCommandSender::call_callback(	38✔
424	const CommandResultCallback& callback, Result result, float progress)
425	{
426	if (!callback) {	38✔
427	return;	×
428	}
429
430	// It seems that we need to queue the callback on the thread pool otherwise
431	// we lock ourselves out when we send a command in the callback receiving a command result.
432	auto temp_callback = callback;	76✔
433	_system_impl.call_user_callback(	76✔
434	[temp_callback, result, progress]() { temp_callback(result, progress); });
435	}
436
437	bool MavlinkCommandSender::send_mavlink_message(const Command& command)	44✔
438	{
439	if (auto command_int = std::get_if<CommandInt>(&command)) {	44✔
440	return _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	×
441	mavlink_message_t message;
442	mavlink_msg_command_int_pack_chan(	×
443	mavlink_address.system_id,	×
444	mavlink_address.component_id,	×
445	channel,
446	&message,
447	command_int->target_system_id,	×
448	command_int->target_component_id,	×
449	command_int->frame,	×
450	command_int->command,	×
451	command_int->current,	×
452	command_int->autocontinue,	×
453	maybe_reserved(command_int->params.maybe_param1),	×
454	maybe_reserved(command_int->params.maybe_param2),	×
455	maybe_reserved(command_int->params.maybe_param3),	×
456	maybe_reserved(command_int->params.maybe_param4),	×
457	command_int->params.x,	×
458	command_int->params.y,	×
459	maybe_reserved(command_int->params.maybe_z));	×
460	return message;	×
461	});	×
462
463	} else if (auto command_long = std::get_if<CommandLong>(&command)) {	44✔
464	return _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	88✔
465	mavlink_message_t message;
466	mavlink_msg_command_long_pack_chan(	352✔
467	mavlink_address.system_id,	44✔
468	mavlink_address.component_id,	44✔
469	channel,
470	&message,
471	command_long->target_system_id,	352✔
472	command_long->target_component_id,	44✔
473	command_long->command,	44✔
474	command_long->confirmation,	44✔
475	maybe_reserved(command_long->params.maybe_param1),	44✔
476	maybe_reserved(command_long->params.maybe_param2),	44✔
477	maybe_reserved(command_long->params.maybe_param3),	44✔
478	maybe_reserved(command_long->params.maybe_param4),	44✔
479	maybe_reserved(command_long->params.maybe_param5),	44✔
480	maybe_reserved(command_long->params.maybe_param6),	44✔
481	maybe_reserved(command_long->params.maybe_param7));	44✔
482	return message;	44✔
483	});	44✔
484	} else {
485	return false;	×
486	}
487	}
488
489	float MavlinkCommandSender::maybe_reserved(const std::optional<float>& maybe_param) const	308✔
490	{
491	if (maybe_param) {	308✔
492	return maybe_param.value();	45✔
493
494	} else {
495	if (_system_impl.autopilot() == Autopilot::ArduPilot) {	263✔
496	return 0.0f;	×
497	} else {
498	return NAN;	263✔
499	}
500	}
501	}
502
503	} // namespace mavsdk

mavlink / MAVSDK / 9106367580

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