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Merge pull request #1935 from DonLakeFlyer/MissionManagerError 

Mission manager errors now show up in UI
QGC4.4
Don Gagne 10 years ago
parent
a2448c15f4 af7d7eaaac
commit
c9f81c35c8
6 changed files with 46 additions and 56 deletions
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  1. 39
      src/MissionManager/MissionManager.cc
  2. 1
      src/MissionManager/MissionManager.h
  3. 50
      src/MissionManager/MissionManagerTest.cc
  4. 4
      src/MissionManager/MissionManagerTest.h
  5. 7
      src/Vehicle/Vehicle.cc
  6. 1
      src/Vehicle/Vehicle.h

39
src/MissionManager/MissionManager.cc
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@ -154,8 +154,8 @@ void MissionManager::_ackTimeout(void) @@ -154,8 +154,8 @@ void MissionManager::_ackTimeout(void)
}
if (!_retrySequence(timedOutAck)) {
qCDebug(MissionManagerLog) << "_ackTimeout failed after max retries _retryAck:_retryCount" << timedOutAck << _retryCount;
_sendError(AckTimeoutError, QString("Vehicle did not respond to mission item communication: %1").arg(timedOutAck));
qCDebug(MissionManagerLog) << "_ackTimeout failed after max retries _retryAck:_retryCount" << _ackTypeToString(timedOutAck) << _retryCount;
_sendError(AckTimeoutError, QString("Vehicle did not respond to mission item communication: %1").arg(_ackTypeToString(timedOutAck)));
}
}
@ -175,10 +175,10 @@ bool MissionManager::_stopAckTimeout(AckType_t expectedAck) @@ -175,10 +175,10 @@ bool MissionManager::_stopAckTimeout(AckType_t expectedAck)
_ackTimeoutTimer->stop();
if (savedRetryAck != expectedAck) {
qCDebug(MissionManagerLog) << "Invalid ack sequence _retryAck:expectedAck" << savedRetryAck << expectedAck;
qCDebug(MissionManagerLog) << "Invalid ack sequence _retryAck:expectedAck" << _ackTypeToString(savedRetryAck) << _ackTypeToString(expectedAck);
if (_retrySequence(expectedAck)) {
_sendError(ProtocolOrderError, QString("Vehicle responded incorrectly to mission item protocol sequence: %1:%2").arg(savedRetryAck).arg(expectedAck));
_sendError(ProtocolOrderError, QString("Vehicle responded incorrectly to mission item protocol sequence: %1:%2").arg(_ackTypeToString(savedRetryAck)).arg(_ackTypeToString(expectedAck)));
}
success = false;
} else {
@ -375,19 +375,19 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message) @@ -375,19 +375,19 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
switch (savedRetryAck) {
case AckNone:
// State machine is idle. Vehicle is confused.
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack while state machine is idle: type:" << missionAck.type;
_sendError(VehicleError, "Vehicle sent unexpected MISSION_ACK message.");
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack while state machine is idle: error:" << missionAck.type;
_sendError(VehicleError, QString("Vehicle sent unexpected MISSION_ACK message, error: %1").arg(missionAck.type));
break;
case AckMissionCount:
// MISSION_COUNT message expected
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack when MISSION_COUNT expected: type:" << missionAck.type;
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack when MISSION_COUNT expected: error:" << missionAck.type;
if (!_retrySequence(AckMissionCount)) {
_sendError(VehicleError, QString("Vehicle returned error: %1. Partial list of mission items may have been returned.").arg(missionAck.type));
}
break;
case AckMissionItem:
// MISSION_ITEM expected
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack when MISSION_ITEM expected: type:" << missionAck.type;
qCDebug(MissionManagerLog) << "_handleMissionAck vehicle sent ack when MISSION_ITEM expected: error:" << missionAck.type;
if (!_retrySequence(AckMissionItem)) {
_sendError(VehicleError, QString("Vehicle returned error: %1. Partial list of mission items may have been returned.").arg(missionAck.type));
}
@ -465,7 +465,7 @@ void MissionManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg) @@ -465,7 +465,7 @@ void MissionManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
/// @return true: sequence retried, false: out of retries
bool MissionManager::_retrySequence(AckType_t ackType)
{
qCDebug(MissionManagerLog) << "_retrySequence ackType:" << ackType << "_retryCount" << _retryCount;
qCDebug(MissionManagerLog) << "_retrySequence ackType:" << _ackTypeToString(ackType) << "_retryCount" << _retryCount;
switch (ackType) {
case AckMissionCount:
@ -490,8 +490,25 @@ bool MissionManager::_retrySequence(AckType_t ackType) @@ -490,8 +490,25 @@ bool MissionManager::_retrySequence(AckType_t ackType)
}
break;
default:
qCWarning(MissionManagerLog) << "_retrySequence fell through switch: ackType:" << ackType;
_sendError(InternalError, QString("Internal error occured during Mission Item communication: _retrySequence fell through switch: ackType:").arg(ackType));
qCWarning(MissionManagerLog) << "_retrySequence fell through switch: ackType:" << _ackTypeToString(ackType);
_sendError(InternalError, QString("Internal error occured during Mission Item communication: _retrySequence fell through switch: ackType:").arg(_ackTypeToString(ackType)));
return false;
}
}
QString MissionManager::_ackTypeToString(AckType_t ackType)
{
switch (ackType) {
case AckNone: // State machine is idle
return QString("No Ack");
case AckMissionCount: // MISSION_COUNT message expected
return QString("MISSION_COUNT");
case AckMissionItem: ///< MISSION_ITEM expected
return QString("MISSION_ITEM");
case AckMissionRequest: ///< MISSION_REQUEST is expected, or MISSION_ACK to end sequence
return QString("MISSION_REQUEST");
default:
qWarning(MissionManagerLog) << "Fell off end of switch statement";
return QString("Internal Error");
}
}

1
src/MissionManager/MissionManager.h
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@ -115,6 +115,7 @@ private: @@ -115,6 +115,7 @@ private:
void _retryWrite(void);
void _retryRead(void);
bool _retrySequence(AckType_t ackType);
QString _ackTypeToString(AckType_t ackType);
private:
Vehicle* _vehicle;

50
src/MissionManager/MissionManagerTest.cc
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@ -183,6 +183,8 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f @@ -183,6 +183,8 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
} else {
// This should be a failed run
setExpectedMessageBox(QMessageBox::Ok);
// Wait for write sequence to complete. We should get:
// inProgressChanged(false) signal
// error(errorCode, QString) signal
@ -199,30 +201,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f @@ -199,30 +201,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
qDebug() << signalArgs[1].toString();
QCOMPARE(signalArgs[0].toInt(), (int)errorCode);
/*
// FIXME: This should be on the read side
// Validate correct number of mission items
int expectedMissionCount = 0;
switch (ErrorCode) {
case FailWriteRequest0NoResponse:
// Don't respond to MISSION_COUNT with MISSION_REQUEST 0
expectedMissionCount = 0;
break;
case FailWriteRequest1NoResponse: // Don't respond to MISSION_ITEM 0 with MISSION_REQUEST 1
case FailWriteRequest0IncorrectSequence: // Respond to MISSION_COUNT 0 with MISSION_REQUEST with wrong sequence number
case FailWriteRequest1IncorrectSequence: // Respond to MISSION_ITEM 0 with MISSION_REQUEST with wrong sequence number
case FailWriteRequest0ErrorAck: // Respond to MISSION_COUNT 0 with MISSION_ACK error
case FailWriteRequest1ErrorAck: // Respond to MISSION_ITEM 0 with MISSION_ACK error
case FailWriteFinalAckNoResponse: // Don't send the final MISSION_ACK
case FailWriteFinalAckErrorAck: // Send an error as the final MISSION_ACK
case FailWriteFinalAckMissingRequests: // Send the MISSION_ACK before all items have been requested
break;
}
// FIXME: Count depends on errorCode
//QCOMPARE(_missionManager->missionItems()->count(), (int)cTestCases);
*/
checkExpectedMessageBox();
}
QCOMPARE(_missionManager->canEdit(), true);
@ -265,6 +244,8 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode @@ -265,6 +244,8 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
} else {
// This should be a failed run
setExpectedMessageBox(QMessageBox::Ok);
// Wait for read sequence to complete. We should get:
// inProgressChanged(false) signal to signal completion
// error(errorCode, QString) signal
@ -281,6 +262,8 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode @@ -281,6 +262,8 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
QCOMPARE(signalArgs.count(), 2);
qDebug() << signalArgs[1].toString();
QCOMPARE(signalArgs[0].toInt(), (int)errorCode);
checkExpectedMessageBox();
}
_multiSpy->clearAllSignals();
@ -378,25 +361,6 @@ void MissionManagerTest::_testWriteFailureHandling(void) @@ -378,25 +361,6 @@ void MissionManagerTest::_testWriteFailureHandling(void)
void MissionManagerTest::_testReadFailureHandling(void)
{
/*
FailReadRequestListNoResponse, // Don't send MISSION_COUNT in response to MISSION_REQUEST_LIST
FailReadRequest0NoResponse, // Don't send MISSION_ITEM in response to MISSION_REQUEST item 0
FailReadRequest1NoResponse, // Don't send MISSION_ITEM in response to MISSION_REQUEST item 1
FailReadRequest0IncorrectSequence, // Respond to MISSION_REQUEST 0 with incorrect sequence number in MISSION_ITEM
FailReadRequest1IncorrectSequence, // Respond to MISSION_REQUEST 1 with incorrect sequence number in MISSION_ITEM
FailReadRequest0ErrorAck, // Respond to MISSION_REQUEST 0 with MISSION_ACK error
FailReadRequest1ErrorAck, // Respond to MISSION_REQUEST 1 bogus MISSION_ACK error
FailWriteRequest0NoResponse, // Don't respond to MISSION_COUNT with MISSION_REQUEST 0
FailWriteRequest1NoResponse, // Don't respond to MISSION_ITEM 0 with MISSION_REQUEST 1
FailWriteRequest0IncorrectSequence, // Respond to MISSION_COUNT 0 with MISSION_REQUEST with wrong sequence number
FailWriteRequest1IncorrectSequence, // Respond to MISSION_ITEM 0 with MISSION_REQUEST with wrong sequence number
FailWriteRequest0ErrorAck, // Respond to MISSION_COUNT 0 with MISSION_ACK error
FailWriteRequest1ErrorAck, // Respond to MISSION_ITEM 0 with MISSION_ACK error
FailWriteFinalAckNoResponse, // Don't send the final MISSION_ACK
FailWriteFinalAckErrorAck, // Send an error as the final MISSION_ACK
FailWriteFinalAckMissingRequests, // Send the MISSION_ACK before all items have been requested
*/
/*
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }

4
src/MissionManager/MissionManagerTest.h
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@ -40,15 +40,15 @@ private slots: @@ -40,15 +40,15 @@ private slots:
void init(void);
void cleanup(void);
void _testWriteFailureHandling(void);
void _testReadFailureHandling(void);
private:
void _checkInProgressValues(bool inProgress);
void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
void _readEmptyVehicle(void);
void _testWriteFailureHandling(void);
MockLink* _mockLink;
MissionManager* _missionManager;

7
src/Vehicle/Vehicle.cc
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@ -161,6 +161,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType) @@ -161,6 +161,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
if (qgcApp()->useNewMissionEditor()) {
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
}
_firmwarePlugin->initializeVehicle(this);
@ -1121,3 +1122,9 @@ void Vehicle::sendMessageMultiple(mavlink_message_t message) @@ -1121,3 +1122,9 @@ void Vehicle::sendMessageMultiple(mavlink_message_t message)
_sendMessageMultipleList.append(info);
}
void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
Q_UNUSED(errorCode);
qgcApp()->showToolBarMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
}

1
src/Vehicle/Vehicle.h
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@ -333,6 +333,7 @@ private: @@ -333,6 +333,7 @@ private:
void _startJoystick(bool start);
void _handleHomePosition(mavlink_message_t& message);
void _handleHeartbeat(mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
bool _isAirplane ();
void _addChange (int id);

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