fix updating of pending param list after transmit

src/uas/UASParameterCommsMgr.cc

@@ -80,8 +80,8 @@ void UASParameterCommsMgr::requestParameterList()
         transmissionListSizeKnown.clear();
 
         transmissionListMode = true;
-        foreach (int key, transmissionMissingPackets.keys()) {
+        foreach (int key, missingReadPackets.keys()) {
-            transmissionMissingPackets.value(key)->clear();
+            missingReadPackets.value(key)->clear();
         }
         transmissionActive = true;
 
@@ -106,10 +106,10 @@ void UASParameterCommsMgr::clearRetransmissionLists(int& missingReadCount, int&
     qDebug() << __FILE__ << __LINE__ << "clearRetransmissionLists";
 
     missingReadCount = 0;
-    QList<int> readKeys = transmissionMissingPackets.keys();
+    QList<int> readKeys = missingReadPackets.keys();
     foreach (int compId, readKeys) {
-        missingReadCount += transmissionMissingPackets.value(compId)->count();
+        missingReadCount += missingReadPackets.value(compId)->count();
-        transmissionMissingPackets.value(compId)->clear();
+        missingReadPackets.value(compId)->clear();
     }
 
     missingWriteCount = 0;
@@ -169,10 +169,11 @@ void UASParameterCommsMgr::resendReadWriteRequests()
     // Re-request at maximum retransmissionBurstRequestSize parameters at once
     // to prevent link flooding'
     int requestedReadCount = 0;
-    compIds = transmissionMissingPackets.keys();
+    compIds = missingReadPackets.keys();
     foreach (compId, compIds) {
         // Request n parameters from this component (at maximum)
-        QList<int>* missingReadParams = transmissionMissingPackets.value(compId, NULL);
+        QList<int>* missingReadParams = missingReadPackets.value(compId, NULL);
+        qDebug() << "missingReadParams:" << missingReadParams->count();
         foreach (int paramId, *missingReadParams) {
             if (requestedReadCount < retransmissionBurstRequestSize) {
                 //qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << paramId << "FROM COMPONENT #" << compId;
@@ -423,11 +424,11 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
     paramDataModel->handleParamUpdate(compId,paramName,value);
 
     // Missing packets list has to be instantiated for all components
-    if (!transmissionMissingPackets.contains(compId)) {
+    if (!missingReadPackets.contains(compId)) {
-        transmissionMissingPackets.insert(compId, new QList<int>());
+        missingReadPackets.insert(compId, new QList<int>());
     }
 
-    QList<int>* compXmitMissing =  transmissionMissingPackets.value(compId);
+    QList<int>* compMissReadPackets =  missingReadPackets.value(compId);
 
     // List mode is different from single parameter transfers
     if (transmissionListMode) {
@@ -439,8 +440,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
 
             qDebug() << "Mark all parameters as missing: " << paramCount;
             for (int i = 1; i < paramCount; ++i) { //TODO check: param Id 0 is  "all parameters" and not valid ?
-                if (!compXmitMissing->contains(i)) {
+                if (!compMissReadPackets->contains(i)) {
-                    compXmitMissing->append(i);
+                    compMissReadPackets->append(i);
                 }
             }
 
@@ -456,28 +457,27 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
     }
 
     // Mark this parameter as received in read list
-    int index = compXmitMissing->indexOf(paramId);
+    int index = compMissReadPackets->indexOf(paramId);
-    // If the MAV sent the parameter without request, it wont be in missing list
     if (index != -1) {
-        compXmitMissing->removeAt(index);
+        compMissReadPackets->removeAt(index);
     }
 
     bool justWritten = false;
     bool writeMismatch = false;
 
     // Mark this parameter as received in write ACK list
-    QMap<QString, QVariant>* map = missingWriteAckPackets.value(compId);
+    QMap<QString, QVariant>* compMissWritePackets = missingWriteAckPackets.value(compId);
-    if (map && map->contains(paramName)) {
+    if (compMissWritePackets && compMissWritePackets->contains(paramName)) {
         justWritten = true;
-        if (map->value(paramName) != value) {
+        if (compMissWritePackets->value(paramName) != value) {
             writeMismatch = true;
         }
-        map->remove(paramName);
+        compMissWritePackets->remove(paramName);
     }
 
     int missReadCount = 0;
-    foreach (int key, transmissionMissingPackets.keys()) {
+    foreach (int key, missingReadPackets.keys()) {
-        missReadCount +=  transmissionMissingPackets.value(key)->count();
+        missReadCount +=  missingReadPackets.value(key)->count();
     }
 
     int missWriteCount = 0;
@@ -488,15 +488,14 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
     //TODO simplify this if-else tree
     if (justWritten) {
         if (!writeMismatch) {
-            setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount));
+            setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3 [%5]").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount).arg(missWriteCount));
             if (0 == missWriteCount) {
                 setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
-                paramDataModel->commitAllPendingParams();
             }
         }
         else  {
             // Mismatch, tell user
-            setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(map->value(paramName).toDouble()).arg(value.toDouble()),
+            setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(compMissWritePackets->value(paramName).toDouble()).arg(value.toDouble()),
                                   ParamCommsStatusLevel_Warning);
         }
     }
@@ -512,6 +511,7 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
             QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' '));
             setParameterStatusMsg(tr("OK: %1 %2 (%3/%4)").arg(paramName).arg(val).arg(paramCount-missReadCount).arg(paramCount),
                                   ParamCommsStatusLevel_Warning);
+            //transmissionMissingPackets
         }
     }
 
@@ -598,6 +598,8 @@ void UASParameterCommsMgr::sendPendingParameters()
         }
         // Enable guard
         setRetransmissionGuardEnabled(true);
+
+        qDebug() << "Pending parameters now:" << paramDataModel->countPendingParams();
     }
 }
 

src/uas/UASParameterCommsMgr.h

@@ -92,7 +92,7 @@ protected:
 
     // Communications management
     QVector<bool> receivedParamsList; ///< Successfully received parameters
-    QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
+    QMap<int, QList<int>* > missingReadPackets; ///< Missing packets
     QMap<int, QMap<QString, QVariant>* > missingWriteAckPackets; ///< Missing write ACK packets
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?

src/uas/UASParameterDataModel.cc

@@ -31,27 +31,6 @@ int UASParameterDataModel::countPendingParams()
     return totalPending;
 }
 
-void UASParameterDataModel::commitAllPendingParams()
-{
-    qDebug() << "commitAllPendingParams:" << countPendingParams();
-
-    QList<int> allCompIds = pendingParameters.keys();
-    foreach (int compId, allCompIds) {
-        // Iterate through the parameters of the component
-        QMap<QString, QVariant>* compParams = pendingParameters.value(compId);
-        QList<QString> paramNames = compParams->keys();
-        qDebug() <<  paramNames.count() << "committed params for component" << compId;
-
-        foreach (QString paramName, paramNames) {
-            QVariant value = compParams->value(paramName);
-            setOnboardParamWithType( compId, paramName, value);//update the onboard value to match pending value
-            emit pendingParamUpdate(compId,paramName,value,false); //no longer pending
-            emit parameterUpdated(compId,paramName,value);//ensure the new onboard value is broadcast
-        }
-
-    }
-}
-
 
 bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, const QVariant& value)
 {
@@ -163,26 +142,27 @@ void UASParameterDataModel::addComponent(int compId)
 }
 
 
-void UASParameterDataModel::handleParamUpdate(int compId, QString& key, QVariant& value)
+void UASParameterDataModel::handleParamUpdate(int compId, QString& paramName, QVariant& value)
 {
     //verify that the value requested by the user matches the set value
     //if it doesn't match, leave the pending parameter in the pending list!
     if (pendingParameters.contains(compId)) {
         QMap<QString , QVariant> *pendingParams = pendingParameters.value(compId);
-        if ((NULL != pendingParams) && pendingParams->contains(key)) {
+        if ((NULL != pendingParams) && pendingParams->contains(paramName)) {
-            QVariant reqVal = pendingParams->value(key);
+            QVariant reqVal = pendingParams->value(paramName);
             if (reqVal == value) {
-                pendingParams->remove(key);
+                //notify everyone that this item is being removed from the pending parameters list since it's now confirmed
+                emit pendingParamUpdate(compId, paramName,  value, false);
+                pendingParams->remove(paramName);
             }
             else {
-                qDebug() << "Pending commit for " << key << " want: " << reqVal << " got: " << value;
+                qDebug() << "Pending commit for " << paramName << " want: " << reqVal << " got: " << value;
             }
         }
     }
 
-    setOnboardParam(compId,key,value);
+    emit parameterUpdated(compId,paramName,value);
-
+    setOnboardParam(compId,paramName,value);
-    emit parameterUpdated(compId,key,value);
 
 }
 

src/uas/UASParameterDataModel.h

@@ -35,8 +35,6 @@ public:
     virtual void addComponent(int compId);
 
 
-    virtual void removePendingParam(int compId, QString& key);
-    virtual void commitAllPendingParams();///< Called by eg params comms mgr when all pending params have been sent & acked
 
     /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
     virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
@@ -70,6 +68,9 @@ public:
        return &onboardParameters;
    }
 
+    /** @brief return a count of all pending parameters */
+    int countPendingParams();
+
 
     virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName);
     virtual void readUpdateParamsFromStream(QTextStream &stream);
@@ -79,11 +80,14 @@ public:
     void setUASID(int anId) {  this->uasId = anId; }
 
 protected:
+    /** @brief set the confirmed value of a parameter in the onboard params list */
     virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
+
     /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
     virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+    /** @brief remove a parameter from the pending list */
+    virtual void removePendingParam(int compId, QString& key);
 
-    int countPendingParams();
 
 signals:
     

src/ui/QGCParamWidget.cc

@@ -509,16 +509,7 @@ void QGCParamWidget::requestAllParamsUpdate()
  */
 void QGCParamWidget::writeParameters()
 {
-    int changedParamCount = 0;
+    int changedParamCount = paramDataModel->countPendingParams();
-
-    QMap<int, QMap<QString, QVariant>*>::iterator i;
-    QMap<int, QMap<QString, QVariant>*>* changedValues = paramDataModel->getAllPendingParams();
-
-    for (i = changedValues->begin(); (i != changedValues->end()) && (0 == changedParamCount);  ++i) {
-        // Iterate through the pending parameters of the component, break on the first changed parameter
-        QMap<QString, QVariant>* compPending = i.value();
-        changedParamCount += compPending->count();
-    }
 
     if (changedParamCount > 0) {
         QMessageBox msgBox;
@@ -534,7 +525,7 @@ void QGCParamWidget::writeParameters()
 void QGCParamWidget::readParameters()
 {
     if (!mav) return;
-    mav->readParametersFromStorage();
+    mav->readParametersFromStorage(); //TODO use data model / mgr instead?
 }
 
 /**