Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Request timed up parameters as soon as possible #1136

Merged
merged 4 commits into from
Jan 16, 2019
Merged

Request timed up parameters as soon as possible #1136

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
cd8fc2d
plugin:param rerequest timed out parameters asap
angri Dec 12, 2018
b7a27ec
plugin:param fixed second and consequent timeouts in requesting list
angri Jan 14, 2019
e57e9da
plugin:param added logging regarding rerequests
angri Jan 14, 2019
d79d4a6
Merge branch 'master' into param-timeout
vooon Jan 16, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 17 additions & 5 deletions mavros/src/plugins/param.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -424,6 +424,7 @@ class ParamPlugin : public plugin::PluginBase {
IDLE,
RXLIST,
RXPARAM,
RXPARAM_TIMEDOUT,
TXPARAM
};
PR param_state;
Expand Down Expand Up @@ -487,8 +488,8 @@ class ParamPlugin : public plugin::PluginBase {
ROS_DEBUG_STREAM_NAMED("param", "PR: New param " << p.to_string());
}

if (param_state == PR::RXLIST || param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {

if (param_state == PR::RXLIST || param_state == PR::RXPARAM) {
// we received first param. setup list timeout
if (param_state == PR::RXLIST) {
param_count = pmsg.param_count;
Expand All @@ -514,8 +515,14 @@ class ParamPlugin : public plugin::PluginBase {
parameters_missing_idx.remove(pmsg.param_index);

// in receiving mode we use param_rx_retries for LIST and PARAM
if (it_is_first_requested)
if (it_is_first_requested) {
ROS_DEBUG_NAMED("param", "PR: got a value of a requested param idx=%u, "
"resetting retries count", pmsg.param_index);
param_rx_retries = RETRIES_COUNT;
} else if (param_state == PR::RXPARAM_TIMEDOUT) {
ROS_INFO_NAMED("param", "PR: got an unsolicited param value idx=%u, "
"not resetting retries count %zu", pmsg.param_index, param_rx_retries);
}

restart_timeout_timer();

Expand All @@ -528,6 +535,10 @@ class ParamPlugin : public plugin::PluginBase {
missed);
go_idle();
list_receiving.notify_all();
} else if (param_state == PR::RXPARAM_TIMEDOUT) {
uint16_t first_miss_idx = parameters_missing_idx.front();
ROS_DEBUG_NAMED("param", "PR: requesting next timed out parameter idx=%u", first_miss_idx);
param_request_read("", first_miss_idx);
}
}
}
Expand Down Expand Up @@ -626,7 +637,7 @@ class ParamPlugin : public plugin::PluginBase {
restart_timeout_timer();
param_request_list();
}
else if (param_state == PR::RXPARAM) {
else if (param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
if (parameters_missing_idx.empty()) {
ROS_WARN_NAMED("param", "PR: missing list is clear, but we in RXPARAM state, "
"maybe last rerequest fails. Params missed: %zd",
Expand All @@ -636,6 +647,7 @@ class ParamPlugin : public plugin::PluginBase {
return;
}

param_state = PR::RXPARAM_TIMEDOUT;
uint16_t first_miss_idx = parameters_missing_idx.front();
if (param_rx_retries > 0) {
param_rx_retries--;
Expand Down Expand Up @@ -782,7 +794,7 @@ class ParamPlugin : public plugin::PluginBase {
lock.unlock();
res.success = wait_fetch_all();
}
else if (param_state == PR::RXLIST || param_state == PR::RXPARAM) {
else if (param_state == PR::RXLIST || param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
lock.unlock();
res.success = wait_fetch_all();
}
Expand Down Expand Up @@ -859,7 +871,7 @@ class ParamPlugin : public plugin::PluginBase {
{
unique_lock lock(mutex);

if (param_state == PR::RXLIST || param_state == PR::RXPARAM) {
if (param_state == PR::RXLIST || param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
ROS_ERROR_NAMED("param", "PR: receiving not complete");
return false;
}
Expand Down