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Merge pull request #8523 from DonLakeFlyer/MAV_MISSION_RESULT_Reporting 

Plan: Much better error reporting for mission transfer errors
QGC4.4
Don Gagne 5 years ago committed by GitHub
parent
e97b993b2f ffb55f9233
commit
862508fc17
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 139 additions and 85 deletions
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  1. 49
      src/MissionManager/MissionManagerTest.cc
  2. 5
      src/MissionManager/MissionManagerTest.h
  3. 132
      src/MissionManager/PlanManager.cc
  4. 12
      src/MissionManager/PlanManager.h
  5. 6
      src/Vehicle/Vehicle.cc
  6. 4
      src/comm/MockLink.cc
  7. 3
      src/comm/MockLink.h
  8. 9
      src/comm/MockLinkMissionItemHandler.cc
  9. 4
      src/comm/MockLinkMissionItemHandler.h

49
src/MissionManager/MissionManagerTest.cc
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@ -27,9 +27,9 @@ MissionManagerTest::MissionManagerTest(void) @@ -27,9 +27,9 @@ MissionManagerTest::MissionManagerTest(void)
}
void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail)
void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail)
{
_mockLink->setMissionItemFailureMode(failureMode);
_mockLink->setMissionItemFailureMode(failureMode, failureAckResult);
// Setup our test case data
QList<MissionItem*> missionItems;
@ -115,11 +115,11 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f @@ -115,11 +115,11 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
_multiSpyMissionManager->clearAllSignals();
}
void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail)
void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail)
{
_writeItems(MockLinkMissionItemHandler::FailNone, false);
_writeItems(MockLinkMissionItemHandler::FailNone, failureAckResult, false);
_mockLink->setMissionItemFailureMode(failureMode);
_mockLink->setMissionItemFailureMode(failureMode, failureAckResult);
// Read the items back from the vehicle
_missionManager->loadFromVehicle();
@ -253,8 +253,8 @@ void MissionManagerTest::_testWriteFailureHandlingWorker(void) @@ -253,8 +253,8 @@ void MissionManagerTest::_testWriteFailureHandlingWorker(void)
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
const WriteTestCase_t* pCase = &rgTestCases[i];
qDebug() << "TEST CASE " << pCase->failureText;
_writeItems(pCase->failureMode, pCase->shouldFail);
qDebug() << "TEST CASE _testWriteFailureHandlingWorker" << pCase->failureText;
_writeItems(pCase->failureMode, MAV_MISSION_ERROR, pCase->shouldFail);
_mockLink->resetMissionItemHandler();
}
}
@ -298,8 +298,8 @@ void MissionManagerTest::_testReadFailureHandlingWorker(void) @@ -298,8 +298,8 @@ void MissionManagerTest::_testReadFailureHandlingWorker(void)
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
const ReadTestCase_t* pCase = &rgTestCases[i];
qDebug() << "TEST CASE " << pCase->failureText;
_roundTripItems(pCase->failureMode, pCase->shouldFail);
qDebug() << "TEST CASE _testReadFailureHandlingWorker" << pCase->failureText;
_roundTripItems(pCase->failureMode, MAV_MISSION_ERROR, pCase->shouldFail);
_mockLink->resetMissionItemHandler();
_multiSpyMissionManager->clearAllSignals();
}
@ -329,3 +329,34 @@ void MissionManagerTest::_testReadFailureHandlingPX4(void) @@ -329,3 +329,34 @@ void MissionManagerTest::_testReadFailureHandlingPX4(void)
_initForFirmwareType(MAV_AUTOPILOT_PX4);
_testReadFailureHandlingWorker();
}
void MissionManagerTest::_testErrorAckFailureStrings(void)
{
_initForFirmwareType(MAV_AUTOPILOT_PX4);
typedef struct {
const char* ackResultStr;
MAV_MISSION_RESULT ackResult;
} ErrorStringTestCase_t;
static const ErrorStringTestCase_t rgTestCases[] = {
{ "MAV_MISSION_UNSUPPORTED_FRAME", MAV_MISSION_UNSUPPORTED_FRAME },
{ "MAV_MISSION_UNSUPPORTED", MAV_MISSION_UNSUPPORTED },
{ "MAV_MISSION_INVALID_PARAM1", MAV_MISSION_INVALID_PARAM1 },
{ "MAV_MISSION_INVALID_PARAM2", MAV_MISSION_INVALID_PARAM2 },
{ "MAV_MISSION_INVALID_PARAM3", MAV_MISSION_INVALID_PARAM3 },
{ "MAV_MISSION_INVALID_PARAM4", MAV_MISSION_INVALID_PARAM4 },
{ "MAV_MISSION_INVALID_PARAM5_X", MAV_MISSION_INVALID_PARAM5_X },
{ "MAV_MISSION_INVALID_PARAM6_Y", MAV_MISSION_INVALID_PARAM6_Y },
{ "MAV_MISSION_INVALID_PARAM7", MAV_MISSION_INVALID_PARAM7 },
{ "MAV_MISSION_INVALID_SEQUENCE", MAV_MISSION_INVALID_SEQUENCE },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
const ErrorStringTestCase_t* pCase = &rgTestCases[i];
qDebug() << "TEST CASE _testErrorAckFailureStrings" << pCase->ackResultStr;
_writeItems(MockLinkMissionItemHandler::FailWriteRequest1ErrorAck, pCase->ackResult, true /* shouldFail */);
_mockLink->resetMissionItemHandler();
}
}

5
src/MissionManager/MissionManagerTest.h
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@ -31,10 +31,11 @@ private slots: @@ -31,10 +31,11 @@ private slots:
void _testWriteFailureHandlingAPM(void);
void _testReadFailureHandlingPX4(void);
void _testReadFailureHandlingAPM(void);
void _testErrorAckFailureStrings(void);
private:
void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail);
void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, bool shouldFail);
void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail);
void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult, bool shouldFail);
void _testWriteFailureHandlingWorker(void);
void _testReadFailureHandlingWorker(void);

132
src/MissionManager/PlanManager.cc
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@ -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;
}
@ -623,47 +624,51 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message) @@ -623,47 +624,51 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
switch (savedExpectedAck) {
case AckNone:
// State machine is idle. Vehicle is confused.
qCDebug(PlanManagerLog) << QStringLiteral("Vehicle sent unexpected MISSION_ACK message, error: %1").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type));
qCDebug(PlanManagerLog) << QStringLiteral("Vehicle sent unexpected MISSION_ACK message, error: %1").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type));
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
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@ -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
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@ -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()

4
src/comm/MockLink.cc
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@ -1013,9 +1013,9 @@ void MockLink::_respondWithAutopilotVersion(void) @@ -1013,9 +1013,9 @@ void MockLink::_respondWithAutopilotVersion(void)
respondWithMavlinkMessage(msg);
}
void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode)
void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult)
{
_missionItemHandler.setMissionItemFailureMode(failureMode);
_missionItemHandler.setFailureMode(failureMode, failureAckResult);
}
void MockLink::_sendHomePosition(void)

3
src/comm/MockLink.h
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@ -134,7 +134,8 @@ public: @@ -134,7 +134,8 @@ public:
/// Sets a failure mode for unit testing
/// @param failureMode Type of failure to simulate
void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode);
/// @param failureAckResult Error to send if one the ack error modes
void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult);
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }

9
src/comm/MockLinkMissionItemHandler.cc
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@ -200,7 +200,7 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t& @@ -200,7 +200,7 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
if ((_failureMode == FailReadRequest0ErrorAck && request.seq == 0) ||
(_failureMode == FailReadRequest1ErrorAck && request.seq == 1)) {
_sendAck(MAV_MISSION_ERROR);
_sendAck(_failureAckResult);
} else {
MissionItemBoth_t missionItemBoth;
@ -327,7 +327,7 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber) @@ -327,7 +327,7 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
if ((_failureMode == FailWriteRequest0ErrorAck && sequenceNumber == 0) ||
(_failureMode == FailWriteRequest1ErrorAck && sequenceNumber == 1)) {
qCDebug(MockLinkMissionItemHandlerLog) << "_requestNextMissionItem sending ack error due to failure mode";
_sendAck(MAV_MISSION_ERROR);
_sendAck(_failureAckResult);
} else {
mavlink_message_t message;
@ -408,7 +408,7 @@ void MockLinkMissionItemHandler::_handleMissionItem(const mavlink_message_t& msg @@ -408,7 +408,7 @@ void MockLinkMissionItemHandler::_handleMissionItem(const mavlink_message_t& msg
_writeSequenceIndex++;
if (_writeSequenceIndex < _writeSequenceCount) {
if (_failureMode == FailWriteFinalAckMissingRequests && _writeSequenceIndex == 3) {
// Send MAV_MISSION_ACCPETED ack too early
// Send MAV_MISSION_ACCEPTED ack too early
_sendAck(MAV_MISSION_ACCEPTED);
} else {
_requestNextMissionItem(_writeSequenceIndex);
@ -448,9 +448,10 @@ void MockLinkMissionItemHandler::sendUnexpectedMissionRequest(void) @@ -448,9 +448,10 @@ void MockLinkMissionItemHandler::sendUnexpectedMissionRequest(void)
Q_ASSERT(false);
}
void MockLinkMissionItemHandler::setMissionItemFailureMode(FailureMode_t failureMode)
void MockLinkMissionItemHandler::setFailureMode(FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult)
{
_failureMode = failureMode;
_failureAckResult = failureAckResult;
}
void MockLinkMissionItemHandler::shutdown(void)

4
src/comm/MockLinkMissionItemHandler.h
Unescape View File

@ -63,7 +63,8 @@ public: @@ -63,7 +63,8 @@ public:
/// Sets a failure mode for unit testing
/// @param failureMode Type of failure to simulate
void setMissionItemFailureMode(FailureMode_t failureMode);
/// @param failureAckResult Error to send if one the ack error modes
void setFailureMode(FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult);
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType);
@ -115,6 +116,7 @@ private: @@ -115,6 +116,7 @@ private:
QTimer* _missionItemResponseTimer;
FailureMode_t _failureMode;
MAV_MISSION_RESULT _failureAckResult;
bool _sendHomePositionOnEmptyList;
MAVLinkProtocol* _mavlinkProtocol;
bool _failReadRequestListFirstResponse;

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