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debugging premature timeouts of param list recv

QGC4.4
tstellanova 12 years ago
parent
13ecf81966
commit
cdb33d12e9
4 changed files with 159 additions and 240 deletions
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  1. 4
      src/uas/UAS.cc
  2. 294
      src/uas/UASParameterCommsMgr.cc
  3. 7
      src/uas/UASParameterCommsMgr.h
  4. 94
      src/ui/QGCParamWidget.cc

4
src/uas/UAS.cc
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@ -2259,7 +2259,9 @@ void UAS::requestParameters() @@ -2259,7 +2259,9 @@ void UAS::requestParameters()
mavlink_message_t msg;
mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
sendMessage(msg);
qDebug() << __FILE__ << ":" << __LINE__ << "LOADING PARAM LIST";
QDateTime time = QDateTime::currentDateTime();
qDebug() << __FILE__ << ":" << __LINE__ << time.toString() << "LOADING PARAM LIST";
}
void UAS::writeParametersToStorage()

294
src/uas/UASParameterCommsMgr.cc
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@ -14,8 +14,8 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) : @@ -14,8 +14,8 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
transmissionListMode(false),
transmissionActive(false),
transmissionTimeout(0),
retransmissionTimeout(350),
rewriteTimeout(500),
retransmissionTimeout(1000),
rewriteTimeout(1000),
retransmissionBurstRequestSize(5)
{
paramDataModel = mav->getParamDataModel();
@ -96,6 +96,125 @@ void UASParameterCommsMgr::requestParameterList() @@ -96,6 +96,125 @@ void UASParameterCommsMgr::requestParameterList()
}
/*
Empty read retransmission list
Empty write retransmission list
*/
void UASParameterCommsMgr::clearRetransmissionLists()
{
qDebug() << __FILE__ << __LINE__ << "clearRetransmissionLists";
int missingReadCount = 0;
QList<int> readKeys = transmissionMissingPackets.keys();
foreach (int component, readKeys) {
missingReadCount += transmissionMissingPackets.value(component)->count();
transmissionMissingPackets.value(component)->clear();
}
int missingWriteCount = 0;
QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
foreach (int component, writeKeys) {
missingWriteCount += transmissionMissingWriteAckPackets.value(component)->count();
transmissionMissingWriteAckPackets.value(component)->clear();
}
setParameterStatusMsg(tr("TIMEOUT! MISSING: %1 read, %2 write.").arg(missingReadCount).arg(missingWriteCount),
ParamCommsStatusLevel_Warning);
}
void UASParameterCommsMgr::emitParameterChanged(int compId, const QString& key, QVariant& value)
{
int paramType = (int)value.type();
switch (paramType)
{
case QVariant::Char:
{
QVariant fixedValue(QChar((unsigned char)value.toInt()));
emit parameterChanged(compId, key, fixedValue);
}
break;
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(compId, key, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(compId, key, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(compId, key, fixedValue);
}
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
return;
}
setParameterStatusMsg(tr("Requested write of: %1: %2").arg(key).arg(value.toDouble()));
}
void UASParameterCommsMgr::resendReadWriteRequests()
{
int compId;
QList<int> compIds;
// Re-request at maximum retransmissionBurstRequestSize parameters at once
// to prevent link flooding'
int requestedReadCount = 0;
compIds = transmissionMissingPackets.keys();
foreach (compId, compIds) {
// Request n parameters from this component (at maximum)
QList<int>* missingReadParams = transmissionMissingPackets.value(compId, NULL);
foreach (int paramId, *missingReadParams) {
if (requestedReadCount < retransmissionBurstRequestSize) {
qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << paramId << "FROM COMPONENT #" << compId;
emit parameterUpdateRequestedById(compId, paramId);
setParameterStatusMsg(tr("Requested retransmission of #%1").arg(paramId+1));
requestedReadCount++;
}
else {
qDebug() << "Throttling read retransmit requests at" << requestedReadCount;
break;
}
}
}
// Re-request at maximum retransmissionBurstRequestSize parameters at once
// to prevent write-request link flooding
int requestedWriteCount = 0;
compIds = transmissionMissingWriteAckPackets.keys();
foreach (compId, compIds) {
QMap <QString, QVariant>* missingParams = transmissionMissingWriteAckPackets.value(compId);
foreach (QString key, missingParams->keys()) {
if (requestedWriteCount < retransmissionBurstRequestSize) {
// Re-request write operation
QVariant value = missingParams->value(key);
emitParameterChanged(compId, key, value);
requestedWriteCount++;
}
else {
qDebug() << "Throttling write retransmit requests at" << requestedWriteCount;
break;
}
}
}
if ((0 == requestedWriteCount) && (0 == requestedReadCount) ) {
qDebug() << __FILE__ << __LINE__ << "NO re-read or rewrite requests??";
//setRetransmissionGuardEnabled(false);
}
}
void UASParameterCommsMgr::retransmissionGuardTick()
{
if (transmissionActive) {
@ -118,94 +237,14 @@ void UASParameterCommsMgr::retransmissionGuardTick() @@ -118,94 +237,14 @@ void UASParameterCommsMgr::retransmissionGuardTick()
if (QGC::groundTimeMilliseconds() > transmissionTimeout) {
setRetransmissionGuardEnabled(false);
transmissionActive = false;
// Empty read retransmission list
// Empty write retransmission list
int missingReadCount = 0;
QList<int> readKeys = transmissionMissingPackets.keys();
foreach (int component, readKeys) {
missingReadCount += transmissionMissingPackets.value(component)->count();
transmissionMissingPackets.value(component)->clear();
}
// Empty write retransmission list
int missingWriteCount = 0;
QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
foreach (int component, writeKeys) {
missingWriteCount += transmissionMissingWriteAckPackets.value(component)->count();
transmissionMissingWriteAckPackets.value(component)->clear();
}
setParameterStatusMsg(tr("TIMEOUT! MISSING: %1 read, %2 write.").arg(missingReadCount).arg(missingWriteCount));
}
// Re-request at maximum retransmissionBurstRequestSize parameters at once
// to prevent link flooding
QMap<int, QMap<QString, QVariant>*>::iterator i;
QMap<int, QMap<QString, QVariant>*>* onboardParams = paramDataModel->getOnboardParameters();
for (i = onboardParams->begin(); i != onboardParams->end(); ++i) {
// Iterate through the parameters of the component
int component = i.key();
// Request n parameters from this component (at maximum)
QList<int> * paramList = transmissionMissingPackets.value(component, NULL);
if (paramList) {
int count = 0;
foreach (int id, *paramList) {
if (count < retransmissionBurstRequestSize) {
//qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << id << "FROM COMPONENT #" << component;
//TODO mavlink msg type for "request parameter set" ?
emit parameterUpdateRequestedById(component, id);
setParameterStatusMsg(tr("Requested retransmission of #%1").arg(id+1));
count++;
} else {
break;
}
}
}
transmissionListMode = false;
clearRetransmissionLists();
return;
}
// Re-request at maximum retransmissionBurstRequestSize parameters at once
// to prevent write-request link flooding
// Empty write retransmission list
QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
foreach (int component, writeKeys) {
int count = 0;
QMap <QString, QVariant>* missingParams = transmissionMissingWriteAckPackets.value(component);
foreach (QString key, missingParams->keys()) {
if (count < retransmissionBurstRequestSize) {
// Re-request write operation
QVariant value = missingParams->value(key);
switch ((int)onboardParams->value(component)->value(key).type())
{
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(component, key, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(component, key, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(component, key, fixedValue);
}
break;
default:
//qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE";
return;
}
setParameterStatusMsg(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble()));
count++;
} else {
break;
}
}
}
} else {
resendReadWriteRequests();
}
else {
qDebug() << __FILE__ << __LINE__ << "STOPPING RETRANSMISSION GUARD GRACEFULLY";
setRetransmissionGuardEnabled(false);
}
@ -293,6 +332,7 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV @@ -293,6 +332,7 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
);
return;
}
QVariant onboardVal;
paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
if (onboardVal == value) {
@ -302,43 +342,11 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV @@ -302,43 +342,11 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
return;
}
//int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
int paramType = (int)value.type();
switch (paramType)
{
case QVariant::Char:
{
QVariant fixedValue(QChar((unsigned char)value.toInt()));
emit parameterChanged(component, parameterName, fixedValue);
}
break;
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(component, parameterName, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(component, parameterName, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(component, parameterName, fixedValue);
}
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
return;
}
emitParameterChanged(component, parameterName, value);
// Wait for parameter to be written back
// mark it therefore as missing
if (!transmissionMissingWriteAckPackets.contains(component))
{
if (!transmissionMissingWriteAckPackets.contains(component)) {
transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
}
@ -346,15 +354,12 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV @@ -346,15 +354,12 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
// Set timeouts
if (transmissionActive)
{
if (transmissionActive) {
transmissionTimeout += rewriteTimeout;
}
else
{
else {
quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
if (newTransmissionTimeout > transmissionTimeout)
{
if (newTransmissionTimeout > transmissionTimeout) {
transmissionTimeout = newTransmissionTimeout;
}
transmissionActive = true;
@ -386,6 +391,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para @@ -386,6 +391,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
transmissionMissingPackets.insert(compId, new QList<int>());
}
QList<int>* compXmitMissing = transmissionMissingPackets.value(compId);
// List mode is different from single parameter transfers
if (transmissionListMode) {
// Only accept the list size once on the first packet from
@ -394,20 +401,13 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para @@ -394,20 +401,13 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
// Mark list size as known
transmissionListSizeKnown.insert(compId, true);
qDebug() << "Mark all parameters as missing";
QList<int>* compParamList = transmissionMissingPackets.value(compId);
qDebug() << "Mark all parameters as missing: " << paramCount;
for (int i = 0; i < paramCount; ++i) {
if (!compParamList->contains(i)) {
if (i != paramId) {
compParamList->append(i);
}
else {
qDebug() << "Already received " << paramId;
}
if (!compXmitMissing->contains(i)) {
compXmitMissing->append(i);
}
}
// There is only one transmission timeout for all components
// since components do not manage their transmission,
// the longest timeout is safe for all components.
@ -419,19 +419,19 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para @@ -419,19 +419,19 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
// Start retransmission guard
// or reset timer
setRetransmissionGuardEnabled(true); //TODO
setRetransmissionGuardEnabled(true);
}
// Mark this parameter as received in read list
int index = transmissionMissingPackets.value(compId)->indexOf(paramId);
int index = compXmitMissing->indexOf(paramId);
// If the MAV sent the parameter without request, it wont be in missing list
if (index != -1) {
transmissionMissingPackets.value(compId)->removeAt(index);
compXmitMissing->removeAt(index);
}
bool justWritten = false;
bool writeMismatch = false;
//bool lastWritten = false;
// Mark this parameter as received in write ACK list
QMap<QString, QVariant>* map = transmissionMissingWriteAckPackets.value(compId);
if (map && map->contains(paramName)) {
@ -496,10 +496,14 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para @@ -496,10 +496,14 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
}
else {
qDebug() << "missCount:" << missCount << "missWriteCount:" << missWriteCount;
foreach (int key, transmissionMissingPackets.keys()) {
QList<int>* list = transmissionMissingPackets.value(key);
qDebug() << "Component" << key << "missing numParams:" << list->count() ;
if (missCount < 4) {
foreach (int key, transmissionMissingPackets.keys()) {
QList<int>* list = transmissionMissingPackets.value(key);
qDebug() << "Component" << key << "missing params:" << list ;
}
}
setRetransmissionGuardEnabled(true); //reset the timeout timer since we received one
}
}

7
src/uas/UASParameterCommsMgr.h
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@ -38,6 +38,13 @@ protected: @@ -38,6 +38,13 @@ protected:
/** @brief Load settings that control eg retransmission timeouts */
void loadParamCommsSettings();
/** @brief clear transmissionMissingPackets and transmissionMissingWriteAckPackets */
void clearRetransmissionLists();
void resendReadWriteRequests();
void emitParameterChanged(int compId, const QString& key, QVariant& value);
signals:
void parameterChanged(int component, QString parameter, QVariant value);
void parameterChanged(int component, int parameterIndex, QVariant value);

94
src/ui/QGCParamWidget.cc
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@ -450,100 +450,6 @@ void QGCParamWidget::writeParameters() @@ -450,100 +450,6 @@ void QGCParamWidget::writeParameters()
}
}
/**
* @param component the subsystem which has the parameter
* @param parameterName name of the parameter, as delivered by the system
* @param value value of the parameter
*/
//void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
//{
// if (parameterName.isEmpty()) {
// return;
// }
// double dblValue = value.toDouble();
// if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
// statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
// return;
// }
// if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
// statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
// return;
// }
// QVariant onboardVal;
// paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
// if (onboardVal == value) {
// statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
// return;
// }
// //int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
// int paramType = (int)value.type();
// switch (paramType)
// {
// case QVariant::Char:
// {
// QVariant fixedValue(QChar((unsigned char)value.toInt()));
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// case QVariant::Int:
// {
// QVariant fixedValue(value.toInt());
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// case QVariant::UInt:
// {
// QVariant fixedValue(value.toUInt());
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// case QMetaType::Float:
// {
// QVariant fixedValue(value.toFloat());
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// default:
// qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
// return;
// }
// // Wait for parameter to be written back
// // mark it therefore as missing
// if (!transmissionMissingWriteAckPackets.contains(component))
// {
// transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
// }
// // Insert it in missing write ACK list
// transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
// // Set timeouts
// if (transmissionActive)
// {
// transmissionTimeout += rewriteTimeout;
// }
// else
// {
// quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
// if (newTransmissionTimeout > transmissionTimeout)
// {
// transmissionTimeout = newTransmissionTimeout;
// }
// transmissionActive = true;
// }
// // Enable guard / reset timeouts
// paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
//}
void QGCParamWidget::readParameters()
{

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