From 1bc43cabe4e7079a2115d2c0b07e0b3cc7be486b Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Fri, 9 Aug 2013 13:01:39 -0700
Subject: [PATCH] workaround for premature timer firing bug
---
src/uas/UASParameterCommsMgr.cc | 26 ++++++++++++++++----------
src/uas/UASParameterCommsMgr.h | 5 +----
2 files changed, 17 insertions(+), 14 deletions(-)
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 47ec654..18b31ec 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -234,23 +234,33 @@ void UASParameterCommsMgr::resetAfterListReceive()
void UASParameterCommsMgr::retransmissionGuardTick()
{
+ quint64 curTime = QGC::groundTimeMilliseconds();
+
+ //Workaround for an apparent Qt bug that causes retransmission guard timer to fire prematurely (350ms)
+ quint64 elapsed = (curTime = lastTimerReset);
+ if (elapsed < transmissionTimeout) {
+ qDebug() << "retransmissionGuardTick elapsed:" << (curTime - lastTimerReset);
+ //reset the guard timer: it fired prematurely
+ setRetransmissionGuardEnabled(true);
+ return;
+ }
+
if (transmissionActive) {
if (transmissionListMode && transmissionListSizeKnown.isEmpty() ) {
//we are still waitin for the first parameter list response
- if (QGC::groundTimeMilliseconds() > this->listRecvTimeout) {
+ if (curTime > this->listRecvTimeout) {
//re-request parameters
setParameterStatusMsg(tr("TIMEOUT: Re-requesting param list"),ParamCommsStatusLevel_Warning);
- listRecvTimeout = QGC::groundTimeMilliseconds() + 10000;
+ listRecvTimeout = curTime + 10000;
mav->requestParameters();
}
return;
}
-
// Check for timeout
// stop retransmission attempts on timeout
- if (QGC::groundTimeMilliseconds() > transmissionTimeout) {
+ if (curTime > transmissionTimeout) {
setRetransmissionGuardEnabled(false);
resetAfterListReceive();
@@ -285,10 +295,9 @@ void UASParameterCommsMgr::retransmissionGuardTick()
void UASParameterCommsMgr::setRetransmissionGuardEnabled(bool enabled)
{
-// qDebug() << "setRetransmissionGuardEnabled: " << enabled;
-
if (enabled) {
retransmissionTimer.start(retransmissionTimeout);
+ lastTimerReset = QGC::groundTimeMilliseconds() ;
} else {
retransmissionTimer.stop();
}
@@ -429,7 +438,7 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
transmissionListSizeKnown.insert(compId, true);
qDebug() << "Mark all parameters as missing: " << paramCount;
- for (int i = 1; i < paramCount; ++i) { //TODO check: param Id 0 is "all parameters" ?
+ for (int i = 1; i < paramCount; ++i) { //TODO check: param Id 0 is "all parameters" and not valid ?
if (!compXmitMissing->contains(i)) {
compXmitMissing->append(i);
}
@@ -444,9 +453,6 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
}
}
- // Start retransmission guard
- // or reset timer
- setRetransmissionGuardEnabled(true);
}
// Mark this parameter as received in read list
diff --git a/src/uas/UASParameterCommsMgr.h b/src/uas/UASParameterCommsMgr.h
index b1ece5f..006d45d 100644
--- a/src/uas/UASParameterCommsMgr.h
+++ b/src/uas/UASParameterCommsMgr.h
@@ -84,10 +84,6 @@ public slots:
virtual void receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value);
-//protected slots:
-// void receivedParameterChange(int uas, int component, QString parameterName, QVariant value);
-// void receivedParameterListChange(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
-
protected:
UASInterface* mav; ///< The MAV we're talking to
@@ -103,6 +99,7 @@ protected:
bool transmissionActive; ///< Missing packets, working on list?
quint64 transmissionTimeout; ///< Timeout
QTimer retransmissionTimer; ///< Timer handling parameter retransmission
+ quint64 lastTimerReset; ///< Last time the guard timer was reset, to prevent premature firing
int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
int rewriteTimeout; ///< Write request timeout, in milliseconds
int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst