11549442665

Committed 28 Oct 2024 07:40AM UTC coverage: 42.635% (+4.7%) from 37.918%

Build # 11549442665

Build Type

Pull #2386

github

Committed by

web-flow

Commit Message

Merge db5fdd683 into d46bb7a96

Pull Request Pull Request #2386: camera: support multiple cameras within one instance

Run Details

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54 existing lines in 9 files now uncovered.

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53.25

/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, unsigned retries)
{
    // 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);
            }
        },
        retries);

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

MavlinkCommandSender::Result MavlinkCommandSender::send_command(
    const MavlinkCommandSender::CommandLong& command, unsigned retries)
{
    // 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);
            }
        },
        retries);

    return res.get();
}

void MavlinkCommandSender::queue_command_async(
    const CommandInt& command, const CommandResultCallback& callback, unsigned retries)
{
    if (_command_debugging) {
        LogDebug() << "COMMAND_INT " << static_cast<int>(command.command) << " to send to "
                   << static_cast<int>(command.target_system_id) << ", "
                   << static_cast<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->retries_to_do = retries;
    _work_queue.push_back(new_work);
}

void MavlinkCommandSender::queue_command_async(
    const CommandLong& command, const CommandResultCallback& callback, unsigned retries)
{
    if (_command_debugging) {
        LogDebug() << "COMMAND_LONG " << static_cast<int>(command.command) << " to send to "
                   << static_cast<int>(command.target_system_id) << ", "
                   << static_cast<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();
    new_work->retries_to_do = retries;
    _work_queue.push_back(new_work);
}

void MavlinkCommandSender::receive_command_ack(const 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) {
        const 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);
                work->timeout_cookie = _system_impl.register_timeout_handler(
                    [this, identification = work->identification] {
                        receive_timeout(identification);
                    },
                    3.0);

                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) {
        const 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;
                work->timeout_cookie = _system_impl.register_timeout_handler(
                    [this, identification = work->identification] {
                        receive_timeout(identification);
                    },
                    work->timeout_s);
            }
        } else {
            // We have tried retransmitting, giving up now.
            if (work->identification.command == 512) {
                uint8_t target_sysid;
                uint8_t target_compid;
                if (auto command_int = std::get_if<CommandInt>(&work->command)) {
                    target_sysid = command_int->target_system_id;
                    target_compid = command_int->target_component_id;
                } else if (auto command_long = std::get_if<CommandLong>(&work->command)) {
                    target_sysid = command_long->target_system_id;
                    target_compid = command_long->target_component_id;
                } else {
                    LogErr() << "No command, that's awkward";
                    continue;
                }
                LogWarn() << "Retrying failed for REQUEST_MESSAGE command for message: "
                          << work->identification.maybe_param1 << ", to ("
                          << std::to_string(target_sysid) << "/" << std::to_string(target_compid)
                          << ")";
            } else {
                LogWarn() << "Retrying failed for command: " << 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;

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

void MavlinkCommandSender::call_callback(
    const CommandResultCallback& callback, Result result, float progress) const
{
    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) const
{
    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)	86✔
12	{
13	if (const char* env_p = std::getenv("MAVSDK_COMMAND_DEBUGGING")) {	86✔
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(	86✔
21	MAVLINK_MSG_ID_COMMAND_ACK,
22	[this](const mavlink_message_t& message) { receive_command_ack(message); },	100✔
23	this);
24	}	86✔
25
26	MavlinkCommandSender::~MavlinkCommandSender()	86✔
27	{
28	if (_command_debugging) {	86✔
29	LogDebug() << "CommandSender destroyed";	×
30	}
31	_system_impl.unregister_all_mavlink_message_handlers(this);	86✔
32
33	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	172✔
34	for (const auto& work : _work_queue) {	88✔
35	_system_impl.unregister_timeout_handler(work->timeout_cookie);	2✔
36	}
37	}	86✔
38
NEW 39	MavlinkCommandSender::Result MavlinkCommandSender::send_command(	×
40	const MavlinkCommandSender::CommandInt& command, unsigned retries)
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
NEW 46	queue_command_async(	×
47	command,
NEW 48	[prom](Result result, float progress) {	×
NEW 49	UNUSED(progress);	×
50	// We can only fulfill the promise once in C++11.
51	// Therefore, we have to ignore the IN_PROGRESS state and wait
52	// for the final result.
NEW 53	if (result != Result::InProgress) {	×
NEW 54	prom->set_value(result);	×
55	}
NEW 56	},	×
57	retries);
58
59	// Block now to wait for result.
60	return res.get();	×
61	}
62
63	MavlinkCommandSender::Result MavlinkCommandSender::send_command(	5✔
64	const MavlinkCommandSender::CommandLong& command, unsigned retries)
65	{
66	// We wrap the async call with a promise and future.
67	auto prom = std::make_shared<std::promise<Result>>();	10✔
68	auto res = prom->get_future();	10✔
69
70	queue_command_async(	5✔
71	command,
72	[prom](Result result, float progress) {	6✔
73	UNUSED(progress);	6✔
74	// We can only fulfill the promise once in C++11.
75	// Therefore, we have to ignore the IN_PROGRESS state and wait
76	// for the final result.
77	if (result != Result::InProgress) {	6✔
78	prom->set_value(result);	5✔
79	}
80	},	6✔
81	retries);
82
83	return res.get();	5✔
84	}
85
86	void MavlinkCommandSender::queue_command_async(	×
87	const CommandInt& command, const CommandResultCallback& callback, unsigned retries)
88	{
89	if (_command_debugging) {	×
90	LogDebug() << "COMMAND_INT " << static_cast<int>(command.command) << " to send to "	×
91	<< static_cast<int>(command.target_system_id) << ", "	×
92	<< static_cast<int>(command.target_component_id);	×
93	}
94
95	CommandIdentification identification = identification_from_command(command);	×
96
97	for (const auto& work : _work_queue) {	×
98	if (work->identification == identification && callback == nullptr) {	×
99	if (_command_debugging) {	×
100	LogDebug() << "Dropping command " << static_cast<int>(identification.command)	×
101	<< " that is already being sent";	×
102	}
103	return;	×
104	}
105	}
106
107	auto new_work = std::make_shared<Work>();	×
108	new_work->timeout_s = _system_impl.timeout_s();	×
109	new_work->command = command;	×
110	new_work->identification = identification;	×
111	new_work->callback = callback;	×
NEW 112	new_work->retries_to_do = retries;	×
UNCOV 113	_work_queue.push_back(new_work);	×
114	}
115
116	void MavlinkCommandSender::queue_command_async(	98✔
117	const CommandLong& command, const CommandResultCallback& callback, unsigned retries)
118	{
119	if (_command_debugging) {	98✔
120	LogDebug() << "COMMAND_LONG " << static_cast<int>(command.command) << " to send to "	×
121	<< static_cast<int>(command.target_system_id) << ", "	×
122	<< static_cast<int>(command.target_component_id);	×
123	}
124
125	CommandIdentification identification = identification_from_command(command);	98✔
126
127	for (const auto& work : _work_queue) {	190✔
128	if (work->identification == identification && callback == nullptr) {	92✔
129	if (_command_debugging) {	×
130	LogDebug() << "Dropping command " << static_cast<int>(identification.command)	×
131	<< " that is already being sent";	×
132	}
133	return;	×
134	}
135	}
136
137	auto new_work = std::make_shared<Work>();	196✔
138	new_work->timeout_s = _system_impl.timeout_s();	98✔
139	new_work->command = command;	98✔
140	new_work->identification = identification;	98✔
141	new_work->callback = callback;	98✔
142	new_work->time_started = _system_impl.get_time().steady_time();	98✔
143	new_work->retries_to_do = retries;	98✔
144	_work_queue.push_back(new_work);	98✔
145	}
146
147	void MavlinkCommandSender::receive_command_ack(const mavlink_message_t& message)	100✔
148	{
149	mavlink_command_ack_t command_ack;	100✔
150	mavlink_msg_command_ack_decode(&message, &command_ack);	100✔
151
152	if ((command_ack.target_system &&	97✔
153	command_ack.target_system != _system_impl.get_own_system_id()) \|\|	200✔
154	(command_ack.target_component &&	197✔
155	command_ack.target_component != _system_impl.get_own_component_id())) {	97✔
156	if (_command_debugging) {	×
157	LogDebug() << "Ignoring command ack for command "	×
158	<< static_cast<int>(command_ack.command) << " from "	×
159	<< static_cast<int>(message.sysid) << '/' << static_cast<int>(message.compid)	×
160	<< " to " << static_cast<int>(command_ack.target_system) << '/'	×
161	<< static_cast<int>(command_ack.target_component);	×
162	}
163	return;	×
164	}
165
166	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	100✔
167
168	for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {	121✔
169	const auto& work = *it;	118✔
170
171	if (!work) {	118✔
172	LogErr() << "No work available! (should not happen #1)";	×
173	return;	×
174	}
175
176	if (work->identification.command != command_ack.command \|\|	118✔
177	(work->identification.target_system_id != 0 &&	97✔
178	work->identification.target_system_id != message.sysid) \|\|	312✔
179	(work->identification.target_component_id != 0 &&	97✔
180	work->identification.target_component_id != message.compid)) {	97✔
181	if (_command_debugging) {	21✔
182	LogDebug() << "Command ack for " << command_ack.command	×
183	<< " (from: " << std::to_string(message.sysid) << "/"	×
184	<< std::to_string(message.compid) << ")" << " does not match command "	×
185	<< work->identification.command	×
186	<< " (to: " << std::to_string(work->identification.target_system_id)	×
187	<< "/" << std::to_string(work->identification.target_component_id) << ")"	×
188	<< " after "	×
189	<< _system_impl.get_time().elapsed_since_s(work->time_started) << " s";	×
190	}
191	continue;	21✔
192	}
193
194	if (_command_debugging) {	97✔
195	LogDebug() << "Received command ack for " << command_ack.command << " with result "	×
196	<< static_cast<int>(command_ack.result) << " after "	×
197	<< _system_impl.get_time().elapsed_since_s(work->time_started) << " s";	×
198	}
199
200	CommandResultCallback temp_callback = work->callback;	194✔
201	std::pair<Result, float> temp_result{Result::UnknownError, NAN};	97✔
202
203	switch (command_ack.result) {	97✔
204	case MAV_RESULT_ACCEPTED:	63✔
205	_system_impl.unregister_timeout_handler(work->timeout_cookie);	63✔
206	temp_result = {Result::Success, 1.0f};	63✔
207	_work_queue.erase(it);	63✔
208	break;	63✔
209
210	case MAV_RESULT_DENIED:	21✔
211	if (_command_debugging) {	21✔
212	LogDebug() << "command denied (" << work->identification.command << ").";	×
213	if (work->identification.command == 512) {	×
214	LogDebug() << "(message " << work->identification.maybe_param1 << ")";	×
215	}
216	}
217	_system_impl.unregister_timeout_handler(work->timeout_cookie);	21✔
218	temp_result = {Result::Denied, NAN};	21✔
219	_work_queue.erase(it);	21✔
220	break;	21✔
221
222	case MAV_RESULT_UNSUPPORTED:	10✔
223	if (_command_debugging) {	10✔
224	LogDebug() << "command unsupported (" << work->identification.command << ").";	×
225	}
226	_system_impl.unregister_timeout_handler(work->timeout_cookie);	10✔
227	temp_result = {Result::Unsupported, NAN};	10✔
228	_work_queue.erase(it);	10✔
229	break;	10✔
230
231	case MAV_RESULT_TEMPORARILY_REJECTED:	2✔
232	if (_command_debugging) {	2✔
233	LogDebug() << "command temporarily rejected (" << work->identification.command	×
234	<< ").";	×
235	}
236	_system_impl.unregister_timeout_handler(work->timeout_cookie);	2✔
237	temp_result = {Result::TemporarilyRejected, NAN};	2✔
238	_work_queue.erase(it);	2✔
239	break;	2✔
240
241	case MAV_RESULT_FAILED:	×
242	if (_command_debugging) {	×
243	LogDebug() << "command failed (" << work->identification.command << ").";	×
244	}
245	_system_impl.unregister_timeout_handler(work->timeout_cookie);	×
246	temp_result = {Result::Failed, NAN};	×
247	_work_queue.erase(it);	×
248	break;	×
249
250	case MAV_RESULT_IN_PROGRESS:	1✔
251	if (_command_debugging) {	1✔
252	if (static_cast<int>(command_ack.progress) != 255) {	×
253	LogDebug() << "progress: " << static_cast<int>(command_ack.progress)	×
254	<< " % (" << work->identification.command << ").";	×
255	}
256	}
257	// If we get a progress update, we can raise the timeout
258	// to something higher because we know the initial command
259	// has arrived.
260	_system_impl.unregister_timeout_handler(work->timeout_cookie);	1✔
261	work->timeout_cookie = _system_impl.register_timeout_handler(	2✔
262	[this, identification = work->identification] {	1✔
263	receive_timeout(identification);	×
264	},	×
265	3.0);
266
267	temp_result = {	1✔
268	Result::InProgress, static_cast<float>(command_ack.progress) / 100.0f};	1✔
269	break;	1✔
270
271	case MAV_RESULT_CANCELLED:	×
272	if (_command_debugging) {	×
273	LogDebug() << "command cancelled (" << work->identification.command << ").";	×
274	}
275	_system_impl.unregister_timeout_handler(work->timeout_cookie);	×
276	temp_result = {Result::Cancelled, NAN};	×
277	_work_queue.erase(it);	×
278	break;	×
279
280	default:	×
281	LogWarn() << "Received unknown ack.";	×
282	break;	×
283	}
284
285	if (temp_callback != nullptr) {	97✔
286	call_callback(temp_callback, temp_result.first, temp_result.second);	97✔
287	}
288
289	return;	97✔
290	}
291
292	if (_command_debugging) {	3✔
293	LogDebug() << "Received ack from " << static_cast<int>(message.sysid) << '/'	×
294	<< static_cast<int>(message.compid)	×
295	<< " for not-existing command: " << static_cast<int>(command_ack.command)	×
296	<< "! Ignoring...";	×
297	} else {
298	LogWarn() << "Received ack for not-existing command: "	6✔
299	<< static_cast<int>(command_ack.command) << "! Ignoring...";	6✔
300	}
301	}
302
303	void MavlinkCommandSender::receive_timeout(const CommandIdentification& identification)	1✔
304	{
305	if (_command_debugging) {	1✔
306	LogDebug() << "Got timeout!";	×
307	}
308	bool found_command = false;	1✔
309	CommandResultCallback temp_callback = nullptr;	1✔
310	std::pair<Result, float> temp_result{Result::UnknownError, NAN};	1✔
311
312	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	1✔
313
314	for (auto it = _work_queue.begin(); it != _work_queue.end(); ++it) {	2✔
315	const auto& work = *it;	1✔
316
317	if (!work) {	1✔
318	LogErr() << "No work available! (should not happen #2)";	×
319	return;	×
320	}
321
322	if (work->identification != identification) {	1✔
323	continue;	×
324	}
325
326	found_command = true;	1✔
327
328	if (work->retries_to_do > 0) {	1✔
329	// We're not sure the command arrived, let's retransmit.
330	LogWarn() << "sending again after "	2✔
331	<< _system_impl.get_time().elapsed_since_s(work->time_started)	2✔
332	<< " s, retries to do: " << work->retries_to_do << " ("	1✔
333	<< work->identification.command << ").";	3✔
334
335	if (work->identification.command == MAV_CMD_REQUEST_MESSAGE) {	1✔
336	LogWarn() << "Request was for msg ID: " << work->identification.maybe_param1;	1✔
337	}
338
339	if (!send_mavlink_message(work->command)) {	1✔
340	LogErr() << "connection send error in retransmit (" << work->identification.command	×
341	<< ").";	×
342	temp_callback = work->callback;	×
343	temp_result = {Result::ConnectionError, NAN};	×
344	_work_queue.erase(it);	×
345	break;	×
346	} else {
347	--work->retries_to_do;	1✔
348	work->timeout_cookie = _system_impl.register_timeout_handler(	2✔
349	[this, identification = work->identification] {	1✔
350	receive_timeout(identification);	×
351	},	×
352	work->timeout_s);	1✔
353	}
354	} else {
355	// We have tried retransmitting, giving up now.
356	if (work->identification.command == 512) {	×
357	uint8_t target_sysid;
358	uint8_t target_compid;
359	if (auto command_int = std::get_if<CommandInt>(&work->command)) {	×
360	target_sysid = command_int->target_system_id;	×
361	target_compid = command_int->target_component_id;	×
362	} else if (auto command_long = std::get_if<CommandLong>(&work->command)) {	×
363	target_sysid = command_long->target_system_id;	×
364	target_compid = command_long->target_component_id;	×
365	} else {
366	LogErr() << "No command, that's awkward";	×
367	continue;	×
368	}
NEW 369	LogWarn() << "Retrying failed for REQUEST_MESSAGE command for message: "	×
NEW 370	<< work->identification.maybe_param1 << ", to ("	×
NEW 371	<< std::to_string(target_sysid) << "/" << std::to_string(target_compid)	×
NEW 372	<< ")";	×
373	} else {
NEW 374	LogWarn() << "Retrying failed for command: " << work->identification.command << ")";	×
375	}
376
377	temp_callback = work->callback;	×
378	temp_result = {Result::Timeout, NAN};	×
379	_work_queue.erase(it);	×
380	break;	×
381	}
382	}
383
384	if (temp_callback != nullptr) {	1✔
385	call_callback(temp_callback, temp_result.first, temp_result.second);	×
386	}
387
388	if (!found_command) {	1✔
389	LogWarn() << "Timeout for not-existing command: "	×
390	<< static_cast<int>(identification.command) << "! Ignoring...";	×
391	}
392	}
393
394	void MavlinkCommandSender::do_work()	5,644✔
395	{
396	LockedQueue<Work>::Guard work_queue_guard(_work_queue);	11,288✔
397
398	for (const auto& work : _work_queue) {	5,818✔
399	if (work->already_sent) {	174✔
400	continue;	26✔
401	}
402
403	bool already_being_sent = false;	148✔
404	for (const auto& other_work : _work_queue) {	354✔
405	// Ignore itself:
406	if (other_work == work) {	256✔
407	continue;	98✔
408	}
409
410	// Check if command with same command ID is already being sent.
411	if (other_work->already_sent &&	228✔
412	other_work->identification.command == work->identification.command) {	70✔
413	if (_command_debugging) {	50✔
414	LogDebug() << "Command " << static_cast<int>(work->identification.command)	×
415	<< " is already being sent, waiting...";	×
416	}
417	already_being_sent = true;	50✔
418	break;	50✔
419	}
420	}
421
422	if (already_being_sent) {	148✔
423	continue;	50✔
424	}
425
426	// LogDebug() << "sending it the first time (" << work->mavlink_command << ")";
427	work->time_started = _system_impl.get_time().steady_time();	98✔
428
429	{
430	if (!send_mavlink_message(work->command)) {	98✔
431	LogErr() << "connection send error (" << work->identification.command << ")";	×
432	// In this case we try again after the timeout. Chances are slim it will work next
433	// time though.
434	} else {
435	if (_command_debugging) {	98✔
436	LogDebug() << "Sent command " << static_cast<int>(work->identification.command);	×
437	}
438	}
439	}
440
441	work->already_sent = true;	98✔
442
443	work->timeout_cookie = _system_impl.register_timeout_handler(	196✔
444	[this, identification = work->identification] { receive_timeout(identification); },	99✔
445	work->timeout_s);	98✔
446	}
447	}	5,644✔
448
449	void MavlinkCommandSender::call_callback(	97✔
450	const CommandResultCallback& callback, Result result, float progress) const
451	{
452	if (!callback) {	97✔
453	return;	×
454	}
455
456	// It seems that we need to queue the callback on the thread pool otherwise
457	// we lock ourselves out when we send a command in the callback receiving a command result.
458	auto temp_callback = callback;	194✔
459	_system_impl.call_user_callback(	194✔
460	[temp_callback, result, progress]() { temp_callback(result, progress); });
461	}
462
463	bool MavlinkCommandSender::send_mavlink_message(const Command& command) const	99✔
464	{
465	if (auto command_int = std::get_if<CommandInt>(&command)) {	99✔
466	return _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	×
467	mavlink_message_t message;
468	mavlink_msg_command_int_pack_chan(	×
469	mavlink_address.system_id,	×
470	mavlink_address.component_id,	×
471	channel,
472	&message,
473	command_int->target_system_id,	×
474	command_int->target_component_id,	×
475	command_int->frame,	×
476	command_int->command,	×
477	command_int->current,	×
478	command_int->autocontinue,	×
479	maybe_reserved(command_int->params.maybe_param1),	×
480	maybe_reserved(command_int->params.maybe_param2),	×
481	maybe_reserved(command_int->params.maybe_param3),	×
482	maybe_reserved(command_int->params.maybe_param4),	×
483	command_int->params.x,	×
484	command_int->params.y,	×
485	maybe_reserved(command_int->params.maybe_z));	×
486	return message;	×
487	});	×
488
489	} else if (auto command_long = std::get_if<CommandLong>(&command)) {	99✔
490	return _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	198✔
491	mavlink_message_t message;
492	mavlink_msg_command_long_pack_chan(	792✔
493	mavlink_address.system_id,	99✔
494	mavlink_address.component_id,	99✔
495	channel,
496	&message,
497	command_long->target_system_id,	792✔
498	command_long->target_component_id,	99✔
499	command_long->command,	99✔
500	command_long->confirmation,	99✔
501	maybe_reserved(command_long->params.maybe_param1),	99✔
502	maybe_reserved(command_long->params.maybe_param2),	99✔
503	maybe_reserved(command_long->params.maybe_param3),	99✔
504	maybe_reserved(command_long->params.maybe_param4),	99✔
505	maybe_reserved(command_long->params.maybe_param5),	99✔
506	maybe_reserved(command_long->params.maybe_param6),	99✔
507	maybe_reserved(command_long->params.maybe_param7));	99✔
508	return message;	99✔
509	});	99✔
510	} else {
511	return false;	×
512	}
513	}
514
515	float MavlinkCommandSender::maybe_reserved(const std::optional<float>& maybe_param) const	693✔
516	{
517	if (maybe_param) {	693✔
518	return maybe_param.value();	114✔
519
520	} else {
521	if (_system_impl.autopilot() == Autopilot::ArduPilot) {	579✔
522	return 0.0f;	×
523	} else {
524	return NAN;	579✔
525	}
526	}
527	}
528
529	} // namespace mavsdk

mavlink / MAVSDK / 11549442665

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