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Much better error reporting for Mission transfer errors

QGC4.4
DoinLakeFlyer 5 years ago
parent
dfc74e8a12
commit
04f50e70ec
3 changed files with 84 additions and 66 deletions
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  1. 130
      src/MissionManager/PlanManager.cc
  2. 12
      src/MissionManager/PlanManager.h
  3. 6
      src/Vehicle/Vehicle.cc

130
src/MissionManager/PlanManager.cc
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@ -23,6 +23,7 @@ QGC_LOGGING_CATEGORY(PlanManagerLog, "PlanManagerLog")
PlanManager::PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType) PlanManager::PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType)
: _vehicle (vehicle) : _vehicle (vehicle)
, _missionCommandTree (qgcApp()->toolbox()->missionCommandTree())
, _planType (planType) , _planType (planType)
, _dedicatedLink (nullptr) , _dedicatedLink (nullptr)
, _ackTimeoutTimer (nullptr) , _ackTimeoutTimer (nullptr)
@ -178,7 +179,7 @@ void PlanManager::_ackTimeout(void)
case AckMissionCount: case AckMissionCount:
// MISSION_COUNT message expected // MISSION_COUNT message expected
if (_retryCount > _maxRetryCount) { if (_retryCount > _maxRetryCount) {
_sendError(VehicleError, tr("Mission request list failed, maximum retries exceeded.")); _sendError(MaxRetryExceeded, tr("Mission request list failed, maximum retries exceeded."));
_finishTransaction(false); _finishTransaction(false);
} else { } else {
_retryCount++; _retryCount++;
@ -189,7 +190,7 @@ void PlanManager::_ackTimeout(void)
case AckMissionItem: case AckMissionItem:
// MISSION_ITEM expected // MISSION_ITEM expected
if (_retryCount > _maxRetryCount) { if (_retryCount > _maxRetryCount) {
_sendError(VehicleError, tr("Mission read failed, maximum retries exceeded.")); _sendError(MaxRetryExceeded, tr("Mission read failed, maximum retries exceeded."));
_finishTransaction(false); _finishTransaction(false);
} else { } else {
_retryCount++; _retryCount++;
@ -201,12 +202,12 @@ void PlanManager::_ackTimeout(void)
// MISSION_REQUEST is expected, or MISSION_ACK to end sequence // MISSION_REQUEST is expected, or MISSION_ACK to end sequence
if (_itemIndicesToWrite.count() == 0) { if (_itemIndicesToWrite.count() == 0) {
// Vehicle did not send final MISSION_ACK at end of sequence // Vehicle did not send final MISSION_ACK at end of sequence
_sendError(VehicleError, tr("Mission write failed, vehicle failed to send final ack.")); _sendError(ProtocolError, tr("Mission write failed, vehicle failed to send final ack."));
_finishTransaction(false); _finishTransaction(false);
} else if (_itemIndicesToWrite[0] == 0) { } else if (_itemIndicesToWrite[0] == 0) {
// Vehicle did not respond to MISSION_COUNT, try again // Vehicle did not respond to MISSION_COUNT, try again
if (_retryCount > _maxRetryCount) { if (_retryCount > _maxRetryCount) {
_sendError(VehicleError, tr("Mission write mission count failed, maximum retries exceeded.")); _sendError(MaxRetryExceeded, tr("Mission write mission count failed, maximum retries exceeded."));
_finishTransaction(false); _finishTransaction(false);
} else { } else {
_retryCount++; _retryCount++;
@ -215,7 +216,7 @@ void PlanManager::_ackTimeout(void)
} }
} else { } else {
// Vehicle did not request all items from ground station // Vehicle did not request all items from ground station
_sendError(AckTimeoutError, tr("Vehicle did not request all items from ground station: %1").arg(_ackTypeToString(_expectedAck))); _sendError(ProtocolError, tr("Vehicle did not request all items from ground station: %1").arg(_ackTypeToString(_expectedAck)));
_expectedAck = AckNone; _expectedAck = AckNone;
_finishTransaction(false); _finishTransaction(false);
} }
@ -223,7 +224,7 @@ void PlanManager::_ackTimeout(void)
case AckMissionClearAll: case AckMissionClearAll:
// MISSION_ACK expected // MISSION_ACK expected
if (_retryCount > _maxRetryCount) { if (_retryCount > _maxRetryCount) {
_sendError(VehicleError, tr("Mission remove all, maximum retries exceeded.")); _sendError(MaxRetryExceeded, tr("Mission remove all, maximum retries exceeded."));
_finishTransaction(false); _finishTransaction(false);
} else { } else {
_retryCount++; _retryCount++;
@ -341,7 +342,7 @@ void PlanManager::_handleMissionCount(const mavlink_message_t& message)
void PlanManager::_requestNextMissionItem(void) void PlanManager::_requestNextMissionItem(void)
{ {
if (_itemIndicesToRead.count() == 0) { if (_itemIndicesToRead.count() == 0) {
_sendError(InternalError, "Internal Error: Call to Vehicle _requestNextMissionItem with no more indices to read"); _sendError(InternalError, tr("Internal Error: Call to Vehicle _requestNextMissionItem with no more indices to read"));
return; return;
} }
@ -627,43 +628,47 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
break; break;
case AckMissionCount: case AckMissionCount:
// MISSION_COUNT message expected // MISSION_COUNT message expected
_sendError(VehicleError, tr("Vehicle returned error: %1.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type))); // FIXME: Protocol error
_sendError(VehicleAckError, _missionResultToString((MAV_MISSION_RESULT)missionAck.type));
_finishTransaction(false); _finishTransaction(false);
break; break;
case AckMissionItem: case AckMissionItem:
// MISSION_ITEM expected // MISSION_ITEM expected
_sendError(VehicleError, tr("Vehicle returned error: %1.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type))); // FIXME: Protocol error
_sendError(VehicleAckError, _missionResultToString((MAV_MISSION_RESULT)missionAck.type));
_finishTransaction(false); _finishTransaction(false);
break; break;
case AckMissionRequest: case AckMissionRequest:
// MISSION_REQUEST is expected, or MISSION_ACK to end sequence // MISSION_REQUEST is expected, or MAV_MISSION_ACCEPTED to end sequence
if (missionAck.type == MAV_MISSION_ACCEPTED) { if (missionAck.type == MAV_MISSION_ACCEPTED) {
if (_itemIndicesToWrite.count() == 0) { if (_itemIndicesToWrite.count() == 0) {
qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck write sequence complete %1").arg(_planTypeString()); qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck write sequence complete %1").arg(_planTypeString());
_finishTransaction(true); _finishTransaction(true);
} else { } else {
_sendError(MissingRequestsError, tr("Vehicle did not request all items during write sequence, missed count %1.").arg(_itemIndicesToWrite.count())); // FIXME: Protocol error
_sendError(VehicleAckError, _missionResultToString((MAV_MISSION_RESULT)missionAck.type));
_finishTransaction(false); _finishTransaction(false);
} }
} else { } else {
_sendError(VehicleError, tr("Vehicle returned error: %1.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type))); _sendError(VehicleAckError, _missionResultToString((MAV_MISSION_RESULT)missionAck.type));
_finishTransaction(false); _finishTransaction(false);
} }
break; break;
case AckMissionClearAll: case AckMissionClearAll:
// MISSION_ACK expected // MAV_MISSION_ACCEPTED expected
if (missionAck.type != MAV_MISSION_ACCEPTED) { if (missionAck.type != MAV_MISSION_ACCEPTED) {
_sendError(VehicleError, tr("Vehicle returned error: %1. Vehicle remove all failed.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type))); _sendError(VehicleAckError, tr("Vehicle remove all failed. Error: %1").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
} }
_finishTransaction(missionAck.type == MAV_MISSION_ACCEPTED); _finishTransaction(missionAck.type == MAV_MISSION_ACCEPTED);
break; break;
case AckGuidedItem: case AckGuidedItem:
// MISSION_REQUEST is expected, or MISSION_ACK to end sequence // MISSION_REQUEST is expected, or MAV_MISSION_ACCEPTED to end sequence
if (missionAck.type == MAV_MISSION_ACCEPTED) { if (missionAck.type == MAV_MISSION_ACCEPTED) {
qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck %1 guided mode item accepted").arg(_planTypeString()); qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck %1 guided mode item accepted").arg(_planTypeString());
_finishTransaction(true, true /* apmGuidedItemWrite */); _finishTransaction(true, true /* apmGuidedItemWrite */);
} else { } else {
_sendError(VehicleError, tr("Vehicle returned error: %1. %2Vehicle did not accept guided item.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type))); // FIXME: Protocol error
_sendError(VehicleAckError, tr("Vehicle returned error: %1. %2Vehicle did not accept guided item.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
_finishTransaction(false, true /* apmGuidedItemWrite */); _finishTransaction(false, true /* apmGuidedItemWrite */);
} }
break; break;
@ -702,7 +707,7 @@ void PlanManager::_mavlinkMessageReceived(const mavlink_message_t& message)
void PlanManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg) void PlanManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
{ {
qCDebug(PlanManagerLog) << QStringLiteral("Sending %1 error").arg(_planTypeString()) << errorCode << errorMsg; qCDebug(PlanManagerLog) << QStringLiteral("Sending error - _planTypeString(%1) errorCode(%2) errorMsg(%4)").arg(_planTypeString()).arg(errorCode).arg(errorMsg);
emit error(errorCode, errorMsg); emit error(errorCode, errorMsg);
} }
@ -728,104 +733,115 @@ QString PlanManager::_ackTypeToString(AckType_t ackType)
QString PlanManager::_lastMissionReqestString(MAV_MISSION_RESULT result) QString PlanManager::_lastMissionReqestString(MAV_MISSION_RESULT result)
{ {
QString prefix;
QString postfix;
if (_lastMissionRequest >= 0 && _lastMissionRequest < _writeMissionItems.count()) { if (_lastMissionRequest >= 0 && _lastMissionRequest < _writeMissionItems.count()) {
MissionItem* item = _writeMissionItems[_lastMissionRequest]; MissionItem* item = _writeMissionItems[_lastMissionRequest];
prefix = tr("Item #%1 Command: %2").arg(_lastMissionRequest).arg(_missionCommandTree->friendlyName(item->command()));
switch (result) { switch (result) {
case MAV_MISSION_UNSUPPORTED_FRAME: case MAV_MISSION_UNSUPPORTED_FRAME:
return QString(". Frame: %1").arg(item->frame()); postfix = tr("Frame: %1").arg(item->frame());
break;
case MAV_MISSION_UNSUPPORTED: case MAV_MISSION_UNSUPPORTED:
{ // All we need is the prefix
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, item->command()); break;
QString friendlyName;
QString rawName;
if (uiInfo) {
friendlyName = uiInfo->friendlyName();
rawName = uiInfo->rawName();
}
return QString(". Command: (%1, %2, %3)").arg(friendlyName).arg(rawName).arg(item->command());
}
case MAV_MISSION_INVALID_PARAM1: case MAV_MISSION_INVALID_PARAM1:
return QString(". Param1: %1").arg(item->param1()); postfix = tr("Value: %1").arg(item->param1());
break;
case MAV_MISSION_INVALID_PARAM2: case MAV_MISSION_INVALID_PARAM2:
return QString(". Param2: %1").arg(item->param2()); postfix = tr("Value: %1").arg(item->param2());
break;
case MAV_MISSION_INVALID_PARAM3: case MAV_MISSION_INVALID_PARAM3:
return QString(". Param3: %1").arg(item->param3()); postfix = tr("Value: %1").arg(item->param3());
break;
case MAV_MISSION_INVALID_PARAM4: case MAV_MISSION_INVALID_PARAM4:
return QString(". Param4: %1").arg(item->param4()); postfix = tr("Value: %1").arg(item->param4());
break;
case MAV_MISSION_INVALID_PARAM5_X: case MAV_MISSION_INVALID_PARAM5_X:
return QString(". Param5: %1").arg(item->param5()); postfix = tr("Value: %1").arg(item->param5());
break;
case MAV_MISSION_INVALID_PARAM6_Y: case MAV_MISSION_INVALID_PARAM6_Y:
return QString(". Param6: %1").arg(item->param6()); postfix = tr("Value: %1").arg(item->param6());
break;
case MAV_MISSION_INVALID_PARAM7: case MAV_MISSION_INVALID_PARAM7:
return QString(". Param7: %1").arg(item->param7()); postfix = tr("Value: %1").arg(item->param7());
break;
case MAV_MISSION_INVALID_SEQUENCE: case MAV_MISSION_INVALID_SEQUENCE:
return QString(". Sequence: %1").arg(item->sequenceNumber()); // All we need is the prefix
break;
default: default:
break; break;
} }
} }
return QString(); return prefix + (postfix.isEmpty() ? QStringLiteral("") : QStringLiteral(" ")) + postfix;
} }
QString PlanManager::_missionResultToString(MAV_MISSION_RESULT result) QString PlanManager::_missionResultToString(MAV_MISSION_RESULT result)
{ {
QString resultString; QString error;
QString lastRequestString = _lastMissionReqestString(result);
switch (result) { switch (result) {
case MAV_MISSION_ACCEPTED: case MAV_MISSION_ACCEPTED:
resultString = tr("Mission accepted (MAV_MISSION_ACCEPTED)"); error = tr("Mission accepted.");
break; break;
case MAV_MISSION_ERROR: case MAV_MISSION_ERROR:
resultString = tr("Unspecified error (MAV_MISSION_ERROR)"); error = tr("Unspecified error.");
break; break;
case MAV_MISSION_UNSUPPORTED_FRAME: case MAV_MISSION_UNSUPPORTED_FRAME:
resultString = tr("Coordinate frame is not supported (MAV_MISSION_UNSUPPORTED_FRAME)"); error = tr("Coordinate frame is not supported.");
break; break;
case MAV_MISSION_UNSUPPORTED: case MAV_MISSION_UNSUPPORTED:
resultString = tr("Command is not supported (MAV_MISSION_UNSUPPORTED)"); error = tr("Command is not supported.");
break; break;
case MAV_MISSION_NO_SPACE: case MAV_MISSION_NO_SPACE:
resultString = tr("Mission item exceeds storage space (MAV_MISSION_NO_SPACE)"); error = tr("Mission item exceeds storage space.");
break; break;
case MAV_MISSION_INVALID: case MAV_MISSION_INVALID:
resultString = tr("One of the parameters has an invalid value (MAV_MISSION_INVALID)"); error = tr("One of the parameters has an invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM1: case MAV_MISSION_INVALID_PARAM1:
resultString = tr("Param1 has an invalid value (MAV_MISSION_INVALID_PARAM1)"); error = tr("Param 1 invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM2: case MAV_MISSION_INVALID_PARAM2:
resultString = tr("Param2 has an invalid value (MAV_MISSION_INVALID_PARAM2)"); error = tr("Param 2 invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM3: case MAV_MISSION_INVALID_PARAM3:
resultString = tr("Param3 has an invalid value (MAV_MISSION_INVALID_PARAM3)"); error = tr("Param 3 invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM4: case MAV_MISSION_INVALID_PARAM4:
resultString = tr("Param4 has an invalid value (MAV_MISSION_INVALID_PARAM4)"); error = tr("Param 4 invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM5_X: case MAV_MISSION_INVALID_PARAM5_X:
resultString = tr("X/Param5 has an invalid value (MAV_MISSION_INVALID_PARAM5_X)"); error = tr("Param 5 invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM6_Y: case MAV_MISSION_INVALID_PARAM6_Y:
resultString = tr("Y/Param6 has an invalid value (MAV_MISSION_INVALID_PARAM6_Y)"); error = tr("Param 6 invalid value.");
break; break;
case MAV_MISSION_INVALID_PARAM7: case MAV_MISSION_INVALID_PARAM7:
resultString = tr("Param7 has an invalid value (MAV_MISSION_INVALID_PARAM7)"); error = tr("Param 7 invalid value.");
break; break;
case MAV_MISSION_INVALID_SEQUENCE: case MAV_MISSION_INVALID_SEQUENCE:
resultString = tr("Received mission item out of sequence (MAV_MISSION_INVALID_SEQUENCE)"); error = tr("Received mission item out of sequence.");
break; break;
case MAV_MISSION_DENIED: case MAV_MISSION_DENIED:
resultString = tr("Not accepting any mission commands (MAV_MISSION_DENIED)"); error = tr("Not accepting any mission commands.");
break; break;
default: default:
qWarning(PlanManagerLog) << QStringLiteral("Fell off end of switch statement %1").arg(_planTypeString()); qWarning(PlanManagerLog) << QStringLiteral("Fell off end of switch statement %1 %2").arg(_planTypeString()).arg(result);
resultString = tr("QGC Internal Error"); error = tr("Unknown error: %1.").arg(result);
break;
}
QString lastRequestString = _lastMissionReqestString(result);
if (!lastRequestString.isEmpty()) {
error += QStringLiteral(" ") + lastRequestString;
} }
return resultString + lastRequestString; return error;
} }
void PlanManager::_finishTransaction(bool success, bool apmGuidedItemWrite) void PlanManager::_finishTransaction(bool success, bool apmGuidedItemWrite)

12
src/MissionManager/PlanManager.h
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@ -20,6 +20,7 @@
#include "LinkInterface.h" #include "LinkInterface.h"
class Vehicle; class Vehicle;
class MissionCommandTree;
Q_DECLARE_LOGGING_CATEGORY(PlanManagerLog) Q_DECLARE_LOGGING_CATEGORY(PlanManagerLog)
@ -60,10 +61,10 @@ public:
typedef enum { typedef enum {
InternalError, InternalError,
AckTimeoutError, ///< Timed out waiting for response from vehicle AckTimeoutError, ///< Timed out waiting for response from vehicle
ProtocolOrderError, ///< Incorrect protocol sequence from vehicle ProtocolError, ///< Incorrect protocol sequence from vehicle
RequestRangeError, ///< Vehicle requested item out of range RequestRangeError, ///< Vehicle requested item out of range
ItemMismatchError, ///< Vehicle returned item with seq # different than requested ItemMismatchError, ///< Vehicle returned item with seq # different than requested
VehicleError, ///< Vehicle returned error VehicleAckError, ///< Vehicle returned error in ack
MissingRequestsError, ///< Vehicle did not request all items during write sequence MissingRequestsError, ///< Vehicle did not request all items during write sequence
MaxRetryExceeded, ///< Retry failed MaxRetryExceeded, ///< Retry failed
MissionTypeMismatch, ///< MAV_MISSION_TYPE does not match _planType MissionTypeMismatch, ///< MAV_MISSION_TYPE does not match _planType
@ -134,11 +135,12 @@ protected:
QString _planTypeString(void); QString _planTypeString(void);
protected: protected:
Vehicle* _vehicle; Vehicle* _vehicle = nullptr;
MissionCommandTree* _missionCommandTree = nullptr;
MAV_MISSION_TYPE _planType; MAV_MISSION_TYPE _planType;
LinkInterface* _dedicatedLink; LinkInterface* _dedicatedLink = nullptr;
QTimer* _ackTimeoutTimer; QTimer* _ackTimeoutTimer = nullptr;
AckType_t _expectedAck; AckType_t _expectedAck;
int _retryCount; int _retryCount;

6
src/Vehicle/Vehicle.cc
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@ -2572,19 +2572,19 @@ void Vehicle::sendMessageMultiple(mavlink_message_t message)
void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg) void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{ {
Q_UNUSED(errorCode); Q_UNUSED(errorCode);
qgcApp()->showMessage(tr("Mission transfer failed. Retry transfer. Error: %1").arg(errorMsg)); qgcApp()->showMessage(tr("Mission transfer failed. Error: %1").arg(errorMsg));
} }
void Vehicle::_geoFenceManagerError(int errorCode, const QString& errorMsg) void Vehicle::_geoFenceManagerError(int errorCode, const QString& errorMsg)
{ {
Q_UNUSED(errorCode); Q_UNUSED(errorCode);
qgcApp()->showMessage(tr("GeoFence transfer failed. Retry transfer. Error: %1").arg(errorMsg)); qgcApp()->showMessage(tr("GeoFence transfer failed. Error: %1").arg(errorMsg));
} }
void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg) void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg)
{ {
Q_UNUSED(errorCode); Q_UNUSED(errorCode);
qgcApp()->showMessage(tr("Rally Point transfer failed. Retry transfer. Error: %1").arg(errorMsg)); qgcApp()->showMessage(tr("Rally Point transfer failed. Error: %1").arg(errorMsg));
} }
void Vehicle::_clearCameraTriggerPoints() void Vehicle::_clearCameraTriggerPoints()

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