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fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset #23067

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merged 1 commit into from
May 3, 2024
Merged

fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset #23067

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52 changes: 23 additions & 29 deletions src/modules/mavlink/mavlink_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2235,9 +2235,6 @@ Mavlink::task_main(int argc, char *argv[])

_task_running.store(true);

bool cmd_logging_start_acknowledgement = false;
bool cmd_logging_stop_acknowledgement = false;

while (!should_exit()) {
/* main loop */
px4_usleep(_main_loop_delay);
Expand All @@ -2246,7 +2243,7 @@ Mavlink::task_main(int argc, char *argv[])
check_requested_subscriptions();
handleStatus();
handleCommands();
handleAndGetCurrentCommandAck(cmd_logging_start_acknowledgement, cmd_logging_stop_acknowledgement);
handleAndGetCurrentCommandAck();
continue;
}

Expand All @@ -2271,7 +2268,7 @@ Mavlink::task_main(int argc, char *argv[])

handleStatus();
handleCommands();
handleAndGetCurrentCommandAck(cmd_logging_start_acknowledgement, cmd_logging_stop_acknowledgement);
handleAndGetCurrentCommandAck();

/* check for shell output */
if (_mavlink_shell && _mavlink_shell->available() > 0) {
Expand Down Expand Up @@ -2310,25 +2307,15 @@ Mavlink::task_main(int argc, char *argv[])

/* check for ulog streaming messages */
if (_mavlink_ulog) {
if (cmd_logging_stop_acknowledgement) {
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
const int ret = _mavlink_ulog->handle_update(get_channel());

} else {
if (cmd_logging_start_acknowledgement) {
_mavlink_ulog->start_ack_received();
if (ret < 0) { // abort the streaming on error
if (ret != -1) {
PX4_WARN("mavlink ulog stream update failed, stopping (%i)", ret);
}

int ret = _mavlink_ulog->handle_update(get_channel());

if (ret < 0) { //abort the streaming on error
if (ret != -1) {
PX4_WARN("mavlink ulog stream update failed, stopping (%i)", ret);
}

_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
}
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
}
}

Expand Down Expand Up @@ -2551,7 +2538,7 @@ void Mavlink::handleCommands()
}
}

void Mavlink::handleAndGetCurrentCommandAck(bool &logging_start_ack, bool &logging_stop_ack)
void Mavlink::handleAndGetCurrentCommandAck()
{
if (_vehicle_command_ack_sub.updated()) {
static constexpr size_t COMMAND_ACK_TOTAL_LEN = MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
Expand Down Expand Up @@ -2581,6 +2568,20 @@ void Mavlink::handleAndGetCurrentCommandAck(bool &logging_start_ack, bool &loggi
msg.target_system = command_ack.target_system;
msg.target_component = command_ack.target_component;

// Handle logging acks before sending out the mavlink message to prevent a race condition
if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
if (_mavlink_ulog) {
_mavlink_ulog->start_ack_received();
}

} else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP
&& command_ack.result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
if (_mavlink_ulog) {
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
}
}

if (_mode == MAVLINK_MODE_IRIDIUM) {
if (command_ack.from_external) {
// for MAVLINK_MODE_IRIDIUM send only if external
Expand All @@ -2591,13 +2592,6 @@ void Mavlink::handleAndGetCurrentCommandAck(bool &logging_start_ack, bool &loggi
mavlink_msg_command_ack_send_struct(get_channel(), &msg);
}

if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
logging_start_ack = true;

} else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP
&& command_ack.result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
logging_stop_ack = true;
}
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion src/modules/mavlink/mavlink_main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -709,7 +709,7 @@ class Mavlink final : public ModuleParams

void handleCommands();

void handleAndGetCurrentCommandAck(bool &logging_start_ack, bool &logging_stop_ack);
void handleAndGetCurrentCommandAck();

void handleStatus();

Expand Down