zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

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
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 130
      src/MissionManager/PlanManager.cc
  2. 12
      src/MissionManager/PlanManager.h
  3. 6
      src/Vehicle/Vehicle.cc

130
src/MissionManager/PlanManager.cc
Unescape View File

@ -23,6 +23,7 @@ QGC_LOGGING_CATEGORY(PlanManagerLog, "PlanManagerLog") @@ -23,6 +23,7 @@ QGC_LOGGING_CATEGORY(PlanManagerLog, "PlanManagerLog")
PlanManager::PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType)
: _vehicle (vehicle)
, _missionCommandTree (qgcApp()->toolbox()->missionCommandTree())
, _planType (planType)
, _dedicatedLink (nullptr)
, _ackTimeoutTimer (nullptr)
@ -178,7 +179,7 @@ void PlanManager::_ackTimeout(void) @@ -178,7 +179,7 @@ void PlanManager::_ackTimeout(void)
case AckMissionCount:
// MISSION_COUNT message expected
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);
} else {
_retryCount++;
@ -189,7 +190,7 @@ void PlanManager::_ackTimeout(void) @@ -189,7 +190,7 @@ void PlanManager::_ackTimeout(void)
case AckMissionItem:
// MISSION_ITEM expected
if (_retryCount > _maxRetryCount) {
_sendError(VehicleError, tr("Mission read failed, maximum retries exceeded."));
_sendError(MaxRetryExceeded, tr("Mission read failed, maximum retries exceeded."));
_finishTransaction(false);
} else {
_retryCount++;
@ -201,12 +202,12 @@ void PlanManager::_ackTimeout(void) @@ -201,12 +202,12 @@ void PlanManager::_ackTimeout(void)
// MISSION_REQUEST is expected, or MISSION_ACK to end sequence
if (_itemIndicesToWrite.count() == 0) {
// 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);
} else if (_itemIndicesToWrite[0] == 0) {
// Vehicle did not respond to MISSION_COUNT, try again
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);
} else {
_retryCount++;
@ -215,7 +216,7 @@ void PlanManager::_ackTimeout(void) @@ -215,7 +216,7 @@ void PlanManager::_ackTimeout(void)
}
} else {
// 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;
_finishTransaction(false);
}
@ -223,7 +224,7 @@ void PlanManager::_ackTimeout(void) @@ -223,7 +224,7 @@ void PlanManager::_ackTimeout(void)
case AckMissionClearAll:
// MISSION_ACK expected
if (_retryCount > _maxRetryCount) {
_sendError(VehicleError, tr("Mission remove all, maximum retries exceeded."));
_sendError(MaxRetryExceeded, tr("Mission remove all, maximum retries exceeded."));
_finishTransaction(false);
} else {
_retryCount++;
@ -341,7 +342,7 @@ void PlanManager::_handleMissionCount(const mavlink_message_t& message) @@ -341,7 +342,7 @@ void PlanManager::_handleMissionCount(const mavlink_message_t& message)
void PlanManager::_requestNextMissionItem(void)
{
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;
}
@ -627,43 +628,47 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message) @@ -627,43 +628,47 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
break;
case AckMissionCount:
// 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);
break;
case AckMissionItem:
// 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);
break;
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 (_itemIndicesToWrite.count() == 0) {
qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck write sequence complete %1").arg(_planTypeString());
_finishTransaction(true);
} 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);
}
} 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);
}
break;
case AckMissionClearAll:
// MISSION_ACK expected
// MAV_MISSION_ACCEPTED expected
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);
break;
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) {
qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck %1 guided mode item accepted").arg(_planTypeString());
_finishTransaction(true, true /* apmGuidedItemWrite */);
} 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 */);
}
break;
@ -702,7 +707,7 @@ void PlanManager::_mavlinkMessageReceived(const mavlink_message_t& message) @@ -702,7 +707,7 @@ void PlanManager::_mavlinkMessageReceived(const mavlink_message_t& message)
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);
}
@ -728,104 +733,115 @@ QString PlanManager::_ackTypeToString(AckType_t ackType) @@ -728,104 +733,115 @@ QString PlanManager::_ackTypeToString(AckType_t ackType)
QString PlanManager::_lastMissionReqestString(MAV_MISSION_RESULT result)
{
QString prefix;
QString postfix;
if (_lastMissionRequest >= 0 && _lastMissionRequest < _writeMissionItems.count()) {
MissionItem* item = _writeMissionItems[_lastMissionRequest];
prefix = tr("Item #%1 Command: %2").arg(_lastMissionRequest).arg(_missionCommandTree->friendlyName(item->command()));
switch (result) {
case MAV_MISSION_UNSUPPORTED_FRAME:
return QString(". Frame: %1").arg(item->frame());
postfix = tr("Frame: %1").arg(item->frame());
break;
case MAV_MISSION_UNSUPPORTED:
{
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, item->command());
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());
}
// All we need is the prefix
break;
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:
return QString(". Param2: %1").arg(item->param2());
postfix = tr("Value: %1").arg(item->param2());
break;
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:
return QString(". Param4: %1").arg(item->param4());
postfix = tr("Value: %1").arg(item->param4());
break;
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:
return QString(". Param6: %1").arg(item->param6());
postfix = tr("Value: %1").arg(item->param6());
break;
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:
return QString(". Sequence: %1").arg(item->sequenceNumber());
// All we need is the prefix
break;
default:
break;
}
}
return QString();
return prefix + (postfix.isEmpty() ? QStringLiteral("") : QStringLiteral(" ")) + postfix;
}
QString PlanManager::_missionResultToString(MAV_MISSION_RESULT result)
{
QString resultString;
QString lastRequestString = _lastMissionReqestString(result);
QString error;
switch (result) {
case MAV_MISSION_ACCEPTED:
resultString = tr("Mission accepted (MAV_MISSION_ACCEPTED)");
error = tr("Mission accepted.");
break;
case MAV_MISSION_ERROR:
resultString = tr("Unspecified error (MAV_MISSION_ERROR)");
error = tr("Unspecified error.");
break;
case MAV_MISSION_UNSUPPORTED_FRAME:
resultString = tr("Coordinate frame is not supported (MAV_MISSION_UNSUPPORTED_FRAME)");
error = tr("Coordinate frame is not supported.");
break;
case MAV_MISSION_UNSUPPORTED:
resultString = tr("Command is not supported (MAV_MISSION_UNSUPPORTED)");
error = tr("Command is not supported.");
break;
case MAV_MISSION_NO_SPACE:
resultString = tr("Mission item exceeds storage space (MAV_MISSION_NO_SPACE)");
error = tr("Mission item exceeds storage space.");
break;
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;
case MAV_MISSION_INVALID_PARAM1:
resultString = tr("Param1 has an invalid value (MAV_MISSION_INVALID_PARAM1)");
error = tr("Param 1 invalid value.");
break;
case MAV_MISSION_INVALID_PARAM2:
resultString = tr("Param2 has an invalid value (MAV_MISSION_INVALID_PARAM2)");
error = tr("Param 2 invalid value.");
break;
case MAV_MISSION_INVALID_PARAM3:
resultString = tr("Param3 has an invalid value (MAV_MISSION_INVALID_PARAM3)");
error = tr("Param 3 invalid value.");
break;
case MAV_MISSION_INVALID_PARAM4:
resultString = tr("Param4 has an invalid value (MAV_MISSION_INVALID_PARAM4)");
error = tr("Param 4 invalid value.");
break;
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;
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;
case MAV_MISSION_INVALID_PARAM7:
resultString = tr("Param7 has an invalid value (MAV_MISSION_INVALID_PARAM7)");
error = tr("Param 7 invalid value.");
break;
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;
case MAV_MISSION_DENIED:
resultString = tr("Not accepting any mission commands (MAV_MISSION_DENIED)");
error = tr("Not accepting any mission commands.");
break;
default:
qWarning(PlanManagerLog) << QStringLiteral("Fell off end of switch statement %1").arg(_planTypeString());
resultString = tr("QGC Internal Error");
qWarning(PlanManagerLog) << QStringLiteral("Fell off end of switch statement %1 %2").arg(_planTypeString()).arg(result);
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)

12
src/MissionManager/PlanManager.h
Unescape View File

@ -20,6 +20,7 @@ @@ -20,6 +20,7 @@
#include "LinkInterface.h"
class Vehicle;
class MissionCommandTree;
Q_DECLARE_LOGGING_CATEGORY(PlanManagerLog)
@ -60,10 +61,10 @@ public: @@ -60,10 +61,10 @@ public:
typedef enum {
InternalError,
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
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
MaxRetryExceeded, ///< Retry failed
MissionTypeMismatch, ///< MAV_MISSION_TYPE does not match _planType
@ -134,11 +135,12 @@ protected: @@ -134,11 +135,12 @@ protected:
QString _planTypeString(void);
protected:
Vehicle* _vehicle;
Vehicle* _vehicle = nullptr;
MissionCommandTree* _missionCommandTree = nullptr;
MAV_MISSION_TYPE _planType;
LinkInterface* _dedicatedLink;
LinkInterface* _dedicatedLink = nullptr;
QTimer* _ackTimeoutTimer;
QTimer* _ackTimeoutTimer = nullptr;
AckType_t _expectedAck;
int _retryCount;

6
src/Vehicle/Vehicle.cc
Unescape View File

@ -2572,19 +2572,19 @@ void Vehicle::sendMessageMultiple(mavlink_message_t message) @@ -2572,19 +2572,19 @@ void Vehicle::sendMessageMultiple(mavlink_message_t message)
void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
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)
{
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)
{
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()

Write Preview
Loading…
Cancel
Save